CN113050694A - Area monitoring system based on unmanned aerial vehicle formation flight and operation method thereof - Google Patents
Area monitoring system based on unmanned aerial vehicle formation flight and operation method thereof Download PDFInfo
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Abstract
The invention discloses an area monitoring system based on unmanned aerial vehicle formation flight and an operation method thereof. The area monitoring system can realize three-dimensional all-weather and three-dimensional real-time monitoring of a fixed target area through formation flying of unmanned aerial vehicle systems loaded with monitoring equipment. The monitoring system is simple in arrangement, high in mobility, capable of improving monitoring effect and high in safety.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle application, in particular to the field of unmanned aerial vehicle formation flight technology application.
Background
At present, the unmanned aerial vehicle technology is rapidly advanced, the application field of the unmanned aerial vehicle is also diversified and developed, and the unmanned aerial vehicle is also deeply developed in multiple dimensions in the currently applied field. The application field of the unmanned aerial vehicle is mainly divided into military field and civil field, and the civil field can be subdivided into industrial unmanned aerial vehicle and consumption unmanned aerial vehicle. In the civil field, industrial unmanned aerial vehicles have been widely applied in the fields of plant protection, geographical mapping, emergency rescue, pipeline and power line patrol, public security and stability maintenance, ocean patrol, regional warning and the like due to the advantages of high safety, wide operation radius, strong environment adaptability and the like; the technology of the consumption-level unmanned aerial vehicle in the fields of aerial photography, logistics, formation special effect display and the like is continuously developed towards the direction of high precision and long endurance. The development of the unmanned aerial vehicle technology, especially the vigorous development of the electric multi-rotor unmanned aerial vehicle technology also provides a good foundation for the rapid development of the unmanned aerial vehicle, the single-machine technology of the civil unmanned aerial vehicle becomes mature day by day, and the application field is also continuously expanded. However, the single unmanned aerial vehicle has limited load, short endurance and poor reliability, so that the application field of the unmanned aerial vehicle is greatly limited, and the upper limit of the task execution capacity is not high.
The continuous maturity of unmanned aerial vehicle stand-alone platform technique has played positive impetus to the continuous development maturity of unmanned aerial vehicle formation flight technique, along with the maturity and the popularization of 5G technique, the technique of unmanned aerial vehicle formation flight is in the industry, the application in fields such as city management has completely emerged angle, the gradual maturity of unmanned aerial vehicle formation flight technique has not only kept unmanned aerial vehicle to excite nimble characteristics, the not enough of unmanned aerial vehicle stand-alone performance has been overcome to a great extent more, very big improvement the operational capability of unmanned aerial vehicle system, the scene and the scope of its application have been enlarged.
The invention relates to a regional monitoring system and a regional monitoring method, which are based on the innovative application of the unmanned aerial vehicle formation flight technology in the fields of security and monitoring. At present, the realization of regional monitoring mainly depends on the installation and the layout of a security system and equipment. However, the traditional security system has many defects:
1. the cost is high: in order to effectively increase the coverage area of security monitoring, the number of high-definition cameras, infrared detection and related information equipment is large, so that the early-stage construction cost is high; meanwhile, the equipment is more, the comprehensive wiring is complex, and the problem that the later maintenance cost is relatively high is derived.
2. Poor safety: firstly, the video monitoring has more monitoring dead angles due to the limitation of the detection range (such as the visual angle of a camera) and the installation position of detection equipment; secondly, fixed detection equipment is easily destroyed, and passive safety prevention and control is difficult to adapt to high-level safety prevention and control requirements.
3. Poor maneuverability: firstly, the traditional security system needs to be comprehensively built and debugged in various aspects such as strong current system layout, weak current system layout, detection hardware layout, storage equipment installation and the like, the building period is long, and the requirement of monitoring a burst type region is difficult to adapt; secondly, the traditional security system is laid once and used continuously, and the security monitoring capability level is determined in the design stage, so that the security monitoring system cannot adapt to the monitoring requirement when the regional security level is improved.
