CN106774221A - A kind of unmanned plane cooperates patrol system and method with unmanned vehicle - Google Patents
A kind of unmanned plane cooperates patrol system and method with unmanned vehicle Download PDFInfo
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- CN106774221A CN106774221A CN201710045572.5A CN201710045572A CN106774221A CN 106774221 A CN106774221 A CN 106774221A CN 201710045572 A CN201710045572 A CN 201710045572A CN 106774221 A CN106774221 A CN 106774221A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4183—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by data acquisition, e.g. workpiece identification
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2637—Vehicle, car, auto, wheelchair
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The present invention provides a kind of unmanned plane and is cooperated with unmanned vehicle patrol system, including：Unmanned plane, unmanned vehicle and the monitoring information for returning and the intelligent managing and control system for carrying out cotasking distribution and treatment for unmanned plane described in reception processing and unmanned vehicle.A kind of unmanned plane is also provided to be cooperated with unmanned vehicle patrol method, intelligent managing and control system judges whether unmanned plane can voluntarily fly back starting point according to the information about power and positional information of the unmanned plane for receiving, the starting point if unmanned plane cannot voluntarily fly back, place where unmanned plane during flying to unmanned vehicle, and starting point is taken back by unmanned vehicle.The Current terrestrial two dimension patrol visual field is not only expanded to three-dimensional by the present invention, and cooperated by unmanned plane and unmanned vehicle, the cruising time of unmanned plane is extended, be combineding with each other for remote control and autonomous control is realized so that collaboration patrol system more intelligent and easy to operateization.
Description
Technical field
Cooperated with unmanned vehicle and go on patrol system the invention belongs to robot Collaborative Control technical field, more particularly to a kind of unmanned plane
System and method.
Background technology
It is small and can not cover all regions to there is patrolling and examining field range in single ground unmanned vehicle patrol system, and
Some cannot be reached as the complicated region unmanned vehicle of the road conditions such as valley, river, and although single unmanned plane patrol system patrols and examines the visual field
It is open, the region that unmanned vehicle can not be reached can be reached, but there is a critical defect in unmanned plane, be the short flight time.
Therefore, unmanned plane and unmanned vehicle cooperative control system are gradually paid close attention to by people, and the two is mutually learnt from other's strong points to offset one's weaknesses, and can reach list
The effect that one unmanned patrol system is not realized.
Short to solve the problems, such as the unmanned plane during flying time, those skilled in the art pass through cable and nothing using unmanned vehicle
Electric power system on people's car is connected to solve powerup issue, although solve the problems, such as that the unmanned plane during flying time is short, but because
Unmanned plane cable underaction in tow, it is adaptable to the good region of the road conditions such as highway, range of application is limited.
In addition, at present also by terminal is set up, realize that unmanned plane precisely lands, using wireless power and utilization
Solar panel solves unmanned plane cruising time short problem.But ground some be not suitable for unmanned plane during flying place still
Need unmanned vehicle and patrol and examine performing, additionally, the foundation of terminal will certainly influence the flexibility that unmanned plane goes on patrol, limiting it should
With.
The content of the invention
Patrol system and method in order to solve the above technical problems, a kind of unmanned plane of present invention offer cooperates with unmanned vehicle.For
Some aspects of embodiment to disclosing have a basic understanding, shown below is simple summary.The summarized section is not
It is extensive overview, nor to determine key/critical component or describe the protection domain of these embodiments.Its sole purpose
It is that some concepts are presented with simple form, in this, as the preamble of following detailed description.
