CN111208833A - Unmanned ship and unmanned aerial vehicle cooperative surveying and mapping control system and control method thereof - Google Patents
Unmanned ship and unmanned aerial vehicle cooperative surveying and mapping control system and control method thereof Download PDFInfo
- Publication number
- CN111208833A CN111208833A CN202010120556.XA CN202010120556A CN111208833A CN 111208833 A CN111208833 A CN 111208833A CN 202010120556 A CN202010120556 A CN 202010120556A CN 111208833 A CN111208833 A CN 111208833A
- Authority
- CN
- China
- Prior art keywords
- unmanned
- aerial vehicle
- unmanned aerial
- ship
- surveying
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- 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
Abstract
The invention discloses a control system and a control method for collaborative surveying and mapping of an unmanned ship and an unmanned aerial vehicle. Realize independently surveying and mapping to the more shoal sea area of island reef, can accomplish the unable sea area survey and drawing task that reaches of large-scale survey and drawing ship with higher efficiency and lower cost, not only survey and draw submarine topography simultaneously, can also realize the survey and drawing to island reef upper portion, the survey and drawing task of more complete realization target sea area belongs to unmanned ship and unmanned aerial vehicle application technology field in coordination.
Description
Technical Field
The invention belongs to the technical field of cooperative application of unmanned boats and unmanned aerial vehicles, relates to the technical field of control of island sea area surveying and mapping by cooperation of the unmanned boats and the unmanned aerial vehicles, and particularly relates to a control system and a control method for cooperative surveying and mapping of the unmanned boats and the unmanned aerial vehicles.
Background
In the aspect of automatic survey and drawing of ocean to the target sea area that has shoal island reef, current unmanned ship can only survey and draw the target sea area and have certain degree of depth seabed, because some island reefs stretch out the surface of water, perhaps form some island reef circles, can not realize containing the complete survey and drawing in island reef waters. Unmanned aerial vehicle can realize the survey and drawing of island reef top topography, but submarine topography mapping can't obtain, when using single unmanned aerial vehicle to survey and drawing simultaneously, because the survey ship is far away from the target sea area, unmanned aerial vehicle duration is poor, and the activity duration is short, is difficult to obtain better mapping result. The surveying and mapping of the island-containing reef and the island-containing sea area by using the cooperation of the unmanned boat and the unmanned aerial vehicle is the requirement for promoting the automatic practical application of the island-containing reef sea area measurement.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a control system and a control method for cooperative surveying and mapping of an unmanned aerial vehicle and an unmanned ship.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides a control system of unmanned ship and unmanned aerial vehicle survey and drawing in coordination, is including communicating the unmanned ship in unmanned ship survey and drawing device in coordination and the unmanned aerial vehicle in unmanned aerial vehicle survey and drawing device in coordination of surveying and drawing in coordination each other.
Furthermore, the unmanned ship collaborative mapping device comprises an unmanned ship central controller, an unmanned ship data acquisition device, an unmanned ship wireless communication module and an unmanned ship power module for providing power for the unmanned ship central controller and the unmanned ship power module, wherein the unmanned ship central controller is connected with the unmanned ship data acquisition module and is used for reading and processing information acquired by the unmanned ship data acquisition module, and meanwhile, when the depth exceeds a depth warning value, the unmanned ship can be controlled to avoid obstacles; the unmanned ship central controller is also connected with an unmanned ship wireless communication module so as to realize communication between the unmanned ship and the unmanned aerial vehicle as well as between the unmanned ship and the ground base station; the unmanned ship central controller can carry out path planning according to the mapping range specified by the ground base station.
Further, the unmanned ship data acquisition module comprises a positioning system and a sonar; the positioning system consists of an inertial navigation system and a GPS receiver and is used for realizing the coordinate positioning of the unmanned ship; the sonar is used for measuring seabed information to realize surveying and mapping and avoid obstacles of the unmanned ship.
