CN116360494A - Mapping system for double unmanned aerial vehicle formation - Google Patents
Mapping system for double unmanned aerial vehicle formation Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicle mapping, in particular to a mapping system for double unmanned aerial vehicle formation, which realizes the use of two environments of underground mine and mine, is convenient for underground workers to control the underground unmanned aerial vehicle during the use under the mine, is convenient for daily mapping under the mine to find the deformation position of a well wall in time, is also convenient for mapping under the mine after partial collapse, enables the underground workers to know the underground condition in time, and is convenient for the unmanned aerial vehicle to independently analyze and process images shot by the unmanned aerial vehicle during the use on the mine, so that the occurrence of fuzzy images is reduced, and the communication speed is improved; comprising the following steps: the system comprises a three-dimensional modeling module, a control module, a first formation unmanned aerial vehicle module, a first camera shooting module of a laser scanning module, a detection module, a first GPS positioning module, a data processing module, a data transmission module, a first power supply module, a data sending module, a second formation unmanned aerial vehicle module, a second camera shooting module, a second GPS positioning module and a second power supply module.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle mapping, in particular to a mapping system for double unmanned aerial vehicle formation.
Background
The unmanned aerial vehicle mapping technology is a technical means for carrying various remote sensing devices such as a high-resolution CCD digital camera, a laser scanner, a light optical camera and the like on an unmanned aerial vehicle to acquire information, processing the acquired image information through corresponding software and manufacturing an image according to a certain precision requirement.
The unmanned aerial vehicle surveying system comprises a setting module, a shooting module, a judging module, an adjusting module and other components, when the unmanned aerial vehicle is found to have repeated shooting conditions during use, a first aerial shooting track is adjusted, a second aerial shooting track is generated, a plurality of unmanned aerial vehicles are guaranteed to carry out comprehensive aerial shooting on a construction building in the aerial shooting process, meanwhile, the unmanned aerial vehicle aerial shooting speed can be improved, and the efficiency is improved, but the following problems still exist when the existing unmanned aerial vehicle surveying system is used for surveying and mapping under mines:
1. because the coal mine is more in deep well lane, in the mapping process, the control end and the unmanned aerial vehicle are inconvenient to transmit data and commands, especially when mapping is performed in a mine with collapse inside, network facilities are absent inside, and workers are required to fall into the mine when the unmanned aerial vehicle is used for mapping, so that the practicability of an unmanned aerial vehicle system is poor, and the danger of the workers is high;
2. because the unmanned aerial vehicle has poor cruising performance, the situation in the mine after the partial collapse is complex, and the depth of the mine is difficult to map by the existing unmanned aerial vehicle mapping system;
3. because the endurance performance of the unmanned aerial vehicle is poor, in the mapping process, the unmanned aerial vehicle needs to transmit data to a control end, the control end processes the data after receiving the data, and then a worker sends a command to the unmanned aerial vehicle through the control end according to a processing result, so that more time is wasted in the data transmission and data processing process, the mapping efficiency is influenced, and the mapping system of the unmanned aerial vehicle has poor processing capability on emergency;
4. when a plurality of unmanned aerial vehicles in an unmanned aerial vehicle surveying and mapping system survey and draw together, data transmission is generally carried out in two ways, wherein the first way is that the plurality of unmanned aerial vehicles transmit data to one unmanned aerial vehicle, the data is transmitted to a control end through the unmanned aerial vehicle, and the second way is that the plurality of unmanned aerial vehicles directly transmit the data to the control end, and when the unmanned aerial vehicle and the control end are interrupted or the unmanned aerial vehicle is damaged by faults, the two ways are more difficult to transmit the data back to the control end, and even the data is lost;
therefore, in order to solve the above-mentioned problems, a mapping system for double unmanned aerial vehicle formation is needed.
Disclosure of Invention
In order to solve the technical problems, the invention provides a mapping system of a double unmanned aerial vehicle formation, which is used for realizing the use of two environments, namely underground mine and mine, facilitating underground staff to control underground unmanned aerial vehicles during the use of the underground mine, facilitating daily mapping under the mine to find the deformation position of a well wall in time, reducing casualties, facilitating mapping under the mine after partial collapse, enabling the underground staff to know the underground situation in time, realizing the automatic avoidance of obstacles and falling objects by the detection module, facilitating the analysis and processing of images shot by the unmanned aerial vehicles independently during the use of the mine, reducing the occurrence of blurred images and improving the communication speed of the control module and the unmanned aerial vehicles.