The present invention is adopted the following technical scheme that：
In some optional embodiments, there is provided a kind of unmanned plane cooperates patrol system with unmanned vehicle, including：Unmanned plane,
Unmanned vehicle and the monitoring information returned for unmanned plane described in reception processing and unmanned vehicle simultaneously carry out cotasking distribution and treatment
Intelligent managing and control system, tripper is set on the unmanned vehicle, the unmanned plane is arranged on described by the tripper
Delivered to patrol impact point on unmanned vehicle and by the unmanned vehicle；
The unmanned plane includes：Wireless data transmission module, central control module, multisensor complex navigation module, driver,
Executing agency and electric quantity acquisition module, the multisensor complex navigation module and electric quantity acquisition module and the center control mould
The information input terminal connection of block, the driver is connected with the control output end of the central control module, the center control
Module adopts the positional information and the electricity of multisensor complex navigation module collection after receiving preliminary return instruction
The unmanned plane information about power of collection module collection is sent to the intelligent managing and control system, the center by the wireless data transmission module
Control module is operated after receiving the positional information of the unmanned vehicle by executing agency described in the driver control so that institute
Unmanned plane is stated to drop on the unmanned vehicle；
The intelligent managing and control system includes：Communication module and the computing module being connected with the communication module, the communication
Module is used to receive the information about power and positional information of the unmanned plane, and the computing module is believed according to the electricity of the unmanned plane
Breath and positional information are calculated to judge whether the unmanned plane can voluntarily fly back starting point, and by the communication module
Return instruction is issued to the unmanned plane and unmanned vehicle.
In some optional embodiments, the unmanned plane also includes：Generator terminal communication module, head, camera, wireless image transmission
Module and video camera, the generator terminal communication module are connected with the central control module, the head and video camera with it is described in
The control output end connection of control module is entreated, the camera is arranged on the head, and the generator terminal communication module passes through 2G nets
Network, 3G network, 4G networks or big-dipper satellite short message communicate with the intelligent managing and control system, and the camera is by described without line chart
Transmission module sends to the intelligent managing and control system picture of shooting, and the camera will be shot by the wireless image transmission module
Picture, video information sent to the intelligent managing and control system.
In some optional embodiments, the multisensor complex navigation module includes：For measuring the axle of unmanned plane three
The Inertial Measurement Unit of attitude angle and elevation information, the GPS for providing unmanned plane longitude and latitude and velocity information, it is used for
Output unmanned plane X-axis and Y-axis Optic flow information light flow sensor, for the laser scanning and ranging for the real-time meridian tyre of unmanned plane
Instrument, state estimator, the Inertial Measurement Unit, GPS and light flow sensor are defeated with the information of the state estimator
Enter end connection；The state estimator includes：Kalman filter, the Kalman filter is used for data fusion and calculates
The attitude angle of unmanned plane, longitude and latitude, height and speed data.
In some optional embodiments, the unmanned vehicle includes：Navigation module, motion-control module, car end driver,
Che Duan executing agencies, car end wireless data transmission module, car end communication module, car end camera and car end wireless image transmission module；It is described
Navigation module is connected with the information input terminal of the motion-control module, car end driver and car end camera and the fortune
The control output end connection of dynamic control module；The motion-control module receives the task letter that the intelligent managing and control system is issued
Operated by Che Duan executing agencies described in the driver control of the car end after breath；Car end wireless data transmission module and the motion
Control module is connected, by the oneself state information transmission of unmanned vehicle to the intelligent managing and control system；Car end communication module is led to
2G networks, 3G network, 4G networks or big-dipper satellite short message is crossed to be communicated with the intelligent managing and control system；Car end camera leads to
The car end wireless image transmission module is crossed to send to the intelligent managing and control system video of shooting.
In some optional embodiments, the navigation module of the unmanned vehicle includes：For measuring unmanned vehicle two-dimensional attitude
Car end GPS, the Che Duan of the car end Inertial Measurement Unit, the longitude and latitude for detecting unmanned vehicle and velocity information of angle information
Laser scanning and ranging instrument, car end state estimator；Car end Inertial Measurement Unit and car end GPS and car end shape
The information input terminal connection of state estimator；Car end state estimator includes：Car end Kalman filter, car end karr
Graceful wave filter is used for data fusion and calculates attitude angle, longitude and latitude and the speed data of unmanned vehicle.
