CN115465451A - Unmanned aerial vehicle surveying control method and system based on geographic environment complexity optimization mutual charging strategy - Google Patents
Unmanned aerial vehicle surveying control method and system based on geographic environment complexity optimization mutual charging strategy Download PDFInfo
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- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
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- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- 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
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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
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Abstract
The invention relates to an unmanned aerial vehicle surveying control method and system based on a geographical environment complexity optimization mutual charging strategy, wherein the system is provided with a plurality of unmanned aerial vehicles, each unmanned aerial vehicle is provided with a wireless charging receiving device and a wireless charging transmitting device, and flight controllers of the unmanned aerial vehicles are mutually communicated and connected. The flight controller of each unmanned aerial vehicle in the unmanned aerial vehicle system can control corresponding unmanned aerial vehicle and fly according to preset air route to control first camera and acquire the image in order to realize geographical survey and drawing operation when arriving the survey and drawing point, and at the in-process of operation, if there is the electric quantity of unmanned aerial vehicle power battery to hang down, can be according to other unmanned aerial vehicle's power battery residual capacity, with distance between this unmanned aerial vehicle and each unmanned aerial vehicle's survey and drawing priority, select out the unmanned aerial vehicle that the cost of charging is lowest and charge to having started. The technical scheme provided by the invention can improve the reliability of operation when the unmanned aerial vehicle system carries out geographical mapping.
Description
Technical Field
The invention relates to the technical field of safety control of a geographical mapping unmanned aerial vehicle, in particular to an unmanned aerial vehicle surveying control method and system based on a geographical environment complexity optimization mutual charging strategy.
Background
The unmanned plane is an unmanned plane, which is called as a short name, and is an unmanned plane controlled by radio remote control equipment. Because the unmanned aerial vehicle has the advantages of strong maneuverability, high reaction speed, low operation cost and wide application range, the unmanned aerial vehicle is widely applied to the technical fields of environment detection, image shooting and the like.
The method includes the steps that an unmanned aerial vehicle is adopted to conduct geographical surveying and mapping, namely a digital camera used for high definition is loaded on the unmanned aerial vehicle, then the unmanned aerial vehicle is controlled to fly according to a preset air route, the digital camera is controlled to shoot when the unmanned aerial vehicle reaches a set position to obtain geographical surveying and mapping images, then an image processing technology is adopted, geographical information is obtained according to the geographical surveying and mapping images, and geographical surveying and mapping operations of a designated area are achieved. When carrying out geographical survey and drawing, in order to accelerate the speed of survey and drawing, can adopt a plurality of unmanned aerial vehicle to navigate by water simultaneously according to the airline of difference to improve the work efficiency to geographical survey and drawing in the settlement region.
At present, the power supply of unmanned aerial vehicle mainly adopts power battery, is the drive arrangement power supplies such as rotor on the unmanned aerial vehicle by power battery promptly. But the electric quantity that power battery can save has the upper limit, can consume the electric quantity that power battery stored in the operation of unmanned aerial vehicle in succession to when meeting special circumstances (such as when the windage increases), still can accelerate the consumption speed to the electric quantity. If unmanned aerial vehicle is exhausted at operation in-process power battery's electric quantity, not only can cause unmanned aerial vehicle to normally accomplish the operation, can even appear the incident because power is not enough.
In summary, in the unmanned aerial vehicle system in the prior art, there is a problem of poor reliability when the unmanned aerial vehicle system performs geographic mapping operations.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle control method and system for geographical mapping, and at least solves the problem that an unmanned aerial vehicle system in the prior art is poor in power supply reliability.
In order to achieve the above object, in a first aspect, the present invention provides an unmanned aerial vehicle surveying system based on a geographic environment complexity optimization mutual charging strategy, including a plurality of unmanned aerial vehicles, each unmanned aerial vehicle having a corresponding flight controller and a power battery, the power battery being connected to a corresponding wireless charging receiver and a wireless charging transmitter, the flight controllers being communicatively connected to each other, and each flight controller being connected to a corresponding positioning device and a first camera; the flight controller is configured to: acquiring a geographical mapping strategy, wherein the geographical mapping strategy comprises a preset route, mapping points and mapping priorities; responding to a takeoff signal, controlling the corresponding aircraft to fly according to the preset route, and controlling a first camera to acquire an image when the aircraft arrives at a surveying and mapping point; in response to the fact that the electric quantity of the corresponding power battery is smaller than the set electric quantity, sending charging request information to flight controllers of other unmanned aerial vehicles, wherein the charging request information comprises the surveying and mapping priority, the position and a charging request instruction of the unmanned aerial vehicles; in response to the received charging request information, obtaining the charging cost of the corresponding unmanned aerial vehicle according to the corresponding mapping priority, the distance between the unmanned aerial vehicle and the unmanned aerial vehicle which requests to be charged and the residual electric quantity of the power battery, and sending the charging cost to other flight controllers; and receiving the charging cost of other unmanned aerial vehicles, and charging the unmanned aerial vehicle requesting charging in response to the minimum charging cost of the corresponding unmanned aerial vehicle.
