CN108230617A - Monitoring method for early warning and unmanned plane based on unmanned plane - Google Patents

Abstract

The invention discloses an unmanned aerial vehicle-based monitoring and early warning method, a system, a computer-readable storage medium and an unmanned aerial vehicle. The monitoring and early warning method based on drones includes: following the target object from the air and obtaining road condition information within a preset range around the target object in real time; judging whether the current activity state of the target object meets the trigger warning according to the road condition information Condition: when the early warning condition is met, the early warning information is determined according to the road condition information and preset rules, and the early warning information is sent to the target object, so as to give an early warning to the monitoring object carrying the target object. The monitoring and early warning method based on the UAV follows the target object from the air, obtains the road condition information of the monitoring object carrying the target object in real time, and then sends early warning information to the target object according to the road condition information, so as to realize automatic reminder and danger warning to avoid potential travel hazards in advance.

Description

UAV-based monitoring and early warning method and UAV

technical field

The present invention relates to the field of unmanned aerial vehicles, and more specifically, relates to a monitoring and early warning method based on an unmanned aerial vehicle and an unmanned aerial vehicle.

Background technique

At present, safety issues such as children commuting to and from school and going out are difficult problems faced by families in the whole society. Children are active and playful, and it is easy to go the wrong way on the street and rush into the motorway. In the situation of unattended reminder, various safety accidents are prone to occur. In order to solve the problems of children going against the road and rushing into the motorway, it is necessary to regulate and ensure the safety of children going to and from school, and cultivate children's good travel habits.

At the same time, the current traffic conditions are complicated. People tend to relax their vigilance when walking on the street, and sometimes they cannot detect the potential traffic hazards around them, resulting in dangerous accidents. For example, pedestrian A is listening to music on the sidewalk, and a truck not far away is out of control and rampaging in the direction of pedestrian A. At this time, someone needs to remind A to avoid this dangerous large truck.

Therefore, there is a need for a technical solution that can automatically remind and warn of danger, remind and avoid potential travel dangers, and ensure travel safety.

Contents of the invention

In order to solve the problems in at least one of the above aspects, the present invention proposes a monitoring and early warning method and system based on a drone, a drone and a computer-readable storage medium.

In order to realize the purpose of the present invention, take following technical scheme:

In a first aspect, the present invention provides a monitoring and early warning method based on unmanned aerial vehicles, which includes the following steps:

Follow the target from the air and obtain road condition information within a preset range around the target in real time;

judging according to the road condition information whether the current activity state of the target satisfies the condition for triggering an early warning;

When the warning condition is met, the warning information is determined according to the road condition information and the preset rules, and the warning information is sent to the target, so as to give a warning to the monitoring object carrying the target.

Specifically, the step of following the target object from the air and acquiring road condition information within a preset range around the target object in real time includes:

Follow the target from the air and call the camera module to collect image data within a preset range around the target;

Analyzing and processing the image data to determine road condition information within a preset range around the target.

Specifically, the triggering warning conditions include one or more of the following: the target object goes against the road, the target object enters a motorway, and a dangerous object is approaching the target object.

Further, before the judging according to the road condition information whether the current activity state of the target satisfies the condition for triggering an early warning, it also includes:

The current activity state of the target is determined according to the image data.

Specifically, the step of determining early warning information according to the road condition information and preset rules and sending the early warning information to the target specifically includes:

Determine the early warning information stored in the form of a stack according to the road condition information and preset rules;

Send the warning information to the target.

Specifically, it also includes:

storing the image data in a local device;

In response to an instruction request for acquiring the image data sent by the remote monitoring device to the local device through the server, the image data is sent to the server, so that the server sends the image data to the remote monitoring device.

Specifically, it also includes:

When the number of times the target triggers the same warning within the preset time reaches the threshold, a warning command is sent to the server.

Further, it is characterized in that it also includes:

receive audio data and/or video data from the server;

and sending the audio data and/or video data to the target object.

In a second aspect, the present invention provides yet another monitoring and early warning method based on unmanned aerial vehicles, which includes the following steps:

The server receives a first request from the remote monitoring device to obtain the road condition information of the target;

In response to the first request, send a second request to obtain the road condition information of the target to the UAV side;

receiving the road condition information and the early warning information determined according to the road condition information sent to the local device by the UAV in response to the second request, and sending the road condition information and the early warning information to the remote Monitoring equipment.

Specifically, it also includes:

Receive warning data information about the target from the drone;

The warning data message is sent to a remote monitoring device associated with the object.

Further, after sending the warning data information to the remote monitoring equipment associated with the target, it also includes:

receiving the audio data and/or video data sent to the local device by the remote monitoring device in response to the warning data message;

Sending the audio data and/or video data to the UAV end, so that the UAV end sends the audio data and/or video data to the target.

In a third aspect, the present invention provides a monitoring and early warning system based on drones, which includes:

An acquisition module, configured to follow the target from the air and acquire road condition information within a preset range around the target in real time;

A judging module, configured to judge whether the current activity state of the target satisfies the condition for triggering an early warning according to the road condition information;

The first sending module is configured to determine early warning information according to the road condition information and preset rules when the early warning conditions are met, and send the early warning information to the target object, so as to give early warning to the monitoring object carrying the target object.

Specifically, in the acquisition module, specifically include:

The calling unit is used to follow the target from the air and call the camera module to collect image data within a preset range around the target;

The determining unit is configured to analyze and process the image data, and determine road condition information within a preset range around the target object.

Specifically, the triggering warning conditions include one or more of the following: the target object goes against the road, the target object enters a motorway, and a dangerous object is approaching the target object.

Further, before the judging according to the road condition information whether the current activity state of the target satisfies the condition for triggering an early warning, it also includes:

The current activity state of the target is determined according to the image data.

Specifically, the first sending module specifically includes:

A determining unit, configured to determine the early warning information stored in the form of a stack according to the road condition information and preset rules;

The sending unit is used to send the warning information to the target.

Further, it also includes:

A storage module, configured to store the image data in a local device;

In response to an instruction request for acquiring the image data sent by the remote monitoring device to the local device through the server, the image data is sent to the server, so that the server sends the image data to the remote monitoring device.

Specifically, it also includes:

The second sending module is used to send a warning instruction to the server when the number of times the target triggers the same warning within a preset time reaches a threshold.

Further, it also includes:

The third sending module is used to receive audio data and/or video data from the server;

and sending the audio data and/or video data to the target object.