The invention relates to a mapping system for double unmanned aerial vehicle formation, which comprises:
and a three-dimensional modeling module: importing the data received by the control module into a three-dimensional modeling module, and drawing a three-dimensional image according to the imported data;
and the control module is used for: the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module are controlled, positions of the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module are displayed, and data transmitted back by the data transmission module are received;
the first formation unmanned aerial vehicle module: the system comprises a plurality of groups of portable laser scanning modules, a first camera module, a detection module, a first GPS positioning module, a data processing module, a data transmission module, a first power supply module and a data sending module, wherein the portable laser scanning modules, the first camera module, the detection module, the first GPS positioning module, the data processing module, the data transmission module, the first power supply module and the data sending module fly under or on a mine;
and the laser scanning module is used for: the number of the unmanned aerial vehicle modules is the same as that of the first formation unmanned aerial vehicle modules, the inside of the roadway is scanned, the size and shape data of the roadway are obtained, and the data are sent to the data processing module;
the first camera module: the number of the unmanned aerial vehicle modules is the same as that of the first formation unmanned aerial vehicle modules, the front of the first formation unmanned aerial vehicle modules or the lower of the first formation unmanned aerial vehicle modules are shot, and shot images are sent to the data processing module;
and a detection module: the number of the unmanned aerial vehicle modules is the same as that of the unmanned aerial vehicle modules in the first formation, surrounding environment information is acquired, the unmanned aerial vehicle in the first formation can avoid obstacles, and meanwhile, data are sent to the data processing module;
a first GPS positioning module: the number of the unmanned aerial vehicle modules is the same as that of the unmanned aerial vehicle modules of the first formation, and the unmanned aerial vehicle modules of the first formation are positioned;
and a data processing module: the number of the unmanned aerial vehicle modules is the same as that of the first formation unmanned aerial vehicle modules and the second formation unmanned aerial vehicle modules, and data sent by the laser scanning module, the first camera module, the second camera module and the detection module are analyzed and processed, so that the burden of the control module is reduced;
and a data transmission module: the number of the data transmission modules is the same as the number of the first formation unmanned aerial vehicle modules and the second formation unmanned aerial vehicle modules, when mapping is carried out, a group of data transmission modules transmit processed data, the data of the first GPS positioning module and the data of the second GPS positioning module to other data transmission modules in the transmission range, and the steps are repeated repeatedly until the processed data, the data of the first GPS positioning module and the data of the second GPS positioning module are transmitted to the data transmission module or the data are directly transmitted to the control module;
a first power supply module: the number of the unmanned aerial vehicle modules is the same as that of the first formation unmanned aerial vehicle modules, and electric energy is provided for the first formation unmanned aerial vehicle modules;
and a data transmitting module: the system is arranged on a group of second formation unmanned aerial vehicle modules, receives the data sent by the data transmission module and sends the data to the control module;
the second formation unmanned aerial vehicle module: carrying a second camera module, a second GPS positioning module, a data processing module, a data transmission module and a second power supply module to fly under or on a mine;
the second camera module: shooting the lower part of the second formation unmanned aerial vehicle module, and sending the shot image to the data processing module;
the second GPS positioning module: positioning a second formation unmanned aerial vehicle module;
and a second power supply module: providing electrical energy for the second formation unmanned aerial vehicle module and supplementing electrical energy for the first formation unmanned aerial vehicle module.
Preferably, the data processing module includes:
deep learning processor: analyzing and processing the image, judging whether the image is a blurred image or not, and finding out the blurred position;
an image processing unit: according to analysis of a deep learning processor, blending the image re-shot at the fuzzy position into the image shot before, applying a corresponding fuzzy layer to the blended image according to pixels of the image shot before, enabling the integral pixels of the blended image to be identical, separating a building from the surrounding environment through a semantic segmentation algorithm, completing shading correction, enabling light and shadow to be more natural, and optimizing the fusion edges of the two groups of images through an intelligent region smoothing algorithm;
laser scanning data processing unit: comparing the data scanned by the laser with the data when the construction of the mine is completed, and judging whether the well wall of the mine scanned by the laser has a deformation position or not;
and the data storage module is used for: and storing the processed image data and the data when the mine construction is completed.