According to one embodiment of the invention, the mapping priority is determined according to a preset route in a corresponding geographic mapping strategy.
According to another embodiment of the present invention, the charging-requested drone includes: controlling the corresponding first camera to stop acquiring the image, and controlling the corresponding unmanned aerial vehicle to move to the unmanned aerial vehicle requesting charging; responding to the arrival of the corresponding unmanned aerial vehicle at the set position of the unmanned aerial vehicle requiring charging, controlling the corresponding wireless charging transmitting device to output electric energy, and following the unmanned aerial vehicle requiring charging to fly.
Further, in accordance with yet another embodiment of the present invention, the flying of the drone following the request for charging includes: acquiring the position of the unmanned aerial vehicle requesting charging; obtaining a charging position according to the position of the unmanned aerial vehicle requesting charging, wherein the charging position is at a set position of the unmanned aerial vehicle requesting charging and is away from the unmanned aerial vehicle requesting charging by a first set distance; controlling the corresponding drone to move to the charging location.
According to another embodiment of the present invention, the wireless charging receiving device and the wireless charging transmitting device are respectively disposed at a first end and a second end of the corresponding drone, and the first end is opposite to the second end.
According to yet another embodiment of the invention, the first camera comprises a plurality of cameras, the flight controller is further configured to: and classifying and storing the acquired images according to the shooting time and the adopted cameras.
According to another embodiment of the present invention, each of the drones is provided with a corresponding obstacle detection device, and the flight controller is further configured to: and responding to the second set distance of the distance between the unmanned aerial vehicle and the obstacle, and correcting the preset air route.
Further in accordance with yet another embodiment of the present invention, the obstacle detecting device includes a range sensor for acquiring a distance to the obstacle and a second camera for acquiring an image of the obstacle, which are disposed in front of the aircraft.
Still further in accordance with another embodiment of the present invention, the revised flight path includes: acquiring width information and height information of the obstacle according to the image of the obstacle; and correcting the preset route according to the length information and the height information of the obstacle.
In another aspect, the present invention also provides a drone controlling method for geographical mapping, the drone controlling method being used for controlling a drone in a drone system having a plurality of drones therein, the controlling method including: acquiring a geographical mapping strategy, wherein the geographical mapping strategy comprises a preset route, mapping points and mapping priorities; responding to a take-off signal, controlling a corresponding unmanned aerial vehicle to fly according to the preset air route, and controlling a first camera to acquire an image when the unmanned aerial vehicle reaches a surveying and mapping point; in response to the fact that the electric quantity of the corresponding power battery is smaller than the set electric quantity, sending charging request information to flight controllers of other unmanned aerial vehicles, wherein the charging request information comprises the surveying and mapping priority, the position and a charging request instruction of the unmanned aerial vehicles; in response to the received charging request information, obtaining the charging cost of the corresponding unmanned aerial vehicle according to the corresponding mapping priority, the distance between the unmanned aerial vehicle and the unmanned aerial vehicle which requests to be charged and the residual electric quantity of the power battery, and sending the charging cost to other flight controllers; and receiving the charging cost of other unmanned aerial vehicles, and charging the unmanned aerial vehicle requesting charging in response to the minimum charging cost of the corresponding unmanned aerial vehicle.