Further, the unmanned ship power supply module comprises a solar cell panel, an unmanned ship power supply modulation module, an unmanned ship wireless charging module and a storage battery; the solar panel is used for collecting solar energy, converting the solar energy into electric energy and storing the electric energy in the storage battery; the power supply modulation module is used for modulating the voltage of the storage battery to the unmanned ship central controller, the unmanned ship wireless communication module, the unmanned ship wireless charging module and the unmanned ship data acquisition module and modulating the voltage of the solar cell panel to charge the storage battery; the unmanned ship wireless charging module is connected with the power supply modulation module, is used for supplying power to the unmanned ship wireless charging module, is matched with the unmanned plane wireless charging module, and is used for wirelessly charging the unmanned plane; the storage battery is used for storing electric energy stored by the solar cell panel and is connected with the power supply modulation module;
further, the unmanned aerial vehicle collaborative mapping apparatus includes: the unmanned aerial vehicle system comprises an unmanned aerial vehicle central controller, an unmanned aerial vehicle data acquisition module, an unmanned aerial vehicle wireless communication module and a power supply module for supplying power to the modules; the unmanned aerial vehicle central controller is connected with the unmanned aerial vehicle data acquisition module and used for reading and processing information acquired by the unmanned aerial vehicle data acquisition module and storing the information; meanwhile, the central controller of the unmanned aerial vehicle can plan a path in an electronic fence according to the electronic fence set by the unmanned ship; the unmanned aerial vehicle central controller is also connected with the unmanned aerial vehicle wireless communication module to realize communication between the unmanned aerial vehicle and the unmanned ship.
Further, the unmanned aerial vehicle data acquisition module comprises a positioning system, a radar and a camera; the positioning system consists of an inertial navigation system and a GPS receiver and is used for realizing the coordinate positioning of the unmanned aerial vehicle; the radar and the camera are used for surveying and mapping the island.
Further, the power supply module comprises a battery, an unmanned aerial vehicle wireless charging module and an unmanned aerial vehicle power supply modulation module; the battery is used for storing electric energy to supply power to each module of the unmanned aerial vehicle; the unmanned aerial vehicle power supply modulation module is used for modulating the voltage of the battery to the unmanned aerial vehicle central controller, the unmanned aerial vehicle wireless communication module and the unmanned aerial vehicle data acquisition module and modulating the voltage of the wireless charging module to charge the battery; the unmanned aerial vehicle wireless charging module is connected with the unmanned aerial vehicle power supply modulation module and used for receiving electric energy of the unmanned ship wireless charging module and carrying out wireless charging.
The invention also provides a control method realized by the control system for the cooperative surveying and mapping of the unmanned ship and the unmanned aerial vehicle, which comprises the following steps:
1) the unmanned ship carries an unmanned aerial vehicle to arrive at a target sea area shoal to carry out roundabout reef navigation according to sonar, obstacle avoidance is carried out according to a set navigation warning value in the process of navigation, and the time and the longitude and latitude at the moment are recorded and stored every several seconds;
2) the unmanned plane stops navigating after surrounding the target island for a period of time, sequentially connects longitude and latitude points according to the recorded time to form an electronic fence, and sends all data to the unmanned plane through the unmanned plane wireless communication module;
3) after the unmanned aerial vehicle receives all signals, sending a successful receiving message to the unmanned ship to inform the unmanned ship of the ready state;
4) after receiving the ready signal sent by the unmanned aerial vehicle, the unmanned boat sends a take-off instruction to the unmanned aerial vehicle, and at the moment, the unmanned aerial vehicle starts to take off, and the unmanned aerial vehicle cooperative surveying and mapping device is opened to start surveying and mapping;
5) after the unmanned aerial vehicle takes off, the unmanned aerial vehicle starts to survey and draw in a target sea area, and the unmanned aerial vehicle are in communication connection through respective wireless communication modules, so that the unmanned aerial vehicle can be prevented from being recalled in time through the unmanned aerial vehicle when an accident happens or other conditions are met;
6) if the unmanned vehicle finishes the surveying and mapping task first and then stays still on the sea surface, after the unmanned vehicle finishes the surveying and mapping task, or the battery power is lower than a set value, a return flight instruction is sent to the unmanned vehicle, and the unmanned vehicle sends the position coordinate of the unmanned vehicle at the moment to the unmanned vehicle to guide the unmanned vehicle to return flight;
7) if unmanned aerial vehicle accomplishes behind the survey and drawing task in the fence, perhaps when the battery power is less than the setting value, when sending the instruction of returning a voyage to unmanned ship, unmanned ship has not accomplished the sea area survey and drawing task this moment, then stops the survey and drawing and at the sea static, and unmanned ship sends this moment position coordinate to unmanned aerial vehicle simultaneously, guides unmanned aerial vehicle to return a voyage.
