CN114655361B - Intelligent buoy and offshore cruise unmanned aerial vehicle cluster control management system and method - Google Patents
Intelligent buoy and offshore cruise unmanned aerial vehicle cluster control management system and method Download PDFInfo
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- CN114655361B CN114655361B CN202210259903.6A CN202210259903A CN114655361B CN 114655361 B CN114655361 B CN 114655361B CN 202210259903 A CN202210259903 A CN 202210259903A CN 114655361 B CN114655361 B CN 114655361B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/50—Charging stations characterised by energy-storage or power-generation means
- B60L53/51—Photovoltaic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/18—Buoys having means to control attitude or position, e.g. reaction surfaces or tether
- B63B22/20—Ballast means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/24—Buoys container type, i.e. having provision for the storage of material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/005—Protective coverings for aircraft not in use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The application provides unmanned aerial vehicle cluster control management system and method that intelligent buoy, marine cruise, include: a mechanical docking platform; the communication device is arranged on the mechanical docking platform and is in networking communication with other intelligent buoys through the communication device; a plurality of navigation guarantee basic stations are connected with mechanical docking platform, and navigation guarantee basic station includes: the cabin body is internally provided with an accommodating cavity which is used for storing the unmanned aerial vehicle; the unmanned aerial vehicle landing platform is arranged at the top of the cabin body and used for guiding the unmanned aerial vehicle to land, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle landing platform is opened, and the unmanned aerial vehicle enters the accommodating cavity; the solar cell panel is obliquely arranged on the surface of the cabin body and is used for providing a power supply; wireless charging device sets up in the holding intracavity, is connected with solar cell panel, and wireless charging device is used for carrying out wireless charging for unmanned aerial vehicle. The intelligent buoy is controlled and managed in a clustering mode through the unmanned aerial vehicle, and the functions and the action range of the intelligent buoy are expanded.
Description
Technical Field
The invention relates to the technical field of marine unmanned aerial vehicle cruising, in particular to an intelligent buoy, an unmanned aerial vehicle cluster control management system and a method for marine cruising.
Background
The buoy is a navigation mark floating on the water surface, and is used for the places where fixed navigation marks cannot be arranged to mark the range of a navigation channel, indicate shoals, obstruct the navigation or represent a water surface navigation aid mark for special purposes. In the 20 th century, people began to research multifunctional intelligent buoys, such as ocean buoys, which can collect marine hydrology, water quality and weather data.
With the development of a new era, the shipping industry is increasingly prosperous, the frequent occurrence of marine traffic accidents is accompanied, but the rescue operation is often time-critical and difficult due to the fact that the offshore mechanism is possibly far away from the rescue place when the rescue is implemented and is limited to the complex and changeable environment on the sea. Therefore, if the buoy near the rescue site can be innovated, the rescue can be immediately carried out after the distress signal is received.
However, the current intelligent buoy mainly has the following problems: 1. the function is comparatively single: at present, the method is mainly used for water quality detection and hydrometeorology observation; 2. the action range is limited: because the position of the ocean is relatively fixed, the action range of the ocean is limited to the peripheral sea area.
Disclosure of Invention
The invention aims to overcome the technical defects, provides an unmanned aerial vehicle cluster control management system and method for intelligent buoys and offshore cruise, and solves the technical problems of single buoy function and limited action range in the prior art.
In order to achieve the above technical object, a first aspect of the present invention provides an intelligent buoy, including:
a mechanical docking platform;
the communication device is arranged on the mechanical docking platform and is in networking communication with other intelligent buoys through the communication device;
a plurality of navigation guarantee basic stations, with mechanical butt joint platform connects, navigation guarantee basic station includes: the unmanned aerial vehicle charging system comprises a cabin body, an unmanned aerial vehicle landing platform, a solar cell panel and a wireless charging device, wherein an accommodating cavity is formed in the cabin body and used for storing the unmanned aerial vehicle;
the unmanned aerial vehicle landing platform is arranged at the top of the cabin body and used for guiding the unmanned aerial vehicle to land, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle landing platform is opened, so that the unmanned aerial vehicle enters the accommodating cavity;
the solar panel is obliquely arranged on the surface of the cabin body and is used for providing a power supply;
wireless charging device set up in the holding intracavity, with solar cell panel connects, wireless charging device is used for carrying out wireless charging for unmanned aerial vehicle.