According to the technical scheme provided by the invention, the unmanned aerial vehicle system for geographical mapping is provided with a plurality of unmanned aerial vehicles, each unmanned aerial vehicle is provided with a wireless charging receiving device and a wireless charging transmitting device, and flight controllers of the unmanned aerial vehicles are mutually in communication connection. The flight controller of each unmanned aerial vehicle in the system can control the corresponding unmanned aerial vehicle to fly according to a preset air route, and control the first camera to acquire images to realize geographic mapping operation when the unmanned aerial vehicle arrives at a mapping point, and in the operation process, if the electric quantity of the power battery of the unmanned aerial vehicle is too low, the unmanned aerial vehicle with the lowest charging cost can be selected to charge according to the residual electric quantity of the power battery of other unmanned aerial vehicles, the distance between the unmanned aerial vehicle and the mapping priority of each unmanned aerial vehicle. Therefore, according to the technical scheme provided by the invention, when the residual electric quantity of the power battery of the unmanned aerial vehicle is too low in the operation process, other unmanned aerial vehicles can be adopted to charge the unmanned aerial vehicle, the charging cost can be reduced, and the operation reliability of the unmanned aerial vehicle system during geographic mapping can be improved compared with the prior art.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:
fig. 1 is a schematic structural diagram of a drone in a drone system according to an embodiment of the present invention;
fig. 2 is a flow chart of a method of a flight controller controlling a respective drone according to an embodiment of the invention;
figure 3 is a schematic diagram of an image of an obstacle according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it should be understood by those skilled in the art that the embodiments described below are some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an unmanned aerial vehicle surveying system based on a geographical environment complexity optimization mutual charging strategy, which comprises a plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle has a structure shown in figure 1 and is provided with a flight controller and a power battery, the flight controller can be realized by adopting a single chip microcomputer, and the flight controller is connected with a communication device, a positioning device and a first camera; above-mentioned communication device is wireless communication device, can be through communication device intercommunication connection in order to carry out the information interaction between each unmanned aerial vehicle's the flight controller to when the unmanned aerial vehicle operation, each unmanned aerial vehicle's flight controller can also acquire geographical mapping image through first camera, and acquire unmanned aerial vehicle's coordinate position through positioner, and this coordinate position includes unmanned aerial vehicle's longitude, latitude and height. The power battery in this embodiment is connected with a wireless charging interface device and a wireless charging emitter, the power battery can be wirelessly charged by the wireless charging receiver and wirelessly discharged by the wireless charging emitter, and the flight controller is connected with the wireless charging receiver and the wireless charging emitter to control them, for example, corresponding controllable switches are respectively arranged on the wireless charging receiver and the wireless charging emitter, and the flight controller is connected with each controllable switch to control the operating states of the wireless charging receiver and the wireless charging emitter through the controllable switches.
The unmanned aerial vehicle system for geographical mapping provided by the invention is characterized in that the flight controllers of the unmanned aerial vehicles are respectively used for controlling the corresponding unmanned aerial vehicles, and the flow of the control method is as shown in fig. 2, and comprises steps S1 to S5, it can be understood that S1, S2, S3, S4 and S5 shown in fig. 2 are only numbers of the corresponding steps, are used for distinguishing the steps, and do not represent the execution sequence of the steps. The control method shown in fig. 2 includes:
s1, obtaining a geographic mapping strategy. In the embodiment, the geographic mapping strategy comprises preset routes, mapping positions and mapping priorities of the unmanned aerial vehicles, when geographic mapping is carried out on a target area, firstly, routes of the unmanned aerial vehicles are planned manually according to mapping requirements, and the routes are the preset routes of the unmanned aerial vehicles; then selecting a shooting position on each preset air line so that the unmanned aerial vehicle can obtain a geographical mapping image at the shooting position, wherein the shooting position is a mapping point; and finally, setting the surveying and mapping priority of each unmanned aerial vehicle to obtain the geographical surveying and mapping strategy of each unmanned aerial vehicle. After the mapping strategy of each unmanned aerial vehicle is obtained, the mapping strategy is respectively transmitted to the flight controllers of the corresponding unmanned aerial vehicles, and the transmission mode can be as follows: setting central control equipment such as an upper computer and the like, establishing communication connection between the central control equipment and the flight controllers of all unmanned aerial vehicles in a wireless communication (such as Bluetooth, WIFI and the like) or wired communication (such as serial port lines and the like), enabling a worker to set geographical mapping strategies of all unmanned aerial vehicles on the central control equipment, and then respectively sending the geographical mapping strategies to the flight controllers of the corresponding unmanned aerial vehicles by the central control equipment, so that the flight controllers of all unmanned aerial vehicles acquire the corresponding geographical mapping strategies; or connecting a USB interface on the flight controller of each unmanned aerial vehicle, storing the geographical mapping strategy of each unmanned aerial vehicle in different mobile storage devices such as a U disk, and the like, and then plugging the mobile storage devices into the USB interface, wherein the flight controller reads the corresponding geographical mapping strategy from the mobile storage devices.
And S2, judging whether a takeoff signal is received or not, wherein the takeoff signal can be a signal sent by the central control equipment or a timing signal, for example, the unmanned aerial vehicles can be set to take off at a set time point, and when the time reaches the set time point, the unmanned aerial vehicles can be judged to receive the takeoff signal. When the flight controller receives a takeoff signal, the corresponding unmanned aerial vehicle is controlled to fly according to a preset air route in the corresponding geographic mapping strategy, and when the unmanned aerial vehicle flies to a mapping point, the corresponding first camera is controlled to start working so as to acquire a geographic mapping image. When the corresponding unmanned aerial vehicle is controlled by the flight controller to finish flying according to the preset air route in the geographic mapping strategy, and the corresponding first camera is controlled by the corresponding mapping point to acquire the geographic mapping image, the geographic mapping operation can be judged to be finished.