Further, unmanned ship parks and installs wireless charging device on the unmanned aerial vehicle deck, waits that unmanned aerial vehicle to return to navigate and parks the completion back, carries out the wireless charging to unmanned aerial vehicle automatically.
Further, after the unmanned boat-unmanned aerial vehicle completes all surveying and mapping tasks, the unmanned boat wireless communication module sends surveying and mapping completion information to the ground base station, waits for a next step of instruction of the ground base station, and continues surveying and mapping in the next sea area or performs return voyage.
Compared with the prior art, the invention has the beneficial effects that:
the control system and the control method for cooperative surveying and mapping of the unmanned ship and the unmanned aerial vehicle can simultaneously survey and map the island shoal and the seabed near the island. Compared with the traditional method that only a single unmanned ship is used for seabed surveying and mapping or only a single unmanned aerial vehicle is used for surveying and mapping, more information of the target sea area can be obtained; compared with the method that the unmanned ship is used alone to firstly survey the seabed and then the unmanned aerial vehicle is used alone to conduct surveying and mapping, more time can be saved, and the overall surveying and mapping efficiency is improved; compared with the amphibious unmanned surveying and mapping boat and the surveying and mapping method thereof (patent number: CN201910031699.0), the amphibious unmanned surveying and mapping boat adopts the unmanned aerial vehicle during surveying and mapping of the island, so that the influence of complex terrains or vegetations on the island can be avoided, and the land surveying and mapping efficiency is improved. Meanwhile, the solar cell panel is installed on the unmanned ship, the cruising ability of the unmanned ship can be greatly improved, the wireless charging module is installed, the unmanned plane can be charged on the sea, the cruising ability of the unmanned plane is improved, the integral cruising ability is improved, and various ocean tasks can be better mapped.
Drawings
FIG. 1 is a block diagram of a collaborative surveying and mapping device for an unmanned ship
FIG. 2 is a block diagram of the cooperative mapping device of the unmanned aerial vehicle
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar designations denote like or similar-functioning devices throughout.
The invention discloses a control system for collaborative surveying and mapping of an unmanned ship and an unmanned aerial vehicle.
As shown in fig. 1, the unmanned ship collaborative mapping device comprises an unmanned ship central controller 1-1, an unmanned ship data acquisition device 1-2, an unmanned ship wireless communication module 1-3, and an unmanned ship power module 1-4 for providing power for the above modules, wherein the unmanned ship central controller 1-1 is connected with the unmanned ship data acquisition module 1-2 and is used for reading and processing information acquired by the unmanned ship data acquisition module 1-2, and meanwhile, when the depth exceeds a depth warning value, the unmanned ship can be controlled to avoid obstacles; the unmanned ship central controller 1-1 is also connected with an unmanned ship wireless communication module 1-3 so as to realize communication between the unmanned ship and the unmanned aerial vehicle, between the unmanned ship and the ground base station 1-5; the unmanned ship central controller 1-1 can carry out path planning according to the mapping range specified by the ground base station 1-5.
The unmanned ship data acquisition module 1-2 comprises a positioning system and a sonar; the positioning system consists of an inertial navigation system and a GPS receiver and is used for realizing the coordinate positioning of the unmanned ship; the sonar is used for measuring seabed information to realize surveying and mapping and obstacle avoidance of the unmanned ship.
