CN114527789A - Unmanned aerial vehicle indoor exploration auxiliary method and system - Google Patents
Unmanned aerial vehicle indoor exploration auxiliary method and system Download PDFInfo
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- CN114527789A CN114527789A CN202210047607.XA CN202210047607A CN114527789A CN 114527789 A CN114527789 A CN 114527789A CN 202210047607 A CN202210047607 A CN 202210047607A CN 114527789 A CN114527789 A CN 114527789A
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Abstract
The invention relates to the technical field of unmanned equipment indoor exploration, in particular to an unmanned aerial vehicle indoor exploration auxiliary method and system.
Description
Technical Field
The invention relates to the technical field of unmanned equipment indoor exploration, in particular to an unmanned aerial vehicle indoor exploration auxiliary method and system.
Background
Present unmanned aerial vehicle is at unknown room exploration in-process, adopt unmanned aerial vehicle to explore, utilize the depth camera to accomplish the three-dimensional modeling to the room, in this in-process, need the depth camera complete to scan the indoor environment, because the indoor environment is complicated, unmanned aerial vehicle can't seek reasonable flight path automatically, avoid the barrier, need artifical real-time environmental image through setting up the camera on unmanned aerial vehicle to transmit out to judge, give unmanned aerial vehicle flight instruction, avoid the barrier, gradually obtain the flight path in room, because the field of vision scope that the camera can provide is minimum, and the environment is complicated, this process just becomes very slow, and need the staff very carefully to judge the image, exploration efficiency can receive the tired influence that the staff judges experience and observe the long-time tired that brings to the environmental image.
Disclosure of Invention
Aiming at the problem that the exploration efficiency of the existing unmanned aerial vehicle in an unknown room is influenced by experience and fatigue of workers, the unmanned aerial vehicle indoor exploration auxiliary method and the unmanned aerial vehicle indoor exploration auxiliary system are provided, wherein the environment is explored by a locomotive, a two-dimensional map is established for the room, environment image recognition is not needed to be carried out on the environment manually, and the unmanned aerial vehicle is assisted to rapidly explore the unknown room.
In order to solve the technical problem, the invention provides an unmanned aerial vehicle indoor exploration auxiliary method, which comprises the following steps:
s1, the user side sends a working instruction to the plurality of unmanned vehicles and controls the plurality of unmanned vehicles to enter a specified room;
s2, detecting the boundary and the obstacles of the appointed room by a plurality of unmanned vehicles, establishing a two-dimensional map, and uploading the two-dimensional map to a user side;
s3, enabling the plurality of unmanned vehicles to go to a plurality of corners of the appointed room respectively to serve as UWB base stations and send UWB search signals;
s4, the user side sends a working instruction to the unmanned aerial vehicle to control the unmanned aerial vehicle to enter a designated room;
s5, carrying out real-time positioning on the unmanned aerial vehicle by the plurality of UWB base stations, and uploading positioning information to a user side;
s6, the user terminal receives the real-time positioning information and displays the information on the two-dimensional map;
s7, the user side sends a flight route to the unmanned aerial vehicle;
and S8, the unmanned aerial vehicle completes the exploration task according to the flight path.
The unmanned aerial vehicle is adopted to establish a two-dimensional map for the boundary of a room and obstacles, a plurality of UWB base stations are established in the room, the obstacles are displayed on the map, the unmanned aerial vehicle is positioned in real time, the real-time position of the unmanned aerial vehicle is displayed on the two-dimensional map, the flight route of the unmanned aerial vehicle is quickly and definitely planned, and the unmanned aerial vehicle is controlled to quickly finish the exploration task of an unknown room.
Further, in step S2, the unmanned vehicle detects the room by using a laser radar.
Further, in step S2, the unmanned vehicle calculates the detected information through an rrt algorithm to create a two-dimensional map.
Further, in step S5, the UWB base stations transmit UWB search signals to locate the UWB positioning tags installed on the drone in real time.