And S3, in the process of controlling the corresponding unmanned aerial vehicle to fly according to the corresponding preset air route, acquiring the residual electric quantity of the power battery on the corresponding unmanned aerial vehicle in real time, and sending charging request information to the flight controllers of other unmanned aerial vehicles when the residual electric quantity of the power battery is less than the set electric quantity. The remaining capacity of the power battery can be detected in various ways, for example, a voltage detection device and a current detection device can be respectively disposed on a charging line and a discharging line of each unmanned aerial vehicle power battery to detect a charging voltage and a charging current of the power battery, and a discharging voltage and a discharging current of the power battery. The flight controller is connected with the voltage detection device and the current detection device to obtain the charging voltage, the charging current, the discharging voltage and the discharging current of the power battery, then obtains the electric quantity charged into the power battery through the charging voltage and the charging current of the power battery, obtains the electric quantity released by the power battery through the discharging voltage and the discharging current of the power battery, and finally combines the electric quantity charged into the power battery and the electric quantity released by the power battery to obtain the residual electric quantity in the power battery. In this embodiment, the charging request information sent by the flight controller includes the location (acquired by the positioning device) where the corresponding unmanned aerial vehicle is located, the mapping priority and the charging request instruction, and for convenience of description of the technical solution of the present invention, the unmanned aerial vehicle sending the charging request information is referred to as an unmanned aerial vehicle requesting charging hereinafter.
Step S4, after receiving the charging request information, firstly obtaining the surveying and mapping priority and position of the unmanned aerial vehicle requesting charging according to the charging request information, then judging whether the surveying and mapping priority of the corresponding unmanned aerial vehicle is greater than that of the unmanned aerial vehicle requesting charging, and if so, not responding to the received charging request information; if not, then acquire the position that corresponds unmanned aerial vehicle and the residual capacity that corresponds power battery to obtain the distance that corresponds unmanned aerial vehicle and request unmanned aerial vehicle charges according to the position that corresponds unmanned aerial vehicle and the position of the unmanned aerial vehicle that the request charges, combine this distance, the residual capacity that corresponds power battery and survey and drawing priority after that, calculate the cost of charging that corresponds unmanned aerial vehicle to the unmanned aerial vehicle that requests to charge, send this cost of charging for other unmanned aerial vehicle's flight controller at last. In this embodiment, if the distance between the unmanned aerial vehicle corresponding to the flight controller and the unmanned aerial vehicle requesting charging is L, the remaining power of the power battery corresponding to the flight controller is SOC, and the mapping priority of the unmanned aerial vehicle corresponding to the flight controller is Lv, then the charging cost P of the unmanned aerial vehicle corresponding to the flight controller for charging the unmanned aerial vehicle requesting charging may be calculated by the following calculation formula:
P＝aL×e -bLv ×lncSOC
wherein a, b and c are respectively the matching coefficients of the distance L, the mapping priority Lv and the remaining capacity SOC.
Step S5, after receiving the charging cost of the unmanned aerial vehicle requesting charging by other unmanned aerial vehicles, comparing the charging cost with the charging cost of the corresponding unmanned aerial vehicle, and judging whether the charging cost of the corresponding unmanned aerial vehicle is the minimum value of the charging costs of all the unmanned aerial vehicles in the system; if not, no processing is carried out; if so, the corresponding unmanned aerial vehicle is controlled to charge the unmanned aerial vehicle requesting charging, and the unmanned aerial vehicle requesting charging can smoothly complete geographical surveying and mapping operation. In order to introduce the technical scheme of the invention, when the flight controller judges whether the charging cost of the corresponding unmanned aerial vehicle is the minimum value of the charging costs of all unmanned aerial vehicles in the system, the corresponding unmanned aerial vehicle is taken as the charging unmanned aerial vehicle.
