CN107463185A - Smog Long Range Detecting and Ranging and its method of work based on unmanned plane - Google Patents

Smog Long Range Detecting and Ranging and its method of work based on unmanned plane Download PDF

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Publication number
CN107463185A
CN107463185A CN201710663205.1A CN201710663205A CN107463185A CN 107463185 A CN107463185 A CN 107463185A CN 201710663205 A CN201710663205 A CN 201710663205A CN 107463185 A CN107463185 A CN 107463185A
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vehicle
smog
unmanned plane
base station
processor module
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不公告发明人
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/0004Gaseous mixtures, e.g. polluted air
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • B64C39/024Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/3407Route searching; Route guidance specially adapted for specific applications
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N15/00Investigating characteristics of particles; Investigating permeability, pore-volume, or surface-area of porous materials
    • G01N15/06Investigating concentration of particle suspensions
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/0004Gaseous mixtures, e.g. polluted air
    • G01N33/0009General constructional details of gas analysers, e.g. portable test equipment
    • G01N33/0073Control unit therefor
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/04Control of altitude or depth
    • G05D1/042Control of altitude or depth specially adapted for aircraft
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/12Target-seeking control
    • GPHYSICS
    • G08SIGNALLING
    • G08BSIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00Fire alarms; Alarms responsive to explosion
    • G08B17/10Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00UAVs specially adapted for particular uses or applications
    • B64U2101/30UAVs specially adapted for particular uses or applications for imaging, photography or videography

Abstract

The present invention relates to a kind of smog Long Range Detecting and Ranging and its method of work based on unmanned plane.The system includes:Suitable for detecting the unmanned plane of smog, and the base station server with the unmanned plane wireless telecommunications, smog Long Range Detecting and Ranging involved in the present invention and its detection method to the direction of pollution sources can just sentence, then it is accurately positioned again, accurately to lock the geographical position that area occurs for smog, with the advantages of accuracy of judgement, positioning precision is high;And it can also check that the concrete condition in area occurs for smog by aerial device, be easy to the staff of base station server to appoint vehicle, enforced the law or taken corresponding measure(Such as rescue, measure of putting out a fire), corresponding guidance path can also be specified according to the vehicle radius of turn data appointed, to ensure that relevant work personnel can quickly reach the spot.

Description

Smog Long Range Detecting and Ranging and its method of work based on unmanned plane
Technical field
The present invention relates to a kind of unmanned plane, and in particular to a kind of smog Long Range Detecting and Ranging based on independent navigation unmanned plane And its detection method.
Background technology
Traditional smog Long Range Detecting and Ranging often can only some region of air pollution degree of static instrumentation, can not realize More ground region measurement, and traditional smog Long Range Detecting and Ranging can not be accurately positioned to pollution sources.
Therefore, in order to solve the above-mentioned technical problem, the invention provides a kind of smog based on independent navigation unmanned plane is remote Journey detection system and its detection method.
The content of the invention
It is an object of the invention to provide a kind of based on the smog Long Range Detecting and Ranging of independent navigation unmanned plane and its detection side Method, by being detected, being monitored to pollution sources with unmanned plane realization.
In order to solve the above-mentioned technical problem, the invention provides a kind of smog Long Range Detecting and Ranging, including:Suitable for detecting cigarette The unmanned plane of mist, and the base station server with the unmanned plane wireless telecommunications.
Further, the unmanned plane includes:Airborne processor module, the Smoke Detection being connected with the airborne processor module Sensing unit, airborne navigation positioning module;When the unmanned plane detects smog in flight course, the airborne processor Module is positioned with being currently located according to airborne navigation positioning module to aircraft, and location data is sent to base station and serviced Device.
Further, the airborne processor module is further adapted for the wind direction data of this area sent according to base station server, Determine that the direction in area occurs for smog.
Further, after unmanned plane detects smog, the airborne processor module controls unmanned plane around smoke region disk Rotation, to lock current smoke region;And after smoke region is locked, unmanned plane enters smog area, and dives downwards, adjusts simultaneously Flight attitude makes unmanned plane fly nearly smog in smoke zone all the time area occurs, i.e., when unmanned plane is in process of subduction, if smog When detection sensing unit detects that unmanned plane departs from smoke zone, flight attitude is corrected, so that unmanned plane is maintained in smoke zone, by Gradually fly nearly smog and area occurs, after unmanned plane reaches certain altitude, area is occurred to smog and locked, and smog is occurred The exact position in area is sent to base station server.