Compared with the prior art, the invention has the beneficial effects that: the intelligent buoy provided by the invention expands the functions and the action range of the intelligent buoy through the cluster control management of the unmanned aerial vehicle. The intelligent buoy can be applied to maritime search and rescue, maritime law enforcement, navigation mark inspection or navigation channel surveying and mapping by combining with an unmanned aerial vehicle. Aiming at the problems that the wired charging of the unmanned aerial vehicle at sea is inconvenient and manual intervention is needed, the system is internally provided with the magnetic coupling resonant wireless charging-based unmanned aerial vehicle offshore flight protection base station, and the application of the base station greatly improves the cruising ability and the environment adaptability of the unmanned aerial vehicle; on the other hand, the method is used as a base point of system networking, and the information propagation efficiency and reliability are improved.
According to some embodiments of the present invention, the mechanical docking platform is triangular, and three corners of the mechanical docking platform are respectively connected to one of the navigation support base stations.
According to some embodiments provided by the invention, the bottom of the navigation support base station is provided with an anchor buckle and a plurality of anchor chain buckles, the navigation support base station is connected with an underwater object through the cooperation of the anchor chain buckles and the anchor chains, and is connected with an underwater anchor through the anchor buckle.
According to some embodiments of the invention, the upper surface of the navigation support base station is further provided with a rain shelter, and the rain shelter is used for rain shelter, wind protection or wave protection.
According to some embodiments of the present invention, the navigation support base station further includes a ballast tank disposed at the bottom of the navigation support base station, and the ballast tank is configured to adjust the gravity center position, the buoyancy state, and the stability of the intelligent buoy.
According to some embodiments of the present invention, the solar panel is connected to the cabin through a rotating shaft, and the rotating shaft is rotated according to a solar radiation angle to adjust an inclination angle of the solar panel.
According to some embodiments provided herein, the wireless charging device includes a first ferrite and a transmitting coil embedded in a groove disposed in the first ferrite.
According to some embodiments provided by the invention, the unmanned aerial vehicle comprises a camera cloud platform, a water quality detection module, a positioning module and a communication module, wherein the camera cloud platform is used for shooting a water surface target object in a cruising process and carrying out image recognition processing, the water quality detection module is used for detecting water quality information in the cruising process, the positioning module is used for acquiring the position of the unmanned aerial vehicle in the cruising process, the communication module is in communication connection with the camera cloud platform, the water quality detection module and the positioning module, and the communication module is used for sending the water surface target object information, the water quality information and the unmanned aerial vehicle position information to the communication device of the intelligent buoy.
In a second aspect, the present invention provides a system for controlling and managing unmanned aerial vehicle clustering for maritime cruising, including: a control terminal and a plurality of intelligent buoys according to any one of the first aspect, wherein the intelligent buoys are in communication connection with the control terminal;
unmanned aerial vehicle deposits in the holding chamber of intelligent buoy, with control terminal communication connection, unmanned aerial vehicle is used for patrolling the surface of water and handles with corresponding emergency.
In a third aspect, the technical scheme of the invention provides an unmanned aerial vehicle clustering control management method for marine cruising, which comprises the following steps:
deploying the unmanned aerial vehicle cluster control management system for maritime cruising according to the second aspect in a predetermined sea area, wherein the unmanned aerial vehicles comprise cruising unmanned aerial vehicles and emergency unmanned aerial vehicles;
patrolling a preset cruising route of the cruising unmanned aerial vehicle in the preset sea area, carrying out image recognition processing on a target object through the cruising unmanned aerial vehicle, and judging whether the target object is a suspicious target object;
if the target object is a suspicious target object, sending a search and rescue instruction through a control terminal so that the emergency unmanned aerial vehicle goes to the position of the suspicious target object for rescue.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which the abstract is to be fully consistent with one of the figures of the specification:
fig. 1 is a structural diagram of an intelligent buoy provided in an embodiment of the present invention;
fig. 2 is a structural diagram of a navigation support base station of an intelligent buoy according to another embodiment of the present invention;
fig. 3 is a structural diagram of a wireless charging device for an intelligent buoy according to another embodiment of the present invention;
fig. 4 is a flowchart of a method for controlling and managing the clustering of unmanned aerial vehicles cruising at sea according to another embodiment of the present invention;
fig. 5 is a system starting process and an algorithm schematic diagram of the unmanned aerial vehicle clustered control management method for marine cruising according to another embodiment of the present invention.
