CN109509349A - A kind of vehicle mounted traffic monitoring and command and control system and method based on unmanned plane - Google Patents
A kind of vehicle mounted traffic monitoring and command and control system and method based on unmanned plane Download PDFInfo
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
The invention belongs to the traffic control system technical fields of road vehicle, disclose a kind of vehicle mounted traffic monitoring and command and control system and method based on unmanned plane, and carrier loader platform provides the takeoff and landing platform of unmanned plane for dropping platform by setting machine；Setting equipment hoistable platform mainly carries traffic guidance equipment；Ground control assembly, for providing unmanned aerial vehicle (UAV) control operation, data communication, data are shown and power supply function；Large-scale Real-time Traffic Information is presented to commanding for the Airborne Surveillance, Airborne Control equipment by unmanned plane in unmanned plane；Airborne task component, for acquiring monitored picture by picture pick-up device；Traffic control center's system plugin, for all vehicular platform speech/text/data interactions.The present invention, which is filled with the traffic guidance front node that vehicle is unit, rapid deployment and to put into commander's work；It is completed, is greatly improved the efficiency in a very short period of time by unmanned plane, reduce human cost.
Description
Technical field
The invention belongs to the traffic control system technical field of road vehicle more particularly to a kind of vehicles based on unmanned plane
Carry traffic monitoring and command and control system and method.
Background technique
Currently, the prior art commonly used in the trade is such that become increasingly popular with automobile, the traffic pressure in city is more next
Bigger, the contradiction of the pressure of traffic police's manpower and traffic guidance has become a hot issue in each city.It realizes accurate
Traffic guidance, more commandings certainly will be put into.Present traffic peak period, four crossway of the Chengdu in each arterial highway
Mouth will at least put into 4~6 traffic police, and everyone commander is difficult to synchronize, so that the pressure of traffic guidance is very big, simultaneously
Command effect also unsatisfactory.
In conclusion problem of the existing technology is: everyone commander of present traffic peak period traffic police is difficult together
Step, so that the pressure of traffic guidance is very big, while commanding effect also unsatisfactory.
The present invention makes full use of the rapid deployment type of unmanned plane, allows traffic guidance front node energy as unit of vehicle
Enough rapid deployments simultaneously put into commander's work；It quickly approaches commander, usually approaches commander by what manpower took a five minute walk completion, it can
It is completed, is greatly improved the efficiency in 10 seconds by unmanned plane, reduce human cost；Make full use of the flight of unmanned plane high
Degree and the deployable not influenced by traffic jam are quickly presented to commanding real on a large scale by Airborne Surveillance, Airborne Control equipment
When traffic information；The high speed for making full use of unmanned plane, by acousto-optic command system realization surmount traffic lights, to
Even the accurate of motor vehicle level granularity is commanded and dredges in one lane；Multiple vehicles are realized using near-field communication technology
The networking of carrying platform is in the hope of adapting to the command and control of larger traffic condition；Utilize high speed 4G/5G network implementations command and control
Interconnecting between center and vehicular platform allows command centre can be with faster, the wider traffic of more flexible understanding
Situation.The historical data that vehicular platform uploads can provide important references to the specified and verifying of future transportation command strategy.
Solve the difficulty and meaning of above-mentioned technical problem:
The difficulty of traffic guidance task is the sudden and variability of traffic condition, it is desirable that commanding can be timely
Accurate judgement is made according to instant situation, therefore flexible, comprehensive field of view is the basis for efficiently completing this work.?
In the case where lacking effective supplementary means, traffic police only takes different location to arrange multiple on-site law-enforcing personnel, and collaboration is taken to refer to
The mode waved completes task.This mode needs policeman more, and the traffic police of different location exchanges information by intercom, accurately
Property and instantaneity Shortcomings.This programme can be provided a series of auxiliary with fully optimized commanding's working environment for commanding
Facility is helped, the field range of commanding is increased, unmanned plane can transmit the real time monitoring picture of different corners for commanding
Accuracy, the timeliness of commander are improved in face, and traffic police is helped efficiently to complete commander's task, to reduce police strength investment, reduce people
Member's workload.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of, and the vehicle mounted traffic based on unmanned plane monitors and refers to
Wave control system and method.