In some optional embodiments, there is provided a kind of unmanned plane cooperates patrol method with unmanned vehicle, including：
Unmanned plane is delivered to patrol impact point and discharges the unmanned plane by unmanned vehicle by starting point；
After the unmanned plane receives preliminary return instruction, stop information about power and positional information hair that is mobile and gathering itself
Deliver to intelligent managing and control system；
After the unmanned vehicle receives preliminary return instruction, stop movement and gather the positional information of itself to send to the intelligence
Can managing and control system；
The intelligent managing and control system judges the nothing according to the information about power and positional information of the unmanned plane for receiving
The man-machine starting point that whether can voluntarily fly back；
If it is determined that result can voluntarily fly back starting point for unmanned plane, the intelligent managing and control system to the unmanned plane with it is described
Unmanned vehicle sends and determines return instruction, and the unmanned vehicle returns to starting point respectively with the unmanned plane；
If it is determined that result cannot voluntarily fly back starting point for unmanned plane, the intelligent managing and control system is by the position of the unmanned vehicle
Confidence breath is sent to the unmanned plane, the place where the unmanned plane during flying to the unmanned vehicle, and by the unmanned vehicle band
Return starting point.
In some optional embodiments, a kind of described unmanned plane cooperates patrol method with unmanned vehicle, also includes：It is described
Intelligent managing and control system sends to the unmanned vehicle and the unmanned plane mission bit stream；The mission bit stream includes：Planning is completed
Flight path route, the delivery coordinate of impact point, the route in patrol mission region, task place, the data that need collection.
In some optional embodiments, a kind of described unmanned plane cooperates patrol method with unmanned vehicle, also includes：It is described
Unmanned vehicle and unmanned plane carry out patrol monitoring to mission area simultaneously according to the environmental information in the mission bit stream acquisition tasks region
The environmental information and video image of collection are sent to the intelligent managing and control system.
The beneficial effect that the present invention is brought：The Current terrestrial two dimension patrol visual field is not only expanded to three-dimensional by the present invention, and
And cooperated by unmanned plane and unmanned vehicle, the cruising time of unmanned plane is extended, realize remote control with autonomous control
It is combined with each other so that collaboration patrol system more intelligent and easy to operateization.
For above-mentioned and related purpose, one or more embodiments include will be explained in below and in claim
In the feature that particularly points out.Following explanation and accompanying drawing describes some illustrative aspects in detail, and its indicate be only
Some modes in the utilizable various modes of principle of each embodiment.Other benefits and novel features will be under
The detailed description in face is considered in conjunction with the accompanying and becomes obvious, the disclosed embodiments be will include all these aspects and they
Be equal to.
Brief description of the drawings
Fig. 1 is that a kind of unmanned plane of the invention cooperates patrol system block diagram with unmanned vehicle；
Fig. 2 is unmanned plane internal structure schematic diagram；
Fig. 3 is unmanned vehicle internal structure schematic diagram；
Fig. 4 is the internal structure schematic diagram of the multisensor complex navigation module of unmanned plane；
Fig. 5 is the internal structure schematic diagram of the navigation module of unmanned vehicle；
Fig. 6 is that a kind of unmanned plane of the invention cooperates the schematic flow sheet of patrol method with unmanned vehicle.
Specific embodiment
The following description and drawings fully show specific embodiments of the present invention, to enable those skilled in the art to
Put into practice them.Other embodiments can include structure, logic, it is electric, process and it is other changes.Embodiment
Only represent possible change.Unless explicitly requested, otherwise single components and functionality is optional, and the order for operating can be with
Change.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.This hair
The scope of bright embodiment includes the gamut of claims, and all obtainable of claims is equal to
Thing.
As shown in Fig. 1 to 5, in some illustrative embodiments, there is provided a kind of unmanned plane cooperates with unmanned vehicle and goes on patrol system
System, it is adaptable to intelligent patrol, forest fire protection monitoring, including：Unmanned plane, unmanned vehicle and intelligent managing and control system, the unmanned plane and
Unmanned vehicle sets up communication link and realizes information exchange with ground intelligent managing and control system by wireless signal, specifically, passing through 3G/
4G, wireless image transmission, wireless data sending and big-dipper satellite short message composite communication mode set up communication link.