In the fourth aspect, the present invention provides another monitoring and early warning system based on drones, which includes:

The first receiving module is used for the server to receive the first request for obtaining the road condition information of the target from the remote monitoring device;

A response module, configured to send a second request to obtain the road condition information of the target to the UAV in response to the first request;

The second receiving module is used to receive the road condition information and the early warning information determined according to the road condition information sent to the local device by the UAV in response to the second request, and combine the road condition information and the The early warning information is sent to the remote monitoring equipment.

Specifically, it also includes:

The third receiving module is used to receive the warning data information about the target from the drone end;

The warning data message is sent to a remote monitoring device associated with the object.

Further, after sending the warning data information to the remote monitoring equipment associated with the target, it also includes:

The fourth receiving module is used to receive the audio data and/or video data sent to the local device by the remote monitoring device in response to the warning data information;

Sending the audio data and/or video data to the UAV end, so that the UAV end sends the audio data and/or video data to the target.

In a fifth aspect, the present invention provides a computer-readable storage medium, which includes:

one or more applications,

The one or more application programs are configured to execute the steps of the monitoring and early warning method described in any one of the first aspect.

In a sixth aspect, the present invention provides yet another computer-readable storage medium, which includes:

one or more applications,

The one or more application programs are configured to execute the steps of the monitoring and early warning method described in the second aspect.

In the seventh aspect, the present invention also provides a drone. The drone includes the computer-readable storage medium described in the fifth aspect.

Compared with the prior art, the solution of the present invention has the following advantages:

In the technical solution of the present invention, the UAV is used to follow the target object from the air to realize the acquisition of the road condition information of the environment where the monitoring object carrying the target object is currently located, so as to analyze and determine whether the current traffic road conditions around the monitoring object reach the threshold of early warning Conditions, so as to determine whether the current guardianship object has potential traffic hazards, and then send the warning information to the target object, and use the target object to realize automatic reminder and danger warning for the guardianship object, so that the guardianship object can correct the current situation. Avoid potential travel hazards in advance by using your own behavior or location.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and will become apparent from the description, or may be learned by practice of the invention.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 shows the interactive schematic diagram of a kind of embodiment that utilizes the technical solution of the present invention to implement UAV monitoring and early warning;

Fig. 2 shows a schematic flow chart of an embodiment of an unmanned aerial vehicle-based monitoring and early warning method in the present invention;

Fig. 3 shows a schematic flow chart of an embodiment of another monitoring and early warning method based on drones in the present invention;

Fig. 4 shows the structural representation of an embodiment of a monitoring and early warning system based on unmanned aerial vehicles in the present invention;

Fig. 5 shows a schematic structural diagram of another embodiment of a monitoring and early warning system based on a drone in the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.

In some processes described in the specification and claims of the present invention and the above-mentioned drawings, a plurality of operations appearing in a specific order are contained, but it should be clearly understood that these operations may not be performed in the order in which they appear herein Execution or parallel execution, the serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. Additionally, these processes can include more or fewer operations, and these operations can be performed sequentially or in parallel. It should be noted that the descriptions of "first" and "second" in this article are used to distinguish different messages, devices, modules, etc. are different types.

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

As shown in FIG. 1 , it shows an interactive schematic diagram of an embodiment of using the technical solution of the present invention to implement drone monitoring and early warning.

First, the monitoring object or other objects control the start of the drone side through the target side. After the UAV end is started, it follows the target from the air and calls the camera module to collect image data within a preset range around the target, and generates early warning information according to the image data, and sends the early warning information after the early warning information is generated. The information is sent to the target object so that the monitoring object on the target object receives the early warning information, thereby realizing the early warning of the monitoring object.

Secondly, when the monitoring object does not correct the current behavior after sending the warning information to the target object from the drone side or executes a certain behavior to meet the preset conditions, the drone side sends warning data information to the server side , the server side sends the warning data information to the remote monitoring device side, so that the user of the remote monitoring device side can obtain the warning data information and take further monitoring measures for the monitoring object according to the specific situation.

The server end can receive and obtain the early warning information of the UAV end and the data information sent by the UAV end to the server end for storage. Further, the server end can be connected to the police platform, and after the guardianship object meets the preset conditions, the administrator at the server end or the server end can send relevant early warning information and data to the police platform, so as to ensure the travel safety of the guardianship object. provide further assurance.

In addition, the remote monitoring device side can send the first request to the server side, and indirectly send the second request to the UAV side through the server side, so as to obtain the unprovoked current data information about the target obtained by the UAV side , so as to grasp the current travel information of the guardian object anytime and anywhere, and establish a connection with the target terminal of the guardian object. For example, the user of the remote monitoring device uses the interactive relationship established by the remote monitoring device, the server, and the remote monitoring device to send voice, video and other data information to the target, and the monitoring object of the target uses the interactive relationship to pass The target object sends voice, video and other data information to the remote monitoring device, so that the user of the remote monitoring device and the guardian of the target can realize voice communication and video calls.

In the following, the technical content of each technical solution of the present invention will be described in detail respectively.

first

Fig. 2 shows an embodiment of an unmanned aerial vehicle-based monitoring and early warning method in the present invention.

The drone-based monitoring and early warning method includes steps S101, S102 and S103. in,

Step S101. Follow the target object from the air and acquire road condition information within a preset range around the target object in real time;

Step S102. According to the road condition information, it is judged whether the current activity state of the target satisfies the condition for triggering an early warning;

Step S103. When the warning condition is met, determine the warning information according to the road condition information and preset rules and send the warning information to the target object, so as to give a warning to the monitoring object carrying the target object.

The monitoring and early warning method based on the UAV uses the UAV to follow the target object from the air, and acquires the road condition information of the environment where the monitoring object carrying the target object is currently located, thereby analyzing the road condition information to determine the current environment around the monitoring object. Whether the traffic conditions meet the warning conditions, and further determine whether the current monitoring object has potential traffic hazards. When the current guardianship object is in a dangerous environment, that is, when the early warning condition is met, the guardianship object is automatically reminded and dangerous early warning, so that the guardianship object can correct its current behavior or position, and avoid it in advance. Potential travel hazard.

In addition, because children are playful and active, they tend to go against the road and rush into the motorway, etc. The above-mentioned early warning information is sent to the target object, and the target object is used to realize automatic reminder and danger early warning, avoid potential travel hazards in advance, standardize and ensure the safety of going to and from school, and cultivate children's good travel habits.