The unmanned ship power supply modules 1-4 comprise solar cell panels, an unmanned ship power supply modulation module, an unmanned ship wireless charging module and a storage battery; the solar panel is used for collecting solar energy, converting the solar energy into electric energy and storing the electric energy in the storage battery; the power supply modulation module is used for modulating the voltage of the storage battery to the unmanned ship central controller 1-1, the unmanned ship wireless communication module 1-3, the unmanned ship wireless charging module and the unmanned ship data acquisition module and the voltage of the solar panel to charge the storage battery; the unmanned ship wireless charging module is connected with the power supply modulation module, is used for supplying power to the unmanned ship wireless charging module, is matched with the unmanned plane wireless charging module, and wirelessly charges the unmanned plane; the storage battery is used for storing electric energy stored by the solar panel and is connected with the power supply modulation module;
as shown in fig. 2, the cooperative mapping apparatus for unmanned aerial vehicle includes: the unmanned aerial vehicle system comprises an unmanned aerial vehicle central controller 2-1, an unmanned aerial vehicle data acquisition module 2-2, an unmanned aerial vehicle wireless communication module 2-3 and a power supply module 2-4 for providing power supply for the modules; the unmanned aerial vehicle central controller 2-1 is connected with the unmanned aerial vehicle data acquisition module 2-2 and used for reading and processing the information acquired by the unmanned aerial vehicle data acquisition module 2-2 and storing the information; meanwhile, the central controller 2-1 of the unmanned aerial vehicle can plan a path in an electronic fence according to the electronic fence arranged on the unmanned ship; the unmanned aerial vehicle central controller 2-1 is also connected with an unmanned aerial vehicle wireless communication module 2-3 so as to realize communication between the unmanned aerial vehicle and the unmanned ship.
The unmanned aerial vehicle data acquisition module comprises a positioning system, a radar and a camera; the positioning system consists of an inertial navigation system and a GPS receiver and is used for realizing the coordinate positioning of the unmanned aerial vehicle; radar and cameras are used for island mapping.
The power supply modules 2-4 comprise batteries, an unmanned aerial vehicle wireless charging module and an unmanned aerial vehicle power supply modulation module; the battery is used for storing electric energy to supply power to each module of the unmanned aerial vehicle; the unmanned aerial vehicle power supply modulation module is used for modulating the voltage of the battery to the unmanned aerial vehicle central controller, the unmanned aerial vehicle wireless communication module 2-3 and the unmanned aerial vehicle data acquisition module 2-2 and modulating the voltage of the wireless charging module to charge the battery; the unmanned aerial vehicle wireless charging module is connected with the unmanned aerial vehicle power modulation module and used for receiving electric energy of the unmanned ship wireless charging module and carrying out wireless charging.
Examples
The control method realized by the unmanned ship and unmanned aerial vehicle collaborative surveying and mapping control system specifically comprises the following steps:
i. carrying out roundabout reef navigation by the unmanned ship carrying the unmanned aerial vehicle to arrive at a target sea area shoal according to a surveying sonar system, avoiding obstacles according to a set navigation warning value in the process of navigation, recording the time and longitude and latitude at the moment every 10 seconds and storing the time and longitude and latitude;
stopping navigating after the unmanned ship surrounds the target island reef for one circle, sequentially connecting longitude and latitude points according to the recorded time to form an electronic fence, and sending all data to the unmanned plane through the unmanned ship wireless communication module 1-3;
after receiving all the signals, the unmanned aerial vehicle sends a successful receiving message to the unmanned ship to inform the unmanned ship of the state readiness;
after receiving the ready signal sent by the unmanned aerial vehicle, the unmanned ship sends a take-off instruction to the unmanned aerial vehicle, and at the moment, the unmanned aerial vehicle starts to take off, and the unmanned aerial vehicle cooperative surveying and mapping device is opened to start surveying and mapping;
v. after the unmanned plane takes off, the unmanned plane starts to survey and draw in a target sea area, and the unmanned plane are in communication connection through respective communication modules, so that the unmanned plane can be prevented from being recalled in time through the unmanned plane when an accident occurs or other conditions are met;
vi, if the unmanned vehicle finishes the surveying and mapping task first and then stays still on the sea, after the unmanned vehicle finishes the surveying and mapping task, or the battery power is lower than a set value, a return flight instruction is sent to the unmanned vehicle, and the unmanned vehicle sends the position coordinate of the unmanned vehicle at the moment to the unmanned vehicle to guide the unmanned vehicle to return flight;
if unmanned aerial vehicle accomplishes behind the survey and drawing task in fence, perhaps when the battery power is less than the setting value, when sending the instruction of returning a voyage to unmanned ship, unmanned ship has not accomplished the sea area survey and drawing task this moment, then stops the survey and drawing and at sea static, and unmanned ship sends this moment position coordinate to unmanned aerial vehicle simultaneously, guides unmanned aerial vehicle to return a voyage.
