CN111580557B - Unmanned aerial vehicle construction site dynamic patrol shooting system and shooting method thereof - Google Patents
Unmanned aerial vehicle construction site dynamic patrol shooting system and shooting method thereof Download PDFInfo
- Publication number
- CN111580557B CN111580557B CN202010460086.1A CN202010460086A CN111580557B CN 111580557 B CN111580557 B CN 111580557B CN 202010460086 A CN202010460086 A CN 202010460086A CN 111580557 B CN111580557 B CN 111580557B
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- uwb
- patrol
- information processing
- 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.)
- Expired - Fee Related
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
- G05D1/10—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
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
-
- 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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Abstract
The invention relates to an unmanned aerial vehicle construction site dynamic patrol shooting system and a shooting method thereof. The uwb positioning system adopts a uwb positioning technology, can accurately obtain the three-dimensional space coordinate position of the unmanned aerial vehicle needing to be patrolled, and transmits the three-dimensional space coordinate position to the background to make a route. The intelligent information processing system can receive data transmitted by the uwb positioning system, process and analyze the data and transmit the data to the unmanned aerial vehicle, the unmanned aerial vehicle patrols and shoots in sequence according to the uwb position, and a shooting result is transmitted to the database to be used as a patrol file. The position adjustment of uwb label can realize that unmanned aerial vehicle's patrolling line changes. The patrol route of the unmanned aerial vehicle is specially formulated by using the uwb positioning technology, the unmanned aerial vehicle shoots patrol contents in real time and stores the patrol contents, and the patrol route can be changed according to different uwb positions, so that the patrol flexibility is realized. The shooting content of patrol can provide technical support for various functional requirements such as asset management, danger early warning, personnel supervision and the like.
Description
Technical Field
The invention relates to a construction site positioning and patrolling neighborhood, in particular to an unmanned aerial vehicle construction site dynamic patrolling shooting system and a shooting method thereof.
Background
Construction processes at a construction site, such as site asset management, construction safety, personnel management, etc., often require strict and effective patrol supervision, and cameras often installed at the construction site are generally static using existing techniques. When the environmental security and the asset state of a construction site need to be checked, the prior art is mainly realized by arranging a plurality of cameras in a grid shape on the construction site. The mode has a plurality of defects, namely, the number of the cameras is large, the cost is high, the shooting dead angle exists, even if the static cameras are densely arranged in a grid shape, the shooting dead angle still exists, and the cost is very high. For the most common hoisting equipment on the construction site like a tower crane, a common camera is difficult to accurately shoot, while a tower crane operator generally operates at the top of the tower crane, and safety accidents can be avoided if the tower crane and the surrounding environment thereof can be accurately shot. And thirdly, the method has no flexibility, the areas or objects needing supervision or patrol are fixed, the change is troublesome, and the assets which are not easy to check on the construction site can not be accurately and dynamically checked.
Disclosure of Invention
In view of the above, the invention aims to provide a dynamic patrol shooting system and a shooting method for an unmanned aerial vehicle construction site, which overcome the defects of a static camera and achieve better patrol on construction site assets and safety problems.
The invention is realized by adopting the following scheme: an unmanned aerial vehicle construction site dynamic patrol shooting system comprises an unmanned aerial vehicle, a uwb positioning module, a background intelligent information processing module and an operation and scheduling module; the uwb positioning module is in communication connection with the background intelligent information processing module and is used for transmitting the position information to the background intelligent information processing module for analysis and processing; the background intelligent information processing module is in communication connection with the unmanned aerial vehicle and is used for transmitting the acquired position information to the unmanned aerial vehicle for path planning flight, storing the position information and the path information of the unmanned aerial vehicle and carrying out dynamic target tracking on the unmanned aerial vehicle.
Further, the unmanned aerial vehicle positioning system further comprises an operation and scheduling module, the operation and scheduling module is respectively connected with the uwb positioning module and the background intelligent information processing module, the working process of the uwb positioning module and the working process of the background intelligent information processing module can be obtained, the working process can be checked by workers and adjusted by the aid of the working process of the uwb positioning module and the working process of the background intelligent information processing module, and the unmanned aerial vehicle is assisted in shooting and position adjustment.
Furthermore, the uwb positioning module comprises a uwb label and a positioning base station, the uwb label is connected with the positioning base station, and the positioning base station is further connected with the background intelligent information processing module; and the base station positions the uwb label and transmits the position information to the background intelligent information processing module.