The invention is realized in this way a kind of vehicle mounted traffic monitoring and command and control system based on unmanned plane, the base
It monitors in the vehicle mounted traffic of unmanned plane with command and control system and includes:
Carrier loader platform provides the takeoff and landing platform of unmanned plane for dropping platform by setting machine；Equipment liter is set
Drop platform mainly carries traffic guidance equipment；
Ground control assembly, for providing unmanned aerial vehicle (UAV) control operation, data communication, data are shown and power supply function；
Large-scale real-time traffic letter is presented to commanding for the Airborne Surveillance, Airborne Control equipment by unmanned plane in unmanned plane
Breath；
Airborne task component, for acquiring monitored picture by picture pick-up device；
Traffic control center's system plugin is used for all vehicular platform speech/text/data interactions, to all vehicle-mounted
Position of platform and GIS-Geographic Information System crosslinking and real-time display provide vehicle-mounted unmanned aerial vehicle leapfrog commander, to all vehicular platform numbers
According to summarizing, analyzes and record.
Further, traffic lights, directional microphone, camera are provided on the carrier loader platform；
The each direction of traffic lights uses red, yellow, and green lamp group.
Further, the ground control assembly includes:
Unmanned aerial vehicle (UAV) control component, the traffic guidance that specified position is approached for manipulating traffic guidance unmanned plane
Work；Manipulation unmanned plane is realized to be accurately positioned to return and be charged in vehicle roof platform；Monitor the working condition of unmanned plane；
Communication component reaches 50Mbp/s with the traffic rate of physical platform and unmanned plane, effectively between transmission vehicle, machine
Video signal and voice signal；
Display console is furnished with three multi-functional liquid crystal displays for being equipped with a multi-function console in the car.
Further, the airborne task component includes: H4-3D high-precision clouds terrace system, video camera, directional loudspeaker.
Further, the automatic recovery control system of the unmanned plane includes:
Unmanned plane recycles positioning automatically, is accurately recovered to vehicular platform for unmanned plane；
Lithium battery, to unmanned plane trickle charge.
Further, the unmanned aerial vehicle onboard traffic guidance component includes:
Traffic signal display subsystem serves as temporary traffic commander in the crossroad of no traffic lights；
Traffic orients speech subsystems, for orienting commander's password of transmitting traffic-police；
Traffic guidance vehicle lifting platform subsystem of video, the traffic-police either control centre for controlling unmanned plane provide in fact
When high-res video information.
Another object of the present invention is to provide the vehicle mounted traffic monitoring described in a kind of implementation based on unmanned plane and command
The vehicle mounted traffic monitoring and command and control method, the vehicle-mounted friendship based on unmanned plane based on unmanned plane of control system
Leading to monitoring with command and control method includes:
Step 1, carrier loader platform are arranged machine and drop platform, provide the takeoff and landing platform of unmanned plane；It is set on machine drop platform
There are electromagnetism lock, effectively fixed unmanned plane, while being additionally provided with positioning charging unit, charges for unmanned plane, setting equipment goes up and down flat
Platform mainly carries traffic guidance equipment；
Step 2, ground control assembly provide unmanned aerial vehicle (UAV) control operation, data communication, and data are shown and power supply supply function
Energy；Large-scale Real-time Traffic Information is presented to commanding in the Airborne Surveillance, Airborne Control equipment of unmanned plane；Airborne task component 4 utilizes
Picture pick-up device acquires monitored picture；
The communication of unmanned plane and onboard system provided in an embodiment of the present invention is divided into two major classes:
1) UAV Communication system, the system mainly provide module and driver by unmanned plane manufacturer.The system is responsible for
Transmit unmanned aerial vehicle (UAV) control instruction and drone status data.The communication component uses WIFI communication pattern, tcp/ip communication protocols
View.On the basis of vendor module, onboard system needs for antenna system and unmanned aerial vehicle control system to be integrated, and solves simultaneously
The potential design problem such as frequency and power consumption conflict.
2) communication of unmanned aerial vehicle onboard traffic guidance component and control system.The communication component uses WIFI communication pattern,
Tcp/ip communication protocol.Need to reach 100Mbps passes the uploading rate with 100Mbps down to guarantee HD video data, refers to
Wave display data, the parallel transmission of audio data and control data.
The integration of unmanned aerial vehicle control system and onboard system provided in an embodiment of the present invention, unmanned aerial vehicle control system need
It is integrated with the seamless depth of onboard system, and combines GIS map system to realize the light control to unmanned plane.Before of the invention
Phase research provides following operating process.Firstly, system is loaded into the cartographic information of carrier vehicle and is shown on touch display.
Traffic police selectes unmanned plane by touch screen, and issues ' place of flying to instructs ' to unmanned plane by touching map relevant position.
Onboard system can generate accessible flight route according to the GIS coordinate and carrier vehicle position that traffic police inputs, and generate unmanned aerial vehicle (UAV) control and refer to
It enables, automatic guidance unmanned plane flies to designated position.When unmanned plane needs to return, unmanned plane is controlled by onboard system
Realize one-touch withdrawal.
The realization of vehicle-to-vehicle communication networking provided in an embodiment of the present invention, onboard system need to have the ability of vehicle-to-vehicle communication.
Early-stage study explores wireless and wired connection two ways.In addition to communication standard difference, the two has no essential distinction, so
The present invention is quasi- to allow onboard system to be provided simultaneously with two kinds of communication capacities.The concrete ability of vehicle border networking is: 1. shared unmanned planes,
When the unmanned plane on a trolley is inadequate, the unmanned plane of other vehicle platforms of commander's networking can be surmounted.2. shared data, such as
Fruit applies more vehicle strange lands commander, then every trolley can the data collected of other vehicles of orientation so that its operator can be right
Large range of traffic situation has the judgement of macroscopic view.
Step 3, traffic control center's system plugin is to all vehicular platform speech/text/data interactions, to all vehicles
Carrying platform position and GIS-Geographic Information System crosslinking and real-time display provide vehicle-mounted unmanned aerial vehicle leapfrog commander, to all vehicular platforms
Data summarization, analysis and record.The traffic rate of communication component physical platform and unmanned plane reaches 50Mbp/s, can be effective
Video signal and voice signal between ground transmission vehicle, machine.Complete the traffic guidance approached work；Remotely (4G/LTE)
Traffic rate reaches downlink 100Mbp/s and uplink 50Mbp/s；Can effectively support vehicular platform and traffic control center it
Between data and instruction upload assign.Information processing system includes: system mode GUI (GraphUserInterface, image
User interface), unmanned aerial vehicle (UAV) control GUI, traffic acousto-optic commander module (airborne task component) control GUI, data processing/record
GUI, command centre interaction GUI.
Airborne task component acquires monitored picture by picture pick-up device, and the Airborne Surveillance, Airborne Control equipment of unmanned plane is to commanding
Be presented large-scale Real-time Traffic Information, ground control assembly provides unmanned aerial vehicle (UAV) control operation, data communication, data show and
Power supply function；Traffic control center's system plugin is to all vehicular platform speech/text/data interactions, to all vehicle-mounted
Position of platform and GIS-Geographic Information System crosslinking and real-time display provide a vehicle-mounted unmanned aerial vehicle leapfrog only meeting, to all vehicular platform numbers
According to summarizing, analyzes and record.
Step 3, traffic control center's system plugin is to all vehicular platform speech/text/data interactions, to all vehicles
Carrying platform position and GIS-Geographic Information System crosslinking and real-time display provide vehicle-mounted unmanned aerial vehicle leapfrog commander, to all vehicular platforms
Data summarization, analysis and record.
Another object of the present invention is to provide the vehicle mounted traffic monitoring described in a kind of application based on unmanned plane to control with commander
The unmanned plane of method processed.
Another object of the present invention is to provide the vehicle mounted traffic monitoring described in a kind of application based on unmanned plane to control with commander
The vehicle mounted traffic control system of method processed.
In conclusion advantages of the present invention and good effect are as follows:
The present invention is that unmanned aerial vehicle design includes sound for the first time, and the traffic guidance module of display and video collect function uses
GIS information system carrys out command and control unmanned plane, has used the accurate recovery technology of unmanned plane, has the function of " key recycling ", can
After allowing unmanned plane to execute task, " key " is accurately returned to the position that roof takes off, and positioning accuracy uses unmanned plane control
Systems connection control (multiple carrier loader platform networkings, a platform command and control) processed；The present invention can substantially improve traffic-police
Operating condition when on duty can expose to the sun and rain under scorching summer and freezing winter, it is often more important that can greatly improve to avoid security personnel
Safety avoids traffic police when on duty by unexpected traffic injury.Onboard system provided in an embodiment of the present invention and command centre
Interconnect, on the basis of existing system, allow the function of this system can be original to connecting with data with the situation of plug-in unit
Traffic management control system.Concrete function includes following 6 points.
1) it is capable of the GIS information of each vehicular platform of real-time collecting and is shown in GIS map system.
It 2) can be by voice-and-data in real time as vehicular platform assigns instruction.
3) real-time road condition information that each vehicular platform uploads can be summarized, and be incident upon on the map system based on GIS.
4) it can show that the real-time high-definition of some or multiple unmanned planes influences
5) control can be surmounted to unmanned aerial vehicle.
It 6) can be by all automatic duplicating of data to specified data center
UAV system of the invention is based on GIS (Geographicinformationsystem GIS-Geographic Information System)
Accurate control.Based on mainstream map system, assigning unmanned plane to fly automatically in a manner of clicking map point and hovering
In geographical space opposite position.The function will greatly simplify the work load of controllers, and traffic-police can facilitate
The use system without particularly being trained.The realization of the function can be the generalization and practicability of this system
Greatly enhancing.Efficient feasible and traffic guidance complete function airborne commander's component.The component is the front end of whole system,
It needs the command information of traffic-police passing to driver in a manner of being easily understood multimedia technology.Packet of the present invention
It has included video and has shown and orient two kinds of multimedia modes of voice, enable traffic-police with traffic signals (video) and traffic mouth
The mode of (audio) is enabled quickly and accurately to instruct traffic.In the later stage that the present invention is implemented, will also explore more feasible more
It is more intuitive that medium technique has allowed the commander of traffic-police to be intended to, and more accurately driver is allowed to understand.Between unmanned plane and control system
At a high speed/high reliability wireless communication.Part traffic intersection space environment is complicated, and infinitely sending and receiving may go out between device
Now block.Therefore, onboard system can real-time detection RSSI (RadioSignalStrengthIndicator, wireless signal are strong
Spend parameter), and the automatic alarm when RSSI is too low.The airborne commander's component of low-power consumption.Since unmanned aerial vehicle onboard battery capacity has
Limit, airborne system need strict control power consumption.Simultaneously as rushing the universal of battery and wireless charging technology fastly, the present invention also will
Consider to reorganize and outfit the time using this mature two technologies to shorten unmanned plane, improves total system service efficiency.Airborne equipment weight
Amount control.Since unmanned plane load-carrying is limited and the bigger airborne period of load is shorter, the present invention will be stringent in design implementation process
The weight for limiting airborne equipment, improves the service efficiency of specific loading.Data between onboard system/command centre of high real-time
Instruction mutually passes.Due to having large capacity real time communication demand, such as high-resolution video letter between vehicle microscope carrier and data center
Breath, unlimited connection between the two need to stablize high speed.The present invention passes through the existing mobile operator wireless network of application, utilizes
5G fast wireless network technology realizes interconnecting between onboard system and command centre.Command center system plug-in unit.This
The function of meter systems set by the present invention is integrated into existing command center system by plug-in unit.Due to needing existed system
It supports and compatible, which needs and command center system developer completes jointly.
Detailed description of the invention
Fig. 1 is that the vehicle mounted traffic monitoring provided in an embodiment of the present invention based on unmanned plane is shown with command and control system structure
It is intended to；
In figure: 1, carrier loader platform；2, ground control assembly；3, unmanned plane；4, airborne task component；5, in traffic control
Heart system plugin.
Fig. 2 is the vehicle mounted traffic monitoring provided in an embodiment of the present invention based on unmanned plane and command and control method flow diagram.
Fig. 3 is the information interactive process schematic diagram in command process provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to this hair
It is bright to be further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not
For limiting the present invention.
For present traffic peak period traffic police, everyone commander is difficult to synchronize, so that the pressure of traffic guidance is very big,
Command effect also unsatisfactory simultaneously；The present invention makes full use of the rapid deployment type of unmanned plane, allows traffic as unit of vehicle
Commander's front node rapid deployment and can put into commander's work；Commander quickly is approached, is usually taken a five minute walk completion by manpower
Approach commander, can be completed, be greatly improved the efficiency in 10 seconds by unmanned plane, reduce human cost.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
As shown in Figure 1, the vehicle mounted traffic monitoring and command and control system packet provided in an embodiment of the present invention based on unmanned plane
It includes: carrier loader platform 1, ground control assembly 2, unmanned plane 3, airborne task component 4, traffic control center's system plugin 5.
Carrier loader platform 1 provides the takeoff and landing platform of unmanned plane for dropping platform by setting machine；Machine drops on platform
It is latched equipped with electromagnetism, can effectively fix unmanned plane, while being additionally provided with positioning charging unit, charged for unmanned plane, equipment is set
Hoistable platform mainly carries traffic guidance equipment (traffic lights, camera and directional microphone)；
Ground control assembly 2, for providing unmanned aerial vehicle (UAV) control operation, data communication, data are shown and power supply supply function
Energy；
Large-scale real-time traffic letter is presented to commanding for the Airborne Surveillance, Airborne Control equipment by unmanned plane in unmanned plane 3
Breath；
Airborne task component 4, for acquiring monitored picture by picture pick-up device；
Traffic control center's system plugin 5 is used for all vehicular platform speech/text/data interactions, to all vehicles
Carrying platform position and GIS-Geographic Information System crosslinking and real-time display provide vehicle-mounted unmanned aerial vehicle leapfrog commander, to all vehicular platforms
Data summarization, analysis and record.
In a preferred embodiment of the invention, carrier loader platform 1 uses SUV；1 space of carrier loader platform is enough to support at least 2
Traffic-police works at the same time in independent display console；Carrier loader platform 1 can provide under full power state without using internal combustion engine
12 hours of total system full-load operation are supported in the regulated power output of 17KWH；Carrier loader platform 1 is supported entirely under full oil condition
System full load continuous work 100 hours；1 top design of carrier loader platform has 1.5 × 2 square metres of vehicle roof platforms for 1 frame unmanned plane
Landing and charging simultaneously；1 top of carrier loader platform is provided with a liftable vehicular equipment platform simultaneously, is provided with above
A) four direction traffic lights, the effective of traffic lights use height adjustable for 2 meters~6 meters.Each direction
Signal lamp uses 3 × Φ of red, yellow, and green 400mmLED lamp group, center brightness >=8500cd/ ㎡
B) each direction is equipped with a directional microphone: specified transaudient distance >=200 meter of directional microphone, and 3dB is directed toward
Angle is ± 10 ° of@2kHz；
C) each direction is equipped with a camera, can carry out voice commander and video monitoring in the direction.Camera is supported
Maximum 2560 × 1440 30fps high definition pictures output, supports 23 Zoom Lens, 16 times of digital zooms.
Ground control assembly 2 provided by the invention includes unmanned aerial vehicle (UAV) control component, communication component, display console, vehicle-mounted
Power supply；
Unmanned aerial vehicle (UAV) control component, the traffic guidance that specified position is approached for manipulating traffic guidance unmanned plane
Work；Manipulation unmanned plane is realized to be accurately positioned to return and be charged in vehicle roof platform；Monitor unmanned plane working condition (including
Continuation of the journey energy)；
Communication component reaches 50Mbp/s with the traffic rate of physical platform and unmanned plane, can effectively transmission vehicle, machine
Between video signal and voice signal.Complete the traffic guidance approached work；Remotely (4G/LTE) traffic rate reaches
Downlink 100Mbp/s and uplink 50Mbp/s；It can effectively support the data between vehicular platform and traffic control center and refer to
It enables uploading and assign.
Display console, for equipped with a multi-function console, being furnished with three multi-functional liquid crystal displays in the car,
1# display screen is monitored for unmanned tracking operation and video acquisition, picture of the 2# display screen for four crossings direction video camera,
3# display screen is used for system operation；
The hardware user interface of display console:
UAV system includes:
Input equipment: QWERTY keyboard+trackball；Unmanned plane operating stick；Push-botton operation panel
Output equipment: touch display screen, status display LED Unit
Crossing traffic monitoring system includes:
Input equipment: four direction high-definition cameras；Four road cradle head controllors；Four direction traffic signal control device (hands
It is dynamic/automatic)；High-fidelity UAV system directional microphone microphone.
Output equipment: vehicle-mounted four direction traffic lights；High-fidelity UAV system directional microphone；
Information processing system includes:
Input equipment
Software user interface includes: system mode GUI (GraphUserInterface, graphical user interface), unmanned plane
Control GUI, traffic acousto-optic commander module (airborne task component) control GUI, data processing/recording GUI, command centre's interaction
GUI；
Vehicle power supply are as follows: AC:220V/10A；DC:12V/10A；Total electric energy storage: 17KWH.
In a preferred embodiment of the invention, unmanned plane 3 uses DJI longitude and latitude M600Pro unmanned plane:
Product type: six axis aircraft；Flight load-carrying: 15.5kgg；Hover accuracy vertical: ± 0.5m, horizontal: ±
1.5mm；Angular velocity of rotation pitch axis: 300 °/s, course axis: 150 °/s；Lifting speed maximal velocity: 5m/s；Under maximum
Reduction of speed degree: 3m/s；Flying speed maximum horizontal flying speed: 65km/h (no-wind environment)；Flying height maximum flight height above sea level
Degree: 2500m；Flight time hovers the time: non-loaded: 32min loads 3kg:25min.
In a preferred embodiment of the invention, airborne task component 4 includes:
(1) the H4-3D high-precision clouds terrace system of GoPro series is thought using buddhist:
1.26 kilograms of weight；Angle control precision: ± 0.01 °；Maximum controllable rotating speed: direction of rotation (PAN): ± 130 °/
s；Pitch orientation (TILT): ± 130 °/s；Roll direction (ROLL): ± 30 °/s；
(2) use ZENEMUSEX4S video camera: having a size of 25 × 100 × 80mm, weight is 253 grams, and FOV is 84 °,
35mm picture equivalent focal length is 24mm.Support up to 1/2000 second between-lens shutter technology.
(3) FS-B directional loudspeaker is used:
Acoustic pressure: 83-87dB@1KHz/2m；Directive property: 12 ° of <.