Description of reference numerals: mechanical docking platform 110, communication device 120, navigation support base station 130, cabin body 131, unmanned aerial vehicle landing platform 132, solar cell panel 133, anchor buckle 134, anchor chain buckle 135, rain shelter 210, ballast water tank 220, first ferrite 310, transmitting coil 320, second ferrite 330, receiving coil 340.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that although functional block divisions are provided in the system drawings and logical orders are shown in the flowcharts, in some cases, the steps shown and described may be performed in different orders than the block divisions in the systems or in the flowcharts. The terms first, second and the like in the description and in the claims, and the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The invention provides an intelligent buoy, which expands the functions and the action range of the intelligent buoy through the cluster control management of unmanned aerial vehicles, and can be applied to maritime search and rescue, maritime law enforcement, navigation mark inspection or navigation channel surveying and mapping by combining the unmanned aerial vehicles.
The embodiments of the present invention will be further explained with reference to the drawings.
Referring to fig. 1, fig. 1 is a structural diagram of an intelligent buoy according to an embodiment of the present invention.
In one embodiment, an intelligent buoy comprises: a mechanical docking platform 110; the communication device 120 is arranged on the mechanical docking platform 110 and is communicated with other intelligent buoy networking devices through the communication device 120; a plurality of navigation support base stations 130 connected to the mechanical docking platform 110, the navigation support base stations 130 including: the unmanned aerial vehicle comprises a cabin body 131, an unmanned aerial vehicle landing platform 132, a solar cell panel 133 and a wireless charging device, wherein an accommodating cavity is formed in the cabin body 131 and used for storing the unmanned aerial vehicle; the unmanned aerial vehicle landing platform 132 is arranged at the top of the cabin body 131, the unmanned aerial vehicle landing platform 132 is used for guiding the unmanned aerial vehicle to land, when the unmanned aerial vehicle lands, the unmanned aerial vehicle landing platform 132 is opened, and the unmanned aerial vehicle enters the accommodating cavity; the solar cell panel 133 is obliquely arranged on the surface of the cabin 131, and the solar cell panel 133 is used for providing power; wireless charging device sets up in the holding intracavity, is connected with solar cell panel 133, and wireless charging device is used for carrying out wireless charging for unmanned aerial vehicle.
The intelligent buoy that this embodiment provided passes through unmanned aerial vehicle clustering control management, extends intelligent buoy function and scope of action. The intelligent buoy can be applied to maritime search and rescue, maritime law enforcement, navigation mark inspection or navigation channel surveying and mapping by combining with an unmanned aerial vehicle. Aiming at the problems that the wired charging of the unmanned aerial vehicle at sea is inconvenient and manual intervention is needed, the system is internally provided with the magnetic coupling resonant wireless charging-based unmanned aerial vehicle offshore flight protection base station, and the application of the base station greatly improves the cruising ability and the environment adaptability of the unmanned aerial vehicle; on the other hand, the method is used as a base point of system networking, and the information propagation efficiency and reliability are improved.
In one embodiment, an intelligent buoy comprises: a mechanical docking platform 110; the communication device 120 is arranged on the mechanical docking platform 110 and is communicated with other intelligent buoy networking devices through the communication device 120; a plurality of navigation support base stations 130 connected to the mechanical docking platform 110, the navigation support base stations 130 including: the unmanned aerial vehicle comprises a cabin body 131, an unmanned aerial vehicle landing platform 132, a solar cell panel 133 and a wireless charging device, wherein an accommodating cavity is formed in the cabin body 131 and used for storing the unmanned aerial vehicle; the unmanned aerial vehicle landing platform 132 is arranged at the top of the cabin body 131 and used for guiding the unmanned aerial vehicle to land, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle landing platform 132 is opened, and the unmanned aerial vehicle enters the accommodating cavity; the solar cell panel 133 is obliquely arranged on the surface of the cabin 131, and the solar cell panel 133 is used for providing power; wireless charging device sets up in the holding intracavity, is connected with solar cell panel 133, and wireless charging device is used for carrying out wireless charging for unmanned aerial vehicle. The mechanical docking platform 110 is triangular, and three corners of the mechanical docking platform 110 are respectively connected with a navigation support base station 130. Certainly, the mechanical docking platform 110 is not limited to be triangular, and two navigation support base stations 130 may be arranged on one intelligent buoy, one of which carries the cruise unmanned aerial vehicle, and the other carries the emergency unmanned aerial vehicle; it is also possible that one intelligent buoy is provided with four navigation support base stations 130, and the intelligent buoy may be in a quadrilateral shape, or certainly, one intelligent buoy is provided with more navigation support base stations 130, which is not limited in this embodiment.