Further, the invention also provides a shooting method of the unmanned aerial vehicle construction site dynamic patrol shooting system, which comprises the following steps:
step S1: attaching uwb tags to specific places, personnel or asset equipment needing patrol, positioning base stations at certain intervals in a construction site, and positioning the uwb tags by the positioning base stations through uwb tag positioning algorithm;
step S2: the positioned position information data is transmitted into a background intelligent information processing module, the background intelligent information processing module analyzes and compares a preset flight route with the collected dynamic position information of the unmanned aerial vehicle, and the flight route of the unmanned aerial vehicle is planned again;
step S3: the background intelligent information processing module transmits the processed position information to the unmanned aerial vehicle for path planning flight, stores the position information of the unmanned aerial vehicle, records the route information of the unmanned aerial vehicle, and performs dynamic target tracking on the unmanned aerial vehicle so as to realize intelligent scheduling of the unmanned aerial vehicle;
step S4: the operation and scheduling module adjusts and integrates the work process of the uwb positioning module and the background intelligent information processing module, namely an operation interface is built by using QT, and the position parameters of the target are updated and visualized in real time to assist the unmanned aerial vehicle in detecting and adjusting the position;
step S5: the unmanned aerial vehicle flies to each uwb label position in sequence according to the transmitted uwb position information to shoot; when the position of the uwb label changes, the route of the unmanned aerial vehicle changes along with adjustment; and finishing a round of patrol shooting until the last uwb label position is finished, and archiving a shooting result.
Further, the uwb tag location algorithm comprises a TOF, TDoA, or AoA location algorithm.
Compared with the prior art, the invention has the following beneficial effects:
the patrol route of the unmanned aerial vehicle is specially formulated by using the uwb positioning technology, the unmanned aerial vehicle shoots patrol contents in real time and stores the patrol contents, and the patrol route can be changed according to different uwb positions, so that the patrol flexibility is realized. The shooting content of patrol can provide technical support for various functional requirements such as asset management, danger early warning, personnel supervision and the like.
Drawings
FIG. 1 is a flow chart of an embodiment of the present invention.
Fig. 2 is a diagram illustrating a working example of the embodiment of the present invention.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in fig. 1, the embodiment provides a dynamic patrol shooting system for an unmanned aerial vehicle on a building site, which includes an unmanned aerial vehicle, a uwb positioning module, a background intelligent information processing module and an operation and scheduling module; the uwb positioning module is in communication connection with the background intelligent information processing module and is used for transmitting the position information to the background intelligent information processing module for analysis and processing; the background intelligent information processing module is in communication connection with the unmanned aerial vehicle and is used for transmitting the acquired position information to the unmanned aerial vehicle for path planning flight, storing the position information and the path information of the unmanned aerial vehicle and carrying out dynamic target tracking on the unmanned aerial vehicle.
In this embodiment, still include operation and scheduling module, operation and scheduling module respectively with uwb orientation module and backstage intelligence information processing module are connected, can acquire uwb orientation module and backstage intelligence information processing module's working process for supply the staff to look over and adjust uwb orientation module and backstage intelligence information processing module's working process, supplementary unmanned aerial vehicle shoots and position adjustment.
In this embodiment, the uwb positioning module includes a uwb tag and a positioning base station, the uwb tag is connected to the positioning base station, and the positioning base station is further connected to the background intelligent information processing module; and the base station positions the uwb label and transmits the position information to the background intelligent information processing module.
Fig. 2 is a working example of the embodiment, in the drawing, a triangle is the position of the uwb tag, and a connecting line of the triangle is a shooting route for flight patrol of the unmanned aerial vehicle.
Preferably, the embodiment further provides a shooting method of the unmanned aerial vehicle worksite dynamic patrol shooting system, which includes the following steps:
step S1: attaching uwb tags to specific places, personnel or asset equipment needing patrol, positioning base stations at certain intervals in a construction site, and positioning the uwb tags by the positioning base stations through uwb tag positioning algorithm;
step S2: the positioned position information data is transmitted into a background intelligent information processing module, the background intelligent information processing module analyzes and compares a preset flight route with the collected dynamic position information of the unmanned aerial vehicle, and the flight route of the unmanned aerial vehicle is planned again;
step S3: the background intelligent information processing module transmits the processed position information to the unmanned aerial vehicle for path planning flight, stores the position information of the unmanned aerial vehicle, records the route information of the unmanned aerial vehicle, and performs dynamic target tracking on the unmanned aerial vehicle so as to realize intelligent scheduling of the unmanned aerial vehicle;
step S4: the operation and scheduling module adjusts and integrates the work process of the uwb positioning module and the background intelligent information processing module, namely an operation interface is built by using QT, and the position parameters of the target are updated and visualized in real time to assist the unmanned aerial vehicle in detecting and adjusting the position;
step S5: the unmanned aerial vehicle flies to each uwb label position in sequence according to the transmitted uwb position information to shoot; when the position of the uwb label changes, the route of the unmanned aerial vehicle changes along with adjustment; and finishing a round of patrol shooting until the last uwb label position is finished, and archiving a shooting result.