In order to make the technical solution of the present invention clearer and easier to understand, the specific implementation process and manner of each step in the technical solution will be described in detail below.

Step S101. Follow the target object from the air and acquire road condition information within a preset range around the target object in real time.

In the process of people going out and walking, people will pass through various large and small streets, and the complicated traffic conditions sometimes cause various road safety accidents to occur when people do not pay attention.

Especially in the process of going to and from school, because children are active and playful, they are easy to chase each other in the street, fight and fight, and are prone to dangerous behaviors such as going backwards and rushing into motor vehicle lanes.

When people travel, they carry the target connected with the UAV, and use the UAV to follow the target from the air, and can dynamically obtain the road condition information within a certain range of the current location of the accompanying target in real time, so as to obtain the Road condition information of the current physical location of the target object.

Generally speaking, the target can control the start of the UAV, so that the UAV can follow the target. Of course, the drone can also be controlled remotely, and according to the matching relationship between it and the target, it can follow the target and complete the accompanying flight of the monitored object.

The target object is generally a mobile terminal device, such as a mobile phone, a smart bracelet, a smart watch, and the like. After the target object and the UAV establish a connection relationship, the UAV tracks the target object, so as to realize the accompanying flight of the target object and the monitoring object carrying the target object. At the same time, since the monitoring object carries the target object, during the process of flying with the drone, it can analyze whether there is a traffic safety hazard in the position described by the current target object, so as to feed back the analyzed results to the monitoring object. If it is found that the road condition information of the current physical location of the target object has road traffic safety hazards, the monitoring and early warning functions can be realized for the monitoring object by sending an early warning message to the target object.

The road condition information within the preset range of the target can be adjusted according to the actual situation.

For example, if the monitoring range of the lens of the camera module of the UAV is a concentric circle of 200 meters, the preset range of the target can be within the range of 0 to 200 meters, but considering the actual operation, the value of the preset range Often greater than 100m.

Specifically, in the step S101, it specifically includes:

Follow the target from the air and call the camera module to collect image data within a preset range around the target;

Analyzing and processing the image data to determine road condition information within a preset range around the target.

In one embodiment of the present invention, the drone is equipped with a camera module. When the drone follows the target from the air, the camera module can perform camera operations on the current environment of the target, such as taking pictures and recording videos. Just as people can know the content of photos and videos by looking at photos and videos, UAVs analyze the image data information of photos and videos they take through specific algorithms, such as edge road detection algorithms, The vehicle video detection algorithm, vehicle tracking algorithm, etc. analyze and process the image data, and judge the road condition information of the road where the current target is located.

For example, the child Xiao Ming walks on the sidewalk normally, and the drone camera establishes a connection relationship with the smart bracelet on Xiao Ming's body. According to the smart bracelet, the UAV can accompany Xiao Ming who is carrying the smart bracelet. When Xiao Ming passes through various streets and roads, the drone follows Xiao Ming's movement on Xiao Ming's head and within a certain distance from Xiao Ming, so as to realize the accompanying flight of Xiao Ming. The drone calls the camera module on it, and the camera range of the camera module is also the monitoring range of the drone. In the process of accompanying the flight, within the monitoring range of the UAV, photographs are taken at a certain interval of time and frequency, and the photos after the photographing are analyzed, so as to obtain all vehicle running trajectories. With Xiaoming as the center of the circle, two circular protection areas are formed around the children. The large circle area is set as the vehicle monitoring area, and the radius of the large circle is set to R (R is greater than or equal to 100m, which is determined according to the farthest monitoring distance parameter of the camera module of the drone. range of values), detect all vehicle running trajectories in a circle with R as the radius; the small circle is the early warning area, and establish a protection alarm area with the minimum radius around Xiaoming as r (r is less than or equal to 2m), and judge and calculate the vehicle driving trajectory Whether there is an intersection between the extension line and the small circle, so as to judge the current road condition information of Xiao Ming's location. Of course, we can set that the vehicle whose trajectory extension line intersects with the small circle is a dangerous vehicle, and use the nearest vehicle approach algorithm to find the most dangerous vehicle, and remind Xiao Ming in which direction there is a vehicle approaching him.

Further, it also includes:

storing the image data in a local device;

In response to an instruction request for acquiring the image data sent by the remote monitoring device to the local device through the server, the image data is sent to the server, so that the server sends the image data to the remote monitoring device.

In the process of accompanying the target object and the monitoring object carrying the target object, the UAV will store the image data of the camera operation on the way. The stored image data is beneficial for people to view, so as to realize the grasp of various road condition information encountered by the target object or the guardianship object in the process of flying with the drone, and is conducive to self-control according to the road condition data information. Adjusting the behavior of the guardianship will help the guardian to correct their bad behavior, and at the same time improve traffic safety awareness. At the same time, when a traffic accident occurs, the image data can also be used as evidence to prove both parties responsible, providing a higher safety guarantee for people's travel.

For example, in the case of children commuting to and from school alone, drones accompany the children. Parents who are busy with work and unable to pick up their children to and from school can send viewing instructions to the drone through a terminal device such as a mobile phone or a computer device, and receive and view the image data of the drone at any time, so as to understand the children's travel conditions. Among them, parents use remote terminals such as mobile phones or computer equipment to communicate with the UAV terminal through TCP/IP through the server.

Step S102. According to the road condition information, it is judged whether the current activity state of the target satisfies the condition for triggering an early warning.

In the process of following the target object from the air and accompanying the monitoring object, the image data acquired by the UAV is mainly used to judge whether the current target object’s trajectory is safe. If there is danger and the pre-set conditions are met, it will Trigger an early warning, so that the target is used to give an early warning to the guardian carrying the target.

Before the judging according to the road condition information whether the current activity state of the target satisfies the condition for triggering an early warning, it also includes:

The current activity state of the target is determined according to the image data.

It can be understood that the target object moves along with the monitoring object, and the current moving track of the target object on the plane is the moving track of the monitoring object. Therefore, the current activity state of the target corresponds to the current activity state of the monitoring object.

The UAV acquires the image data of the things around the current target by following the target from the air and taking pictures of the things within the preset range of the target. By using the edge road detection algorithm, vehicle video detection algorithm, vehicle tracking algorithm, etc. to analyze and process the image data, the things around the target can be distinguished, so as to further determine the current activity state of the target.