Referring to fig. 2, fig. 2 is a structural diagram of a voyage support base station 130 of an intelligent buoy according to another embodiment of the present invention.
In one embodiment, an intelligent buoy comprises: a mechanical docking platform 110; the communication device 120 is arranged on the mechanical docking platform 110 and is communicated with other intelligent buoy networking devices through the communication device 120; a plurality of navigation support base stations 130, connected to the mechanical docking platform 110, the navigation support base stations 130 include: the unmanned aerial vehicle charging system comprises a cabin body 131, an unmanned aerial vehicle landing platform 132, a solar cell panel 133 and a wireless charging device, wherein an accommodating cavity is formed in the cabin body 131 and used for storing the unmanned aerial vehicle; the unmanned aerial vehicle landing platform 132 is arranged at the top of the cabin body 131 and used for guiding the unmanned aerial vehicle to land, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle landing platform 132 is opened, and the unmanned aerial vehicle enters the accommodating cavity; the solar cell panel 133 is obliquely arranged on the surface of the cabin 131, and the solar cell panel 133 is used for providing power; wireless charging device sets up in the holding intracavity, is connected with solar cell panel 133, and wireless charging device is used for carrying out wireless charging for unmanned aerial vehicle.
An anchor buckle 134 and a plurality of anchor chain buckles 135 are arranged at the bottom of the navigation support base station 130, the navigation support base station 130 is connected with an underwater object through the cooperation of the anchor chain buckles 135 and the anchor chain, and the underwater anchor is connected with the underwater anchor through the anchor buckle 134. The number of the chain clasps 135 may be two, three, four or five, or may be other numbers, and the embodiment does not limit the number.
In one embodiment, an intelligent buoy comprises: a mechanical docking platform 110; the communication device 120 is arranged on the mechanical docking platform 110 and is communicated with other intelligent buoy networking devices through the communication device 120; a plurality of navigation support base stations 130 connected to the mechanical docking platform 110, the navigation support base stations 130 including: the unmanned aerial vehicle charging system comprises a cabin body 131, an unmanned aerial vehicle landing platform 132, a solar cell panel 133 and a wireless charging device, wherein an accommodating cavity is formed in the cabin body 131 and used for storing the unmanned aerial vehicle; the unmanned aerial vehicle landing platform 132 is arranged at the top of the cabin body 131 and used for guiding the unmanned aerial vehicle to land, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle landing platform 132 is opened, and the unmanned aerial vehicle enters the accommodating cavity; the solar cell panel 133 is obliquely arranged on the surface of the cabin 131, and the solar cell panel 133 is used for providing power; wireless charging device sets up in the holding intracavity, is connected with solar cell panel 133, and wireless charging device is used for carrying out wireless charging for unmanned aerial vehicle. The upper surface of the navigation support base station 130 is further provided with a rain shelter 210, and the rain shelter 210 is used for sheltering from rain, wind or waves. Rain shade 210 can be set up in unmanned aerial vehicle landing platform 132 both sides, and rain shade 210 can be circular-arc, can effectively avoid the stormy waves, has fine practical value.
In one embodiment, a smart buoy includes: a mechanical docking platform 110; the communication device 120 is arranged on the mechanical docking platform 110 and is communicated with other intelligent buoy networking devices through the communication device 120; a plurality of navigation support base stations 130, connected to the mechanical docking platform 110, the navigation support base stations 130 include: the unmanned aerial vehicle comprises a cabin body 131, an unmanned aerial vehicle landing platform 132, a solar cell panel 133 and a wireless charging device, wherein an accommodating cavity is formed in the cabin body 131 and used for storing the unmanned aerial vehicle; the unmanned aerial vehicle landing platform 132 is arranged at the top of the cabin body 131 and used for guiding the unmanned aerial vehicle to land, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle landing platform 132 is opened, and the unmanned aerial vehicle enters the accommodating cavity; the solar cell panel 133 is obliquely arranged on the surface of the cabin 131, and the solar cell panel 133 is used for providing power; wireless charging device sets up in the holding intracavity, is connected with solar cell panel 133, and wireless charging device is used for carrying out wireless charging for unmanned aerial vehicle.
