CN113156997A - Autonomous release and recovery system, control method and method for inspection unmanned aerial vehicle - Google Patents
Autonomous release and recovery system, control method and method for inspection unmanned aerial vehicle Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention discloses an autonomous release and recovery system, a control method and a control method of an inspection unmanned aerial vehicle, and aims to realize the automation of release and recovery of the inspection unmanned aerial vehicle on a highway. The method comprises the following steps: a platform for the unmanned aerial vehicle to take off and land and an unmanned aerial vehicle charging device are installed on the patrol car; driving the patrol car to run along a preset vehicle running path in a fixed time period; when the unmanned aerial vehicle is in a takeoff range of a preset unmanned aerial vehicle patrol path, acquiring electric quantity information of the unmanned aerial vehicle in real time, and when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, controlling the unmanned aerial vehicle to take off and start patrol; when the electric quantity information of the unmanned aerial vehicle is lower than a preset value, the unmanned aerial vehicle is charged through an unmanned aerial vehicle charging device; when the unmanned aerial vehicle takes off for inspection, acquiring the electric quantity information of the unmanned aerial vehicle in real time; when unmanned aerial vehicle's electric quantity information is less than the default, control unmanned aerial vehicle descends to the inspection vehicle on, charges for unmanned aerial vehicle through unmanned aerial vehicle charging device.
Description
Technical Field
The invention relates to an autonomous release and recovery system, a control method and a control method of an inspection unmanned aerial vehicle, and belongs to the technical field.
Background
At present, in order to reduce the probability of highway traffic accidents, a plurality of efforts are made by the traffic department in China, and among the efforts, an unmanned aerial vehicle inspection method for the highway is provided.
With the rapid development of target detection technology, more and more highway sections are monitored and timely treated by an unmanned aerial vehicle for patrolling the highway. The unmanned aerial vehicle patrols the highway and has very high efficiency to supervise and in time handle the traffic accident, but the release and the recovery of unmanned aerial vehicle all need to go to accomplish through artifical manual, has not only taken the cost of labor like this, but also can delay time. Meanwhile, the highway is often a very long road section, the cruising ability of the unmanned aerial vehicle is limited, the unmanned aerial vehicle cannot be charged in time, manual and timely recovery is needed, and the release and recovery of the unmanned aerial vehicle are also completed manually at present, so that the unmanned aerial vehicle occupies manual resources and can only complete single flight. The existing unmanned aerial vehicle patrols the highway efficiency is not ideal, not only occupies the manpower resource, but also wastes the time, and the better advantage of the unmanned aerial vehicle patrolling the highway can not be exerted.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides an autonomous release and recovery system, a control method and a control method of an inspection unmanned aerial vehicle, and realizes the automation of release and recovery of the inspection unmanned aerial vehicle on a highway.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the invention provides an autonomous release and recovery system for a highway patrol unmanned aerial vehicle, which comprises a control system, and a patrol car and an unmanned aerial vehicle which are connected with the control system;
the patrol car is provided with an unmanned aerial vehicle charging device and a platform for parking and taking off the unmanned aerial vehicle;
the unmanned aerial vehicle is at least one, and an electric quantity detection module and a violation monitoring module for acquiring patrol road section information are arranged on the unmanned aerial vehicle; the unmanned aerial vehicle is parked on a platform of the patrol car when landing, and the patrol road section information is transmitted to the control system when taking off and patrolling; the unmanned aerial vehicle acquires electric quantity information of the unmanned aerial vehicle through the electric quantity detection module and transmits the electric quantity information to the control system;
the control system generates a preset unmanned aerial vehicle patrol path, generates unmanned aerial vehicle control information according to the preset unmanned aerial vehicle patrol path and the electric quantity information of the unmanned aerial vehicle and transmits the unmanned aerial vehicle control information to the unmanned aerial vehicle, so that the unmanned aerial vehicle is controlled to take off or land on a platform of the patrol car according to the preset unmanned aerial vehicle patrol path;
the control system generates a preset vehicle running path and transmits the preset vehicle running path to the inspection vehicle, and the inspection vehicle is controlled to run according to the preset vehicle running path; the control system generates charging control information according to the electric quantity information of the unmanned aerial vehicle and transmits the charging control information to the patrol vehicle, and the unmanned aerial vehicle charging device is controlled to charge the unmanned aerial vehicle.