An unmanned aerial vehicle indoor exploration auxiliary system, comprising:
the unmanned vehicle is used for receiving work instruction information; detecting a designated room; establishing a two-dimensional map of a specified room boundary and an obstacle, and uploading the two-dimensional map; the UWB positioning tag is used as a UWB base station to search and position the UWB positioning tag in real time, and positioning information is uploaded in real time;
the unmanned aerial vehicle is used for receiving work instruction information; responding to a UWB search signal; exploring the appointed room and uploading exploration data;
the system comprises a user side, a control device and a control system, wherein the user side is used for sending work instruction information to an unmanned vehicle and an unmanned aerial vehicle; receiving a two-dimensional map and real-time positioning information sent by an unmanned vehicle; and receiving exploration data sent by the unmanned aerial vehicle.
Further, the unmanned vehicle includes:
the system comprises a laser radar, a control unit and a display unit, wherein the laser radar is used for detecting the boundary of a specified room and obstacles;
the first data receiving module is used for sending and receiving wireless signals;
the UWB module is used for sending a UWB searching signal in a specified room, searching the UWB positioning tag and positioning the UWB positioning tag in real time;
the first board card is used for processing the information received by the first data receiving module; establishing a two-dimensional map through an rrt algorithm based on detection data of the laser radar; and sending the two-dimensional map information and the real-time positioning information of the UWB positioning tag to the user side through the first data receiving module.
Further, the drone includes:
the second data receiving module is used for sending and receiving wireless signals;
the UWB positioning tag is used for responding to a UWB searching signal sent by the unmanned vehicle;
the exploration module is used for completing an exploration task in a specified room to obtain exploration data;
the second board card is used for processing the information received by the second data receiving module; and sending the data collected by the exploration module to the user side through the second data receiving module.
Compared with the prior art, the invention has the advantages and beneficial effects that: according to the invention, the unmanned vehicle is used as the UWB base station, a two-dimensional map of rooms and obstacles is established, the unmanned vehicle is positioned in real time, the flight route of the unmanned vehicle is planned on the two-dimensional map, the unmanned vehicle is directly controlled to adopt the planned route for rapid exploration, and the mode of 'one step and one step' of environmental image identification on the environment is replaced by the current manual work, so that the exploration efficiency of the unmanned vehicle is improved, and the working fatigue of a worker in the process of controlling the unmanned vehicle to explore is reduced.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
fig. 2 is a simplified schematic illustration of UWB base station and drone location within a single room in an embodiment of the present invention;
fig. 3 is a two-dimensional map of several rooms and a flight route map thereof, which are created in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in detail with reference to the following embodiments, which are illustrated in the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, an indoor exploration assisting method for an unmanned aerial vehicle includes the following steps:
s1, the user side sends a working instruction to the plurality of unmanned vehicles and controls the plurality of unmanned vehicles to enter a specified room;
s2, detecting the boundary and the obstacles of the appointed room by a plurality of unmanned vehicles, establishing a two-dimensional map, and uploading the two-dimensional map to a user side;
s3, enabling the plurality of unmanned vehicles to go to a plurality of corners of the appointed room respectively to serve as UWB base stations and send UWB search signals;
s4, the user side sends a working instruction to the unmanned aerial vehicle to control the unmanned aerial vehicle to enter a designated room;
s5, carrying out real-time positioning on the unmanned aerial vehicle by the plurality of UWB base stations, and uploading positioning information to a user side;
s6, the user side receives the real-time positioning information and displays the information on the two-dimensional map;
s7, the user side sends a flight route to the unmanned aerial vehicle;
and S8, the unmanned aerial vehicle completes the exploration task according to the flight path.
After the unmanned aerial vehicle completes the current room exploration task, if a room needs to be explored subsequently, the steps S1-S8 are carried out in a circulating mode; if no room needs to be explored subsequently, the unmanned aerial vehicle and the unmanned vehicle are quickly withdrawn from the room according to the two-dimensional map.
In practical application, most rooms are square structures, but the rooms can be polygonal or irregular structures, and if workers cannot know the room structures in advance, 6 unmanned vehicles can be dispatched for the sake of insurance; if the room structure can be known in advance, the unmanned vehicles with the corresponding quantity are dispatched.
The unmanned aerial vehicle is adopted to establish a two-dimensional map for the boundary of a room and obstacles, a plurality of UWB base stations are established in the room, the obstacles are displayed on the map, the unmanned aerial vehicle is positioned in real time, the real-time position of the unmanned aerial vehicle is displayed on the two-dimensional map, the flight route of the unmanned aerial vehicle is quickly and definitely planned, and the unmanned aerial vehicle is controlled to quickly finish the exploration task of an unknown room.
Specifically, in step S2, the unmanned vehicle detects the room using the laser radar. The laser radars emit laser beams to the boundary of the room and the obstacle, then the echo reflected from the room is compared with the emitted laser beams, and after the eating data is processed, the related information of the boundary of the room and the obstacle can be obtained.
Specifically, in step S2, the unmanned vehicle calculates the detected information by the rrt algorithm to create a two-dimensional map.
Specifically, in step S5, the UWB base stations transmit UWB search signals to locate the UWB positioning tags installed on the drone in real time.
An unmanned aerial vehicle indoor exploration auxiliary system, comprising:
the unmanned vehicle is used for receiving work instruction information; detecting a designated room; establishing a two-dimensional map of a specified room boundary and an obstacle, and uploading the two-dimensional map; the UWB positioning tag is used as a UWB base station to search and position the UWB positioning tag in real time, and positioning information is uploaded in real time;
the unmanned aerial vehicle is used for receiving work instruction information; responding to a UWB search signal; exploring the appointed room and uploading exploration data;
the user side is used for sending work instruction information to the unmanned vehicle and the unmanned aerial vehicle; receiving a two-dimensional map and real-time positioning information sent by an unmanned vehicle; and receiving exploration data sent by the unmanned aerial vehicle.
Specifically, the unmanned vehicle includes:
the laser radar is used for detecting the boundary of the specified room and the obstacles;
the first data receiving module is used for sending and receiving wireless signals;
the UWB module is used for sending a UWB searching signal in a specified room, searching the UWB positioning tag and positioning the UWB positioning tag in real time;
the first board card is used for processing the information received by the first data receiving module; establishing a two-dimensional map through an rrt algorithm based on detection data of the laser radar; and sending the two-dimensional map information and the real-time positioning information of the UWB positioning tag to the user side through the first data receiving module.
Specifically, unmanned aerial vehicle includes:
the second data receiving module is used for sending and receiving wireless signals;
the UWB positioning tag is used for responding to a UWB searching signal sent by the unmanned vehicle;
the exploration module is used for completing exploration tasks in the specified room to obtain exploration data;
the second board card is used for processing the information received by the second data receiving module; and sending the data collected by the exploration module to the user side through the second data receiving module.
In the embodiment, as shown in fig. 2, in a square room, 4 unmanned vehicles go to 4 corners of the room respectively as 4 UWB base stations, and the unmanned vehicle enters the room, is accurately positioned by the 4 base stations, and is presented at a user terminal.
As shown in fig. 3, an irregular two-dimensional map composed of a plurality of rooms, the two-dimensional map established by UWB can accurately display the boundaries of the rooms and the obstacles in the rooms, the map is quickly identified by a computer application program to give an optimal flight route, the required flight route is manually sent to the unmanned aerial vehicle through a user terminal according to the route, and the exploration task is completed by an exploration module of the unmanned aerial vehicle.
In the whole working process, the two-dimensional map of the boundary of the room and the obstacle is quickly obtained through the unmanned vehicle, the optimal route is quickly obtained, and the worker only needs to select different flight routes according to different requirements, so that the task of quickly exploring the specified room is quickly completed. Compared with the traditional exploration mode (one step is taken and one step is seen according to the images returned by the camera), the method and the system provided by the invention have substantial characteristics and remarkable progress.