An anchor buckle 134 and a plurality of anchor chain buckles 135 are arranged at the bottom of the navigation support base station 130, the navigation support base station 130 is connected with an underwater object through the cooperation of the anchor chain buckles 135 and an anchor chain, and the underwater anchor is connected with an underwater anchor through the anchor buckle 134. The navigation support base station 130 further comprises a ballast water tank 220 arranged at the bottom of the navigation support base station 130, and the ballast water tank 220 is used for adjusting the gravity center position, the floating state and the stability of the intelligent buoy. The weight and the gravity center position of the voyage safeguard base station 130 are adjusted by adjusting the water inflow of the ballast tank 220 so that the intelligent buoy can float on the water more stably.
In one embodiment, an intelligent buoy comprises: a mechanical docking platform 110; the communication device 120 is arranged on the mechanical docking platform 110 and is communicated with other intelligent buoys through the communication device 120; a plurality of navigation support base stations 130 connected to the mechanical docking platform 110, the navigation support base stations 130 including: the unmanned aerial vehicle comprises a cabin body 131, an unmanned aerial vehicle landing platform 132, a solar cell panel 133 and a wireless charging device, wherein an accommodating cavity is formed in the cabin body 131 and used for storing the unmanned aerial vehicle; the unmanned aerial vehicle landing platform 132 is arranged at the top of the cabin body 131 and used for guiding the unmanned aerial vehicle to land, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle landing platform 132 is opened, and the unmanned aerial vehicle enters the accommodating cavity; the solar cell panel 133 is obliquely arranged on the surface of the cabin 131, and the solar cell panel 133 is used for providing power; wireless charging device sets up in the holding intracavity, is connected with solar cell panel 133, and wireless charging device is used for carrying out wireless charging for unmanned aerial vehicle. The solar cell panel 133 is connected with the cabin 131 through a rotating shaft, and the rotating shaft is rotated according to the solar radiation angle to adjust the inclination angle of the solar cell panel 133.
Referring to fig. 3, fig. 3 is a structural diagram of a wireless charging device for an intelligent buoy according to another embodiment of the present invention.
In one embodiment, an intelligent buoy comprises: a mechanical docking platform 110; the communication device 120 is arranged on the mechanical docking platform 110 and is communicated with other intelligent buoys through the communication device 120; a plurality of navigation support base stations 130 connected to the mechanical docking platform 110, the navigation support base stations 130 including: the unmanned aerial vehicle comprises a cabin body 131, an unmanned aerial vehicle landing platform 132, a solar cell panel 133 and a wireless charging device, wherein an accommodating cavity is formed in the cabin body 131 and used for storing the unmanned aerial vehicle; the unmanned aerial vehicle landing platform 132 is arranged at the top of the cabin body 131 and used for guiding the unmanned aerial vehicle to land, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle landing platform 132 is opened, and the unmanned aerial vehicle enters the accommodating cavity; the solar cell panel 133 is obliquely arranged on the surface of the cabin 131, and the solar cell panel 133 is used for providing power; wireless charging device sets up in the holding intracavity, is connected with solar cell panel 133, and wireless charging device is used for carrying out wireless charging for unmanned aerial vehicle.
The wireless charging device comprises a first ferrite 310 and a transmitting coil 320, wherein the transmitting coil 320 is embedded in a groove of the first ferrite 310; be provided with wireless receiving arrangement that charges at unmanned aerial vehicle's undercarriage, wireless receiving arrangement that charges includes second ferrite 330 and receiving coil 340, and receiving coil 340 twines and sets up in second ferrite 330. This embodiment has designed wireless charging system for unmanned aerial vehicle, utilizes a coupling device, and the design can keep the invariable system circuit of output voltage. Through finite element analysis to coupling device, coupling device can effectively retrain magnetic field within certain height above the plane of emitter, avoids the magnetic leakage interference of alternating magnetic field to unmanned aerial vehicle among the wireless charging process. The problem to the wired not convenient, the manual intervention of charging of unmanned aerial vehicle adopts the wireless charging technique of magnetic coupling resonant mode, at the inside wireless coupling device that charges of unmanned aerial vehicle of embedding of buoy, and its emitter has bipolar magnetic field characteristic, and receiving arrangement adopts the mode of coiling coil on small-size ferrite strip, and receiving arrangement installs in the undercarriage bottom.