Further, be provided with the two-dimensional code that is used for parking for unmanned aerial vehicle is accurate on the cruiser.
Furthermore, the control system acquires the accurate position of the patrol road section by being connected with the navigation system, so that a preset vehicle running path and a preset unmanned aerial vehicle patrol path are generated.
Further, the method for generating the unmanned aerial vehicle control information by the control system comprises the following steps:
when the unmanned aerial vehicle is in a takeoff range of a preset unmanned aerial vehicle patrol path, acquiring electric quantity information of the unmanned aerial vehicle; when the unmanned aerial vehicle does not take off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, unmanned aerial vehicle control information for controlling the unmanned aerial vehicle to take off is generated; when the unmanned aerial vehicle does not take off, when the electric quantity information of the unmanned aerial vehicle is lower than a preset value, unmanned aerial vehicle control information and charging prompt information for prohibiting the unmanned aerial vehicle from taking off are generated;
when the unmanned aerial vehicle takes off for inspection, acquiring the electric quantity information of the unmanned aerial vehicle in real time; when the unmanned aerial vehicle takes off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, controlling the unmanned aerial vehicle to patrol according to a preset unmanned aerial vehicle patrol path; when unmanned aerial vehicle takes off, when unmanned aerial vehicle's electric quantity information is less than the default, control unmanned aerial vehicle descends to the inspection car on, and generates the control information that charges and transmits to the inspection car.
Further, unmanned aerial vehicle charging device is wireless charging device, works as unmanned aerial vehicle descends in corresponding position, and when unmanned aerial vehicle's electric quantity information was less than the default, control system control unmanned aerial vehicle charging device charges for unmanned aerial vehicle.
In a second aspect, the invention provides an autonomous release and recovery method for a highway patrol unmanned aerial vehicle, which comprises the following steps:
generating a preset vehicle running path and conveying the preset vehicle running path to a patrol vehicle;
when the unmanned aerial vehicle takes off for inspection, acquiring inspection road section information through a violation monitoring module;
acquiring the electric quantity information of the unmanned aerial vehicle in real time through an electric quantity detection module of the unmanned aerial vehicle;
generating a preset unmanned aerial vehicle patrol path, generating unmanned aerial vehicle control information according to the preset unmanned aerial vehicle patrol path and electric quantity information of the unmanned aerial vehicle, transmitting the unmanned aerial vehicle control information to the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to take off or land on a platform of a patrol car according to the preset unmanned aerial vehicle patrol path;
when the electric quantity information of the unmanned aerial vehicle who acquires is less than the default, generate the control information that charges and transmit to the inspection vehicle, control unmanned aerial vehicle charging device and charge for unmanned aerial vehicle.
Further, the method for generating the preset vehicle driving path and the preset unmanned aerial vehicle patrol path includes:
the accurate position of the patrol road section is obtained through connection with the navigation system, so that a preset vehicle running path and a preset unmanned aerial vehicle patrol path are generated.
Further, the method for generating the unmanned aerial vehicle control information according to the preset unmanned aerial vehicle patrol path and the electric quantity information of the unmanned aerial vehicle comprises the following steps:
when the unmanned aerial vehicle is in a takeoff range of a preset unmanned aerial vehicle patrol path, acquiring electric quantity information of the unmanned aerial vehicle;
when the unmanned aerial vehicle does not take off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, unmanned aerial vehicle control information for controlling the unmanned aerial vehicle to take off is generated;
when the unmanned aerial vehicle does not take off, when the electric quantity information of the unmanned aerial vehicle is lower than a preset value, unmanned aerial vehicle control information and charging prompt information which forbid the unmanned aerial vehicle from taking off are generated.
Further, the method for generating the unmanned aerial vehicle control information according to the preset unmanned aerial vehicle patrol path and the electric quantity information of the unmanned aerial vehicle further comprises the following steps:
when the unmanned aerial vehicle takes off for inspection, acquiring the electric quantity information of the unmanned aerial vehicle in real time;
when the unmanned aerial vehicle takes off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, controlling the unmanned aerial vehicle to patrol according to a preset unmanned aerial vehicle patrol path;
when unmanned aerial vehicle takes off, when unmanned aerial vehicle's electric quantity information is less than the default, control unmanned aerial vehicle descends to the inspection car on, and generates the control information that charges and transmits to the inspection car.