In this embodiment, the uwb tag positioning algorithm includes TOF, TDoA or AoA positioning algorithm.
The preferred, this embodiment need not to assign patrolman simultaneously in order to overcome the drawback brought by static camera, realizes that the building site is most reliable most practical to the asset, construction safety, patrol and supervise shooting functions such as personal management, and it is most reliable the most practical to adopt unmanned aerial vehicle to come to patrol the building site. And the unmanned aerial vehicle is patrolled and shot in a route and a place which need to be specified by matching with the advantages of uwb, such as high precision, interference resistance and the like.
By utilizing the characteristics of high accuracy, real-time property, anti-interference property and the like of uwb positioning, a system capable of providing scientific reference indexes is established. While the uwb tags may be removably mounted on different asset devices or personnel at different locations. The patrol is more dynamic and flexible.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.
Claims (4)
1. The utility model provides an unmanned aerial vehicle building site developments patrol shooting system which characterized in that: the system comprises an unmanned aerial vehicle, a uwb positioning module and a background intelligent information processing module; the uwb positioning module is in communication connection with the background intelligent information processing module and is used for transmitting the position information to the background intelligent information processing module for analysis and processing; the background intelligent information processing module is also in communication connection with the unmanned aerial vehicle and is used for transmitting the acquired position information to the unmanned aerial vehicle for path planning flight, storing the position information and the path information of the unmanned aerial vehicle and performing dynamic target tracking on the unmanned aerial vehicle;
the shooting method comprises the following steps:
step S1: attaching uwb tags to specific places, personnel or asset equipment needing patrol, positioning base stations at certain intervals in a construction site, and positioning the uwb tags by the positioning base stations through uwb tag positioning algorithm;
step S2: the positioned position information data is transmitted into a background intelligent information processing module, the background intelligent information processing module analyzes and compares a preset flight route with the collected dynamic position information of the unmanned aerial vehicle, and the flight route of the unmanned aerial vehicle is planned again;
step S3: the background intelligent information processing module transmits the processed position information to the unmanned aerial vehicle for path planning flight, stores the position information of the unmanned aerial vehicle, records the route information of the unmanned aerial vehicle, and performs dynamic target tracking on the unmanned aerial vehicle so as to realize intelligent scheduling of the unmanned aerial vehicle;
step S4: the operation and scheduling module adjusts and integrates the work process of the uwb positioning module and the background intelligent information processing module, namely an operation interface is built by using QT, and the position parameters of the target are updated and visualized in real time to assist the unmanned aerial vehicle in detecting and adjusting the position;
step S5: the unmanned aerial vehicle flies to each uwb label position in sequence according to the transmitted uwb position information to shoot; when the position of the uwb label changes, the route of the unmanned aerial vehicle changes along with adjustment; and finishing a round of patrol shooting until the last uwb label position is finished, and archiving a shooting result.
2. The unmanned aerial vehicle building site dynamic patrol shooting system of claim 1, wherein: the unmanned aerial vehicle positioning system is characterized by further comprising an operation and scheduling module, wherein the operation and scheduling module is respectively connected with the uwb positioning module and the background intelligent information processing module, can acquire the working process of the uwb positioning module and the background intelligent information processing module, is used for a worker to check and adjust the working process of the uwb positioning module and the background intelligent information processing module, and assists the unmanned aerial vehicle in shooting and position adjustment.
3. The unmanned aerial vehicle building site dynamic patrol shooting system of claim 1, wherein: the uwb positioning module comprises a uwb label and a positioning base station, the uwb label is connected with the positioning base station, and the positioning base station is further connected with the background intelligent information processing module; and the base station positions the uwb label and transmits the position information to the background intelligent information processing module.