In summary, according to the technical scheme provided by the invention, the unmanned aerial vehicle system is provided with a plurality of unmanned aerial vehicles, and each unmanned aerial vehicle can simultaneously carry out geographical mapping on the set area, so that the working efficiency of geographical mapping on the set area is improved. In the unmanned aerial vehicle system provided by the invention, each unmanned aerial vehicle is provided with the wireless charging receiving device and the wireless charging transmitting device, when the residual electric quantity of the power battery of the unmanned aerial vehicle is smaller than the set electric quantity, the flight controller of each unmanned aerial vehicle can obtain the charging cost of the corresponding unmanned aerial vehicle according to the mapping priority of the corresponding unmanned aerial vehicle, the residual electric quantity of the corresponding power battery and the distance between each unmanned aerial vehicle and the unmanned aerial vehicle requesting charging, and finally the unmanned aerial vehicle with the minimum charging cost is selected from the system to charge the unmanned aerial vehicle requesting charging, so that the unmanned aerial vehicle requesting charging can smoothly complete the operation. Due to the technical scheme provided by the invention, when the residual electric quantity of the power battery of the unmanned aerial vehicle in the system is smaller than the set electric quantity, the power battery of the unmanned aerial vehicle can be charged by adopting a charging mode with the lowest charging cost, so that the reliability of the geographical mapping operation of the unmanned aerial vehicle system can be improved compared with the prior art.
The technical solution of the present invention is introduced in the above, and the following describes in detail the manner for obtaining the mapping priority in step S1 in combination with a specific application scenario.
In one embodiment, the geographic mapping strategy obtained in step S1 is determined according to a corresponding preset route. For example, when geographic mapping is performed on a set area, if the geographic environment of a region is complex, the region needs to be heavily mapped, so that the mapping priority of the unmanned aerial vehicle for geographic mapping of the region is high; on the contrary, if the geographic environment of a region is simpler, only rough geographic mapping is needed, so that the mapping priority of the unmanned aerial vehicle for performing geographic mapping on the region is lower. When the geographical mapping is carried out on the set area, after the preset routes of all unmanned aerial vehicles are made, the mapping priority corresponding to each unmanned aerial vehicle is obtained according to the mapping area corresponding to each preset route. The setting mode of the embodiment determines the corresponding surveying and mapping priority according to the preset route of each unmanned aerial vehicle, and can ensure geographical surveying and mapping of the key area, thereby improving the reliability of the geographical surveying and mapping in the set area.
The method for acquiring the mapping priority of each unmanned aerial vehicle is described in detail above, and the charging mode of the unmanned aerial vehicle requesting charging is described in detail below in combination with a specific application scenario.
In an embodiment, in step S5, the method for controlling the corresponding drone to charge the charging-requested drone by the flight controller may include: firstly, controlling a first camera on a corresponding unmanned aerial vehicle to stop working, and not continuously acquiring a geographical mapping image so as to reduce the power consumption of a power battery of the unmanned aerial vehicle; then the unmanned aerial vehicle that the control corresponds moves to the position that the unmanned aerial vehicle that charges is requested to the request to when the unmanned aerial vehicle that corresponds reachs the settlement position of the unmanned aerial vehicle that charges that the request charges, the wireless emitter that charges of control correspondence exports the electric energy, and the unmanned aerial vehicle's that charges flight control ware control that charges of request simultaneously its wireless receiving arrangement that corresponds receives the electric energy, thereby realizes charging the power battery on the unmanned aerial vehicle that charges to the request. In addition, in the process that the charging unmanned aerial vehicle charges the request charging unmanned aerial vehicle, the corresponding unmanned aerial vehicle is controlled by the flight controller of the charging unmanned aerial vehicle to fly along with the request charging unmanned aerial vehicle, so that the relative position relation of the two unmanned aerial vehicles is kept unchanged.
Further, in another embodiment, the method in which the flight controller of the charging drone controls it to follow the request to charge the drone includes: firstly, receiving information from a flight controller of the unmanned aerial vehicle requesting charging to obtain the position of the unmanned aerial vehicle requesting charging; and then, obtaining a charging position according to the position of the unmanned aerial vehicle requiring charging, and finally, controlling the unmanned aerial vehicle requiring charging to fly to the charging position to charge the unmanned aerial vehicle requiring charging. Above-mentioned charge position is according to unmanned aerial vehicle's structure decision, charge unmanned aerial vehicle can charge to the request unmanned aerial vehicle that charges on this position, this position can charge unmanned aerial vehicle's the settlement position of request and with the request distance of charging between the unmanned aerial vehicle be first settlement distance, for example, can charge unmanned aerial vehicle's dead astern in the request, and with the request distance of charging between the unmanned aerial vehicle be 1 meter, then charge unmanned aerial vehicle's flight controller after receiving the request unmanned aerial vehicle's that charges position, can calculate the coordinate of the request unmanned aerial vehicle dead astern 1 meter position that charges, this coordinate is the coordinate of charge position promptly.
In the above, detailed description is made on the charging mode between the charging unmanned aerial vehicle and the unmanned aerial vehicle requesting charging, and in combination with a specific application scenario, detailed description is made on the setting mode of the wireless charging receiving device and the wireless charging transmitting device on each unmanned aerial vehicle.