The foregoing is a detailed description of the invention in conjunction with specific embodiments thereof, and it is not intended that the invention be limited to these specific embodiments. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (7)
1. An indoor exploration auxiliary method for an unmanned aerial vehicle is characterized by comprising the following steps:
s1, the user side sends a working instruction to the plurality of unmanned vehicles and controls the plurality of unmanned vehicles to enter a specified room;
s2, detecting the boundary and the obstacles of the appointed room by a plurality of unmanned vehicles, establishing a two-dimensional map, and uploading the two-dimensional map to a user side;
s3, enabling the plurality of unmanned vehicles to go to a plurality of corners of the appointed room respectively to serve as UWB base stations and send UWB search signals;
s4, the user side sends a working instruction to the unmanned aerial vehicle to control the unmanned aerial vehicle to enter a designated room;
s5, carrying out real-time positioning on the unmanned aerial vehicle by the plurality of UWB base stations, and uploading positioning information to a user side;
s6, the user side receives the real-time positioning information and displays the information on the two-dimensional map;
s7, the user side sends a flight route to the unmanned aerial vehicle;
and S8, the unmanned aerial vehicle completes the exploration task according to the flight path.
2. The unmanned aerial vehicle indoor exploration auxiliary method according to claim 1, wherein: in step S2, the unmanned vehicle detects the room using the laser radar.
3. The unmanned aerial vehicle indoor exploration auxiliary method according to claim 1, wherein: in step S2, the unmanned vehicle calculates the detected information by rrt algorithm to create a two-dimensional map.
4. The unmanned aerial vehicle indoor exploration auxiliary method according to claim 1, wherein: in step S5, the UWB base stations transmit UWB search signals to locate UWB positioning tags installed on the drone in real time.
5. An indoor exploration auxiliary system of unmanned aerial vehicle, comprising:
the unmanned vehicle is used for receiving work instruction information; detecting a designated room; establishing a two-dimensional map of a specified room boundary and an obstacle, and uploading the two-dimensional map; the UWB positioning tag is used as a UWB base station to search and position the UWB positioning tag in real time, and positioning information is uploaded in real time;
the unmanned aerial vehicle is used for receiving work instruction information; responding to a UWB search signal; exploring the appointed room and uploading exploration data;
the system comprises a user side, a control device and a control system, wherein the user side is used for sending work instruction information to an unmanned vehicle and an unmanned aerial vehicle; receiving a two-dimensional map and real-time positioning information sent by an unmanned vehicle; and receiving exploration data sent by the unmanned aerial vehicle.
6. The unmanned aerial vehicle indoor exploration auxiliary system of claim 5, wherein said unmanned vehicle comprises:
the system comprises a laser radar, a control unit and a display unit, wherein the laser radar is used for detecting the boundary of a specified room and obstacles;
the first data receiving module is used for sending and receiving wireless signals;
the UWB module is used for sending a UWB searching signal in a specified room, searching the UWB positioning tag and positioning the UWB positioning tag in real time;
the first board card is used for processing the information received by the first data receiving module; the establishment of a two-dimensional map is completed through an rrt algorithm based on detection data of the laser radar; and sending the two-dimensional map information and the real-time positioning information of the UWB positioning tag to the user side through the first data receiving module.
7. The unmanned aerial vehicle indoor exploration auxiliary system of claim 5, wherein said unmanned aerial vehicle comprises:
the second data receiving module is used for sending and receiving wireless signals;
the UWB positioning tag is used for responding to a UWB searching signal sent by the unmanned vehicle;
the exploration module is used for completing exploration tasks in the specified room to obtain exploration data;
the second board card is used for processing the information received by the second data receiving module; and sending the data collected by the exploration module to the user side through the second data receiving module.
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