In the present invention, the current activity state of the target is determined according to the image data. Of course, positioning technology can also be used to determine the current activity state of the target. The current moving speed and moving direction of the target correspond to the moving speed and moving direction of the monitoring object.

In the present invention, the early warning methods of the unmanned aerial vehicle to the monitored object are varied. Wherein, the early warning methods include: retrograde warning, lane warning and vehicle warning. The technical solution of the present invention mainly implements automatic early warning for three ways of the monitoring object going against the road, driving in the lane, and approaching dangerous vehicles. The drone adopts a multi-threaded parallel processing method, which can run multiple detections at the same time.

For example, in the retrograde warning, the UAV first starts the navigation route to confirm the walking direction and route of the guardian. Then use the relatively mature edge road detection algorithm to initialize the algorithm and perform road detection in real time. Set real-time collection of camera image data every N seconds, start the edge lane detection algorithm, detect and obtain the data information on both edges of the lane, and judge whether the monitoring object is in the motorway or on the left side of the lane. If there is retrograde behavior, it is satisfied Conditions that trigger an alert. The unmanned aerial vehicle can immediately start the automatic warning module to warn the target object of the monitoring object, so as to remind the monitoring object to pay attention to safety. For children with this behavior, retrograde warning can also correct children's bad behavior and cultivate children's good travel habits.

For another example, in the vehicle early warning, when the UAV monitoring object is walking normally, the driver encounters drunk driving, vehicle out of control, operation error, etc. to change the normal driving route, or when the vehicle behind the monitoring object approaches the monitoring object, it will make a judgment reminder in advance to avoid danger. Automatic warning at all times, timely reminding the guardian to avoid risks, and automatically uploading the dangerous records at that time, that is, the image data of the drone at that time, for follow-up incident responsibility tracking.

For another example, in the road warning, if the guardianship rushes into the motorway, the UAV can make a timely judgment and make a judgment reminder in advance, and automatically warn in dangerous moments, reminding the guardianship to avoid risks in time.

Step S103. When the warning condition is met, determine the warning information according to the road condition information and preset rules and send the warning information to the target object, so as to give a warning to the monitoring object carrying the target object.

After the current situation of the target satisfies the conditions for triggering the early warning, there are many feasible processing methods. According to the road condition information, multiple processing methods can be determined, and the best situation of the current target situation can also be determined as much as possible. Excellent handling.

For example, in vehicle early warning, the driving path of dangerous vehicles cannot be judged before they enter the monitoring range of drones. After the dangerous vehicle enters the monitoring range of the drone, its driving path is known, and its source is determined, on the one hand, we can remind the monitored object where it came from and which direction to avoid. The early warning information determined according to the road condition information is used to guide the monitoring object to perform correct operations when there is a specific potential traffic safety hazard, so as to avoid the occurrence of the danger.

The early warning information is determined according to the road condition information. It includes: 1. The early warning information has been set in advance, and the most suitable early warning information is selected from a large number of early warning information according to the preset rules according to the road condition information; 2. The early warning information has not been preset, and other Generate according to the road condition information according to preset rules.

After the UAV determines the early warning information, it sends the early warning information to the target. In response to the warning information, the target object vibrates to remind its corresponding monitoring object or makes a voice broadcast reminder.

The trigger warning conditions include one or more of the following: the target object goes against the road, the target object enters a motorway, and a dangerous object is approaching the target object.

For example, the definition of character commands for various early warning information is as follows:

10: Inside the lane; 20: Reverse traffic; 31: Dangerous vehicle on the rear side; 32: Dangerous vehicle on the left side; 33: Dangerous vehicle ahead; 34: Dangerous vehicle on the right side.

Specifically, in the step S103, it specifically includes:

Determine the early warning information stored in the form of a stack according to the road condition information and preset rules;

Send the warning information to the target.

The early warning information is stored in the form of a stack, and in the present invention, the stack used to store the early warning information is called an early warning stack.

Due to the storage characteristics of the stack, the warning stack can receive instruction information at any time, and store it in the waiting warning stack according to the principle of last-in-first-out, and adopt the push-to-stack storage method to ensure that the latest real-time The top of the stack is taken out to ensure that the latest warning information is taken out first. Set the maximum threshold of storage elements in the stack to MAX, and compare each new instruction with the top element of the stack. If they are the same, the instruction will not be pushed into the stack, and the elements in the stack will remain unchanged; if the comparison results are different, the new warning instruction will be prepared. Push the stack, if the elements in the stack are full, move the elements in the stack down one position towards the bottom of the stack, the bottom elements of the stack will be automatically deleted, and finally put the new instruction on the top of the stack.

Specifically, it also includes:

When the number of times the target triggers the same warning within the preset time reaches the threshold, a warning command is sent to the server.

As mentioned earlier, the warning information is stored in the form of a stack.

In one embodiment, the UAV can determine the early warning information multiple times within one second, first determine a piece of early warning information, then push the early warning information into the stack according to the operation method specified by the stack, then take out the latest instruction from the top of the stack, and send it to the target This warning information. The target object sends vibrations in response to the warning information and voice broadcasts the warning information to give warning to its corresponding monitoring object.

When performing an early warning, each time an element is taken out from the top of the stack, the element is counted. If the same as the previous instruction, the auto-increment count is performed, and the maximum threshold of the auto-increment is set to M (assuming M<5). If the number of information continuous vibration reminders reaches the upper limit of M, and the guardianship object has not corrected its behavior, the server will be notified of the risk information directly, and the risk information will be recorded to remind the guardianship object at all times. When the guardianship object is a child, the server-side warning module can also be activated to send warning instructions to the family terminal through the server. On the one hand, the parents can keep abreast of the situation and contact the children for guidance; Strengthen the guidance of safety meaning to avoid danger.

Further, it also includes:

receive audio data and/or video data from the server;

and sending the audio data and/or video data to the target object.

In the present invention, when the guardianship object is an object that lacks sufficient traffic concept awareness, its related family members can use the terminal device to establish an associated relationship with the target object, and then use the terminal device to send a message to the server connected to the drone. Send relevant instructions to obtain the road condition information of the guardian object of the target. At the same time, the terminal device associated with the target can also actively or under the reminder of the server, check the road condition information of the monitored object, obtain the number of trigger warnings of the monitored object within a period of time, and send audio data and data to the drone through the server. /or video data to further guide the subject of monitoring to avoid the occurrence of danger. When the target object receives the audio data and/or video data, it can be perceived by the monitored subject.

second aspect

As shown in FIG. 3 , the present invention also provides another embodiment of a monitoring and early warning method based on a drone.