In a third aspect, the invention provides an autonomous release and recovery method for a highway patrol unmanned aerial vehicle, which comprises the following steps:
a platform for the unmanned aerial vehicle to take off and land and an unmanned aerial vehicle charging device are installed on the patrol car;
driving the patrol car to run along a preset vehicle running path in a fixed time period;
when the unmanned aerial vehicle is in a takeoff range of a preset unmanned aerial vehicle patrol path, acquiring electric quantity information of the unmanned aerial vehicle in real time, and when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, controlling the unmanned aerial vehicle to take off and start patrol; when the electric quantity information of the unmanned aerial vehicle is lower than a preset value, the unmanned aerial vehicle is charged through an unmanned aerial vehicle charging device;
when the unmanned aerial vehicle takes off for inspection, acquiring the electric quantity information of the unmanned aerial vehicle in real time; when unmanned aerial vehicle's electric quantity information is less than the default, control unmanned aerial vehicle descends to the inspection vehicle on, charges for unmanned aerial vehicle through unmanned aerial vehicle charging device.
Compared with the prior art, the invention has the following beneficial effects:
1. the unmanned aerial vehicle is released by the patrol car autonomously, and is also recovered by the patrol car autonomously. In this way, the effort of human resources is reduced. Labor cost can be greatly reduced, and resources are saved;
2. the invention relates to an autonomous releasing and recovering method of an expressway patrol unmanned aerial vehicle, which is more convenient than the manual releasing and recovering of the expressway patrol unmanned aerial vehicle at present, saves more manpower and resources, does not occupy too much manpower cost when the expressway patrol unmanned aerial vehicle is used, autonomously releases and recovers the unmanned aerial vehicle, and solves the problem that too much time cost is invested manually into the unmanned aerial vehicle;
3. according to the unmanned aerial vehicle patrol system, the unmanned aerial vehicle patrols and checks back at the fixed road section, the patrol intensity is improved, the patrol car which is driven at a fixed time ensures the recovery and charging work of the unmanned aerial vehicle, so that the unmanned aerial vehicle patrolled on the expressway can keep enough electric quantity, the unmanned aerial vehicle patrolled on the expressway is more autonomous and intelligent, the unmanned aerial vehicle is highly automatically powered for the unmanned aerial vehicle, and the unmanned aerial vehicle patrolled on the expressway has stronger cruising ability.
4. The patrol car runs along a route in a fixed time period, the unmanned aerial vehicle takes off and lands on the patrol car, and a charging platform is used, so that the problem of charging the unmanned aerial vehicle on the whole highway is immediately solved by one patrol, the problem of charging the unmanned aerial vehicle on the way of running can be solved as long as the patrol car runs at a fixed time, not only is the process of independently releasing and recovering the unmanned aerial vehicle by one complete high-speed patrol, but also the problem of supplying power to the unmanned aerial vehicle on the whole highway is solved, and the automation of monitoring the highway by the unmanned aerial vehicle is enabled to take one step forward.
Drawings
Fig. 1 is an autonomous release and recovery flow diagram for a highway patrol drone;
FIG. 2 is a highway unmanned aerial vehicle inspection map;
fig. 3 is a diagram of a patrol car automatic release or recovery drone.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The first embodiment is as follows:
the embodiment provides an autonomous release and recovery system of a highway patrol unmanned aerial vehicle, which comprises a control system, and a patrol vehicle and an unmanned aerial vehicle which are connected with the control system, as shown in fig. 2-3. The system can automatically release the unmanned aerial vehicle through the patrol car and also can automatically recover the unmanned aerial vehicle through the patrol car. In this way, the effort of human resources is reduced. The labor cost is greatly reduced, and the resources are saved.
Be provided with unmanned aerial vehicle charging device on the cruiser and be used for unmanned aerial vehicle to park the platform of taking off. Unmanned aerial vehicle charging device is wireless charging device, works as unmanned aerial vehicle descends corresponding position, and when unmanned aerial vehicle's electric quantity information was less than the default, control system control unmanned aerial vehicle charging device charges for unmanned aerial vehicle.