There have been many unmanned aerial vehicle enterprises in China to carry out the exploration case in the aspect of unmanned aerial vehicle security protection patrol in order to solve the above-mentioned problem of traditional security protection monitoring system. The fully-automatic patrol solution for the police security unmanned aerial vehicle is provided based on 3D-GIS autonomous planning flight routes, so that patrol tasks can be set freely, and the requirement of fixed-time and fixed-point patrol is met. However, similar schemes still have more problems, firstly, the endurance time is short, the endurance time of the existing unmanned aerial vehicle is about 30 minutes generally, and the endurance time is one of the technical bottlenecks limiting the development of the unmanned aerial vehicle industry; secondly, the coverage is small, the effective monitoring range is small due to the self limitation of airborne monitoring equipment, and a target area cannot be dynamically monitored in real time; finally, the fault tolerance is poor, and the fault tolerance is relatively low when the single machine executes tasks due to the limited environment adaptability and anti-interference capability of the single machine.
In order to solve the problems, the invention provides an area monitoring system based on formation flight of unmanned aerial vehicles and an operation method thereof, and all-weather three-dimensional monitoring of a specific area is realized by formation flight of a plurality of unmanned aerial vehicles provided with related monitoring equipment. The invention belongs to the innovative application of unmanned aerial vehicle formation flying in the field of urban monitoring, and has the following advantages compared with the traditional regional monitoring system.
1. And (5) monitoring all weather. The unmanned aerial vehicle adopts a redundancy design, when a low-power machine appears, a machine changing mechanism is started, and the low-power task machine is replaced by the redundancy machine in time; meanwhile, the low-power task machine becomes a new redundant machine after the base station finishes charging or power swapping. By adopting the circulation mechanism, all-weather uninterrupted region monitoring is further realized.
2. And (5) omnibearing three-dimensional monitoring. The high-altitude advantage of the unmanned aerial vehicle is utilized to carry out three-dimensional monitoring on the current area, and the full-coverage real-time dynamic monitoring of the current area is realized by combining cruise flight of unmanned aerial vehicles in formation.
3. The safety is high. The number advantage of the formation unmanned aerial vehicles overcomes the problems of reliability and environmental adaptability of the single machine. Meanwhile, the unmanned aerial vehicle flying in the air has strong concealment and is not easy to be actively damaged.
4. The maneuverability is strong. The method can realize instant deployment and immediate implementation for sudden high-security level monitoring requirements of temporary important gatherings, regional control and the like.
Disclosure of Invention
The invention relates to an area monitoring system based on unmanned aerial vehicle formation flight and an operation method thereof. The area monitoring system can realize all-weather and three-dimensional real-time monitoring of a fixed area.
The regional monitoring system mainly comprises an unmanned aerial vehicle system and a ground control base station, wherein the unmanned aerial vehicle system comprises M + N unmanned aerial vehicles with the same loads and models, the number of task machines is M, the number of redundant machines is N, M, N are positive integers, M is more than or equal to 3, and a single unmanned aerial vehicle comprises an unmanned aerial vehicle platform, an airborne communication module, an airborne control module and monitoring equipment; the ground control base comprises a control center, a power management unit, a task data processing module and a monitoring task processing system; the control center automatically generates unmanned aerial vehicle track information according to the monitoring task, the airborne control module receives the generated track information through the airborne communication module to control the unmanned aerial vehicles to form a formation flight, each airborne communication module simultaneously receives real-time attitude information of each sensor of the unmanned aerial vehicle platform and transmits data to the control center, and the control center corrects the track information in real time according to the monitoring task and the received attitude information of each unmanned aerial vehicle and feeds back the corrected track information to each unmanned aerial vehicle; when the regional monitoring system works, the mission machine performs air circular flying, and the redundancy machine is positioned at the ground control base; the task data transmission module is communicated with the monitoring equipment in real time to obtain monitoring data information, and the monitoring task processing system receives and processes the monitoring data information transmitted by the task data transmission module, so that the target area required by the monitoring task is monitored in real time.
Preferably, the ground control base is located the perpendicular projection position of mission aircraft flight orbit centre of a circle to ground, and this setting both has been convenient for unmanned aerial vehicle and has been returned to a journey and charge, can simplify control procedure again, improves system efficiency.
Preferably, the number of the ground control bases is more than or equal to 1, the ground control bases are arranged inside and outside the monitoring area, the control bases are mutually communicated and work independently, the monitoring system is prevented from being out of order due to faults or attack paralysis of the ground control bases, and the safety of the monitoring system is improved due to the arrangement.
Preferably, the flight trajectories of all the mission machines are the same and are at the same distance from each other, that is, the flight trajectories of all the mission machines are completely overlapped and keep flying at equal intervals when the mission machines are flying in formation.
Preferably, the monitoring device includes an infrared detection device, a radar detection device, and a camera device.