The monitoring and early warning method based on drones includes the following steps S201, S102 and S103. in:

Step S201. The server receives the first request from the remote monitoring device to obtain the road condition information of the target;

Step S102. In response to the first request, send a second request to obtain the road condition information of the target to the UAV side;

Step S103. Receive the road condition information and the early warning information determined according to the road condition information sent to the local device by the UAV in response to the second request, and send the road condition information and the early warning information to The remote monitoring equipment.

In the present invention, the remote monitoring device can establish a connection relationship with the target object, and obtain the road condition information of the target object according to the connection relationship.

The communication between the remote monitoring device and the UAV terminal is realized through the server: the remote monitoring device sends relevant instructions to obtain the road condition information of the target object to the server, and the server responds to the instructions to UAV-side request. After receiving the request from the server, the UAV side sends the road condition information and early warning information of the target back to the server, and the server then sends the road condition information and early warning information to the remote monitoring device, thereby realizing the remote monitoring device and the UAV side. communication between. After the remote monitoring device acquires information such as the road condition information of the target object, it can effectively supervise and manage the monitoring object corresponding to the target object.

In the monitoring and early warning method based on drones, the remote monitoring device can actively obtain the road condition information of the target object actively or under the reminder of the server, which is beneficial for the user of the remote monitoring device to timely monitor the behavior of the current monitoring object. Carry out supervision and reminders to avoid potential travel hazards in advance.

For example, when the same warning information of the target exceeds the threshold multiple times within the preset time, the UAV sends a warning command to the server, and the server sends the warning command to the remote monitoring device associated with the target after receiving the warning command. The warning data information determined according to the warning instruction is used to remind the remote monitoring device to make timely processing for the current situation, so as to avoid danger.

It is understandable that because children are playful and active, they tend to go retrograde on the road and rush into the motorway. The identification and tracking of situations such as entering motor vehicle lanes and dangerous vehicles, so that users of remote monitoring equipment can grasp the walking data of their children in real time and reduce their worries about children. At the same time, when a bad situation occurs, the server can promptly remind the user of the remote monitoring device associated with the target, so that the user can take timely and effective solutions to the current bad situation, avoid potential travel hazards in advance, and regulate And ensure the safety of going to and from school, and cultivate children's good travel habits.

Specifically, it also includes:

Receive warning data information about the target from the drone;

The warning data message is sent to a remote monitoring device associated with the object.

Further, after sending the warning data information to the remote monitoring equipment associated with the target, it also includes:

receiving the audio data and/or video data sent to the local device by the remote monitoring device in response to the warning data message;

Sending the audio data and/or video data to the UAV end, so that the UAV end sends the audio data and/or video data to the target.

After the remote monitoring device receives the warning data information from the server, or when the user who wants to actively think about the target has an audio or video conversation, in the technical solution of the present invention, the remote monitoring device can use the server and the drone The terminal sends relevant audio and/or video data to the target object, and establishes communication with the target object, which is beneficial for the user of the remote monitoring device to keep abreast of the current situation of the target object's guardianship object, and realize the monitoring of the current guardianship object. Supervision and management, so as to standardize the behavior of guardianship objects and avoid potential risks.

third aspect

As shown in FIG. 4 , the present invention also provides an embodiment of an unmanned aerial vehicle-based monitoring and early warning system.

The monitoring and early warning system based on drones includes an acquisition module 101 , a judgment module 102 and a first sending module 103 . in:

An acquisition module 101, configured to follow the target from the air and acquire road condition information within a preset range around the target in real time;

A judging module 102, configured to judge whether the current activity state of the target satisfies the condition for triggering an early warning according to the road condition information;

The first sending module 103 is configured to determine early warning information according to the road condition information and preset rules when the early warning conditions are met, and send the early warning information to the target object, so as to give early warning to the monitoring object carrying the target object.

The monitoring and early warning system based on the drone uses the drone to follow the target from the air, and acquires the road condition information of the current environment where the monitoring object carrying the target is, thereby analyzing the road condition information to determine the current environment around the monitoring object. Whether the traffic conditions meet the warning conditions, and further determine whether the current monitoring object has potential traffic hazards. When the current guardianship object is in a dangerous environment, that is, when the early warning condition is met, the guardianship object is automatically reminded and dangerous early warning, so that the guardianship object can correct its current behavior or position, and avoid it in advance. Potential travel hazard.

In addition, because children are playful and active, they tend to go against the road on the road and rush into the motorway. The above-mentioned early warning information is sent to the target object, and the target object is used to realize automatic reminder and danger early warning, avoid potential travel hazards in advance, standardize and ensure the safety of going to and from school, and cultivate children's good travel habits.

In order to make the technical solution of the present invention clearer and easier to understand, the specific implementation process and structure of each module in the technical solution will be described in detail below.

The obtaining module 101 is configured to follow the target object from the air and obtain road condition information within a preset range around the target object in real time.

In the process of people going out and walking, people will pass through various large and small streets, and the complicated traffic conditions sometimes cause various road safety accidents to occur when people do not pay attention.

Especially in the process of going to and from school, because children are active and playful, they are easy to chase each other in the street, fight and fight, and are prone to dangerous behaviors such as going backwards and rushing into motor vehicle lanes.

When people travel, they carry the target connected with the UAV, and use the UAV to follow the target from the air, and can dynamically obtain the road condition information within a certain range of the current location of the accompanying target in real time, so as to obtain the Road condition information of the current physical location of the target object.

Generally speaking, the target can control the start of the UAV, so that the UAV can follow the target. Of course, the drone can also be controlled remotely, and according to the matching relationship between it and the target, it can follow the target and complete the accompanying flight of the monitored object.

The target object is generally a mobile terminal device, such as a mobile phone, a smart bracelet, a smart watch, and the like. After the target object and the UAV establish a connection relationship, the UAV tracks the target object, so as to realize the accompanying flight of the target object and the monitoring object carrying the target object. At the same time, since the monitoring object carries the target object, during the process of flying with the drone, it can analyze whether there is a traffic safety hazard in the position described by the current target object, so as to feed back the analyzed results to the monitoring object. If it is found that the road condition information of the current physical location of the target object has road traffic safety hazards, the monitoring and early warning functions can be realized for the monitoring object by sending an early warning message to the target object.