Further, the unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server;The smog Long Range Detecting and Ranging also includes:With the onboard navigation system of base station server radio communication;The onboard navigation system is suitable to root This area is driven into the exact position that area occurs for the smog sent according to unmanned plane as target location guiding vehicle;It is described vehicle-mounted to lead Boat system includes:In-vehicle processor module, the automotive positioning module being connected with the in-vehicle processor module, data storage mould Block;The data memory module is stored with map datum, vehicle radius of turn data;The in-vehicle processor module is suitable to basis Vehicle current location and target location, and combine the radius of turn data schema guidance path of Current vehicle.
Further, if the in-vehicle processor module is suitable to precompute between vehicle current location and target location Dry bar preliminary planning guidance path;And corresponding bend section is searched in each preliminary planning guidance path, and according to this vehicle institute Corresponding each bend section of radius of turn data screening, that is, obtain the planning navigation road corresponding to the bend section for being adapted to this vehicle Footpath.
Further, the min. turning radius r corresponding to this vehicle is obtained from vehicle radius of turn data;The processor Suitable for turning radius Rs of the min. turning radius r with each bend section is compared, filter out turning radius R and be more than or equal to minimum Radius of turn r bend section, and planned again according to the bend section after each screening and vehicle current location and target location Guidance path.
Further, the in-vehicle processor module is further adapted for the real-time road in the bend section of acquisition being classified, i.e., It is divided into unimpeded, jogging, crowded, four kinds of ranks of congestion, and turning radius R is repaiied using four kinds of ranks as corresponding weight Just;That is R1=R* (1-kx);In formula, R1 is revised turning radius, and k is weight coefficient, representing unimpeded respectively, walking or drive slowly, gathering around Squeeze, four kinds of ranks of congestion, x is bend correction factor, takes 0<x<1.
Further, the in-vehicle processor module is also connected with back wheels of vehicle steering;After vehicle is entering bend, car Borne processor module is according to the bend section obtained from map and with reference to current vehicle speed, on the basis of front-wheel steer, from The steering angle of dynamic adjustment trailing wheel, i.e. vehicle realize trailing wheel toe-in when turning to.
Another aspect, in order to solve above-mentioned same technical problem, present invention also offers a kind of smog remote probe side Method, smoke region is detected by unmanned plane, and detection data is sent to base station server.
Further, the unmanned plane includes:Airborne processor module, the Smoke Detection being connected with the airborne processor module Sensing unit, airborne navigation positioning module;When the unmanned plane detects smog in flight course, the airborne processor Module is positioned with being currently located according to airborne navigation positioning module to aircraft, and location data is sent to base station and serviced Device;
The airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines smog The direction in area;When unmanned plane detects smog, the airborne processor module control unmanned plane spirals around smoke region, by Tapered small scope of spiraling, to lock current smoke region, and after smoke region is locked, unmanned plane enters smog area, and downwards Dive, while adjusting flight attitude makes unmanned plane fly nearly smog generation area in smoke zone all the time, i.e., when unmanned plane is diving During, if Smoke Detection sensing unit detects that unmanned plane departs from smoke zone, flight attitude is corrected, so that unmanned plane is kept In smoke zone, gradually fly nearly smog and area occurs, after unmanned plane reaches certain altitude, area is occurred to smog and locked It is fixed, and regional exact position is occurred for smog and is sent to base station server.
Further, the unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server;It is and described Smog Long Range Detecting and Ranging also includes:With the onboard navigation system of base station server radio communication;
Draw as target location the exact position that area occurs for the smog that the onboard navigation system is suitable to be sent according to unmanned plane Guide-car drives into this area;The onboard navigation system includes:In-vehicle processor module, it is connected with the in-vehicle processor module Automotive positioning module, data memory module;The data memory module is stored with map datum, vehicle radius of turn number According to;
The in-vehicle processor module is suitable to according to vehicle current location and target location, and combines the turning half of Current vehicle Footpath data schema guidance path;The in-vehicle processor module is suitable to precompute between vehicle current location and target location Some preliminary planning guidance paths;And corresponding bend section is searched in each preliminary planning guidance path, and according to this car Each bend section of radius of turn data screening corresponding to type, that is, obtain the planning corresponding to the bend section for being adapted to this vehicle and lead Bit path;
The min. turning radius r corresponding to this vehicle is obtained from vehicle radius of turn data;
The processor is suitable to compare turning radius Rs of the min. turning radius r with each bend section, filters out turning radius R is more than or equal to min. turning radius r bend section, and according to the bend section after each screening and vehicle current location and target Again guidance path is planned in position;
The in-vehicle processor module is further adapted for the real-time road in the bend section of acquisition being classified, that is, is divided into unimpeded, slow Capable, crowded, four kinds of ranks of congestion, and turning radius R is modified using four kinds of ranks as corresponding weight;That is R1=R* (1- kx);
In formula, R1 is revised turning radius, and k is weight coefficient, to represent unimpeded respectively, walk or drive slowly, crowded, four kinds of levels of congestion Not, x is bend correction factor, takes 0<x<1;
The in-vehicle processor module is also connected with back wheels of vehicle steering;
After vehicle is entering bend, in-vehicle processor module is according to the bend section obtained from map and with reference to current vehicle Speed, on the basis of front-wheel steer, the steering angle of adjust automatically trailing wheel, i.e. vehicle realize trailing wheel toe-in when turning to.
The beneficial effects of the invention are as follows:Smog Long Range Detecting and Ranging involved in the present invention and its detection method can be to dirts The direction in dye source just sentence, and is then accurately positioned again, accurately to lock the geographical position that area occurs for smog, has and sentences The advantages of it is accurate to break, and positioning precision is high;And it can also check that the concrete condition in area occurs for smog by aerial device, be easy to The staff of base station server appoints vehicle, is enforced the law or taken corresponding measure(Such as rescue, measure of putting out a fire), can be with Vehicle radius of turn data according to appointing specify corresponding guidance path, to ensure that it is existing that relevant work personnel can quickly reach .
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the theory diagram of the smog Long Range Detecting and Ranging of the present invention;
Fig. 2 is unmanned plane around smoke region spiral path;
Fig. 3 is underriding track of the unmanned plane in smoke zone;
Fig. 4 is the urban road path of simulation.
In figure:Area 4 occurs for unmanned plane 1, smoke region 2, smoke zone 3, smog.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
As shown in figure 1, embodiment 1 provides a kind of smog Long Range Detecting and Ranging, including:Suitable for detecting the unmanned plane of smog, with And the base station server with the unmanned plane wireless telecommunications.
The unmanned plane includes:Airborne processor module, the Smoke Detection sensing being connected with the airborne processor module are single First, airborne navigation positioning module;When the unmanned plane detects smog in flight course, the airborne processor die root tuber Aircraft is positioned with being currently located according to airborne navigation positioning module, and location data is sent to base station server.
Wherein, unmanned plane can use 2G, 3G or 4G wireless network, or GPRS wireless communication modes to enter with base station server Row wireless telecommunications, airborne processor module can pass through a variety of known wireless means(Such as less radio-frequency)It is attached.Unmanned plane It can also be communicated wirelessly between base station server through Satellite Communication System.
Wherein, Smoke Detection sensing unit include and be not limited to PM2.5 detection sensors, PM10 detection sensors, smog Sensor etc..
The airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines smog The direction in area occurs.
Wherein, the altitude information of aircraft can be obtained by pneumatic process or GPS methods.
As shown in Figures 2 and 3, when unmanned plane detects smog, the airborne processor module controls unmanned plane around cigarette Spiral in fog-zone domain(Scope of spiraling is gradually reduced)To lock current smoke region, and after smoke region is locked, unmanned plane enters Smog area, and dive downwards, while adjusting flight attitude makes unmanned plane fly nearly smog generation area in smoke zone all the time, that is, works as Unmanned plane is in process of subduction, if Smoke Detection sensing unit detects that unmanned plane departs from smoke zone, corrects flight attitude, with Unmanned plane is set to be maintained in smoke zone(When it is implemented, it can come by using the video, picture and Smoke Sensor of shooting real When judge), gradually fly nearly smog and area occurs, after unmanned plane reaches certain altitude, area is occurred to smog and locked, and The exact position for smog being occurred area is sent to base station server.