In one embodiment, the unmanned aerial vehicle system provided by the invention is characterized in that the wireless charging transmitting and receiving device on each unmanned aerial vehicle is arranged at a first end of the unmanned aerial vehicle, the wireless charging receiving device is arranged at a second end of the unmanned aerial vehicle, and the first end and the second end are opposite in position, for example, the first end and the second end are respectively the front end and the rear end of the unmanned aerial vehicle, and when the charging unmanned aerial vehicle charges the unmanned aerial vehicle requesting charging, the charging unmanned aerial vehicle can be controlled to follow the position at the tail of the unmanned aerial vehicle requesting charging; for another example, when unmanned aerial vehicle adopted the four rotor craft, first end and second end can be unmanned aerial vehicle's bottom and top respectively, when unmanned aerial vehicle charges to the unmanned aerial vehicle that charges of request, can control the unmanned aerial vehicle that charges to be located the settlement position department above the unmanned aerial vehicle that charges of request, can charge for the unmanned aerial vehicle that charges of request, do not influence the unmanned aerial vehicle that charges and acquire geographical mapping image yet. Through the mode that sets up of this embodiment, can set up wireless receiving arrangement and the wireless emitter that charges respectively corresponding position on corresponding unmanned aerial vehicle, can be convenient for charge each other between the unmanned aerial vehicle.
The first camera on each drone in the drone system for geographic mapping according to the present invention is described in further detail below with reference to specific application scenarios.
In one embodiment, the first cameras on the unmanned aerial vehicles respectively have a plurality of cameras, and the shooting angles adopted by the cameras are different; and after the flight controller acquires the geographic mapping images through the corresponding cameras, storing the images according to the shooting time and the cameras adopted during shooting. For example, the first camera may have five cameras, the shooting directions of the cameras are respectively right below, left below, right below, front below and back below the unmanned aerial vehicle, the cameras are numbered respectively, and after the geographic mapping images shot by the cameras are obtained, the geographic mapping images are stored according to the shooting time sequence respectively, so as to facilitate the calling of the geographic mapping images when the geographic mapping images are processed.
In the following, each drone in the drone system for geographical mapping of the present invention is described in further detail with reference to specific application scenarios.
In one embodiment, each unmanned aerial vehicle of the unmanned aerial vehicle system for geographical mapping is provided with a corresponding obstacle detection device, and the flight controller of each unmanned aerial vehicle is connected with the corresponding obstacle detection device, so that the distance between the unmanned aerial vehicle and a front obstacle can be detected through the obstacle detection devices, and whether the distance between the unmanned aerial vehicle and the front obstacle is greater than a second set distance or not is judged, if so, the unmanned aerial vehicle does not collide with the front obstacle, and therefore no processing is performed; if not greater than, then there is the risk of bumping between unmanned aerial vehicle and the place ahead barrier, consequently needs revise preset route, makes unmanned aerial vehicle bypass the barrier to avoid bumping with the barrier, thereby improve unmanned aerial vehicle's security.
Further, in another embodiment, the obstacle detection device provided on each drone includes a corresponding distance measurement sensor and a second camera, and the distance measurement sensor and the second camera are both provided at the front end of the drone, wherein the distance measurement sensor is used for detecting the distance between the drone and the obstacle in front, and the second camera is used for acquiring the shape of the obstacle in front of the drone, that is: the flight controller acquires the distance between the corresponding unmanned aerial vehicle and the front obstacle through the corresponding distance measuring sensor, and when the distance between the corresponding unmanned aerial vehicle and the front obstacle is not more than the second set distance, the image of the front obstacle is acquired through the second camera.
Further, in yet another embodiment, the method for correcting the flight route when the flight controller detects that the distance between the corresponding unmanned aerial vehicle and the front obstacle is not greater than the second set distance includes: after acquiring the image of the front obstacle, first acquiring the minimum rectangular outer surrounding frame of the front obstacle, as shown in fig. 3, the length direction of the outer surrounding frame of the obstacle in this embodiment is the horizontal direction, and the width direction is the height direction; then obtaining a projection position O of the unmanned aerial vehicle corresponding to the flight controller in the rectangular outer enclosure frame, and obtaining distances L1 and L2 between the projection position O and two sides of the rectangular outer enclosure frame and a distance L3 between the projection position O and the bottom of the rectangular outer enclosure frame; and finally, judging the minimum value of the L1, the L2 and the L3, and correcting the preset route in the direction corresponding to the minimum value. For example, if the value of L3 in L1, L2, and L3 is the smallest, the originally set preset route is shifted downward by a distance of L3+ L0, and the correction of the preset route is completed.