The road condition information within the preset range of the target can be adjusted according to the actual situation.

For example, if the monitoring range of the lens of the camera module of the UAV is a concentric circle of 200 meters, the preset range of the target can be within the range of 0 to 200 meters, but considering the actual operation, the value of the preset range Often greater than 100m.

Specifically, in the acquisition module 101, specifically include:

The calling unit is used to follow the target from the air and call the camera module to collect image data within a preset range around the target;

Analyzing and processing the image data to determine road condition information within a preset range around the target.

In one embodiment of the present invention, the drone is equipped with a camera module. When the drone follows the target from the air, the camera module can perform camera operations on the current environment of the target, such as taking pictures and recording videos. Just as people can know the content of photos and videos by looking at photos and videos, UAVs analyze the data information of photos and videos they take through specific algorithms, such as edge road detection algorithms, vehicle Video detection algorithm, vehicle tracking algorithm, etc. analyze and process the image data, so as to judge the road condition information of the road where the current target object is located.

For example, the child Xiao Ming walks on the sidewalk normally, and the drone camera establishes a connection relationship with the smart bracelet on Xiao Ming's body. According to the smart bracelet, the UAV can accompany Xiao Ming who is carrying the smart bracelet. When Xiao Ming passes through various streets and roads, the drone follows Xiao Ming's movement on Xiao Ming's head and within a certain distance from Xiao Ming, so as to realize the accompanying flight of Xiao Ming. The drone calls the camera module on it, and the camera range of the camera module is also the monitoring range of the drone. In the process of accompanying the flight, within the monitoring range of the UAV, photographs are taken at a certain interval of time and frequency, and the photos after the photographing are analyzed, so as to obtain all vehicle running trajectories. With Xiaoming as the center of the circle, two circular protection areas are formed around the children. The large circle area is set as the vehicle monitoring area, and the radius of the large circle is set to R (R is greater than or equal to 100m, which is determined according to the farthest monitoring distance parameter of the camera module of the drone. range of values), detect all vehicle running trajectories in a circle with R as the radius; the small circle is the early warning area, and establish a protection alarm area with the minimum radius around Xiaoming as r (r is less than or equal to 2m), and judge and calculate the vehicle driving trajectory Whether there is an intersection between the extension line and the small circle, so as to judge the current road condition information of Xiao Ming's location. Of course, we can set that the vehicle whose trajectory extension line intersects with the small circle is a dangerous vehicle, and use the nearest vehicle approach algorithm to find the most dangerous vehicle, and remind Xiao Ming in which direction there is a vehicle approaching him.

Further, it also includes:

A storage module, configured to store the image data in a local device;

In response to an instruction request for acquiring the image data sent by the remote monitoring device to the local device through the server, the image data is sent to the server, so that the server sends the image data to the remote monitoring device.

In the process of accompanying the target object and the monitoring object carrying the target object, the UAV will store the image data of the camera operation on the way. The stored image data is beneficial for people to view, so as to realize the grasp of various road condition information encountered by the target object or the guardianship object in the process of flying with the drone, and is conducive to self-control according to the road condition data information. Adjusting the behavior of the guardianship will help the guardian to correct their bad behavior, and at the same time improve traffic safety awareness. At the same time, when a traffic accident occurs, the image data can also be used as evidence to prove both parties responsible, providing a higher safety guarantee for people's travel.

For example, in the case of children commuting to and from school alone, drones accompany the children. Parents who are busy with work and unable to pick up their children to and from school can send viewing instructions to the drone through a terminal device such as a mobile phone or a computer device, and receive and view the image data of the drone at any time, so as to understand the children's travel conditions. Among them, parents use remote terminals such as mobile phones or computer equipment to communicate with the UAV terminal through TCP/IP through the server.

A judging module 102, configured to judge whether the current activity state of the target satisfies the condition for triggering an early warning according to the road condition information.

In the process of following the target object from the air and accompanying the monitoring object, the image data acquired by the UAV is mainly used to judge whether the current target object’s trajectory is safe. If there is danger and the pre-set conditions are met, it will Trigger an early warning, so that the target is used to give an early warning to the guardian carrying the target.

Before the judging according to the road condition information whether the current activity state of the target satisfies the condition for triggering an early warning, it also includes:

The current activity state of the target is determined according to the image data.

It can be understood that the target object moves along with the monitoring object, and the current moving track of the target object on the plane is the moving track of the monitoring object. Therefore, the current activity state of the target corresponds to the current activity state of the monitoring object.

The UAV acquires the image data of the things around the current target by following the target from the air and taking pictures of the things within the preset range of the target. By using the edge road detection algorithm, vehicle video detection algorithm, vehicle tracking algorithm, etc. to analyze and process the image data, the things around the target can be distinguished, so as to further determine the current activity state of the target.

In the present invention, the current activity state of the target is determined according to the image data. Of course, positioning technology can also be used to determine the current activity state of the target. The current moving speed and moving direction of the target correspond to the moving speed and moving direction of the monitoring object.

In the present invention, the early warning methods of the unmanned aerial vehicle to the monitored object are varied. Wherein, the early warning methods include: retrograde warning, lane warning and vehicle warning. The technical solution of the present invention mainly implements automatic early warning for three ways of the monitoring object going against the road, driving in the lane, and approaching dangerous vehicles. The drone adopts a multi-threaded parallel processing method, which can run multiple detections at the same time.

For example, in the retrograde warning, the UAV first starts the navigation route to confirm the walking direction and route of the guardian. Then use the relatively mature edge road detection algorithm to initialize the algorithm and perform road detection in real time. Set real-time collection of camera image data every N seconds, start the edge lane detection algorithm, detect and obtain the data information on both edges of the lane, and judge whether the monitoring object is in the motorway or on the left side of the lane. If there is retrograde behavior, it is satisfied Conditions that trigger an alert. The unmanned aerial vehicle can immediately start the automatic warning module to warn the target object of the monitoring object, so as to remind the monitoring object to pay attention to safety. For children with this behavior, retrograde warning can also correct children's bad behavior and cultivate children's good travel habits.

For another example, in the vehicle early warning, when the UAV monitoring object is walking normally, the driver encounters drunk driving, vehicle out of control, operation error, etc. to change the normal driving route, or when the vehicle behind the monitoring object approaches the monitoring object, it will make a judgment reminder in advance to avoid danger. Automatic warning at all times, timely reminding the guardian to avoid risks, and automatically uploading the dangerous records at that time, that is, the image data of the drone at that time, for follow-up incident responsibility tracking.