Wherein, unmanned ship parks the unmanned aerial vehicle and installs wireless charging device on the deck, treats that unmanned aerial vehicle returns to navigate and stops the completion back, carries out the wireless charging of carrying on of unmanned aerial vehicle voluntarily.
After the unmanned ship-unmanned aerial vehicle completes all surveying and mapping tasks, the unmanned ship wireless communication module sends surveying and mapping completion information to the ground base stations 1-5, waits for a next step of instruction of the ground base stations, and continues surveying and mapping in the next sea area or performs return voyage.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a control system of unmanned ship and unmanned aerial vehicle survey and drawing in coordination, is including communicating the unmanned ship in unmanned ship survey and drawing device in coordination and the unmanned aerial vehicle in unmanned aerial vehicle survey and drawing device in coordination of surveying and drawing in coordination each other.
2. The unmanned ship and unmanned aerial vehicle cooperative surveying and mapping control system according to claim 1, wherein the unmanned ship cooperative surveying and mapping device comprises an unmanned ship central controller, an unmanned ship data acquisition device, an unmanned ship wireless communication module, and an unmanned ship power module for supplying power to the unmanned ship central controller and the unmanned ship data acquisition module, wherein the unmanned ship central controller is connected with the unmanned ship data acquisition module and used for reading and processing information acquired by the unmanned ship data acquisition module, and simultaneously, when the depth exceeds a depth warning value, the unmanned ship can be controlled to avoid obstacles; the unmanned ship central controller is also connected with an unmanned ship wireless communication module so as to realize communication between the unmanned ship and the unmanned aerial vehicle as well as between the unmanned ship and the ground base station; the unmanned ship central controller can carry out path planning according to the mapping range specified by the ground base station.
3. The unmanned boat and unmanned aerial vehicle cooperative surveying and mapping control system of claim 2, wherein the unmanned boat data acquisition module comprises a positioning system and a sonar; the positioning system consists of an inertial navigation system and a GPS receiver and is used for realizing the coordinate positioning of the unmanned ship; the sonar is used for measuring seabed information to realize surveying and mapping and avoid obstacles of the unmanned ship.
4. The unmanned boat and unmanned aerial vehicle cooperative surveying and mapping control system of claim 2 or 3, wherein the unmanned boat power module comprises a solar panel, an unmanned boat power modulation module, an unmanned boat wireless charging module and a storage battery; the solar panel is used for collecting solar energy, converting the solar energy into electric energy and storing the electric energy in the storage battery; the power supply modulation module is used for modulating the voltage of the storage battery to the unmanned ship central controller, the unmanned ship wireless communication module, the unmanned ship wireless charging module and the unmanned ship data acquisition module and modulating the voltage of the solar cell panel to charge the storage battery; the unmanned ship wireless charging module is connected with the power supply modulation module, is used for supplying power to the unmanned ship wireless charging module, is matched with the unmanned plane wireless charging module, and is used for wirelessly charging the unmanned plane; the storage battery is used for storing electric energy stored by the solar cell panel and is connected with the power supply modulation module.
5. The unmanned boat and unmanned aerial vehicle cooperative surveying and mapping control system of claim 4, wherein the unmanned aerial vehicle cooperative surveying and mapping device comprises: the unmanned aerial vehicle system comprises an unmanned aerial vehicle central controller, an unmanned aerial vehicle data acquisition module, an unmanned aerial vehicle wireless communication module and a power supply module for supplying power to the modules; the unmanned aerial vehicle central controller is connected with the unmanned aerial vehicle data acquisition module and used for reading and processing information acquired by the unmanned aerial vehicle data acquisition module and storing the information; meanwhile, the central controller of the unmanned aerial vehicle can plan a path in an electronic fence according to the electronic fence set by the unmanned ship; the unmanned aerial vehicle central controller is also connected with the unmanned aerial vehicle wireless communication module to realize communication between the unmanned aerial vehicle and the unmanned ship.
6. The unmanned boat and unmanned aerial vehicle cooperative surveying and mapping control system of claim 5, wherein the unmanned aerial vehicle data acquisition module comprises a positioning system, a radar, and a camera; the positioning system consists of an inertial navigation system and a GPS receiver and is used for realizing the coordinate positioning of the unmanned aerial vehicle; the radar and the camera are used for surveying and mapping the island.
7. The unmanned boat and unmanned aerial vehicle cooperative surveying and mapping control system of claim 5 or 6, wherein the power supply module comprises a battery, an unmanned aerial vehicle wireless charging module and an unmanned aerial vehicle power supply modulation module; the battery is used for storing electric energy to supply power to each module of the unmanned aerial vehicle; the unmanned aerial vehicle power supply modulation module is used for modulating the voltage of the battery to the unmanned aerial vehicle central controller, the unmanned aerial vehicle wireless communication module and the unmanned aerial vehicle data acquisition module and modulating the voltage of the wireless charging module to charge the battery; the unmanned aerial vehicle wireless charging module is connected with the unmanned aerial vehicle power supply modulation module and used for receiving electric energy of the unmanned ship wireless charging module and carrying out wireless charging.
8. The control method realized by the control system for collaborative surveying and mapping of unmanned boats and unmanned aerial vehicles according to claim 7, is characterized by comprising the following steps:
1) the unmanned ship carries an unmanned aerial vehicle to arrive at a target sea area shoal to carry out roundabout reef navigation according to sonar, obstacle avoidance is carried out according to a set navigation warning value in the process of navigation, and the time and the longitude and latitude at the moment are recorded and stored every several seconds;
2) the unmanned plane stops navigating after surrounding the target island for a period of time, sequentially connects longitude and latitude points according to the recorded time to form an electronic fence, and sends all data to the unmanned plane through the unmanned plane wireless communication module;
3) after the unmanned aerial vehicle receives all signals, sending a successful receiving message to the unmanned ship to inform the unmanned ship of the ready state;
4) after receiving the ready signal sent by the unmanned aerial vehicle, the unmanned boat sends a take-off instruction to the unmanned aerial vehicle, and at the moment, the unmanned aerial vehicle starts to take off, and the unmanned aerial vehicle cooperative surveying and mapping device is opened to start surveying and mapping;
5) after the unmanned aerial vehicle takes off, the unmanned aerial vehicle starts to survey and draw in a target sea area, and the unmanned aerial vehicle are in communication connection through respective wireless communication modules, so that the unmanned aerial vehicle can be prevented from being recalled in time through the unmanned aerial vehicle when an accident happens or other conditions are met;
6) if the unmanned vehicle finishes the surveying and mapping task first and then stays still on the sea surface, after the unmanned vehicle finishes the surveying and mapping task, or the battery power is lower than a set value, a return flight instruction is sent to the unmanned vehicle, and the unmanned vehicle sends the position coordinate of the unmanned vehicle at the moment to the unmanned vehicle to guide the unmanned vehicle to return flight;
7) if unmanned aerial vehicle accomplishes behind the survey and drawing task in the fence, perhaps when the battery power is less than the setting value, when sending the instruction of returning a voyage to unmanned ship, unmanned ship has not accomplished the sea area survey and drawing task this moment, then stops the survey and drawing and at the sea static, and unmanned ship sends this moment position coordinate to unmanned aerial vehicle simultaneously, guides unmanned aerial vehicle to return a voyage.
9. The control method realized by the control system for collaborative surveying and mapping of the unmanned vehicle and the unmanned vehicle according to claim 8, wherein the unmanned vehicle is parked with the unmanned vehicle, a wireless charging device is installed on a deck, and after the unmanned vehicle is returned and parked, the unmanned vehicle is automatically charged wirelessly.
10. The control method implemented by the unmanned boat and unmanned aerial vehicle cooperative surveying and mapping control system according to claim 8, wherein after the unmanned boat and unmanned aerial vehicle complete all surveying and mapping tasks, the unmanned boat wireless communication module sends surveying and mapping completion information to the ground base station, waits for a next instruction of the ground base station, and continues to perform next sea area surveying and mapping or return voyage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010120556.XA CN111208833A (en) | 2020-02-26 | 2020-02-26 | Unmanned ship and unmanned aerial vehicle cooperative surveying and mapping control system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010120556.XA CN111208833A (en) | 2020-02-26 | 2020-02-26 | Unmanned ship and unmanned aerial vehicle cooperative surveying and mapping control system and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111208833A true CN111208833A (en) | 2020-05-29 |
Family
ID=70786973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010120556.XA Pending CN111208833A (en) | 2020-02-26 | 2020-02-26 | Unmanned ship and unmanned aerial vehicle cooperative surveying and mapping control system and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111208833A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112015182A (en) * | 2020-09-03 | 2020-12-01 | 上海大学 | Unmanned plane-based unmanned ship formation patrol control system and control method |
| CN113501092A (en) * | 2021-08-19 | 2021-10-15 | 南方科技大学 | Marine survey system |
| CN113670273A (en) * | 2021-08-06 | 2021-11-19 | 诚邦测绘信息科技(浙江)有限公司 | Beach soil environment detection method and system for surveying and mapping, storage medium and intelligent terminal |
| CN113759964A (en) * | 2021-08-19 | 2021-12-07 | 北京航天华腾科技有限公司 | Wide-area ocean monitoring equipment |
| CN114162322A (en) * | 2021-11-30 | 2022-03-11 | 武汉理工大学 | Unmanned aerial vehicle-boat cooperative three-dimensional water ecological environment monitoring system and using method |
| CN114659500A (en) * | 2022-03-25 | 2022-06-24 | 广东蓝鲲海洋科技有限公司 | Island terrain surveying and mapping device and method based on unmanned aerial vehicle and unmanned ship |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105303899A (en) * | 2015-11-12 | 2016-02-03 | 范云生 | Child-mother type robot cooperation system of combination of unmanned surface vessel and unmanned aerial vehicle |
| CN106985977A (en) * | 2017-03-31 | 2017-07-28 | 武汉理工大学 | A kind of unmanned plane, ship wireless charging device and joint cruise rescue method |
| CN108287542A (en) * | 2018-01-04 | 2018-07-17 | 浙江大学 | Unmanned plane and unmanned boat cooperation control system and method based on collaboration cloud control |
| CN109191004A (en) * | 2018-09-25 | 2019-01-11 | 中国人民解放军空军工程大学 | A kind of multiple no-manned plane mapping method for allocating tasks and device |
| CN208506594U (en) * | 2018-04-17 | 2019-02-15 | 中电科海洋信息技术研究院有限公司 | Unmanned platform cluster cooperative control system |
| CN110097212A (en) * | 2019-04-08 | 2019-08-06 | 华南理工大学 | A kind of unmanned boat high energy efficiency Cooperative Area detection method |
-
2020
- 2020-02-26 CN CN202010120556.XA patent/CN111208833A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105303899A (en) * | 2015-11-12 | 2016-02-03 | 范云生 | Child-mother type robot cooperation system of combination of unmanned surface vessel and unmanned aerial vehicle |
| CN106985977A (en) * | 2017-03-31 | 2017-07-28 | 武汉理工大学 | A kind of unmanned plane, ship wireless charging device and joint cruise rescue method |
| CN108287542A (en) * | 2018-01-04 | 2018-07-17 | 浙江大学 | Unmanned plane and unmanned boat cooperation control system and method based on collaboration cloud control |
| CN208506594U (en) * | 2018-04-17 | 2019-02-15 | 中电科海洋信息技术研究院有限公司 | Unmanned platform cluster cooperative control system |
| CN109191004A (en) * | 2018-09-25 | 2019-01-11 | 中国人民解放军空军工程大学 | A kind of multiple no-manned plane mapping method for allocating tasks and device |
| CN110097212A (en) * | 2019-04-08 | 2019-08-06 | 华南理工大学 | A kind of unmanned boat high energy efficiency Cooperative Area detection method |