Unmanned vehicle includes two kinds, and a kind of road conditions that are adaptable to are good, and designated area, i.e. target are reached for delivering unmanned plane
Patrol point, and can carry out battery altering to unmanned plane, a kind of obstacle detouring that is adaptable to.Unmanned plane is used to be assisted with unmanned vehicle
Make, aerial region is gone on patrol, tripper is set on unmanned vehicle, unmanned plane is arranged on unmanned vehicle simultaneously by tripper
Delivered to patrol impact point by unmanned vehicle.The tripper uses Electromagnetic Control mechanism, by controlling tripper unblock group
Reset assembly makes the electromagnet of disconnection reset in the adhesive of electromagnet and tripper in part, and then completes the unblock of unmanned plane
With fixation.Intelligent managing and control system is returned as the brain centres system of multi-machine collaborative for reception processing unmanned plane and unmanned vehicle
Monitoring information and carry out cotasking distribution and treatment.Allotment unmanned plane, two kinds of unmanned vehicles or three are needed according to scene
Collaboration patrol, when collaboration patrol is needed, is taken unmanned plane to impact point by unmanned vehicle and is discharged.
Unmanned plane includes：Wireless data transmission module 1, central control module 2, multisensor complex navigation module 3, driver 4,
Executing agency 5, electric quantity acquisition module 6, generator terminal communication module 7, head 8, camera 9, wireless image transmission module 10, video camera 11 and patrol
Patrol device.Patrol device includes that harm gas detection sensor, Temperature Humidity Sensor, omni-directional camera, infrared vision are passed
Sensor.
Multisensor complex navigation module 3 and electric quantity acquisition module 6 are connected with the information input terminal of central control module 2,
Driver 4, video camera 11 and head 8 are connected with the control output end of central control module 2, the communication of wireless data transmission module 1, generator terminal
Module 7 is connected with central control module 2.Central control module 2 includes embeded processor and related peripheral device, is responsible for nobody
The autonomous even running of machine, and according to the instruction autonomous flight of ground intelligent managing and control system to target location.Driver 4 is used for driving
The motion of dynamic executing agency 5, executing agency 5 includes：Wing, propeller, foot stool, undercarriage, motor.Wireless data transmission module 1, machine
End communication module 7 and the composition generator terminal man-machine interactive system of wireless image transmission module 10, are responsible for and intelligent managing and control system interactive information, to
Intelligent managing and control system sends current location information and the image information for monitoring, while can also receive the task that managing and control system is issued
Information.Camera 9 is arranged on head 8, and head 8 is for the stability for increasing camera 9, the appearance of take pictures video recording switching and adjustment camera
State angle, generator terminal communication module 7 is communicated by 2G networks, 3G network, 4G networks or big-dipper satellite short message with intelligent managing and control system,
Camera 9 is sent to intelligent managing and control system the picture of shooting by wireless image transmission module 10, and video camera 11 is by described without line chart
Transmission module 10 sends to intelligent managing and control system the picture of shooting, video information.The figure that video camera 11 will be shot by cloud network
Head mounted display as being transferred to intelligent managing and control system, more preferable visual angle and experience are obtained by augmented reality.
Unmanned vehicle includes：Navigation module 12, motion-control module 13, car end driver 14, Che Duan executing agencies 15, Che Duan
Wireless data transmission module 16, car end communication module 17, car end camera 18 and car end wireless image transmission module 19.