For another example, in the road warning, if the guardianship rushes into the motorway, the UAV can make a timely judgment and make a judgment reminder in advance, and automatically warn in dangerous moments, reminding the guardianship to avoid risks in time.

The first sending module 103 is configured to determine early warning information according to the road condition information and preset rules when the early warning conditions are met, and send the early warning information to the target object, so as to give early warning to the monitoring object carrying the target object.

After the current situation of the target satisfies the conditions for triggering the early warning, there are many feasible processing methods. According to the road condition information, multiple processing methods can be determined, and the best situation of the current target situation can also be determined as much as possible. Excellent handling.

For example, in vehicle early warning, the driving path of dangerous vehicles cannot be judged before they enter the monitoring range of drones. After the dangerous vehicle enters the monitoring range of the drone, its driving path is known, and its source is determined, on the one hand, we can remind the monitored object where it came from and which direction to avoid. The early warning information determined according to the road condition information is used to guide the monitoring object to perform correct operations when there is a specific potential traffic safety hazard, so as to avoid the occurrence of the danger.

The early warning information is determined according to the road condition information. It includes: 1. The early warning information has been set in advance, and the most suitable early warning information is selected from a large number of early warning information according to the preset rules according to the road condition information; 2. The early warning information has not been preset, and other Generate according to the road condition information according to preset rules.

After the UAV determines the early warning information, it sends the early warning information to the target. In response to the warning information, the target object vibrates to remind its corresponding monitoring object or makes a voice broadcast reminder.

Specifically, the triggering warning conditions include one or more of the following: the target object goes against the road, the target object enters a motorway, and a dangerous object is approaching the target object.

For example, the definition of character commands for various early warning information is as follows:

10: Inside the lane; 20: Reverse traffic; 31: Dangerous vehicle on the rear side; 32: Dangerous vehicle on the left side; 33: Dangerous vehicle ahead; 34: Dangerous vehicle on the right side.

Specifically, the first sending module 103 specifically includes:

A determining unit, configured to determine the early warning information stored in the form of a stack according to the road condition information and preset rules;

The sending unit is used to send the warning information to the target.

The early warning information is stored in the form of a stack, and in the present invention, the stack used to store the early warning information is called an early warning stack.

Due to the storage characteristics of the stack, the warning stack can receive instruction information at any time, and store it in the waiting warning stack according to the principle of last-in-first-out, and adopt the push-to-stack storage method to ensure that the latest real-time The top of the stack is taken out to ensure that the latest warning information is taken out first. Set the maximum threshold of storage elements in the stack to MAX, and compare each new instruction with the top element of the stack. If they are the same, the instruction will not be pushed into the stack, and the elements in the stack will remain unchanged; if the comparison results are different, the new warning instruction will be prepared. Push the stack, if the elements in the stack are full, move the elements in the stack down one position towards the bottom of the stack, the bottom elements of the stack will be automatically deleted, and finally put the new instruction on the top of the stack.

Specifically, it also includes:

The second sending module is used to send a warning instruction to the server when the number of times the target triggers the same warning within a preset time reaches a threshold.

As mentioned earlier, the warning information is stored in the form of a stack.

In one embodiment, the UAV can determine the early warning information multiple times within one second, first determine a piece of early warning information, then push the early warning information into the stack according to the operation method specified by the stack, then take out the latest instruction from the top of the stack, and send it to the target This warning information. The target object sends vibrations in response to the warning information and voice broadcasts the warning information to give warning to its corresponding monitoring object.

When performing an early warning, each time an element is taken out from the top of the stack, the element is counted. If the same as the previous instruction, the auto-increment count is performed, and the maximum threshold of the auto-increment is set to M (assuming M<5). If the number of information continuous vibration reminders reaches the upper limit of M, and the guardianship object has not corrected its behavior, the server will be notified of the risk information directly, and the risk information will be recorded to remind the guardianship object at all times. When the guardianship object is a child, the server-side warning module can also be activated to send warning instructions to the family terminal through the server. On the one hand, the parents can keep abreast of the situation and contact the children for guidance; Strengthen the guidance of safety meaning to avoid danger.

Further, it also includes:

The third sending module is used to receive audio data and/or video data from the server;

and sending the audio data and/or video data to the target object.

In the present invention, when the guardianship object is an object that lacks sufficient traffic concept awareness, its related family members can use the terminal device to establish an associated relationship with the target object, and then use the terminal device to send a message to the server connected to the drone. Send relevant instructions to obtain the road condition information of the guardian object of the target. At the same time, the terminal device associated with the target can also actively or under the reminder of the server, check the road condition information of the monitored object, obtain the number of trigger warnings of the monitored object within a period of time, and send audio data and data to the drone through the server. /or video data to further guide the subject of monitoring to avoid the occurrence of danger. When the target object receives the audio data and/or video data, it can be perceived by the monitored subject.

fourth aspect

As shown in FIG. 5 , the present invention also provides another embodiment of an unmanned aerial vehicle-based monitoring and early warning system.

The monitoring and early warning system based on drones includes a first receiving module 201, a response module 202, and a second receiving module. in:

The first receiving module 201 is used for the server to receive the first request from the remote monitoring device to obtain the road condition information of the target;

A response module 202, configured to send a second request to obtain the road condition information of the target to the UAV in response to the first request;

The second receiving module 203 is used to receive the road condition information and the early warning information determined according to the road condition information sent to the local device by the UAV in response to the second request, and combine the road condition information and the The above warning information is sent to the remote monitoring equipment.

In the present invention, the remote monitoring device can establish a connection relationship with the target object, and obtain the road condition information of the target object according to the connection relationship.

The communication between the remote monitoring device and the UAV terminal is realized through the server: the remote monitoring device sends relevant instructions to obtain the road condition information of the target object to the server, and the server responds to the instructions to UAV-side request. After receiving the request from the server, the UAV side sends the road condition information and early warning information of the target back to the server, and the server then sends the road condition information and early warning information to the remote monitoring device, thereby realizing the remote monitoring device and the UAV side. communication between. After the remote monitoring device acquires information such as the road condition information of the target object, it can effectively supervise and manage the monitoring object corresponding to the target object.

In the monitoring and early warning method based on drones, the remote monitoring device can actively obtain the road condition information of the target object actively or under the reminder of the server, which is beneficial for the user of the remote monitoring device to timely monitor the behavior of the current monitoring object. Carry out supervision and reminders to avoid potential travel hazards in advance.