The unmanned aerial vehicle is at least one, and an electric quantity detection module and a violation monitoring module for acquiring patrol road section information are arranged on the unmanned aerial vehicle; the unmanned aerial vehicle is parked on a platform of the patrol car when landing, and the patrol road section information is transmitted to the control system when taking off and patrolling; unmanned aerial vehicle passes through electric quantity detection module and acquires unmanned aerial vehicle's electric quantity information and transmits extremely control system. Be provided with the two-dimensional code that is used for parking for unmanned aerial vehicle is accurate on the cruiser.
The control system generates a preset unmanned aerial vehicle patrol path and generates unmanned aerial vehicle control information according to the preset unmanned aerial vehicle patrol path and the electric quantity information of the unmanned aerial vehicle and transmits the unmanned aerial vehicle control information to the unmanned aerial vehicle, so that the unmanned aerial vehicle is controlled to take off or land on a platform of the patrol car according to the preset unmanned aerial vehicle patrol path. The control system is connected with the navigation system to acquire the accurate position of the patrol road section, so that a preset vehicle running path and a preset unmanned aerial vehicle patrol path are generated.
The control system generates a preset vehicle running path and transmits the preset vehicle running path to the inspection vehicle, and the inspection vehicle is controlled to run according to the preset vehicle running path; the control system generates charging control information according to the electric quantity information of the unmanned aerial vehicle and transmits the charging control information to the patrol vehicle, and the unmanned aerial vehicle charging device is controlled to charge the unmanned aerial vehicle. The system belongs to an autonomous releasing and recovering method of the highway patrol unmanned aerial vehicle, is more convenient to release and recover manually compared with the conventional highway patrol unmanned aerial vehicle, saves more manpower and resources, does not occupy too much manpower cost when the highway patrol unmanned aerial vehicle is used, autonomously releases and recovers the unmanned aerial vehicle, and solves the problem that too much time cost is manually input for the unmanned aerial vehicle.
As shown in fig. 1, the method for generating the drone control information by the control system includes:
when the unmanned aerial vehicle is in a take-off range of a preset unmanned aerial vehicle patrol path, acquiring electric quantity information of the unmanned aerial vehicle through an electric quantity detection module; when the unmanned aerial vehicle does not take off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, unmanned aerial vehicle control information for controlling the unmanned aerial vehicle to take off is generated; when the unmanned aerial vehicle does not take off, when the electric quantity information of the unmanned aerial vehicle is lower than a preset value, unmanned aerial vehicle control information and charging prompt information for prohibiting the unmanned aerial vehicle from taking off are generated;
when the unmanned aerial vehicle takes off for inspection, acquiring the electric quantity information of the unmanned aerial vehicle in real time through an electric quantity detection module; when the unmanned aerial vehicle takes off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, controlling the unmanned aerial vehicle to patrol according to a preset unmanned aerial vehicle patrol path; when unmanned aerial vehicle takes off, when unmanned aerial vehicle's electric quantity information is less than the default, control unmanned aerial vehicle descends to the inspection car on, and generates the control information that charges and transmits to the inspection car.
The patrol car runs along a route in a fixed time period, the unmanned aerial vehicle takes off and lands on the patrol car, and a charging platform is used, so that the problem of charging the unmanned aerial vehicle on the whole highway is immediately solved by one patrol, the problem of charging the unmanned aerial vehicle on the way of running can be solved as long as the patrol car runs at a fixed time, not only is the process of independently releasing and recovering the unmanned aerial vehicle by one complete high-speed patrol, but also the problem of supplying power to the unmanned aerial vehicle on the whole highway is solved, and the automation of monitoring the highway by the unmanned aerial vehicle is enabled to take one step forward.
Example two:
the embodiment provides an autonomous release and recovery control method for an inspection unmanned aerial vehicle, which comprises the following steps:
generating a preset vehicle running path and conveying the preset vehicle running path to a patrol vehicle; acquiring the accurate position of a patrol road section through connection with a navigation system, so as to generate a preset vehicle running path and a preset unmanned aerial vehicle patrol path;
when the unmanned aerial vehicle takes off for inspection, acquiring inspection road section information through a violation monitoring module;
acquiring the electric quantity information of the unmanned aerial vehicle in real time through an electric quantity detection module of the unmanned aerial vehicle;
generating a preset unmanned aerial vehicle patrol path, generating unmanned aerial vehicle control information according to the preset unmanned aerial vehicle patrol path and electric quantity information of the unmanned aerial vehicle, transmitting the unmanned aerial vehicle control information to the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to take off or land on a platform of a patrol car according to the preset unmanned aerial vehicle patrol path;
when the electric quantity information of the unmanned aerial vehicle who acquires is less than the default, generate the control information that charges and transmit to the inspection vehicle, control unmanned aerial vehicle charging device and charge for unmanned aerial vehicle.