Preferably, the control center comprises a control unit and a communication unit, the power management unit is provided with an apron and a charging device, and the unmanned aerial vehicle (comprising a mission machine and a redundant machine) completes the processes of landing, charging, taking off and the like on the apron.
Preferably, the charging device is a wireless charging module or an automatic battery replacement platform, and the specific setting is determined according to the relevant structure of the power supply of the unmanned aerial vehicle.
The operation method suitable for the area monitoring system is as follows:
(1) a ground control base station acquires a monitoring task;
(2) the task data processing module is used for processing data of a task target area required by the monitoring task to obtain task track information;
(3) the control center compares the current flight path information and the task track information of the task machines and sends the information to all the task machines, and the task track information is directly sent during the initial takeoff;
(4) all task machines receive task track information and take off to reach task tracks;
(5) the unmanned aerial vehicle obtains self flight attitude information and transmits the information to the airborne control module;
(6) all task machines communicate with each other to determine the formation condition; if the preset formation state is reached, continuing the step (6), otherwise, feeding back the current track information to the ground control base station and returning to the step (3);
(7) cruising and flying according to the task track information and starting the monitoring equipment;
(8) the monitoring equipment feeds back monitoring data to the ground control base station in real time;
(9) and the ground control base station receives and processes the monitoring data through the monitoring task processing system to reach an all-weather real-time three-dimensional monitoring target.
The operation method of the cruise flight redundancy machine replacement detection program comprises the following steps:
(1) the task machine detects the electric quantity of a battery of the task machine regularly, if the electric quantity is above a preset threshold value, cruise flight is continued, and if the electric quantity is below the preset threshold value, a redundant machine replacement program is started;
(2) all task machines enter a hovering state, and simultaneously feed back current position information to the ground control base station;
(3) the ground control base station processes data and sends the spatial position information of the low-power task machine to the redundant machine;
(4) the redundant aircraft takes off to reach a preset spatial position and starts the monitoring equipment;
(5) the low-electric-quantity mission machine returns and the redundant machine replaces the low-electric-quantity mission machine to carry out circumferential cruise flight;
(6) and the low-power task machine returns to the ground control base station to complete charging, and the role is changed into standby of the redundant machine.
Drawings
FIG. 1 is a schematic illustration of the operation of the present invention;
FIG. 2 is a schematic view of a mission machine monitoring range;
FIG. 3 is a system diagram of the present invention;
FIG. 4 is a method of operation of the present invention;
FIG. 5 is a flow of redundant machine replacement during operation.
The parts in the drawings are numbered as follows: 1. a task machine; 2. a running track; 3. monitoring range of the mission machine; 4. monitoring the area in real time; 5. and controlling the base station on the ground.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
As shown in fig. 1, the unmanned aerial vehicle system mainly realizes real-time monitoring of a target area through unmanned aerial vehicle cluster flight, and in the figure, a mission machine 1 performs uniform circular motion along a preset track 2. The task machines 1 are arranged at equal intervals along the track, so that the monitoring areas 3 of the single task machines are crossed with each other to form a real-time monitoring area 4 covered by real-time monitoring. The unmanned aerial vehicle system arranged according to the mode can realize full-coverage three-dimensional monitoring of a target area, and meanwhile, due to the characteristic of high-altitude cruising, the unmanned aerial vehicle system is not easy to find and capture and has high safety.
The ground control base station 5 is located at the position where the flight track of the mission machine is vertically projected from the center of a circle to the ground, so that the linear distance between the return flight of the low-power mission machine and the takeoff of the redundant machine is reduced, all-weather uninterrupted monitoring is realized by replacing the redundant machine, the replacement efficiency of the redundant machine is improved, and the overall stability of the monitoring system is guaranteed.
Meanwhile, the safety of the ground control base station 5 determines the safety level of the whole monitoring system, a plurality of backup ground control base stations can be arranged under the scenes with higher safety levels, the position of the main ground control base station is still located at the position where the center of the flight track of the mission machine vertically projects towards the ground, and the backup ground control base stations are preferably arranged outside a target monitoring area so as to increase the prediction difficulty of the position of the backup ground control base station. When there is more than one ground control base station, in principle, the real-time monitoring area should be set inside and outside, and each base station is set in parallel and works independently.
Fig. 2 has given task machine quantity M3 and M4 task machine detection range sketch map, the dotted line circle is the circumcircle in target monitoring area in the picture, the real-time supervision region of unmanned aerial vehicle monitoring system is the region that the dotted line circle covered for, and the shadow part region is the region of two unmanned aerial vehicle monitoring simultaneously for a certain moment, the data of making a video recording of two different angles in this region same moment can realize the three-dimensional monitoring to this region, and two sets of radar detection data of same moment can realize the position detection and the accurate three-dimensional drawing to the target area. The detectable regions outside the dotted circle are not specifically described in the present invention because they do not have the characteristics of real-time and stereo detection, but the concept that the task processing can be used for other purposes by processing the detection data of the region also falls within the scope of the present invention, such as setting an early warning process for the boundary region.
As shown in fig. 3, the area monitoring system of the present invention mainly includes an unmanned aerial vehicle system and a ground control base station, wherein the unmanned aerial vehicle system includes M + N unmanned aerial vehicles with the same load and model, the number of task machines is M, the number of redundant machines is N, M, N is a positive integer, M is greater than or equal to 3, as can be seen from fig. 2, in order to maximize the area of the real-time monitoring area, the monitoring range of a single task machine should be a circular area determined by the center of a positive M polygon and two adjacent vertexes in the real-time monitoring area.
The single unmanned aerial vehicle comprises an unmanned aerial vehicle platform, an airborne communication module, an airborne control module and monitoring equipment; the ground control base comprises a control center, a power management unit, a task data processing module and a monitoring task processing system; the control center automatically generates unmanned aerial vehicle track information according to the monitoring task, and the processing process is to perform digital two-dimensional modeling on a target area so as to obtain an circumscribed circle of the area, wherein the circumscribed circle is a real-time monitoring area and completely covers the target monitoring area; and then, generating relevant parameters of the preset flight path 2 in the figure 1 by combining the flight height of the unmanned aerial vehicle and detection range parameters of the detection equipment, wherein the relevant parameters comprise flight height, circumferential flight radius, cruising speed and equidistant formation flight parameters.
The airborne control module receives the generated flight path information through the airborne communication module to control the unmanned aerial vehicles to form a formation flight, each airborne communication module simultaneously receives real-time attitude information of each sensor of the unmanned aerial vehicle platform and transmits the data to the communication unit of the control center, the control center control unit acquires the attitude information of each unmanned aerial vehicle in the communication unit in real time, the flight path information is corrected in real time according to the monitoring task and the received attitude information of each unmanned aerial vehicle, and finally the corrected flight path information is fed back to each unmanned aerial vehicle. The closed-loop control circuit established in this way ensures the stable flight of the unmanned aerial vehicle formation.
When the regional monitoring system works, the mission machine performs air circular flying, and the redundancy machine is positioned at the ground control base; the task data transmission module is communicated with the monitoring equipment in real time to obtain monitoring data information, and the monitoring task processing system receives and processes the monitoring data information transmitted by the task data transmission module, so that the target area required by the monitoring task to be monitored is monitored in real time and in a three-dimensional mode.
Referring to fig. 4, the operation method of the area monitoring system of the present invention is as follows:
(1) a ground control base station acquires a monitoring task;
(2) the task data processing module is used for processing data of a task target area required by the monitoring task to obtain task track information;
(3) the control center compares the current flight path information and the task track information of the task machines and sends the information to all the task machines, and the task track information is directly sent during the initial takeoff;
(4) all task machines receive task track information and take off to reach task tracks;
(5) the unmanned aerial vehicle obtains self flight attitude information and transmits the information to the airborne control module;
(6) all task machines communicate with each other to determine the formation condition; if the preset formation state is reached, continuing the step (6), otherwise, feeding back the current track information to the ground control base station and returning to the step (3);
(7) cruising and flying according to the task track information and starting the monitoring equipment;
(8) the monitoring equipment feeds back monitoring data to the ground control base station in real time;
(9) and the ground control base station receives and processes the monitoring data through the monitoring task processing system to reach an all-weather real-time three-dimensional monitoring target.