For example, when the same warning information of the target exceeds the threshold multiple times within the preset time, the UAV sends a warning command to the server, and the server sends the warning command to the remote monitoring device associated with the target after receiving the warning command. The warning data information determined according to the warning instruction is used to remind the remote monitoring device to make timely processing for the current situation, so as to avoid danger.

It is understandable that because children are playful and active, they tend to go retrograde on the road and rush into the motorway. The identification and tracking of situations such as entering motor vehicle lanes and dangerous vehicles, so that users of remote monitoring equipment can grasp the walking data of their children in real time and reduce their worries about children. At the same time, when a bad situation occurs, the server can promptly remind the user of the remote monitoring device associated with the target, so that the user can take timely and effective solutions to the current bad situation, avoid potential travel hazards in advance, and regulate And ensure the safety of going to and from school, and cultivate children's good travel habits.

Specifically, it also includes:

The third receiving module is used to receive the warning data information about the target from the drone end;

The warning data message is sent to a remote monitoring device associated with the object.

Further, after sending the warning data information to the remote monitoring equipment associated with the target, it also includes:

The fourth receiving module is used to receive the audio data and/or video data sent to the local device by the remote monitoring device in response to the warning data information;

Sending the audio data and/or video data to the UAV end, so that the UAV end sends the audio data and/or video data to the target.

After the remote monitoring device receives the warning data information from the server, or when the user who wants to actively think about the target has an audio or video conversation, in the technical solution of the present invention, the remote monitoring device can use the server and the drone The terminal sends relevant audio and/or video data to the target object, and establishes communication with the target object, which is beneficial for the user of the remote monitoring device to keep abreast of the current situation of the target object's guardianship object, and realize the monitoring of the current guardianship object. Supervision and management, so as to standardize the behavior of guardianship objects and avoid potential risks.

fifth aspect

The present invention also provides a computer-readable storage medium, which includes

one or more applications,

The one or more application programs are configured to execute the steps of the monitoring and early warning method described in any one of the first aspect.

Sixth aspect

The present invention also provides yet another computer-readable storage medium, which includes:

one or more applications,

The one or more application programs are configured to execute the steps of the monitoring and early warning method described in the second aspect.

seventh aspect

The invention also provides an embodiment of the drone. The drone includes the computer-readable storage medium described in the fifth aspect.

The technical solution provided by the present invention has been introduced in detail above. For those of ordinary skill in the art, according to the ideas of the embodiments of the present invention, there will be changes in the specific implementation and application range. In summary, this The content of the description should not be construed as limiting the present invention.

Claims (13)

1. A monitoring and early warning method based on an unmanned aerial vehicle is characterized by comprising the following steps:

following a target object from the air and acquiring road condition information in a preset range around the target object in real time;

judging whether the current activity state of the target object meets a triggering early warning condition or not according to the road condition information;

and when the early warning condition is met, determining early warning information according to the road condition information and a preset rule and sending the early warning information to a target object so as to early warn a monitored object carrying the target object.

2. The monitoring and early warning method based on the unmanned aerial vehicle as claimed in claim 1, wherein the step of following the target object from the air and acquiring the road condition information in the preset range around the target object in real time specifically comprises:

following a target object from the air and calling a camera module to acquire image data in a preset range around the target object;

and analyzing and processing the image data, and determining road condition information in a preset range around the target object.

3. The monitoring and early-warning method based on the unmanned aerial vehicle as claimed in claim 1, wherein the triggering and early-warning condition comprises one or more of the following: the object is retrograde, the object enters a vehicle lane, and a dangerous object is approaching the object.

4. The monitoring and early warning method based on the unmanned aerial vehicle as claimed in claim 2, wherein before determining whether the current activity state of the target object meets the triggering and early warning condition according to the traffic information, the method further comprises:

and determining the current activity state of the target object according to the image data.

5. The monitoring and early warning method based on the unmanned aerial vehicle as claimed in claim 1, wherein the step of determining early warning information according to the road condition information and a preset rule and sending the early warning information to a target object specifically comprises:

determining early warning information stored in a stack form according to the road condition information and a preset rule;

and sending the early warning information to a target object.

6. The monitoring and early warning method based on the unmanned aerial vehicle as claimed in claim 2, further comprising:

storing the image data in a local device;

and responding to an instruction request for acquiring the image data, which is sent to the local equipment by the remote monitoring equipment through the server, and sending the image data to the server so that the server sends the image data to the remote monitoring equipment.

7. The monitoring and early warning method based on the unmanned aerial vehicle as claimed in claim 1, further comprising:

and when the number of times of triggering the same early warning within the preset time of the target object reaches a threshold value, sending a warning instruction to the server.

8. The monitoring and early warning method based on the unmanned aerial vehicle as claimed in claim 7, further comprising:

receiving audio data and/or video data from a server;

and transmitting the audio data and/or the video data to a target object.

9. A monitoring and early warning method based on an unmanned aerial vehicle is characterized by comprising the following steps:

the method comprises the steps that a server receives a first request for acquiring road condition information of a target object from remote monitoring equipment;

responding to the first request, and sending a second request for acquiring road condition information of the target object to the unmanned aerial vehicle end;

and receiving the road condition information sent to the local equipment by the unmanned aerial vehicle end after responding to the second request and early warning information determined according to the road condition information, and sending the road condition information and the early warning information to the remote monitoring equipment.

10. The monitoring and early warning method based on the unmanned aerial vehicle as claimed in claim 9, further comprising:

receiving warning data information about the target object from the unmanned aerial vehicle;

and sending the warning data information to a remote monitoring device associated with the target object.

11. The UAV-based guardian-early warning method according to claim 10, wherein after sending the warning data information to the remote monitoring device associated with the target object, further comprising:

receiving audio data and/or video data sent to the local equipment by the remote monitoring equipment after responding to the warning data information;

and sending the audio data and/or the video data to the unmanned aerial vehicle end, so that the unmanned aerial vehicle end sends the audio data and/or the video data to a target object.

12. A computer-readable storage medium, comprising:

one or more of the plurality of application programs,

the one or more applications are configured to perform the steps of the drone-based guardian early warning method of any one of claims 1 to 8 or the steps of the drone-based guardian early warning method of claims 9 to 11.

13. A drone, comprising the computer-readable storage medium of claim 12.