In light of the foregoing description of the present specification, those skilled in the art will also understand that terms used to indicate orientation or positional relationship, such as "front", "back", "left", "right", "top", "bottom", etc., are based on the orientation or positional relationship shown in the drawings of the present specification for the purpose of convenience in explaining aspects of the present invention and simplifying the description, and do not explicitly indicate or imply that the devices or elements involved must have the particular orientation, be constructed and operated in the particular orientation, and therefore, the above-described orientation or positional relationship terms should not be interpreted or construed as limiting the aspects of the present invention.
In another aspect, in an embodiment, the present invention further provides a drone control method for geographic mapping, the drone control method is used for controlling a drone in the drone system of each of the above embodiments, and the control method is the same as the drone control method in the drone system of each of the above embodiments, and therefore, various descriptions are omitted in this embodiment.
In addition, the terms "first" or "second", etc. used in this specification are used to refer to numbers or ordinal terms 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 of the feature. In the description of the present specification, "a plurality" means at least two, for example, two, three or more, and the like, unless specifically defined otherwise.
While various embodiments of the present invention have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous modifications, changes, and substitutions will occur to those skilled in the art without departing from the spirit and scope of the present invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention. It is intended that the following claims define the scope of the invention and that the module composition, equivalents, or alternatives falling within the scope of these claims be covered thereby.
Claims (10)
1. The utility model provides an unmanned aerial vehicle surveys system based on mutual charge strategy is optimized to geographical environment complexity, a serial communication port, including a plurality of unmanned aerial vehicles, each unmanned aerial vehicle has corresponding flight control ware and power battery respectively, flight control ware is used for acquireing geographical mapping strategy, control unmanned aerial vehicle flight and acquireing the image, acquireing power battery electric quantity and charging to the unmanned aerial vehicle that the request charges, power battery is connected with corresponding wireless receiving arrangement and the wireless emitter that charges, each intercommunication between the flight control ware to each flight control ware is connected with corresponding positioner and first camera respectively.
2. The unmanned aerial vehicle survey system for optimizing a mutual charging strategy based on geographic environment complexity of claim 1, wherein the geographic mapping strategy comprises a preset route, a mapping point and a mapping priority;
the control of the unmanned aerial vehicle to fly and the image acquisition comprises the steps that the flying controller responds to a takeoff signal, the corresponding unmanned aerial vehicle is controlled to fly according to the preset air route, and the first camera is controlled to acquire the image when the unmanned aerial vehicle reaches the surveying and mapping point;
the acquiring of the electric quantity of the power battery and the charging of the unmanned aerial vehicle requesting the charging comprise the flight controller responding to the electric quantity of the corresponding power battery smaller than a set electric quantity and sending charging request information to flight controllers of other unmanned aerial vehicles, wherein the charging request information comprises mapping priority, position and charging request instructions of the charging request information;
responding to the received charging request information, obtaining the charging cost of the corresponding unmanned aerial vehicle according to the mapping priority corresponding to the charging request information, the distance between the unmanned aerial vehicle and the unmanned aerial vehicle which requests to be charged and the residual electric quantity of the power battery of the unmanned aerial vehicle, and sending the charging cost to other flight controllers;
and receiving the charging cost of other unmanned aerial vehicles, and charging the unmanned aerial vehicle requesting charging in response to the minimum charging cost of the corresponding unmanned aerial vehicle.
3. The system of claim 2, wherein the charging of the charging-requested drones comprises:
controlling the corresponding first camera to stop acquiring the image and controlling the corresponding unmanned aerial vehicle to move to the unmanned aerial vehicle requesting charging;
responding to the fact that the corresponding unmanned aerial vehicle reaches the set position of the unmanned aerial vehicle requesting charging, controlling the corresponding wireless charging transmitting device to output electric energy, and flying along with the unmanned aerial vehicle requesting charging;
the following request to charge unmanned aerial vehicle flight includes: acquiring the position of the unmanned aerial vehicle requesting charging; obtaining a charging position according to the position of the unmanned aerial vehicle requesting charging, wherein the charging position is in the set position of the unmanned aerial vehicle requesting charging and is away from the unmanned aerial vehicle requesting charging by a first set distance; controlling the corresponding unmanned aerial vehicle to move to the charging position.
4. The unmanned aerial vehicle survey system for optimizing mutual charging strategy based on geographic environment complexity of claim 2, wherein the survey priority is determined according to a preset route in a corresponding geographic survey strategy.
5. The unmanned aerial vehicle surveying system for optimizing the mutual charging strategy based on geographical environment complexity of claim 2, wherein each unmanned aerial vehicle is provided with a corresponding obstacle detecting device, and the flight controller is further configured to: and responding to the fact that the distance between the unmanned aerial vehicle and the obstacle is a second set distance, and correcting the preset route.