As shown in fig. 5, the redundant machine replacement method is as follows:
(1) the task machine detects the electric quantity of a battery of the task machine regularly, if the electric quantity is above a preset threshold value, cruise flight is continued, and if the electric quantity is below the preset threshold value, a redundant machine replacement program is started;
(2) all task machines enter a hovering state, and simultaneously feed back current position information to the ground control base station;
(3) the ground control base station processes data and sends the spatial position information of the low-power task machine to the redundant machine;
(4) the redundant aircraft takes off to reach a preset spatial position and starts the monitoring equipment;
(5) the low-electric-quantity mission machine returns and the redundant machine replaces the low-electric-quantity mission machine to carry out circumferential cruise flight;
(6) and the low-power task machine returns to the ground control base station to complete charging, and the role is changed into standby of the redundant machine.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides an area monitoring system based on unmanned aerial vehicle formation flight, includes unmanned aerial vehicle system and ground control basic station, its characterized in that: the unmanned aerial vehicle system comprises M + N unmanned aerial vehicles with the same loads and models, wherein the number of task machines is M, the number of redundant machines is N, M, N is a positive integer, M is more than or equal to 3, and each unmanned aerial vehicle comprises an unmanned aerial vehicle platform, an airborne communication module, an airborne control module and monitoring equipment; the ground control base comprises a control center, a power management unit, a task data processing module and a monitoring task processing system; the control center automatically generates unmanned aerial vehicle track information according to the monitoring task, the airborne control module receives the generated track information through the airborne communication module to control the unmanned aerial vehicles to form a formation flight, each airborne communication module simultaneously receives real-time attitude information of each sensor of the unmanned aerial vehicle platform and transmits data to the control center, and the control center corrects the track information in real time according to the monitoring task and the received attitude information of each unmanned aerial vehicle and feeds back the corrected track information to each unmanned aerial vehicle; when the regional monitoring system works, the mission machine performs air circular flying, and the redundancy machine is positioned at the ground control base; the task data transmission module is communicated with the monitoring equipment in real time to obtain monitoring data information, and the monitoring task processing system receives and processes the monitoring data information transmitted by the task data transmission module, so that the target area required by the monitoring task is monitored in real time.
2. The area monitoring system of claim 1, wherein: the flight tracks of all the mission machines are overlapped, and the formation flight keeps equal space flight.
3. The area monitoring system of claim 2, wherein: the monitoring equipment comprises infrared detection equipment, radar detection equipment and camera equipment.
4. The area monitoring system according to any one of claims 1 to 3, wherein: the control center comprises a control unit and a communication unit, and the power management unit is provided with an apron and a charging device.
5. The area monitoring system of claim 4, wherein: the charging device is a wireless charging module or an automatic battery replacement platform.
6. The area monitoring system of claim 5, wherein: the ground control base is located at the position where the center of the flight path of the mission machine vertically projects to the ground.
7. The area monitoring system of claim 5, wherein: the number of the ground control bases is more than or equal to 1, and the ground control bases are arranged inside and outside the monitoring area.
8. The method for operating the area monitoring system based on formation flight of unmanned aerial vehicles according to any one of claims 1 to 7, wherein:
(1) a ground control base station acquires a monitoring task;
(2) the task data processing module is used for processing data of a task target area required by the monitoring task to obtain task track information;
(3) the control center compares the current flight path information and the task track information of the task machines and sends the information to all the task machines, and the task track information is directly sent during the initial takeoff;
(4) all task machines receive task track information and take off to reach task tracks;
(5) the unmanned aerial vehicle obtains self flight attitude information and transmits the information to the airborne control module;
(6) all task machines communicate with each other to determine the formation condition; if the preset formation state is reached, continuing the step (6), otherwise, feeding back the current track information to the ground control base station and returning to the step (3);
(7) cruising and flying according to the task track information and starting the monitoring equipment;
(8) the monitoring equipment feeds back monitoring data to the ground control base station in real time;
(9) and the ground control base station receives and processes the monitoring data through the monitoring task processing system to reach an all-weather real-time three-dimensional monitoring target.
9. The method of operation of claim 8 wherein the mission path information includes flight altitude, circumferential flight radius, cruise speed, and equidistant formation flight parameters.
10. The operating method according to claim 8 or 9, wherein the cruise flight redundancy machine replacement detection program in step (6) is operated as follows:
(1) the task machine detects the electric quantity of a battery of the task machine regularly, if the electric quantity is above a preset threshold value, cruise flight is continued, and if the electric quantity is below the preset threshold value, a redundant machine replacement program is started;
(2) all task machines enter a hovering state, and simultaneously feed back current position information to the ground control base station;
(3) the ground control base station processes data and sends the spatial position information of the low-power task machine to the redundant machine;
(4) the redundant aircraft takes off to reach a preset spatial position and starts the monitoring equipment;
(5) the low-electric-quantity mission machine returns and the redundant machine replaces the low-electric-quantity mission machine to carry out circumferential cruise flight;
(6) and the low-power task machine returns to the ground control base station to complete charging, and the role is changed into standby of the redundant machine.
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