As shown in Fig. 2, the vehicle mounted traffic monitoring and command and control method packet provided in an embodiment of the present invention based on unmanned plane
Include following steps:
S201: carrier loader platform is arranged machine and drops platform, provides the takeoff and landing platform of unmanned plane；Machine drop platform is equipped with
Electromagnetism lock, effectively fixed unmanned plane, while it being additionally provided with positioning charging unit, it charges for unmanned plane, equipment hoistable platform is set
Main carrying traffic guidance equipment；
S202: ground control assembly provides unmanned aerial vehicle (UAV) control operation, and data communication, data are shown and power supply function；
Large-scale Real-time Traffic Information is presented to commanding in the Airborne Surveillance, Airborne Control equipment of unmanned plane；Airborne task component 4 utilizes camera shooting
Equipment acquires monitored picture；
S203: traffic control center's system plugin is to all vehicular platform speech/text/data interactions, to all vehicle-mounted
Position of platform and GIS-Geographic Information System crosslinking and real-time display provide vehicle-mounted unmanned aerial vehicle leapfrog commander, to all vehicular platform numbers
According to summarizing, analyzes and record.
As shown in figure 3, the information interactive process in command process: airborne task component is acquired by picture pick-up device and is monitored
Large-scale Real-time Traffic Information is presented to commanding in the Airborne Surveillance, Airborne Control equipment of picture, unmanned plane, and ground control assembly provides
Unmanned aerial vehicle (UAV) control operation, data communication, data are shown and power supply function；Traffic control center's system plugin is to all vehicles
Carrying platform speech/text/data interaction provides all vehicular platform positions and GIS-Geographic Information System crosslinking and real-time display
A vehicle-mounted unmanned aerial vehicle leapfrog only meeting, to all vehicular platform data summarizations, analysis and record.
Application principle of the invention is further described combined with specific embodiments below.
The automatic recovery control system of unmanned plane provided in an embodiment of the present invention is made of two parts:
Unmanned plane recycles positioning automatically: due to the special circumstances of floor manager work, (scene refers to the manipulator of unmanned plane
The traffic police waved) manipulation unmanned plane complete to specific objective approach commander after, can immediately will commander attention focus on it is next
A traffic conditions have no time to attend to the positioning recycling for employing one's energies in institute's unmanned plane again, therefore especially increase one key of unmanned plane and return
Function is received, operation police officer is after completing to approach commander's work, it is only necessary to click recycling key, unmanned plane is accurately recovered to vehicle-mounted
Platform.
Lithium battery, under fully loaded, the maximum stream time of unmanned plane is about 30 minutes, entire vehicle-mounted in order to guarantee
The continuous work situation of system is needed to unmanned plane trickle charge, i.e. unmanned plane is completed every time after approaching commander's work, will
It charges in vehicle roof platform for it.
Unmanned aerial vehicle onboard traffic guidance component provided in an embodiment of the present invention includes four big subsystems: traffic signal display
Subsystem, traffic orient speech subsystems, traffic guidance vehicle lifting platform subsystem of video, communication subsystem.
1) traffic signal display subsystem.The subsystem is placed in the four direction traffic lights commander system of vehicle top lifting platform
System.The command system can serve as temporary traffic commander in the crossroad of no traffic lights (or original traffic lights break down),
(the fixation command system at former crossing can be taken under special circumstances).Vehicle-mounted traffic lights visual range under sunlight on daytime is not small
In 200 meters.
2) traffic orients speech subsystems.The system is used to orient commander's password of transmitting traffic-police.The orientation voice
System, which needs to meet, to be clearly transferred to audio password in the distance not less than 500 meters, and within this distance can
Hear that the diffusion cross section product radius of instruction is no more than 10 meters.
3) traffic guidance vehicle lifting platform subsystem of video.This subsystem is the traffic-police's either control for controlling unmanned plane
Center processed provides real-time high-res video information.The horizontal resolution of video camera >=500 lines；2x zoom, focal length 2.8-
10mm。
The communication of unmanned plane and onboard system provided in an embodiment of the present invention is divided into two major classes:
1) UAV Communication system, the system mainly provide module and driver by unmanned plane manufacturer.The system is responsible for
Transmit unmanned aerial vehicle (UAV) control instruction and drone status data.The communication component uses WIFI communication pattern, tcp/ip communication protocols
View.On the basis of vendor module, onboard system needs for antenna system and unmanned aerial vehicle control system to be integrated, and solves simultaneously
The potential design problem such as frequency and power consumption conflict.
2) communication of unmanned aerial vehicle onboard traffic guidance component and control system.The communication component uses WIFI communication pattern,
Tcp/ip communication protocol.Need to reach 100Mbps passes the uploading rate with 100Mbps down to guarantee HD video data, refers to
Wave display data, the parallel transmission of audio data and control data.