In one embodiment, a smart buoy includes: a mechanical docking platform 110; the communication device 120 is arranged on the mechanical docking platform 110 and is communicated with other intelligent buoy networking devices through the communication device 120; a plurality of navigation support base stations 130 connected to the mechanical docking platform 110, the navigation support base stations 130 including: the unmanned aerial vehicle comprises a cabin body 131, an unmanned aerial vehicle landing platform 132, a solar cell panel 133 and a wireless charging device, wherein an accommodating cavity is formed in the cabin body 131 and used for storing the unmanned aerial vehicle; the unmanned aerial vehicle landing platform 132 is arranged at the top of the cabin body 131 and used for guiding the unmanned aerial vehicle to land, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle landing platform 132 is opened, and the unmanned aerial vehicle enters the accommodating cavity; the solar cell panel 133 is obliquely arranged on the surface of the cabin 131, and the solar cell panel 133 is used for providing power; wireless charging device sets up in the holding intracavity, is connected with solar cell panel 133, and wireless charging device is used for carrying out wireless charging for unmanned aerial vehicle.
Unmanned aerial vehicle is including making a video recording the cloud platform, water quality testing module, orientation module and communication module, the cloud platform of making a video recording is used for shooing the surface of water target object and carries out image recognition at the process of cruising, water quality testing module is used for detecting quality of water information at the process of cruising, orientation module is used for acquireing the unmanned aerial vehicle position at the process of cruising, communication module and the cloud platform of making a video recording, water quality testing module and orientation module communication connection, communication module is used for surface of water target object information, quality of water information and unmanned aerial vehicle position information send the communication device 120 of intelligent buoy.
The invention also provides an unmanned aerial vehicle cluster control management system for marine cruising, which comprises: the control terminal is in communication connection with a plurality of intelligent buoys, and the intelligent buoys are in communication connection with the control terminal; unmanned aerial vehicle deposits in the holding chamber of intelligent buoy, with control terminal communication connection, unmanned aerial vehicle is used for patrolling the surface of water and handles with corresponding emergency.
Referring to fig. 4, fig. 4 is a flowchart of a method for controlling and managing unmanned aerial vehicle clustering for maritime cruising according to another embodiment of the present invention. The unmanned aerial vehicle cluster control management method for marine cruising includes, but is not limited to, steps S110 to S130.
Step S110, deploying an unmanned aerial vehicle cluster control management system for marine cruise in a predetermined sea area, wherein the unmanned aerial vehicles comprise cruise unmanned aerial vehicles and emergency unmanned aerial vehicles;
step S120, patrolling by using a cruise unmanned aerial vehicle on a preset cruise route of a preset sea area, carrying out image recognition processing on a target object by using the cruise unmanned aerial vehicle, and judging whether the target object is a suspicious target object;
and step S130, if the target object is a suspicious target object, sending a search and rescue instruction through the control terminal so that the emergency unmanned aerial vehicle goes to the suspicious target object for rescue.
In one embodiment, the unmanned aerial vehicle clustering control management method for sea cruising comprises the following steps: deploying an unmanned aerial vehicle cluster control management system for cruising at sea in a preset sea area, wherein the unmanned aerial vehicle comprises a cruising unmanned aerial vehicle and an emergency unmanned aerial vehicle; patrolling a preset cruising route of a cruising unmanned aerial vehicle in a preset sea area, carrying out image recognition processing on a target object through the cruising unmanned aerial vehicle, and judging whether the target object is a suspicious target object; if the target object is a suspicious target object, sending a search and rescue instruction through the control terminal so that the emergency unmanned aerial vehicle can go to the suspicious target object for rescue.
The maritime search and rescue method based on the unmanned aerial vehicle cluster control management system comprises the following steps:
1. system communication module
The intelligent buoy carries out real-time supervision through all kinds of sensors to the environment around the buoy to carry out real-time analysis and information acquisition through detecting system to the hydrological meteorology etc. of this sea area, these information will regard as buoy own information to give unmanned aerial vehicle, and the buoy still need control unmanned aerial vehicle landing, charging on the buoy platform. Unmanned aerial vehicle then carries out mutual data exchange through carrying on communication module and buoy, and the information that will gather conveys the buoy to. The control terminal can control and communicate each buoy and the unmanned aerial vehicle group, monitor the states of the buoys and the unmanned aerial vehicle group in real time, and communicate with the GPS of the buoys and the unmanned aerial vehicle group at the same time, so that remote control management of the system and bidirectional information transmission are realized.