The adjustment of the flight attitude can be realized by the gyroscope being connected with airborne processor module.
Wherein, the method for locking can be locked using airborne heat sensor to target, or pass through aerial device people Work locks, and can also use image procossing(Or by manually remotely to the Real Time Observation of video, picture)Target is carried out voluntarily Locking;Obtaining the method for the exact position that area occurs for smog includes and is not limited to:When area occurs for unmanned plane locking smog(Build Build the places such as thing, building site)Afterwards, fly that the positive overhead in area occurs to smog, the position for recording current unmanned plane is sent out as the smog The exact position in dried rhizome of rehmannia area is sent to base station server.
Regional method is occurred to obtain the exact position that area occurs for smog close to smog in smoke zone by unmanned plane, Effectively avoid when haze occurs, unmanned plane can not be accurately positioned smog in high-altitude and the problem of regional occurs.
The unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server;The smog is remotely visited Examining system also includes:With the onboard navigation system of base station server radio communication;The onboard navigation system is suitable to according to nobody This area is driven into the exact position that area occurs for the smog that machine is sent as target location guiding vehicle;The onboard navigation system Including:In-vehicle processor module, the automotive positioning module being connected with the in-vehicle processor module, data memory module;Institute State data memory module and be stored with map datum, vehicle radius of turn data;The in-vehicle processor module is suitable to according to vehicle Current location and target location, and combine the radius of turn data schema guidance path of Current vehicle.
By the aerial device, the reason for smog occurs can be clearly checked in the staff of base station server, Or factory's pollution, or fire, or burn away the refuse, in order to appoint corresponding vehicle to be handled, such as fire fighting truck, rescue Protect car or corresponding enforcement vehicle.
Quickly vehicle can will be appointed to sail to scene by the onboard navigation system.
Airborne, the in-vehicle processor module for example with embedded chip, the in-vehicle processor module also with touch Screen is connected, in order to carry out corresponding input operation and display.
Specifically, the vehicle radius of turn data include but is not limited to the length and width of all kinds vehicle, wheelbase, vehicle The data such as radius of turn;The processor can input vehicle by interpersonal interactive interface, and from vehicle radius of turn data The radius of turn data that middle lookup matches with the vehicle, and the weight using the radius of turn data as navigation programming guidance path Will foundation.
In all kinds vehicle:In-between car 8.00~12.00, common fire fighting truck 9.00, large-scale fire fighting truck 12.00, ascend a height Fire fighting truck 12.00, some special type fire control vehicles 16.00~20.00, unit:Rice.
The in-vehicle processor module is suitable at the beginning of precomputing some between vehicle current location and target location Step planning guidance path;And corresponding bend section is searched in each preliminary planning guidance path, and according to corresponding to this vehicle Each bend section of radius of turn data screening, that is, the planning guidance path corresponding to the bend section for being adapted to this vehicle is obtained, should It can be one or some to plan guidance path, so that driver is selected.
Fig. 4 is the urban road path of simulation, and A is vehicle current location, B is that objective, remaining each point represent respectively Each turning section in city.
Setting vehicle current location A to objective B path have:ACDFEB, AKJIHGB, ACDFIHGB, if turning road Section H radius of turn is smaller, is 6m, if selection Current vehicle is a certain medium sized vehicle, min. turning radius r is 8m, then turns Section H radius of turn is less than 8m, therefore this navigation system is rejected in tri- paths of ACDFEB, AKJIHGB, ACDFIHGB with turning Corresponding planning guidance path relevant detour section H, therefore select ACDFEB to arrive at B.
Also, optional, the processor is further adapted for the selected each bend section for meeting vehicle turning and requiring, and according to car Current location and target location, it is minimum or distance is most short for condition with the used time, and planned again according to above-mentioned each bend section Guidance path, to obtain optimum programming guidance path.
By selecting the vehicle of Current vehicle from vehicle radius of turn data, that is, obtain the vehicle corresponding to this vehicle Length and width, wheelbase, min. turning radius r.
The processor is suitable to compare turning radius Rs of the min. turning radius r with each bend section, and screening is gone off the curve Radius R is more than or equal to min. turning radius r bend section, and according to the bend section after each screening and vehicle current location and Again guidance path is planned in target location.