Navigation module 12 is connected with the information input terminal of motion-control module 13, car end driver 14 and car end camera 18
Control output end with motion-control module 13 is connected, and car end wireless data transmission module 16 constitutes car people from end with car end communication module 17
Machine interactive system, is connected with motion-control module 13, and car end wireless data transmission module 16 is timely by the oneself state information of unmanned vehicle
Be sent to intelligent managing and control system, car end communication module 17 by 2G networks, 3G network, 4G networks or big-dipper satellite short message with
Intelligent managing and control system leads to.Motion-control module 13 is responsible for the stable operation of unmanned vehicle and indicates to reach mesh according to intelligent managing and control system
Mark place.Car end driver 14 is used for driving the motion of Che Duan executing agencies 15, and Che Duan executing agencies 15 include：Wheel, motor,
Motion-control module 13 controls car end to perform after receiving the mission bit stream that intelligent managing and control system is issued by car end driver 14
Mechanism 15 operates.Car end camera 18 is sent to intelligent managing and control system the video of shooting by car end wireless image transmission module 19.
Intelligent managing and control system includes：Display interface, communication module 20 and computing module 21, communication module 20 and computing module
21 connections, computing module 21 is used to be calculated to judge that whether unmanned plane may be used according to the information about power and positional information of unmanned plane
With the starting point that voluntarily flies back.Intelligent managing and control system is included by communication module 20 and unmanned plane and unmanned communication, communication module 20
2G/3G/4G modules, Big Dipper message communication module, wireless image transmission communication module and wireless digital transmission communication module.Base station is more, honeybee
The strong place of nest signal is communicated by 2G/3G/4G modules, and in remote districts, base station is few, signal is weak or even without cellular signal
Under conditions of by big-dipper satellite message functional realiey information exchange, unmanned plane and unmanned vehicle positional information, information about power pass through
Wireless digital transmission communication module is communicated with intelligent managing and control system, and patrol device sets up communication chain by wireless image transmission communication module
Road sends the images to ground intelligent managing and control system.
The display interface of intelligent managing and control system includes a cotasking distribution and intelligent management interface, is responsible for being in time nothing
The patrol mission of man-machine automatic electric energy supplementing, coordinated allocation unmanned plane and unmanned vehicle.Specifically include：One unmanned plane image information
Display interface, for showing the image information in the range of unmanned plane patrol, two image information display interfaces of unmanned vehicle are used for
Display unmanned vehicle surrounding enviroment image information；One electronic map interface shows the position that unmanned plane and unmanned vehicle are presently in real time
Put.
During work, intelligent managing and control system issues mission bit stream to unmanned plane and unmanned vehicle, and unmanned vehicle delivers unmanned plane to patrolling
After patrolling impact point, both start execution task, after the completion of execution task, intelligent managing and control system issue preliminary return instruction to nobody
Machine and unmanned vehicle.After unmanned plane receives preliminary return instruction, the multisensor complex navigation module 3 of unmanned plane gather now without
Man-machine positional information, the current unmanned plane information about power of the collection of electric quantity acquisition module 6 of unmanned plane, unmanned vehicle is received tentatively
After return instruction, the navigation module 12 of unmanned vehicle gathers the positional information of now unmanned vehicle.Unmanned plane passes through wireless data transmission module 1
Information about power and positional information are sent to intelligent managing and control system, unmanned vehicle passes through car end wireless data transmission module 16 by positional information
Send to intelligent managing and control system.The computing module 21 of intelligent managing and control system receives the information about power of unmanned plane by communication module 20
And positional information, being calculated, analytical calculation charge value disclosure satisfy that the mileage requirement of return, if unmanned plane can be returned voluntarily
Return, then intelligent managing and control system issues determination return instruction to unmanned plane and unmanned vehicle by communication module 20, if unmanned plane cannot
Voluntarily return, then intelligent managing and control system is sent to unmanned plane, center control the positional information of unmanned vehicle by communication module 20
Module 2 controls executing agency 5 to operate after receiving the positional information of unmanned vehicle by driver 4 so that unmanned plane drops to nothing
On people's car.