2. Maritime search and rescue decision-making model of buoy
The intelligent buoy system is provided with a maritime search and rescue decision model, and decision analysis and verification can be performed according to the collected maritime accident scene rescue scheme, so that the optimal rescue scheme is obtained. The staff can decide which rescue scheme to implement by combining the resolving result of the decision model and self judgment. The model is specifically designed as follows:
(1) Inquiring records of a previous marine accident scene and a corresponding rescue scheme, extracting relevant data, importing the relevant data into a database, and establishing a cognitive database;
(2) Preprocessing data in the cognitive database (removing redundant data), performing principal component analysis through a PCA algorithm, and forming a decision database after data cleaning, dimension reduction and correlation analysis are realized;
(3) Training and optimizing through an algorithm according to information in a decision database to obtain an optimal decision model for maritime search and rescue;
(4) Simulating marine distress accidents by using simulation software to verify the accuracy of the decision model;
(5) And if the model accuracy rate meets the requirement, putting the model into practical application, otherwise, retraining the optimization model.
By means of the maritime search and rescue decision-making model, risk analysis and rescue decision-making analysis and inspection during rasterization processing of the rescue area can be achieved, and workers can decide which rescue scheme to implement according to the resolving result and self judgment of the decision-making model, so that intellectualization and autonomy during novel buoy rescue are achieved.
Referring to fig. 5, fig. 5 is a system starting process and an algorithm schematic diagram of an unmanned aerial vehicle cluster control management method for marine cruising according to another embodiment of the present invention.
The use method of the intelligent buoy comprises the following steps:
1. the core components of products in different application scenes are the same, but the deployment positions and the number of buoys are slightly different, so that the product core components are introduced by taking maritime search and rescue as representatives. The specific implementation method comprises the following steps:
(1) According to the requirements, a network communication system is deployed in a certain sea area range, the control terminal carries out global and local path planning according to the marine hydrometeorology and the geographic information, and the optimal cruising route of the unmanned aerial vehicle cluster and the deployment location of the buoy are automatically analyzed and generated;
(2) And throwing the buoy according to the deployment site, and establishing communication connection between the intelligent buoy and the system terminal. The cruise unmanned plane carried by the buoy starts cruising according to the specified path;
(3) The cruise unmanned aerial vehicle collects rescue site information and analyzes the rescue site information, and grading and danger coefficient evaluation are carried out on the search and rescue area through image recognition and a random forest algorithm.
(4) When a marine accident occurs, the cruising unmanned aerial vehicle feeds the danger coefficient and the position information back to the buoy moving end and the unmanned aerial vehicle group control terminal through the communication system through the image recognition system, the GPS and the maritime search and rescue decision model;
(5) The maritime search and rescue decision model in the buoy carries out calculation of an optimal rescue decision scheme according to the acquired information;
(6) After receiving the information returned by the cruise unmanned aerial vehicle, the intelligent buoy immediately sends out the emergency unmanned aerial vehicle to carry rescue materials such as life jackets and the like to a rescue site at the first time;
(7) Personnel in the control center can refer to a scheme obtained by the maritime search and rescue decision model to determine a further rescue scheme according to information returned by the cruise unmanned aerial vehicle, and can adjust the scheme in real time according to a monitoring picture of the cruise unmanned aerial vehicle.
The invention also provides an unmanned aerial vehicle cluster control management system for marine cruising, which comprises: the unmanned aerial vehicle control management method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the unmanned aerial vehicle control management method for maritime cruising.
The processor and memory may be connected by a bus or other means.