6. The unmanned aerial vehicle surveying system of claim 5, wherein the obstacle detecting device comprises a ranging sensor and a second camera, the ranging sensor is disposed in front of the aircraft, the ranging sensor is configured to obtain a distance to the obstacle, and the second camera is configured to obtain an image of the obstacle.
7. The unmanned aerial vehicle survey system for optimizing a mutual charging strategy based on geographic environment complexity of claim 6, wherein revising the pre-planned route comprises:
acquiring shape information of the obstacle according to the image of the obstacle;
and correcting the preset route according to the shape information of the obstacle.
8. The unmanned aerial vehicle surveying system of claim 1, wherein the wireless charging receiver and the wireless charging transmitter are respectively disposed at first and second opposite ends of the unmanned aerial vehicle.
9. The unmanned aerial vehicle survey system for optimizing the mutual charging strategy based on geographic environment complexity of claim 1, wherein the first camera comprises a plurality of cameras with different numbers, and wherein the flight controller is further configured to: and classifying and storing the acquired images according to the shooting time and the adopted cameras with different numbers.
10. An unmanned aerial vehicle survey control method for optimizing a mutual charging strategy based on geographic environment complexity, the control method being used for controlling unmanned aerial vehicles in an unmanned aerial vehicle system, the unmanned aerial vehicle system having a plurality of unmanned aerial vehicles therein, the control method comprising: the method comprises the steps of obtaining a geographical mapping strategy, controlling the unmanned aerial vehicle to fly, obtaining an image, obtaining the electric quantity of a power battery and charging the unmanned aerial vehicle requesting charging.
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| CN202211328819.1A CN115465451A (en) | 2022-02-21 | 2022-02-21 | Unmanned aerial vehicle surveying control method and system based on geographic environment complexity optimization mutual charging strategy |
| CN202210154988.1A CN114476063B (en) | 2022-02-21 | 2022-02-21 | Unmanned aerial vehicle control method and system for geographical mapping |
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| CN117849788A (en) * | 2024-03-06 | 2024-04-09 | 山东飞鸢空间信息科技有限公司 | Mapping system of geological topography digital twin scene based on three-dimensional modeling |
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| CN115657706B (en) * | 2022-09-22 | 2023-06-27 | 中铁八局集团第一工程有限公司 | Landform measurement method and system based on unmanned aerial vehicle |
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| US20170073070A1 (en) * | 2013-02-06 | 2017-03-16 | Zhou Tian Xing | Amphibious vertical takeoff and landing unmanned device with artificial intelligence (AI) and method and system for managing a crisis environment and controlling one or more targets |
| CN205123360U (en) * | 2015-12-04 | 2016-03-30 | 深圳市凯迪恩科技有限公司 | Wireless charging system of micro air vehicle |
| CN107264319A (en) * | 2017-06-27 | 2017-10-20 | 武汉佰起科技有限公司 | A kind of unmanned plane wireless charging system and wireless charging method |
| CN207106930U (en) * | 2017-06-27 | 2018-03-16 | 朱树祥 | A kind of unmanned plane charging device |
| WO2019100188A1 (en) * | 2017-11-21 | 2019-05-31 | 深圳市大疆创新科技有限公司 | Method for planning operation route of unmanned aerial vehicle and ground end device |
| CN110040012B (en) * | 2019-04-22 | 2020-06-23 | 金陵科技学院 | Unmanned aerial vehicle online charging method based on multi-transmitting single-receiving wireless charging |
| CN110303912A (en) * | 2019-07-11 | 2019-10-08 | 电子科技大学 | A kind of aerial unmanned plane mobile charging system based on dirigible |
| CN110675035B (en) * | 2019-09-06 | 2022-05-06 | 三峡大学 | Unmanned aerial vehicle laser energy supply cluster charging scheduling method based on real-time energy consumption detection |
| CN111002846B (en) * | 2019-12-13 | 2021-07-20 | 王晰 | Control method and system of unmanned aerial vehicle |
| CN112109575B (en) * | 2020-09-10 | 2022-03-08 | 军事科学院系统工程研究院军事新能源技术研究所 | Charging method, device and system for unmanned aerial vehicle |
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| CN117849788A (en) * | 2024-03-06 | 2024-04-09 | 山东飞鸢空间信息科技有限公司 | Mapping system of geological topography digital twin scene based on three-dimensional modeling |
| CN117849788B (en) * | 2024-03-06 | 2024-05-10 | 山东飞鸢空间信息科技有限公司 | Mapping system of geological topography digital twin scene based on three-dimensional modeling |
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