The in-vehicle processor module is further adapted for the real-time road in the bend section of acquisition being classified, that is, is divided into smooth Logical, jogging, crowded, four kinds of ranks of congestion, and turning radius R is modified using four kinds of ranks as corresponding weight;That is R1= R*(1-kx);In formula, R1 is revised turning radius, and k is weight coefficient, to represent unimpeded respectively, walk or drive slowly, crowded, congestion Four kinds of ranks, x are bend correction factor, take 0<x<1.
Wherein, the value of the weight coefficient k for example take 0,1,2,3 with respectively with it is unimpeded, jogging, crowded, four kinds of congestion Rank is corresponding, and bend correction factor x value can obtain based on experience value, such as take 0.1.For example turning radius R is 50m, when unimpeded, R1=50m;In jogging, R1=45m;When crowded, R1=40m;In congestion, R1=35m;That is, in path During planning, this navigation system is further adapted for, according to real-time road, adjusting and being modified radius of turn, to meet that turn inside diameter will Ask, and then realize and path is planned again.
Or by taking Fig. 4 as an example, if setting vehicle current location A to objective B path have:ACDFEB、AKJIHGB、 ACDFIHGB, if turning section H is unsatisfactory for the requirement of Current vehicle radius of turn, and because D sections get congestion, cause to turn After radius amendment also can not vehicle turn radius requirement, then this navigation system plans guidance path, i.e. AKJIFEB again, with full Sufficient vehicle pass-through requirement.
Wherein, real-time road can be obtained by wireless module from road monitoring server.The wireless module can be with Using 3G/4G modules.
The in-vehicle processor module is also connected with back wheels of vehicle steering;After vehicle is entering bend, on-board processing Device module is according to the bend section obtained from map and with reference to current vehicle speed, on the basis of front-wheel steer, adjust automatically The steering angle of trailing wheel, that is, vehicle is realized when turning to, trailing wheel toe-in.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 provides a kind of smog remote probe method, and smog area is detected by unmanned plane Domain, and detection data is sent to base station server.
The unmanned plane includes:Airborne processor module, the Smoke Detection sensing being connected with the airborne processor module are single Member, navigation positioning module;
When the unmanned plane detects smog in flight course, the airborne processor module is according to navigation positioning module pair Aircraft is positioned with being currently located, and location data is sent to base station server;
The airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines smog The direction in area;
When unmanned plane detects smog, the airborne processor module control unmanned plane spirals around smoke region, is gradually reduced Spiral scope, to lock current smoke region, and after smoke region is locked, unmanned plane enters smog area, and dives downwards, together When adjustment flight attitude make unmanned plane fly nearly smog in smoke zone all the time area occurs, i.e., when unmanned plane is in process of subduction, If Smoke Detection sensing unit detects that unmanned plane departs from smoke zone, flight attitude is corrected, so that unmanned plane is maintained at smog In band, gradually fly nearly smog and area occurs, after unmanned plane reaches certain altitude, area is occurred to smog and locked, and handle The exact position that area occurs for smog is sent to base station server.
Preferably, the unmanned plane also carries aerial device, and the video that will take photo by plane is sent to base station server;It is and described Smog Long Range Detecting and Ranging also includes:With the onboard navigation system of base station server radio communication;The onboard navigation system is fitted This area is driven into the exact position that area occurs in the smog sent according to unmanned plane as target location guiding vehicle;The car Carrying navigation system includes:In-vehicle processor module, automotive positioning module, the data being connected with the in-vehicle processor module are deposited Store up module;The data memory module is stored with map datum, vehicle radius of turn data;The method of work includes:It is described In-vehicle processor module is suitable to according to vehicle current location and target location, and combines the radius of turn data rule of Current vehicle Draw guidance path.
The in-vehicle processor module is suitable at the beginning of precomputing some between vehicle current location and target location Step planning guidance path;And corresponding bend section is searched in each preliminary planning guidance path, and according to corresponding to this vehicle Each bend section of radius of turn data screening, that is, obtain the planning guidance path corresponding to the bend section for being adapted to this vehicle.
The min. turning radius r corresponding to this vehicle is obtained from vehicle radius of turn data;The processor is suitable to will Min. turning radius r filters out turning radius R and is more than or equal to minimum turn partly compared with the turning radius R in each bend section Footpath r bend section, and plan navigation road again according to the bend section after each screening and vehicle current location and target location Footpath.