The integration of unmanned aerial vehicle control system and onboard system provided in an embodiment of the present invention, unmanned aerial vehicle control system need
It is integrated with the seamless depth of onboard system, and combines GIS map system to realize the light control to unmanned plane.Before of the invention
Phase research provides following operating process.Firstly, system is loaded into the cartographic information of carrier vehicle and is shown on touch display.
Traffic police selectes unmanned plane by touch screen, and issues ' place of flying to instructs ' to unmanned plane by touching map relevant position.
Onboard system can generate accessible flight route according to the GIS coordinate and carrier vehicle position that traffic police inputs, and generate unmanned aerial vehicle (UAV) control and refer to
It enables, automatic guidance unmanned plane flies to designated position.When unmanned plane needs to return, unmanned plane is controlled by onboard system
Realize one-touch withdrawal.
The realization of vehicle-to-vehicle communication networking provided in an embodiment of the present invention, onboard system need to have the ability of vehicle-to-vehicle communication.
Early-stage study explores wireless and wired connection two ways.In addition to communication standard difference, the two has no essential distinction, so
The present invention is quasi- to allow onboard system to be provided simultaneously with two kinds of communication capacities.The concrete ability of vehicle border networking is: 1. shared unmanned planes,
When the unmanned plane on a trolley is inadequate, the unmanned plane of other vehicle platforms of commander's networking can be surmounted.2. shared data, such as
Fruit applies more vehicle strange lands commander, then every trolley can the data collected of other vehicles of orientation so that its operator can be right
Large range of traffic situation has the judgement of macroscopic view.
4, project application scheme of the present invention:
1) road conditions monitor in real time: for all types of crossroads, disposing a trolley carrying platform.1~2 traffic police
It examines in the car according to the real-time traffic condition of the four direction high-definition cameras intake on commander's vehicle roof platform, commands roof
Traffic lights and large-power directional microphone, are commanded in real time, and vehicle-mounted unmanned aerial vehicle can be manipulated when necessary and carries out approaching finger
It waves.
2) simple road conditions traffic control: for middle-size and small-size congestion crossroad, a trolley carrying platform is disposed.1~2
Name traffic-police can effectively command four direction traffic (traffic lights to be auxiliarily fixed or surmount fixed red green in platform
Lamp).
3) complex road condition traffic control: for multilevel intersection complexity road, one can be disposed in each plane layer according to situation
Vehicular platform.More command cars of viaduct deployment can form short distance high speed commander's network in real time, may be implemented effectively
Multilevel traffic command system, reach the traffic guidance effect that manpower traffic guidance can not be reached.Networking commander's multiple groups are at most propped up
It holds 8 command cars and traffic guidance is carried out to 8 layers of grade separation.
4) specific lane/motor vehicle fixed point is dredged: vehicle-mounted for specific lane or particular motor vehicle in traffic dispersion
Traffic-police in platform can command unmanned plane to arrive in square viewing position thereon by plane, utilize airborne indicator and directional loudspeaker
Traffic dispersion is carried out to it.
5) traffic is collected evidence: high speed and airborne camera shooting capstan head using unmanned plane, can be carried out to traffic accident quickly accurate
Three-dimensional evidence obtaining, so that accident vehicle withdraws from rapidly scene, resume traffic.
6) traffic control center instruction, which uploads, assigns: command centre quickly can generate and assign to each vehicular platform
Assignment instructions, for example be moved to certain particular way cause for gossip and apply traffic control or traffic dispersion.Vehicular platform can upload itself in real time
System mode, for example control oneself the time, fuel load and unmanned plane reorganize and outfit situation etc..
7) traffic control center information summarizes: command centre can have access to the traffic information that each vehicular platform is collected in real time,
Such as real-time traffic image etc..The information will be fused decision-making function into existing control system optimization system.
8) traffic control center surmounts control: under emergency conditions, command centre will surmount each vehicular platform of control
Affiliated unmanned plane.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of vehicle mounted traffic monitoring and command and control system based on unmanned plane, which is characterized in that described based on unmanned plane
Vehicle mounted traffic is monitored with command and control system
Carrier loader platform provides the takeoff and landing platform of unmanned plane for dropping platform by setting machine；Equipment hoistable platform is set
Main carrying traffic guidance equipment；
Ground control assembly, for providing unmanned aerial vehicle (UAV) control operation, data communication, data are shown and power supply function；
Large-scale Real-time Traffic Information is presented to commanding for the Airborne Surveillance, Airborne Control equipment by unmanned plane in unmanned plane；
Airborne task component, for acquiring monitored picture by picture pick-up device；
Traffic control center's system plugin is used for all vehicular platform speech/text/data interactions, to all vehicular platforms
Position and GIS-Geographic Information System crosslinking and real-time display provide vehicle-mounted unmanned aerial vehicle leapfrog commander, converge to all vehicular platform data
Always, it analyzes and records.
2. vehicle mounted traffic monitoring and command and control system based on unmanned plane as described in claim 1, which is characterized in that described
Traffic lights, directional microphone, camera are provided on carrier loader platform；
The each direction of traffic lights uses red, yellow, and green lamp group.
3. vehicle mounted traffic monitoring and command and control system based on unmanned plane as described in claim 1, which is characterized in that described
Ground control assembly includes:
Unmanned aerial vehicle (UAV) control component works for manipulating the traffic guidance that traffic guidance unmanned plane approaches specified position；
Manipulation unmanned plane is realized to be accurately positioned to return and be charged in vehicle roof platform；Monitor the working condition of unmanned plane；
Communication component reaches 50Mbp/s with the traffic rate of physical platform and unmanned plane, effectively the view between transmission vehicle, machine
Frequency picture signal and voice signal；
Display console is furnished with three multi-functional liquid crystal displays for being equipped with a multi-function console in the car.
4. vehicle mounted traffic monitoring and command and control system based on unmanned plane as described in claim 1, which is characterized in that described
Airborne task component includes: H4-3D high-precision clouds terrace system, video camera, directional loudspeaker.
5. vehicle mounted traffic monitoring and command and control system based on unmanned plane as described in claim 1, which is characterized in that described
The automatic recovery control system of unmanned plane includes:
Unmanned plane recycles positioning automatically, is accurately recovered to vehicular platform for unmanned plane；
Lithium battery, to unmanned plane trickle charge.
6. vehicle mounted traffic monitoring and command and control system based on unmanned plane as described in claim 1, which is characterized in that described
Unmanned aerial vehicle onboard traffic guidance component includes:
Traffic signal display subsystem serves as temporary traffic commander in the crossroad of no traffic lights；
Traffic orients speech subsystems, for orienting commander's password of transmitting traffic-police；
Traffic guidance vehicle lifting platform subsystem of video, the traffic-police either control centre for controlling unmanned plane provide high solution in real time
Analysis degree video information.
7. a kind of implement the vehicle mounted traffic monitoring described in claim 1 based on unmanned plane with command and control system based on nobody
Vehicle mounted traffic monitoring and the command and control method of machine, which is characterized in that the vehicle mounted traffic monitoring and finger based on unmanned plane
Waving control method includes:
Step 1, carrier loader platform are arranged machine and drop platform, provide the takeoff and landing platform of unmanned plane；Machine drops platform and is equipped with electromagnetism
Lock, effectively fixed unmanned plane, while it being additionally provided with positioning charging unit, it charges for unmanned plane, setting equipment hoistable platform is main
Carry traffic guidance equipment；
Step 2, ground control assembly provide unmanned aerial vehicle (UAV) control operation, and data communication, data are shown and power supply function；Nothing
Large-scale Real-time Traffic Information is presented to commanding in man-machine Airborne Surveillance, Airborne Control equipment；Airborne task component 4 is set using camera shooting
Standby acquisition monitored picture；
Step 3, traffic control center's system plugin is to all vehicular platform speech/text/data interactions, to all vehicle-mounted flat
Platform position and GIS-Geographic Information System crosslinking and real-time display provide vehicle-mounted unmanned aerial vehicle leapfrog commander, to all vehicular platform data
Summarize, analyzes and record.
8. vehicle mounted traffic monitoring and command and control method based on unmanned plane as claimed in claim 7, which is characterized in that described
Vehicle mounted traffic monitoring based on unmanned plane and the information interactive process in command and control method command process: airborne task component is logical
Picture pick-up device acquisition monitored picture is crossed, large-scale real-time traffic letter is presented to commanding in the Airborne Surveillance, Airborne Control equipment of unmanned plane
Breath, ground control assembly provide unmanned aerial vehicle (UAV) control operation, and data communication, data are shown and power supply function；In traffic control
Heart system plugin hands over all vehicular platform positions and GIS-Geographic Information System all vehicular platform speech/text/data interactions
Join simultaneously real-time display, a vehicle-mounted unmanned aerial vehicle leapfrog only meeting, to all vehicular platform data summarizations, analysis and record are provided.
9. a kind of vehicle mounted traffic monitoring and command and control method using described in claim 7~8 any one based on unmanned plane
Unmanned plane.
10. a kind of vehicle mounted traffic monitoring and command and control method using described in claim 7~8 any one based on unmanned plane
Vehicle mounted traffic control system.
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