Multisensor complex navigation module 3 includes：Inertial Measurement Unit, GPS, light flow sensor, laser scanning
Rangefinder, state estimator, the information input terminal of Inertial Measurement Unit, GPS and light flow sensor and state estimator
Connection.Inertial Measurement Unit is used to measure unmanned plane three-axis attitude angle and elevation information, and GPS is used to provide unmanned plane warp
Latitude and velocity information, light flow sensor are used to export unmanned plane X-axis and Y-axis Optic flow information, indoors the bad feelings of gps signal
Under condition, indoor accurate position, hovering, light flow sensor output X-axis, Y-axis Optic flow information can be realized by light flow sensor.Shape
State estimator is the state estimator based on Kalman filter, i.e. state estimator includes：Kalman filter, inertia is surveyed
Amount unit, GPS, the information feeding state estimator of light flow sensor output, data are carried out by Kalman filter
Fusion finally gives the information such as attitude angle, longitude and latitude, height, the speed of unmanned plane needs.It is nothing that laser scanning and ranging instrument is used for
Man-machine real-time meridian tyre, i.e., the map structuring for indoor and outdoor go forward side by side walking along the street footpath be planned to unmanned plane provide track reference
Value.
The navigation module 12 of unmanned vehicle includes：Car end Inertial Measurement Unit, car end GPS, the laser scanning of car end are surveyed
The information input of distance meter, car end state estimator, car end Inertial Measurement Unit and car end GPS and car end state estimator
End connection, car end state estimator includes：Car end Kalman filter.Car end Inertial Measurement Unit is used to measure unmanned vehicle two dimension
Attitude angle information, car end GPS is used to detecting the longitude and latitude and velocity information of unmanned vehicle, car end Inertial Measurement Unit with
GPS output information feeding car end state estimator, carries out data fusion and finally gives by car end Kalman filter
Attitude angle, longitude and latitude, velocity information that unmanned vehicle needs.The map structuring that car end laser scanning and ranging instrument is used for indoor and outdoor is gone forward side by side
Walking along the street footpath is planned to unmanned vehicle and provides track reference value.
As shown in Figure 6, there is provided a kind of unmanned plane cooperates patrol method with unmanned vehicle, including：
101：Intelligent managing and control system needs the running orbit of planning unmanned vehicle and unmanned plane and appoints according to patrol scene on the spot
Business.
102：Intelligent managing and control system allocates unmanned vehicle, and mission bit stream is sent to unmanned vehicle and unmanned plane.Mission bit stream
Including：Plan the flight path route for completing, the delivery coordinate of impact point, the route in patrol mission region, task place, need collection
Data.
103：Whether intelligent managing and control system real-time judge unmanned vehicle reaches target patrol point, if reaching, carries out step 104,
Otherwise return to step 103.
104：Intelligent managing and control system allocates unmanned plane, and unmanned plane is delivered to patrol impact point, treated by unmanned vehicle by starting point
Unmanned vehicle will unlock unmanned plane tripper after coming to a complete stop discharges unmanned plane.
105：Unmanned vehicle and unmanned plane are patrolled according to the environmental information in mission bit stream acquisition tasks region to mission area
Patrol monitoring and the environmental information and video image of collection are sent to intelligent managing and control system and observed for management and control center personnel.
106：Intelligent managing and control system issues preliminary return instruction to unmanned plane and unmanned vehicle.
107：After unmanned plane receives preliminary return instruction, stop information about power and positional information hair that is mobile and gathering itself
Deliver to intelligent managing and control system.
108：After unmanned vehicle receives preliminary return instruction, stop movement and gather the positional information of itself to send to intelligent pipe
Control system.
109：Intelligent managing and control system calculates the mileage requirement that information about power disclosure satisfy that return, according to the unmanned plane for receiving
Information about power and positional information judge whether unmanned plane can voluntarily fly back starting point.
110：If it is determined that result can voluntarily fly back starting point for unmanned plane, intelligent managing and control system is sent out to unmanned plane and unmanned vehicle
Determination return instruction is sent, unmanned vehicle returns to starting point respectively with unmanned plane.