The in-vehicle processor module is further adapted for the real-time road in the bend section of acquisition being classified, that is, is divided into smooth Logical, jogging, crowded, four kinds of ranks of congestion, and turning radius R is modified using four kinds of ranks as corresponding weight;That is R1= R*(1-kx);In formula, R1 is revised turning radius, and k is weight coefficient, to represent unimpeded respectively, walk or drive slowly, crowded, congestion Four kinds of ranks, x are bend correction factor, take 0<x<1;Wherein, the value of the weight coefficient k for example takes 0,1,2,3 with respectively With it is unimpeded, jogging, crowded, four kinds of ranks of congestion are corresponding, bend correction factor x value can obtain based on experience value, Such as take 0.1.
Specifically, when turning section is more crowded, it is clear that for oversize vehicle, radius of turn can be affected, Therefore, in navigation, it is necessary to such a section is prejudged, after avoiding vehicle from entering the bend, turning occurs and is obstructed.
The present invention effectively have modified turning radius according to road conditions, enable the vehicle to effectively keep away by R1=R* (1-kx) formula Exempt from vehicle and drive into respective stretch, cause congestion.
And the in-vehicle processor module is also connected with back wheels of vehicle steering;It is vehicle-mounted after vehicle is entering bend Processor module is according to the bend section obtained from map and with reference to current vehicle speed, on the basis of front-wheel steer, automatically The steering angle of trailing wheel is adjusted, i.e. vehicle realizes trailing wheel toe-in when turning to.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.

Claims (4)

  1. A kind of 1. method of work of smog Long Range Detecting and Ranging, it is characterised in that including:Suitable for detecting the unmanned plane of smog, with And the base station server with the unmanned plane wireless telecommunications;
    The unmanned plane includes:Airborne processor module, Smoke Detection sensing unit, the machine being connected with the airborne processor module Carry navigation positioning module;
    Described method of work, including:When the unmanned plane detects smog in flight course, the airborne processor die Root tuber is positioned with being currently located according to airborne navigation positioning module to aircraft, and location data is sent to base station server; The airborne processor module is further adapted for the wind direction data of this area sent according to base station server, determines that area occurs for smog Direction.
  2. 2. method of work according to claim 1, it is characterised in that after unmanned plane detects smog, the airborne place Reason device module control unmanned plane spirals around smoke region, to lock current smoke region;
    And after smoke region is locked, unmanned plane enters smog area, and dives downwards, while adjusting flight attitude makes unmanned plane begin Fly nearly smog in smoke zone eventually and area occurs, area, which occurs, to smog locks, and smog is occurred the accurate position in area Put and be sent to base station server.
  3. 3. method of work according to claim 2, it is characterised in that the unmanned plane also carries aerial device, and will boat Shoot the video and send to base station server;
    The smog Long Range Detecting and Ranging also includes:With the onboard navigation system of base station server wireless telecommunications;
    Draw as target location the exact position that area occurs for the smog that the onboard navigation system is suitable to be sent according to unmanned plane Guide-car drives into this area;
    The onboard navigation system includes:In-vehicle processor module, the automotive positioning being connected with the in-vehicle processor module Module, data memory module;
    The data memory module is stored with map datum, vehicle radius of turn data;
    The in-vehicle processor module is suitable to according to vehicle current location and target location, and combines the turning half of Current vehicle Footpath data schema guidance path.
  4. 4. method of work according to claim 3, it is characterised in that the in-vehicle processor module is suitable to precompute Some preliminary planning guidance paths between vehicle current location and target location;
    And corresponding bend section is searched in each preliminary planning guidance path, and the radius of turn data according to corresponding to this vehicle Each bend section is screened, that is, obtains the planning guidance path corresponding to the bend section for being adapted to this vehicle;
    The min. turning radius r corresponding to this vehicle is obtained from vehicle radius of turn data;
    The processor is suitable to compare turning radius Rs of the min. turning radius r with each bend section, filters out turning radius R is more than or equal to min. turning radius r bend section, and according to the bend section after each screening and vehicle current location and target Again guidance path is planned in position.
CN201710663205.1A 2016-02-22 2016-02-22 Smog Long Range Detecting and Ranging and its method of work based on unmanned plane Withdrawn CN107463185A (en)

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Application publication date: 20171212