4. The shooting method of the unmanned aerial vehicle worksite dynamic patrol shooting system according to claim 3, characterized in that: the uwb label positioning algorithm comprises a TOF, TDoA or AoA positioning algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010460086.1A CN111580557B (en) | 2020-05-27 | 2020-05-27 | Unmanned aerial vehicle construction site dynamic patrol shooting system and shooting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010460086.1A CN111580557B (en) | 2020-05-27 | 2020-05-27 | Unmanned aerial vehicle construction site dynamic patrol shooting system and shooting method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111580557A CN111580557A (en) | 2020-08-25 |
| CN111580557B true CN111580557B (en) | 2021-06-29 |
Family
ID=72127107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010460086.1A Expired - Fee Related CN111580557B (en) | 2020-05-27 | 2020-05-27 | Unmanned aerial vehicle construction site dynamic patrol shooting system and shooting method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111580557B (en) |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103606261A (en) * | 2013-11-29 | 2014-02-26 | 文杰 | Dynamic cell patrolling system based on aerial photography |
| US10643291B2 (en) * | 2015-09-28 | 2020-05-05 | Smartvid.io, Inc. | Media management system |
| CN106372783A (en) * | 2016-08-29 | 2017-02-01 | 昌邑市满国环卫工程有限公司 | Unmanned aerial vehicle-based personnel scheduling management system |
| CN206523781U (en) * | 2017-01-22 | 2017-09-26 | 江苏中科院智能科学技术应用研究院 | A kind of unmanned plane cooperates patrol system with unmanned vehicle |
| US10877162B2 (en) * | 2017-05-12 | 2020-12-29 | Skypersonic Inc. | Terrestrial based positioning systems and methods |
| CN109425342A (en) * | 2018-08-02 | 2019-03-05 | 青岛大学 | Indoor positioning based on UWB technology follows unmanned plane to equip |
| CN109270956A (en) * | 2018-11-19 | 2019-01-25 | 深圳大学 | A kind of unmanned vehicle independent Position Fixing Navigation System based on UWB |
| CN110213542A (en) * | 2019-06-06 | 2019-09-06 | 广州商学院 | A kind of comprehensive on-line monitoring cloud platform system of the foundation pit based on Internet of Things big data |
| CN110941286A (en) * | 2019-12-09 | 2020-03-31 | 浙江顿悟科技有限公司 | Unmanned aerial vehicle dispatching system for power inspection and application method thereof |
| CN111174792A (en) * | 2020-01-16 | 2020-05-19 | 上海电机学院 | UWB-based unmanned aerial vehicle indoor pipeline detection image acquisition method |
-
2020
- 2020-05-27 CN CN202010460086.1A patent/CN111580557B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN111580557A (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109240311B (en) | Outdoor electric power field construction operation supervision method based on intelligent robot | |
| CN108446866A (en) | A kind of wisdom site safety management platform system framework | |
| CN109543787A (en) | Intelligent power equipment inspection positioning system | |
| CN102307386A (en) | Indoor positioning monitoring system and method based on Zigbee wireless network | |
| CN206559654U (en) | A kind of transformer station management system positioned based on UWB | |
| CN112326686A (en) | Unmanned aerial vehicle intelligent cruise pavement disease detection method, unmanned aerial vehicle and detection system | |
| CN109239697A (en) | One kind being based on three-dimensional visualization employee real-time positioning system and method | |
| CN207268846U (en) | Electric inspection process robot | |
| CN104636709A (en) | Method and device for positioning monitored target | |
| CN107085209A (en) | A kind of UAV system ULTRA-WIDEBAND RADAR fire-fighting localization method | |
| CN113963276A (en) | Unmanned aerial vehicle autonomous inspection method and system for power transmission line | |
| CN104269056A (en) | Method and system for accurately positioning vehicle passing checkpoint | |
| CN114928814A (en) | Personnel safety positioning system and positioning method | |
| CN102566552A (en) | Road tunnel intelligent overhaul robot facing Internet of things and 3D GIS | |
| CN115877317A (en) | Intelligent construction site personnel positioning system and method based on Bluetooth AOA positioning | |
| CN112399137B (en) | Method and device for determining movement track | |
| CN111580557B (en) | Unmanned aerial vehicle construction site dynamic patrol shooting system and shooting method thereof | |
| CN109218683A (en) | Monitoring unmanned system and electric power place monitoring system | |
| CN112734257A (en) | System for unmanned aerial vehicle personnel supervision on blasting construction site and use method | |
| CN113055643A (en) | Intelligent standard positioning system | |
| CN111915671A (en) | Personnel trajectory tracking method and system for working area | |
| CN107167766A (en) | UAV system ULTRA-WIDEBAND RADAR fire-fighting alignment system | |
| CN110989505A (en) | Unmanned command and dispatch system based on ground equipment machine vision | |
| CN205212879U (en) | A power communication patrols line number and reports device according to concentrating for intelligence light territory management system | |
| CN114152966A (en) | Transformer substation construction detection system based on Beidou and Bluetooth fusion positioning |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210629 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |