CN113325836A - Method for unmanned vehicle to execute task in task area and unmanned vehicle system - Google Patents
Method for unmanned vehicle to execute task in task area and unmanned vehicle system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Abstract
The invention relates to a method for an unmanned vehicle to execute tasks in a task area and an unmanned vehicle system, wherein the task execution method comprises the following steps: the unmanned vehicle connects one cable with the initial anchor point, connects the other cable with the anchor point in the first task area, and releases the connection with the initial anchor point; the unmanned vehicle executes a preset task under the protection of the cable; judging whether a full task area is covered, if so, running the unmanned vehicle to a completion position; if not, repeating the steps; and judging whether the sum of the preset task areas executed by the unmanned vehicle covers the full task area or not, if so, running the unmanned vehicle to the completion position. The unmanned vehicle system includes an unmanned vehicle, at least two cables, and a work anchor point. The unmanned vehicle can execute tasks in a plurality of task areas without interruption through at least two cables, and when the unmanned vehicle executes the tasks, the cables can protect the unmanned vehicle by connecting one of the cables with the current anchoring point all the time, so that the safety performance of the unmanned vehicle for executing the tasks is improved.
Description
Technical Field
The invention relates to the technical field of task execution of unmanned vehicles, in particular to a method for an unmanned vehicle to execute a task in a task area and an unmanned vehicle system.
Background
With the development of the field of artificial intelligence, unmanned vehicles can replace manual work in many fields, such as: the household cleaning robot can perform automatic household cleaning, and the warehousing and carrying robot can perform automatic cargo carrying and the like.
However, in the conventional technology, the unmanned vehicle generally executes tasks in a designated environment according to a set program, and the designated environment is mostly an environment with flat terrain and good communication, and in some complex environments, for example, the unmanned vehicle needs to perform cleaning operation on a roof solar panel, and the unmanned vehicle has unsafe factors such as falling or being blown by wind when executing tasks, so that the complex environmental factors cause limitations of the unmanned vehicle in executing tasks.
Disclosure of Invention
Based on this, it is necessary to provide a method for an unmanned vehicle to perform a task in a task area and an unmanned vehicle system, aiming at the problem that the unmanned vehicle has unsafe factors when performing the task.
A method of an unmanned vehicle performing a task within a task area, comprising the steps of:
step S100, one cable connected with the unmanned vehicle is connected with an initial anchor point of a full task area, the unmanned vehicle starts from the initial position of the full task area and runs into a first task area, the other cable connected with the unmanned vehicle is connected with a first working anchor point in the first task area, and then the connection between the cable and the initial anchor point is released and the cable is recovered to be used as a spare cable; at this time, the first task area is used as a current task area, the first working anchor point is used as a current anchor point, and the cable connected with the current anchor point is used as a current cable;
step S200, the unmanned vehicle executes a preset task in the current task area;
step S300, judging whether the total sum of the areas of the unmanned vehicle executing the preset task covers the full task area, if so, running the unmanned vehicle from the current task area to the completion position of the full task area; if not, executing step S400: the unmanned vehicle runs from the current task area to the next task area, is connected with the next working anchor point in the next task area by using the standby cable, then releases the connection between the current cable and the current anchor point and is recycled as the standby cable; at this time, the next task area is used as the current task area, the next working anchor point is used as the current anchor point, and the cable connected with the current anchor point is used as the current cable;
step S500, the unmanned vehicle executes a preset task in the current task area;
step S600, judging whether the total sum of the areas of the unmanned vehicle which has executed the preset task covers the full task area, if not, repeating the steps S400 to S600 by the unmanned vehicle; and if so, the unmanned vehicle runs from the current task area to the completion position of the full task area.
In one embodiment, in step S100, the step of disconnecting the cable from the origin anchor point and recovering the cable as a spare cable further comprises:
step S110, the unmanned vehicle runs from the first task area to the initial anchoring point, and a cable is recovered as a spare cable in the running process;
step S120, the unmanned vehicle releases the connection between the cable and the initial anchor point, and returns to the first task area.
In one embodiment, in step S300, the step of disconnecting the current cable from the current anchor point and recovering the current cable as a spare cable further comprises:
step S310, the unmanned vehicle runs from the next task area to the current anchoring point in the current task area, and a cable is recovered as a spare cable in the running process;
step S320, the unmanned vehicle releases the connection between the current cable and the current working anchor point, and returns to the next task area.
In one embodiment, in step S600, the step of the unmanned vehicle moving from the current task area to the completion position of the full task area further includes:
step S610, the unmanned vehicle runs from the current task area to the completion position of the full task area, and the current spare cable of the unmanned vehicle is used for being connected with the completion position anchor point;
step S620, the unmanned vehicle runs from the completion position to the current anchor point in the current task area, and recovers a cable connected to the current anchor point in the running process;
step S630, the unmanned aerial vehicle releases the connection of the cable with the current anchor point, then operates to the completion position, and recovers the cable connected with the completion position anchor point in the operation process;
and step S640, the unmanned vehicle arrives at the completion position, and the connection between the cable and the completion position anchor point is released.
In one embodiment, in step S100, S200 and/or step S500, the unmanned vehicle obtains power from the current anchor point connected thereto through the current cable.
In one embodiment, in step S100, S200 and/or S500, the unmanned vehicle transmits a working medium between the current anchor point to which the current cable is connected.
In one embodiment, in step S100, S200 and/or step S500, the unmanned vehicle communicates with the current anchor point to which the current cable is connected.
In one embodiment, the current cable is connected with the working anchor point in a suction mode.
In one embodiment, the adsorption mode is vacuum adsorption or magnetic adsorption.
An unmanned vehicle system comprises an unmanned vehicle, at least two cables and a working anchor point, wherein one end of each cable is fixedly connected with the unmanned vehicle, and the other end of each cable is correspondingly provided with an anchor device; the unmanned vehicle comprises an autonomous walking device and a retracting device capable of retracting the cable and the anchoring device;
the work anchor point is disposed in the task area, and the anchor device is connectable to the work anchor point.
In one embodiment, the unmanned vehicle system further comprises a function module disposed at the work anchor point, and the cable comprises a pipeline capable of interacting with the function module.
In one embodiment, the functional module comprises at least one of a power module, a communication module, or a media storage module, and the cable comprises at least one of a power cable, a communication cable, or a media transmission conduit.
In one embodiment, the unmanned vehicle is further provided with an information acquisition module, and the information acquisition module is connected with the communication module through the communication cable.
In one embodiment, a sensor is provided on the cable, at the connection of the cable to the drone and/or at the connection of the cable to the anchoring device, the sensor being capable of detecting the tension of the cable.
According to the method for the unmanned vehicle to execute the tasks in the task areas and the unmanned vehicle system, the unmanned vehicle can execute the tasks in the plurality of task areas without interruption through at least two cables, one cable is always connected with one anchor point when the unmanned vehicle executes the tasks, the cable can protect the unmanned vehicle, the unmanned vehicle is prevented from accidentally separating from the task areas under the interference of external factors in the task executing process, and the safety performance of the unmanned vehicle in executing the tasks is improved.
Drawings
FIG. 1 is a flow diagram of a method for an unmanned vehicle to perform tasks in a task area, under an embodiment.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method of an unmanned vehicle performing a task in a task area according to an embodiment of the present invention, in the embodiment, the task performed by the unmanned vehicle is to clean the solar cell panel on the roof of the high-rise building, the area to be cleaned of the solar cell panel is used as the area for the unmanned vehicle to perform the task, i.e., the area to be cleaned is the full-duty area, but because the area of the solar cell panel in the area to be cleaned is large, in order to ensure that each solar cell panel can be cleaned, the solar panel can be divided into a plurality of cleaning areas, each cleaning area is an equant triangle, regular polygon or honeycomb, and the like, and can also be an unequally-divided triangle, regular polygon or honeycomb, and the like, and the division mode of the task area is not limited; an anchor point is arranged in each cleaning area, wherein the anchor point can be any point of the task area, the preferred anchor point is arranged at the center of the task area so as to facilitate the unmanned vehicle to perform the cleaning task in a circumferential range taking the cable as a radius, and the distance between two adjacent anchor points is less than the maximum extension length of the cable.
In this embodiment, the specific steps of the unmanned vehicle for performing the cleaning work are as follows:
step S100, one of the cables connected with the unmanned vehicle is connected with an initial anchor point of an area to be cleaned, wherein the connection between the connecting cable and the initial anchor point can be automatic absorption, automatic winding, automatic buckling or other connectable modes, the initial anchor point is arranged at the edge of the area to be cleaned, so that the unmanned vehicle can be directly connected, the unmanned vehicle runs from the initial position of the area to be cleaned to a first cleaning area (a first cleaning area, namely a first task area) of the area to be cleaned, the other cable connected with the unmanned vehicle is connected with a first working anchor point in the first cleaning area, wherein the distance between the initial anchor point and the first working anchor point is smaller than the maximum extension length of the cable, and then the connection between the cable and the initial anchor point is released and recovered as a spare cable. At this time, the first cleaning area is used as the current task area, the first working anchor point in the first cleaning area is used as the current anchor point, and the cable connected with the current anchor point is used as the current cable.
Step S200, the unmanned vehicle executes a cleaning task of the solar panel in a first cleaning area under the protection of a current cable connected with a first working anchoring point; the current cable can play a role in protecting the unmanned vehicle, for example, the unmanned vehicle may have a risk of falling off when performing a task or a risk of scraping the unmanned vehicle due to a large wind force on a roof, and at this time, the current cable can play a role in dragging the unmanned vehicle; meanwhile, or because the area of the cleaning area is large, in order to ensure the continuous operation of the unmanned vehicle, the anchor point can supply power to the unmanned vehicle through the current cable; or the anchor point can also convey clear water for the unmanned vehicle through the current cable or the unmanned vehicle can discharge used sewage to the anchor point through the current cable and then is communicated with the sewer pipeline through the anchor point, so that the sewage is quickly discharged; it should be noted that the present cable may have communication or other functions in addition to the above functions.
Step S300, judging whether the total sum of the cleaning areas finished by the unmanned vehicle covers the area to be cleaned, if so, running the unmanned vehicle from the cleaning area to the finishing position of the full task area; if not, executing step S400: the unmanned vehicle runs from the completed cleaning area to the next cleaning area (the next cleaning area is the next task area) in the area to be cleaned, the spare cable is used for connecting with the next working anchoring point in the next cleaning area, the distance between the working anchoring point of the next cleaning area and the working anchoring point of the previous cleaning area is smaller than the maximum extension length of the cable, then the connection between the cable and the first working anchoring point is released and the cable is recycled as the spare cable, the next cleaning area is used as the current task area, the next working anchoring point is used as the current anchoring point, and the cable connected with the current anchoring point is used as the current cable.
Step S500, the unmanned vehicle executes a cleaning task of the solar panel in a current task area under the protection of a current cable;
step S600, judging whether the sum of the task areas of the unmanned vehicle for completing cleaning covers the area to be cleaned, if not, repeating the steps S400 to S600 by the unmanned vehicle; and if so, the unmanned vehicle runs from the current task area to the completion position of the full task area.
The above embodiment is only an example of cleaning the solar panel, the task performed by the unmanned vehicle of the present invention is not limited to cleaning the solar panel, but may be various tasks such as cleaning a tunnel, life saving, stacking goods, and the like, and the steps of the task performed by the unmanned vehicle are the same as the steps of performing the task of cleaning the solar panel.
In this embodiment, the step of the unmanned vehicle disconnecting the cable from the origin anchor point and recovering the cable as the reserve cable in step S100 further includes:
step S110, the unmanned vehicle runs from the first cleaning area to the initial anchoring point, and the cable is recovered as a spare cable in the running process;
and step S120, when the unmanned vehicle approaches the initial anchor point, the unmanned vehicle releases the connection between the cable and the initial anchor point and returns to the first cleaning area.
In this embodiment, in step S300, the step of the unmanned vehicle disconnecting the current cable from the current anchor point and recovering the cable as the spare cable further includes:
step S310, the unmanned vehicle runs from the next cleaning area to the current anchoring point in the current task area, and the cable is recovered as a spare cable in the running process;
and step S320, when the unmanned vehicle approaches the current working anchor point, the unmanned vehicle releases the connection between the current cable and the current working anchor point and returns to the next cleaning area.
In the above steps S100 and S300, the unmanned vehicle recovers the cable during moving to the current anchor point, so as to avoid damage to the task area caused by dragging the cable or the anchor device in the task area, for example, damage to the surface of the solar cell panel caused by dragging the cable or the anchor device directly on the surface of the solar cell panel. Of course, in some flat task areas without more sundries and damage concerns, the unmanned vehicle can be free from moving in the process of recovering the cable, the unmanned vehicle directly releases the connection between the current cable and the initial anchor point or the current working anchor point, and the unmanned vehicle recovers the cable in situ.
In some embodiments, in order to facilitate the next time the unmanned vehicle directly resumes the task from the completion position, or to facilitate the maintenance or recovery work of the worker, wherein the completion position is located at an edge position of the full task area, and a distance between the anchor point of the completion position and the anchor point of the area where the preset task is last performed (i.e., the current task area) is less than the length of the cable, the specific step in which the unmanned vehicle needs to travel to the completion position of the full task area from the area where the preset task is last performed includes:
step S610, the unmanned vehicle runs to the completion position of the full task area from the area of the last execution of the preset task, and is connected with the completion position anchor point by using the current standby cable of the unmanned vehicle;
step S620, the unmanned vehicle runs from the completion position to the current anchor point in the area where the preset task is executed at last, and the cable connected with the current anchor point is recovered in the running process;
step S630, the unmanned vehicle releases the connection between the cable and the current anchor point, then runs to the completion position, and recovers the cable connected with the completion position anchor point in the running process;
step S640, the unmanned vehicle arrives at the completion position, and the connection between the cable and the completion position anchor point is released.
In other embodiments, if the distance between the anchor point of the completion location and the anchor point of the area where the preset task is last performed is greater than the length of the cable, the unmanned vehicle may transition through one or more anchor points via a navigation system such as GPS or beidou navigation, and finally return to the completion location.
When the unmanned vehicle executes a task, a motion path needs to be planned, and the method for planning the path by the unmanned vehicle can be that a laser ranging system is arranged on the unmanned vehicle, the structural layout of the current task area is restored through laser scanning positioning, the path for executing the task is planned, and then a preset task is executed in a circumferential range taking a cable as a radius; or the unmanned vehicle is provided with a visual navigation system, the structural layout of the current task area is restored according to image modeling, the path for executing the task is planned, and then the preset task is executed in the circumferential range taking the cable as the radius; or planning the movement path by means of GPS, Beidou navigation and the like.
The method for judging whether the total sum of the executed preset task areas covers the full task area by the unmanned vehicle comprises the following steps: according to a laser ranging system, a visual navigation system, a GPS or Beidou navigation system and the like, the unmanned vehicle can record and calculate the sum of the executed preset task areas, and then the sum of the executed preset task areas is compared with the whole task area for judgment.
In some embodiments, the current cable and work anchor point may be automatically attached, automatically wound, automatically snapped, or otherwise connectable. The automatic adsorption is taken as an example to explain in detail, an anchoring device is arranged at one end, far away from the unmanned vehicle, of the cable, when the cable is required to be connected with a working anchoring point, the unmanned vehicle firstly moves to the position of the working anchoring point, and then the position is adjusted to enable the anchoring device to be adsorbed at the anchoring point.
Further, the adsorption mode is vacuum adsorption or magnetic adsorption, preferably, a vacuum pump for vacuum adsorption or an electromagnetic controller for electromagnetic adsorption is positioned at one end of the anchoring device or the anchoring point, when the anchoring device of the unmanned vehicle is close to the anchoring point, the vacuum pump or the electromagnetic controller on the anchoring device or the anchoring point is started, and the anchoring device and the anchoring point are connected in an adsorption mode; when the cable needs to be disconnected with the anchor point, the unmanned vehicle sends a signal to the anchor device or the anchor point, and the anchor device or the anchor point receives the signal to control the vacuum pump or the electromagnetic controller to remove the adsorption.
In said steps S100, S200 and/or S500, the unmanned vehicle may obtain the power source from the current anchor point connected thereto through the current cable.
Specifically, the unmanned vehicle can be provided with a battery, but when the unmanned vehicle works for a long time, the unmanned vehicle may have insufficient electric quantity, and in order not to influence the continuous operation of the unmanned vehicle, the anchor point is provided with a power supply module, and the cable comprises a power supply cable, namely, after the anchoring device is connected with the anchor point in an adsorption manner, the power supply module on the anchor point can supply power to the unmanned vehicle through the power supply cable in the cable.
In said steps S100, S200 and/or S500, the drone may transfer the working medium between the current anchor point to which the current cable is connected.
Further, the step of transferring the working medium comprises transferring the working medium from the unmanned vehicle to the current anchor point and/or transferring the working medium from the current anchor point to the unmanned vehicle.
Specifically, when the unmanned vehicle executes a cleaning task, the unmanned vehicle completes cleaning work conveniently, a storage module is arranged on the anchor point and can be used for storing clear water or cleaning agent, meanwhile, the cable comprises a medium transmission pipeline, the medium channel can further comprise an input channel and an output channel, the storage anchor block of the anchor point conveys the clear water or the cleaning agent to the unmanned vehicle through the input channel in the cable, the unmanned vehicle can clean the cleaning equipment carried by the vehicle body conveniently or the unmanned vehicle cleans the cleaning equipment, the clear water in the unmanned vehicle is changed into sewage to be replaced after being used for multiple times, the sewage can be directly output through the output channel in the cable, and then the clear water or the cleaning agent is conveyed to the unmanned vehicle again through the input channel.
In said steps S100, S200 and/or S500, the unmanned vehicle communicates with the current anchor point to which it is connected through the current cable.
Specifically, when the unmanned vehicle works in an environment with no signal or poor signal, the collected information needs to be transmitted to a receiving end, for example, when the unmanned vehicle is used for cleaning in a tunnel, the unmanned vehicle needs to transmit the environment information in the tunnel to a control terminal, the environment information can be the conditions of drainage dirt and the like in the tunnel, the cleaning work of the unmanned vehicle is conveniently controlled by a worker in a remote mode, the environment information can also be the information that the lining position in the tunnel is not fallen, whether water seepage exists in the tunnel or not, whether the pavement in the tunnel is intact or not, the hidden danger problem in the tunnel is conveniently checked by the worker in time, the environment information is transmitted to a work anchoring point through a cable, the work anchoring point transmits the environment information to the control terminal, and the work anchoring point is connected with the control terminal in a wired or wired and wireless combined mode.
In order to implement the task executed by the unmanned vehicle, an embodiment of the invention provides an unmanned vehicle system, which comprises the unmanned vehicle, at least two cables and a working anchor point, wherein one end of each cable is fixedly connected with the unmanned vehicle, and the other end of each cable is correspondingly provided with an anchoring device; the unmanned vehicle comprises an autonomous walking device and a retracting device capable of retracting the cable and the anchoring device;
in some embodiments, when the unmanned vehicle needs to move from the current task area to the next task area, the current cable needs to be disconnected from the current anchoring point and recovered as a spare cable, wherein the cable can be recovered by a retracting and releasing device arranged on the unmanned vehicle, the retracting and releasing device can be an automatic reel, one end of the cable fixedly connected to the unmanned vehicle is fixedly arranged on the automatic reel, the automatic reel can wind the cable on the automatic reel, and meanwhile, an anchoring device at the other end of the cable can stay outside the unmanned vehicle.
Work anchor point sets up in the task area, and anchoring device can connect in work anchor point, and is specific, anchoring device and work anchor point can be through automatic absorption, automatic winding, automatic lock or other mode that can connect.
In some embodiments, when the unmanned vehicle needs to move from the current task area to the next task area, the unmanned vehicle needs to be connected with the next working anchor point in the next task area by using a spare cable, so that a positioning identification device can be arranged on the next working anchor point, correspondingly, a positioning identification device is arranged on the unmanned vehicle, the positioning identification device can identify the positioning identification device on the next working anchor point, and the positioning identification device can control the autonomous walking device according to the identified position of the positioning identification device.
Specifically, be provided with wireless signal transmitter on the location identification means, be provided with wireless signal receiver on the automatic walking device, consequently, the signal that automatic walking device can receive the location identification and send to accessible location recognition device control unmanned car's removal.
In some embodiments, the unmanned vehicle may obtain power from the current anchor point connected thereto through the current cable, or the unmanned vehicle may communicate with the current anchor point connected thereto through the current cable, or the unmanned vehicle may transmit a working medium between the current anchor point connected thereto through the current cable, so that the unmanned vehicle system further includes a function module disposed at the working anchor point, the cable including a pipeline capable of interacting with the function module.
Further, the functional module comprises at least one of a power module, a communication module or a medium storage module, and the cable comprises at least one of a power cable, a communication cable or a medium transmission pipeline.
In some embodiments, when the unmanned vehicle performs a task, information of a task area may need to be collected, and therefore, an information collection module is further disposed on the unmanned vehicle, and the information collection module is connected with the communication module through a communication cable.
Specifically, the information acquisition module may be a camera or a sensor, when the unmanned vehicle works in an environment with no or poor signal, the acquired information needs to be transmitted to the control terminal, for example, when the unmanned vehicle performs a cleaning operation in a tunnel, the unmanned vehicle needs to transmit the environmental information in the tunnel to the control terminal, the environmental information may be drainage dirt and the like in the tunnel, which is convenient for a worker to remotely control the cleaning operation of the unmanned vehicle, the environmental information may also be information that a lining position in the tunnel is not fallen off, whether water is leaked in the tunnel, whether a road surface in the tunnel is intact, which is convenient for the worker to check the hidden danger problem in the tunnel in time, the environmental information is transmitted to the work anchor point through a cable, and the work anchor point transmits the environmental information to the control terminal, wherein the work anchor point is connected with the control terminal through a wired or wired and wireless combination manner, the collected information can be effectively transmitted to the control terminal.
In some embodiments, the drone may have a range of motion defined by the cable, and therefore, the cable, cable to drone connection and/or cable to anchor connection is provided with a sensor capable of detecting the tension of the cable.
Specifically, the sensor is a tension sensor, a control center is arranged on the unmanned vehicle, when the unmanned vehicle executes a task, the control center on the unmanned vehicle can receive a test value of the tension sensor, meanwhile, the control center is set with a tension fixed value, the tension fixed value is smaller than the minimum tension of the broken cable rope, and when the test value of the tension sensor is smaller than the tension fixed value, the unmanned vehicle can move to any direction, namely the cable rope is allowed to continue to be elongated; when the test value of the tension sensor is larger than or equal to the fixed tension value, namely the unmanned vehicle moves to the limit range of the length of the cable, the cable is in a tightening state, and the unmanned vehicle changes the movement direction until the tension value in the tension sensor is smaller than a set value.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (14)
1. A method of an unmanned vehicle performing a task within a task area, comprising the steps of:
step S100, one cable connected with the unmanned vehicle is connected with an initial anchor point of a full task area, the unmanned vehicle starts from the initial position of the full task area and runs into a first task area, the other cable connected with the unmanned vehicle is connected with a first working anchor point in the first task area, and then the connection between the cable and the initial anchor point is released and the cable is recovered to be used as a spare cable; at this time, the first task area is used as a current task area, the first working anchor point is used as a current anchor point, and the cable connected with the current anchor point is used as a current cable;
step S200, the unmanned vehicle executes a preset task in the current task area;
step S300, judging whether the total sum of the areas of the unmanned vehicle executing the preset task covers the full task area, if so, running the unmanned vehicle from the current task area to the completion position of the full task area; if not, executing step S400: the unmanned vehicle runs from the current task area to the next task area, is connected with the next working anchor point in the next task area by using the standby cable, then releases the connection between the current cable and the current anchor point and is recycled as the standby cable; at this time, the next task area is used as the current task area, the next working anchor point is used as the current anchor point, and the cable connected with the current anchor point is used as the current cable;
step S500, the unmanned vehicle executes a preset task in the current task area;
step S600, judging whether the total sum of the areas of the unmanned vehicle which has executed the preset task covers the full task area, if not, repeating the steps S400 to S600 by the unmanned vehicle; and if so, the unmanned vehicle runs from the current task area to the completion position of the full task area.
2. The method of unmanned aerial vehicle of claim 1, wherein in step S100, the step of unmanned aerial vehicle disconnecting a cable from the origin anchor point and recovering the cable as a reserve cable further comprises:
step S110, the unmanned vehicle runs from the first task area to the initial anchoring point, and a cable is recovered as a spare cable in the running process;
step S120, the unmanned vehicle releases the connection between the cable and the initial anchor point, and returns to the first task area.
3. The method of the unmanned vehicle performing a task within a task area of claim 1, wherein in step S300, the step of the unmanned vehicle disconnecting the current cable from the current anchor point and recovering as a reserve cable further comprises:
step S310, the unmanned vehicle runs from the next task area to the current anchoring point in the current task area, and a cable is recovered as a spare cable in the running process;
step S320, the unmanned vehicle releases the connection between the current cable and the current working anchor point, and returns to the next task area.
4. The method of the unmanned vehicle performing tasks within a task area of claim 1, wherein in step S600, the step of the unmanned vehicle traveling from the current task area to the completion location of the full task area further comprises:
step S610, the unmanned vehicle runs from the current task area to the completion position of the full task area, and the current spare cable of the unmanned vehicle is used for being connected with the completion position anchor point;
step S620, the unmanned vehicle runs from the completion position to the current anchor point in the current task area, and recovers a cable connected to the current anchor point in the running process;
step S630, the unmanned aerial vehicle releases the connection of the cable with the current anchor point, then operates to the completion position, and recovers the cable connected with the completion position anchor point in the operation process;
and step S640, the unmanned vehicle arrives at the completion position, and the connection between the cable and the completion position anchor point is released.
5. The method of claim 1, wherein in steps S100, S200 and/or S500, the unmanned vehicle derives a source of motive energy from the current anchor point to which it is connected via the current cable.
6. The method of claim 1, wherein in steps S100, S200 and/or S500, the unmanned vehicle transfers working medium between the current anchor point to which the current cable is connected.
7. The method of claim 1, wherein in steps S100, S200 and/or S500, the unmanned vehicle communicates between the current anchor point to which the unmanned vehicle is connected via the current cable.
8. The method of claim 1, wherein the attachment of the current cable to the work anchor point is by suction.
9. The method of claim 8, wherein the suction is vacuum suction or magnetic suction.
10. The unmanned vehicle system is characterized by comprising an unmanned vehicle, at least two cables and a working anchor point, wherein one end of each cable is fixedly connected with the unmanned vehicle, and the other end of each cable is correspondingly provided with an anchoring device; the unmanned vehicle comprises an autonomous walking device and a retracting device capable of retracting the cable and the anchoring device;
the work anchor point is disposed in the task area, and the anchor device is connectable to the work anchor point.
11. The unmanned aerial vehicle system of claim 10, further comprising a function module disposed at the work anchor point, the cable comprising a line configured to interact with the function module.
12. The unmanned aerial vehicle system of claim 11, wherein the functional module comprises at least one of a power module, a communications module, or a media storage module, and the cable comprises at least one of a power cable, a communications cable, or a media transmission conduit.
13. The unmanned aerial vehicle system of claim 12, further comprising an information collection module disposed on the unmanned aerial vehicle, wherein the information collection module is connected to the communication module via the communication cable.
14. The drone vehicle system of claim 10, wherein a sensor is provided on the cable, at the cable to drone vehicle connection and/or at the cable to anchor device connection, the sensor being capable of detecting the tension of the cable.
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