111：If it is determined that result cannot voluntarily fly back starting point for unmanned plane, intelligent managing and control system believes the position of unmanned vehicle
Breath is sent to unmanned plane, the position of unmanned plane unmanned vehicle according to a preliminary estimate, and unmanned plane needs to open vision full when close to unmanned vehicle
The fixed coordinates of sensor accurate detection unmanned vehicle, then adjust itself attitude until stabilization drops to the precalculated position of unmanned vehicle
On, unmanned vehicle determines that unmanned plane fixes tripper after parking correctly according to the information of orientation detection sensors, then by nothing
The delivery of people's car together returns to starting point.
It should also be appreciated by one skilled in the art that the various illustrative box, the mould that are described with reference to the embodiments herein
Block, circuit and algorithm steps can be implemented as electronic hardware, computer software or its combination.In order to clearly demonstrate hardware and
Interchangeability between software, is carried out to various illustrative parts, frame, module, circuit and step around its function above
It is generally described.Hardware is implemented as this function and is also implemented as software, depending on specific application and to whole
The design constraint that system is applied.Those skilled in the art can be directed to each application-specific, be realized in the way of accommodation
Described function, but, it is this to realize that decision-making should not be construed as the protection domain away from the disclosure.
Claims (8)
1. a kind of unmanned plane cooperates patrol system with unmanned vehicle, it is characterised in that including：Unmanned plane, unmanned vehicle and for receiving
Process the unmanned plane and the unmanned vehicle monitoring information for returning and the intelligent managing and control system for carrying out cotasking distribution and treatment, institute
State and tripper is set on unmanned vehicle, the unmanned plane is arranged on the unmanned vehicle and by the nothing by the tripper
People's car is delivered to patrol impact point；
The unmanned plane includes：Wireless data transmission module, central control module, multisensor complex navigation module, driver, execution
Mechanism and electric quantity acquisition module, the multisensor complex navigation module and electric quantity acquisition module and the central control module
Information input terminal is connected, and the driver is connected with the control output end of the central control module, the central control module
Receive the positional information and the electric quantity acquisition mould for the multisensor complex navigation module being gathered after preliminary return instruction
The unmanned plane information about power of block collection is sent to the intelligent managing and control system, the center control by the wireless data transmission module
Module is operated after receiving the positional information of the unmanned vehicle by executing agency described in the driver control so that the nothing
It is man-machine to drop on the unmanned vehicle；
The intelligent managing and control system includes：Communication module and the computing module being connected with the communication module, the communication module
Information about power and positional information for receiving the unmanned plane, the computing module according to the unmanned plane information about power and
Positional information is calculated to judge whether the unmanned plane can voluntarily fly back starting point, and by the communication module to institute
State unmanned plane and issue return instruction with unmanned vehicle.
2. a kind of unmanned plane according to claim 1 cooperates patrol system with unmanned vehicle, it is characterised in that the unmanned plane
Also include：Generator terminal communication module, head, camera, wireless image transmission module and video camera, the generator terminal communication module and the center
Control module is connected, and the head and video camera are connected with the control output end of the central control module, and the camera is installed
On the head, the generator terminal communication module passes through 2G networks, 3G network, 4G networks or big-dipper satellite short message and the intelligence
Energy managing and control system communication, the camera is sent to the intelligent management and control system picture of shooting by the wireless image transmission module
System, the camera is sent to the intelligent managing and control system picture of shooting, video information by the wireless image transmission module.
3. a kind of unmanned plane according to claim 2 cooperates patrol system with unmanned vehicle, it is characterised in that many sensings
Device complex navigation module includes：For measuring the Inertial Measurement Unit at unmanned plane three-axis attitude angle and elevation information, for providing
The GPS of unmanned plane longitude and latitude and velocity information, the light flow sensor for exporting unmanned plane X-axis and Y-axis Optic flow information,
For laser scanning and ranging instrument, state estimator for the real-time meridian tyre of unmanned plane, the Inertial Measurement Unit, GPS receiver
Machine and light flow sensor are connected with the information input terminal of the state estimator；The state estimator includes：Kalman filtering
Device, the Kalman filter is used for data fusion and calculates attitude angle, longitude and latitude, height and the speed data of unmanned plane.