Non-Patent Citations (2)
| Title |
|---|
| 谢宏全等编著: "《激光雷达测绘技术与应用》", 31 December 2018 * |
| 顾骏著: "《创新路上大工匠》", 31 May 2017 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112015182A (en) * | 2020-09-03 | 2020-12-01 | 上海大学 | Unmanned plane-based unmanned ship formation patrol control system and control method |
| CN112015182B (en) * | 2020-09-03 | 2021-09-21 | 上海大学 | Unmanned plane-based unmanned ship formation patrol control system and control method |
| CN113670273A (en) * | 2021-08-06 | 2021-11-19 | 诚邦测绘信息科技(浙江)有限公司 | Beach soil environment detection method and system for surveying and mapping, storage medium and intelligent terminal |
| CN113670273B (en) * | 2021-08-06 | 2024-03-12 | 诚邦测绘信息科技(浙江)有限公司 | Beach soil environment detection method and system for mapping, storage medium and intelligent terminal |
| CN113501092A (en) * | 2021-08-19 | 2021-10-15 | 南方科技大学 | Marine survey system |
| CN113759964A (en) * | 2021-08-19 | 2021-12-07 | 北京航天华腾科技有限公司 | Wide-area ocean monitoring equipment |
| CN113501092B (en) * | 2021-08-19 | 2022-12-27 | 南方科技大学 | Marine survey system |
| CN114162322A (en) * | 2021-11-30 | 2022-03-11 | 武汉理工大学 | Unmanned aerial vehicle-boat cooperative three-dimensional water ecological environment monitoring system and using method |
| CN114659500A (en) * | 2022-03-25 | 2022-06-24 | 广东蓝鲲海洋科技有限公司 | Island terrain surveying and mapping device and method based on unmanned aerial vehicle and unmanned ship |
| CN114659500B (en) * | 2022-03-25 | 2023-09-19 | 广东蓝鲲海洋科技有限公司 | Island reef topography mapping device and method based on unmanned aerial vehicle and unmanned ship |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111208833A (en) | Unmanned ship and unmanned aerial vehicle cooperative surveying and mapping control system and control method thereof | |
| CN108583920B (en) | Offshore landing platform for unmanned aerial vehicle and control method for landing of unmanned aerial vehicle | |
| CN110104139B (en) | Unmanned ship carrying unmanned aerial vehicle offshore patrol equipment and use method thereof | |
| CN104369842B (en) | Water surface auxiliary robot based on autonomous underwater vehicle and use method | |
| CN207972758U (en) | A kind of hybrid power robot for water surface cleaner | |
| CN207817528U (en) | A kind of autonomous cruise makes a return voyage formula unmanned boat | |
| CN101776676A (en) | On-line integrated monitoring buoy for movable water body | |
| CN105226750A (en) | Unmanned boat bank base recharging system | |
| CN110608727A (en) | Seaweed bed monitoring system and method | |
| CN112960078A (en) | Unmanned sailing boat automatic driving system and method thereof | |
| CN203780780U (en) | Solar underwater robot | |
| CN108583810A (en) | A kind of Portable unmanned ship movement dock | |
| CN112977770B (en) | Inspection device and inspection method for deep sea aquaculture net cage | |
| CN201872911U (en) | Near-surface automatic mobile monitoring station | |
| CN113759964A (en) | Wide-area ocean monitoring equipment | |
| CN113687041A (en) | Submersible type water area monitoring three-body unmanned ship | |
| CN112638771A (en) | Flight charging method and system and charging unmanned aerial vehicle | |
| CN212685260U (en) | Novel unmanned shipborne unmanned aerial vehicle charging bin device | |
| CN112498144A (en) | Solar driven anchor system type autonomous aircraft multifunctional docking station and docking method | |
| CN206323619U (en) | Intelligent navigation mark | |
| CN110531431A (en) | A kind of marine geomagnetic day becomes observation device and magnetic survey method | |
| CN111942530A (en) | Unmanned ship device connected with underwater robot | |
| CN210183099U (en) | Novel unmanned continuous monitoring system on sea | |
| CN111522334A (en) | Local path planning method for wave glider | |
| CN111122985A (en) | Autonomous underwater electromagnetic signal measuring device and measuring method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200529 |
|
| RJ01 | Rejection of invention patent application after publication |