The method for generating the unmanned aerial vehicle control information according to the preset unmanned aerial vehicle patrol path and the electric quantity information of the unmanned aerial vehicle comprises the following steps:
when the unmanned aerial vehicle is in a takeoff range of a preset unmanned aerial vehicle patrol path, acquiring electric quantity information of the unmanned aerial vehicle; when the unmanned aerial vehicle does not take off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, unmanned aerial vehicle control information for controlling the unmanned aerial vehicle to take off is generated; when the unmanned aerial vehicle does not take off, when the electric quantity information of the unmanned aerial vehicle is lower than a preset value, unmanned aerial vehicle control information and charging prompt information for prohibiting the unmanned aerial vehicle from taking off are generated;
when the unmanned aerial vehicle takes off for inspection, acquiring the electric quantity information of the unmanned aerial vehicle in real time; when the unmanned aerial vehicle takes off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, controlling the unmanned aerial vehicle to patrol according to a preset unmanned aerial vehicle patrol path; when unmanned aerial vehicle takes off, when unmanned aerial vehicle's electric quantity information is less than the default, control unmanned aerial vehicle descends to the inspection car on, and generates the control information that charges and transmits to the inspection car.
The method is an autonomous releasing and recovering method of the highway patrol unmanned aerial vehicle, is more convenient than the manual releasing and recovering of the highway patrol unmanned aerial vehicle at present, saves more manpower and resources, does not occupy too much manpower cost when the highway patrol unmanned aerial vehicle is used, autonomously releases and recovers the unmanned aerial vehicle, and solves the problem that too much time cost is invested for the unmanned aerial vehicle manually; the patrol car runs along a route in a fixed time period, the unmanned aerial vehicle takes off and lands on the patrol car, and a charging platform is used, so that the problem of charging the unmanned aerial vehicle on the whole highway is immediately solved by one patrol, the problem of charging the unmanned aerial vehicle on the way of running can be solved as long as the patrol car runs at a fixed time, not only is the process of independently releasing and recovering the unmanned aerial vehicle by one complete high-speed patrol, but also the problem of supplying power to the unmanned aerial vehicle on the whole highway is solved, and the automation of monitoring the highway by the unmanned aerial vehicle is enabled to take one step forward.
The behavior object of the method provided by the embodiment is a control system, and the control system comprises a master controller, an unmanned aerial vehicle controller externally connected with the master controller and an inspection vehicle controller.
The unmanned aerial vehicle controller acquires electric quantity information of the unmanned aerial vehicle and transmits the electric quantity information to the master controller; when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, the master controller generates unmanned aerial vehicle control information for controlling the unmanned aerial vehicle to take off and transmits the unmanned aerial vehicle control information to the unmanned aerial vehicle controller; the unmanned aerial vehicle controller receives the unmanned aerial vehicle control information and implements the unmanned aerial vehicle control information to control the unmanned aerial vehicle to take off. When the unmanned aerial vehicle takes off for inspection, the unmanned aerial vehicle controller acquires the electric quantity information of the unmanned aerial vehicle in real time and transmits the electric quantity information to the master controller; when the unmanned aerial vehicle takes off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, the unmanned aerial vehicle controller receives an instruction of the master controller and controls the unmanned aerial vehicle to patrol according to a preset unmanned aerial vehicle patrol path; when unmanned aerial vehicle takes off, when unmanned aerial vehicle's electric quantity information is less than the default, total controller generates control command and gives the unmanned aerial vehicle controller, and unmanned aerial vehicle controller control unmanned aerial vehicle descends to the inspection car on, and generate the control information that charges and transmit to the inspection car.
When the electric quantity information of the unmanned aerial vehicle is lower than the preset value, the master controller generates charging control information and transmits the charging control information to the inspection vehicle controller, and the inspection vehicle controller controls the unmanned aerial vehicle charging device to charge the unmanned aerial vehicle.
Example three:
the embodiment of the invention also provides an autonomous release and recovery method of the expressway patrol unmanned aerial vehicle, which comprises the following steps:
a platform for the unmanned aerial vehicle to take off and land and an unmanned aerial vehicle charging device are installed on the patrol car;
driving the patrol car to run along a preset vehicle running path in a fixed time period;
when the unmanned aerial vehicle is in a takeoff range of a preset unmanned aerial vehicle patrol path, acquiring electric quantity information of the unmanned aerial vehicle in real time, and when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, controlling the unmanned aerial vehicle to take off and start patrol; when the electric quantity information of the unmanned aerial vehicle is lower than a preset value, the unmanned aerial vehicle is charged through an unmanned aerial vehicle charging device;
when the unmanned aerial vehicle takes off for inspection, acquiring the electric quantity information of the unmanned aerial vehicle in real time; when unmanned aerial vehicle's electric quantity information is less than the default, control unmanned aerial vehicle descends to the inspection vehicle on, charges for unmanned aerial vehicle through unmanned aerial vehicle charging device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An autonomous release and recovery system of a highway patrol unmanned aerial vehicle is characterized by comprising a control system, a patrol vehicle and an unmanned aerial vehicle, wherein the patrol vehicle and the unmanned aerial vehicle are both connected with the control system;
the patrol car is provided with an unmanned aerial vehicle charging device and a platform for parking and taking off the unmanned aerial vehicle;
the unmanned aerial vehicle is at least one, and an electric quantity detection module and a violation monitoring module for acquiring patrol road section information are arranged on the unmanned aerial vehicle; the unmanned aerial vehicle is parked on a platform of the patrol car when landing, and the patrol road section information is transmitted to the control system when taking off and patrolling; the unmanned aerial vehicle acquires electric quantity information of the unmanned aerial vehicle through the electric quantity detection module and transmits the electric quantity information to the control system;
the control system generates a preset unmanned aerial vehicle patrol path, generates unmanned aerial vehicle control information according to the preset unmanned aerial vehicle patrol path and the electric quantity information of the unmanned aerial vehicle and transmits the unmanned aerial vehicle control information to the unmanned aerial vehicle, so that the unmanned aerial vehicle is controlled to take off or land on a platform of the patrol car according to the preset unmanned aerial vehicle patrol path;
the control system generates a preset vehicle running path and transmits the preset vehicle running path to the inspection vehicle, and the inspection vehicle is controlled to run according to the preset vehicle running path; the control system generates charging control information according to the electric quantity information of the unmanned aerial vehicle and transmits the charging control information to the patrol vehicle, and the unmanned aerial vehicle charging device is controlled to charge the unmanned aerial vehicle.
2. The autonomous release and recovery system of unmanned highway patrol vehicles according to claim 1, wherein said patrol vehicle is provided with two-dimensional codes for the precise parking of unmanned aerial vehicles.
3. The autonomous release and recovery system for unmanned highway patrol according to claim 1, wherein said control system acquires the precise location of the patrol section by connecting with a navigation system, thereby generating a preset vehicle travel path and a preset unmanned aerial vehicle patrol path.
4. The autonomous release and recovery system for highway patrol drones according to claim 1, wherein the method for the control system to generate drone control information comprises:
when the unmanned aerial vehicle is in a takeoff range of a preset unmanned aerial vehicle patrol path, acquiring electric quantity information of the unmanned aerial vehicle; when the unmanned aerial vehicle does not take off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, unmanned aerial vehicle control information for controlling the unmanned aerial vehicle to take off is generated; when the unmanned aerial vehicle does not take off, when the electric quantity information of the unmanned aerial vehicle is lower than a preset value, unmanned aerial vehicle control information and charging prompt information for prohibiting the unmanned aerial vehicle from taking off are generated;
when the unmanned aerial vehicle takes off for inspection, acquiring the electric quantity information of the unmanned aerial vehicle in real time; when the unmanned aerial vehicle takes off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, controlling the unmanned aerial vehicle to patrol according to a preset unmanned aerial vehicle patrol path; when unmanned aerial vehicle takes off, when unmanned aerial vehicle's electric quantity information is less than the default, control unmanned aerial vehicle descends to the inspection car on, and generates the control information that charges and transmits to the inspection car.
5. The autonomous releasing and recovering system for unmanned aerial vehicle for highway patrol according to claim 1, wherein said unmanned aerial vehicle charging device is a wireless charging device, when said unmanned aerial vehicle lands at a corresponding position and the electric quantity information of the unmanned aerial vehicle is lower than a preset value, the control system controls the unmanned aerial vehicle charging device to charge the unmanned aerial vehicle.
6. An autonomous release and recovery control method for an inspection unmanned aerial vehicle comprises the following steps:
generating a preset vehicle running path and conveying the preset vehicle running path to a patrol vehicle;
when the unmanned aerial vehicle takes off for inspection, acquiring inspection road section information through a violation monitoring module;
acquiring the electric quantity information of the unmanned aerial vehicle in real time through an electric quantity detection module of the unmanned aerial vehicle;
generating a preset unmanned aerial vehicle patrol path, generating unmanned aerial vehicle control information according to the preset unmanned aerial vehicle patrol path and electric quantity information of the unmanned aerial vehicle, transmitting the unmanned aerial vehicle control information to the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to take off or land on a platform of a patrol car according to the preset unmanned aerial vehicle patrol path;
when the electric quantity information of the unmanned aerial vehicle who acquires is less than the default, generate the control information that charges and transmit to the inspection vehicle, control unmanned aerial vehicle charging device and charge for unmanned aerial vehicle.
7. The autonomous release and recovery control method of patrolling unmanned aerial vehicle according to claim 6, wherein the generation method of the preset vehicle travel path and the preset unmanned aerial vehicle patrolling path comprises:
the accurate position of the patrol road section is obtained through connection with the navigation system, so that a preset vehicle running path and a preset unmanned aerial vehicle patrol path are generated.
8. The autonomous release and recovery control method of patrolling unmanned aerial vehicle according to claim 6, wherein the method of generating unmanned aerial vehicle control information according to the preset unmanned aerial vehicle patrol route and the electric quantity information of the unmanned aerial vehicle comprises:
when the unmanned aerial vehicle is in a takeoff range of a preset unmanned aerial vehicle patrol path, acquiring electric quantity information of the unmanned aerial vehicle;
when the unmanned aerial vehicle does not take off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, unmanned aerial vehicle control information for controlling the unmanned aerial vehicle to take off is generated;
when the unmanned aerial vehicle does not take off, when the electric quantity information of the unmanned aerial vehicle is lower than a preset value, unmanned aerial vehicle control information and charging prompt information which forbid the unmanned aerial vehicle from taking off are generated.
9. The autonomous release and recovery control method of patrolling unmanned aerial vehicle according to claim 8, wherein the method of generating unmanned aerial vehicle control information according to the preset unmanned aerial vehicle patrol route and the electric quantity information of the unmanned aerial vehicle further comprises:
when the unmanned aerial vehicle takes off for inspection, acquiring the electric quantity information of the unmanned aerial vehicle in real time;
when the unmanned aerial vehicle takes off, when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, controlling the unmanned aerial vehicle to patrol according to a preset unmanned aerial vehicle patrol path;
when unmanned aerial vehicle takes off, when unmanned aerial vehicle's electric quantity information is less than the default, control unmanned aerial vehicle descends to the inspection car on, and generates the control information that charges and transmits to the inspection car.
10. An autonomous release and recovery method for a highway patrol unmanned aerial vehicle comprises the following steps:
a platform for the unmanned aerial vehicle to take off and land and an unmanned aerial vehicle charging device are installed on the patrol car;
driving the patrol car to run along a preset vehicle running path in a fixed time period;
when the unmanned aerial vehicle is in a takeoff range of a preset unmanned aerial vehicle patrol path, acquiring electric quantity information of the unmanned aerial vehicle in real time, and when the electric quantity information of the unmanned aerial vehicle is not lower than a preset value, controlling the unmanned aerial vehicle to take off and start patrol; when the electric quantity information of the unmanned aerial vehicle is lower than a preset value, the unmanned aerial vehicle is charged through an unmanned aerial vehicle charging device;
when the unmanned aerial vehicle takes off for inspection, acquiring the electric quantity information of the unmanned aerial vehicle in real time; when unmanned aerial vehicle's electric quantity information is less than the default, control unmanned aerial vehicle descends to the inspection vehicle on, charges for unmanned aerial vehicle through unmanned aerial vehicle charging device.
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