4. a kind of unmanned plane according to claim 3 cooperates patrol system with unmanned vehicle, it is characterised in that the unmanned vehicle
Including：Navigation module, motion-control module, car end driver, Che Duan executing agencies, car end wireless data transmission module, the communication of car end
Module, car end camera and car end wireless image transmission module；The information input terminal of the navigation module and the motion-control module
Connection, car end driver and car end camera are connected with the control output end of the motion-control module；The motion control
Molding block is held after receiving the mission bit stream that the intelligent managing and control system is issued by car end described in the driver control of the car end
Row organisation operations；Car end wireless data transmission module is connected with the motion-control module, by the oneself state information of unmanned vehicle
It is sent to the intelligent managing and control system；Car end communication module passes through 2G networks, 3G network, 4G networks or the short report of big-dipper satellite
It is literary to be communicated with the intelligent managing and control system；Car end camera is sent out by the video that the car end wireless image transmission module will shoot
Deliver to the intelligent managing and control system.
5. a kind of unmanned plane according to claim 4 cooperates patrol system with unmanned vehicle, it is characterised in that the unmanned vehicle
Navigation module include：For measuring the car end Inertial Measurement Unit of unmanned vehicle two-dimensional attitude angle information, for detecting unmanned vehicle
Longitude and latitude and velocity information car end GPS, car end laser scanning and ranging instrument, car end state estimator；The car end
Inertial Measurement Unit and car end GPS are connected with the information input terminal of car end state estimator；Car end state
Estimator includes：Car end Kalman filter, car end Kalman filter is used for data fusion and calculates unmanned vehicle
Attitude angle, longitude and latitude and speed data.
6. a kind of unmanned plane cooperates patrol method with unmanned vehicle, it is characterised in that including：
Unmanned plane is delivered to patrol impact point and discharges the unmanned plane by unmanned vehicle by starting point；
After the unmanned plane receives preliminary return instruction, stop it is mobile and gather the information about power and positional information of itself send to
Intelligent managing and control system；
After the unmanned vehicle receives preliminary return instruction, stop movement and gather the positional information of itself to send to the intelligence pipe
Control system；
The intelligent managing and control system judges the unmanned plane according to the information about power and positional information of the unmanned plane for receiving
Whether can voluntarily fly back starting point；
If it is determined that result can voluntarily fly back starting point for unmanned plane, the intelligent managing and control system to the unmanned plane with it is described nobody
Car sends and determines return instruction, and the unmanned vehicle returns to starting point respectively with the unmanned plane；
If it is determined that result cannot voluntarily fly back starting point for unmanned plane, the intelligent managing and control system believes the position of the unmanned vehicle
Breath is sent to the unmanned plane, the place where the unmanned plane during flying to the unmanned vehicle, and is returned back out by the unmanned vehicle band
Hair point.
7. a kind of unmanned plane according to claim 6 cooperates patrol method with unmanned vehicle, it is characterised in that also include：
The intelligent managing and control system sends to the unmanned vehicle and the unmanned plane mission bit stream；
The mission bit stream includes：Plan complete flight path route, the delivery coordinate of impact point, the route in patrol mission region,
Task place, the data for needing collection.
8. a kind of unmanned plane according to claim 7 cooperates patrol method with unmanned vehicle, it is characterised in that also include：
The unmanned vehicle and unmanned plane are patrolled according to the environmental information in the mission bit stream acquisition tasks region to mission area
Patrol monitoring and the environmental information and video image of collection are sent to the intelligent managing and control system.
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| CN116989771A (en) * | 2023-09-18 | 2023-11-03 | 中冶建筑研究总院有限公司 | Ground-air cooperation method, system and device for detecting structural defects |
| CN117129637B (en) * | 2023-10-25 | 2024-01-12 | 北京英视睿达科技股份有限公司 | Urban NO2 monitoring method based on mobile unmanned aerial vehicle nest |
| CN117129637A (en) * | 2023-10-25 | 2023-11-28 | 北京英视睿达科技股份有限公司 | Urban NO2 monitoring method based on mobile unmanned aerial vehicle nest |
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