The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
It should be noted that the unmanned aerial vehicle clustered control management system for marine cruise in this embodiment may include a service processing module, an edge database, a server version information register, and a data synchronization module, and the processor executes a computer program to implement the unmanned aerial vehicle clustered control management method for marine cruise applied to the unmanned aerial vehicle clustered control management system for marine cruise.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, which are executed by a processor or a controller, for example, by a processor in the terminal embodiment, and can make the processor execute the unmanned aerial vehicle cluster control management method for marine cruise in the above embodiment.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An intelligent buoy, comprising:
a mechanical docking platform;
the communication device is arranged on the mechanical docking platform, and the intelligent buoy is in networking communication with other intelligent buoys through the communication device;
a plurality of navigation guarantee basic stations, with mechanical butt joint platform connects, navigation guarantee basic station includes: the unmanned aerial vehicle charging system comprises a cabin body, an unmanned aerial vehicle landing platform, a solar cell panel and a wireless charging device, wherein an accommodating cavity is formed in the cabin body and used for storing the unmanned aerial vehicle;
the unmanned aerial vehicle landing platform is arranged at the top of the cabin body and used for guiding the unmanned aerial vehicle to land, and when the unmanned aerial vehicle lands, the unmanned aerial vehicle landing platform is opened, so that the unmanned aerial vehicle enters the accommodating cavity;
the solar panel is obliquely arranged on the surface of the cabin body and is used for providing a power supply;
wireless charging device set up in the holding intracavity, with solar cell panel connects, wireless charging device is used for carrying out wireless charging for unmanned aerial vehicle.
2. The intelligent buoy of claim 1, wherein the mechanical docking platform is triangular, and three corners of the mechanical docking platform are respectively connected with one navigation assurance base station.
3. The intelligent buoy of claim 1, wherein an anchor block buckle and a plurality of anchor chain buckles are arranged at the bottom of the navigation support base station, the navigation support base station is connected with an underwater object through the cooperation of the anchor chain buckles and the anchor chains, and the underwater anchor block is connected through the anchor block buckles.
4. The intelligent buoy as claimed in claim 1, wherein the navigation support base station is further provided with a rain shelter on the upper surface thereof, and the rain shelter is used for rain shelter, wind protection or wave protection.
5. The intelligent buoy of claim 1, wherein the voyage support base further comprises a ballast tank disposed at the bottom of the voyage support base, the ballast tank being configured to adjust the position of the center of gravity, buoyancy and stability of the intelligent buoy.
6. The intelligent buoy as claimed in claim 1, wherein the solar panel is connected with the cabin through a rotating shaft, and the rotating shaft is rotated according to the solar radiation angle to adjust the inclination angle of the solar panel.
7. The smart buoy as claimed in claim 1, wherein the wireless charging device comprises a first ferrite and a transmitting coil embedded in a recess provided in the first ferrite.
8. The intelligent buoy of claim 1, wherein the unmanned aerial vehicle comprises a camera cloud platform, a water quality detection module, a positioning module and a communication module, the camera cloud platform is used for shooting a water surface target object in a cruising process and carrying out image recognition processing, the water quality detection module is used for detecting water quality information in the cruising process, the positioning module is used for acquiring the position of the unmanned aerial vehicle in the cruising process, the communication module is in communication connection with the camera cloud platform, the water quality detection module and the positioning module, and the communication module is used for sending the water surface target object information, the water quality information and the unmanned aerial vehicle position information to the communication device of the intelligent buoy.
9. The utility model provides an unmanned aerial vehicle cluster control management system that marine cruises which characterized in that includes: a control terminal and a plurality of intelligent buoys according to any one of claims 1 to 8, the intelligent buoys being communicatively coupled to the control terminal;
unmanned aerial vehicle deposits in the holding chamber of intelligent buoy, with control terminal communication connection, unmanned aerial vehicle is used for patrolling the surface of water and handles with corresponding emergency.
10. An unmanned aerial vehicle cluster control management method for sea cruising is characterized by comprising the following steps:
deploying the unmanned aerial vehicle cluster control management system for maritime cruising according to claim 9 at a predetermined sea area, the unmanned aerial vehicles including cruising unmanned aerial vehicles and emergency unmanned aerial vehicles;
patrolling a preset cruising route of the cruising unmanned aerial vehicle in the preset sea area, carrying out image recognition processing on a target object through the cruising unmanned aerial vehicle, and judging whether the target object is a suspicious target object;
if the target object is a suspicious target object, sending a search and rescue instruction through a control terminal so that the emergency unmanned aerial vehicle goes to the position of the suspicious target object for rescue.
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| CN106985977A (en) * | 2017-03-31 | 2017-07-28 | 武汉理工大学 | A kind of unmanned plane, ship wireless charging device and joint cruise rescue method |
| CN109765349A (en) * | 2017-11-09 | 2019-05-17 | 西安知点信息科技有限公司 | A kind of Multifunctional water monitering buoy |
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