Preferably, the deep learning processor adopts a frame of PyTorch, the neural network used is a convolutional neural network, and when the image data is analyzed, whether the image is blurred or not is judged according to the brightness of the image, the edge contour of the image, the color depth of the partial image and the surrounding image, and the shape of stones and buildings on the mine.
Preferably, the data transmission unit transmits data in a broadcast electromagnetic wave mode, and the data transmission module includes:
a receiving unit: receiving data;
and a processing unit: processing the received data and carrying out temporary backup;
an issuing unit: and sending out the processed data.
Preferably, the locking devices are arranged on the first power supply module and the second power supply module, the main power supply batteries are arranged on the first power supply module and the second power supply module, the standby batteries are further arranged on the first power supply module, the main power supply batteries on the second power supply module are multiple groups, and the types of the main power supply batteries on the first power supply module are the same as those of the main power supply batteries on the second power supply module.
Preferably, the locking device comprises a first position sensor, a second position sensor, two groups of driving motors, two groups of connecting rods, two groups of springs and two groups of rollers, wherein the left end and the right end of the top of the main power supply battery and the left end and the right end of the bottom of the main power supply battery are respectively provided with clamping grooves, the top end and the bottom end of the main power supply battery are respectively provided with a charging end, the first position sensor and the two groups of driving motors are respectively arranged on the second formation unmanned aerial vehicle module, the second position sensor is arranged on the main power supply battery, the two groups of connecting rods are respectively rotatably arranged on output shafts of the two groups of driving motors, one ends of the two groups of springs are respectively connected with side ends of the two groups of connecting rods, and the side ends of the two groups of rollers are respectively connected with the other ends of the two groups of springs; the bottom of the main power supply battery is locked through the locking device on the second power supply module, the main power supply battery supplies power for the second formation unmanned aerial vehicle module, when the electric energy is supplemented for the second formation unmanned aerial vehicle, the two groups of driving motors respectively drive the two groups of connecting rods to rotate to form a splayed shape, the main power supply battery on the first power supply module drops, the standby battery supplies power for the first formation unmanned aerial vehicle, the first position sensor is aligned with the second position sensor, the first formation unmanned aerial vehicle is sleeved on one group of main power supply batteries of the second formation unmanned aerial vehicle, the locking device on the second power supply module releases one group of main power supply batteries, the two groups of driving motors on the first power supply module reversely operate, and the two groups of rollers are respectively clamped into clamping grooves at the left end and the right end of the top of the main power supply battery, so that replacement of the first formation unmanned aerial vehicle battery is completed, and the endurance of the first formation unmanned aerial vehicle is improved.
Preferably, the control module includes:
and a control unit: the method comprises the steps of sending a command, controlling a first formation unmanned aerial vehicle and a second formation unmanned aerial vehicle, and receiving data sent back by the first formation unmanned aerial vehicle and the second formation unmanned aerial vehicle;
and a display unit: displaying the operation steps of the control unit and the route planning unit;
route planning unit: and planning the flight routes of the first formation unmanned aerial vehicle and the second formation unmanned aerial vehicle.
Preferably, the method of use downhole comprises:
s1: detaching a second camera module on the second formation unmanned aerial vehicle module, so as to reduce the weight of the second formation unmanned aerial vehicle module;
s2: the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module are controlled and planned in a route through the control module, so that the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module enter a mine, and meanwhile, the first formation unmanned aerial vehicle module provided with the data transmission module is stopped at a position close to a wellhead;
s3: the method comprises the steps that the remaining first formation unmanned aerial vehicle modules fly downwards along a mine main channel, enter the mine through a group of first formation unmanned aerial vehicle modules after encountering the mine, scan and survey the mine through a laser scanning module, the remaining first formation unmanned aerial vehicle modules continue to fly downwards, meanwhile, after the first formation unmanned aerial vehicle modules complete the mapping in the mine, stay at the position of the main channel for carrying out the mine, when the first formation unmanned aerial vehicle modules are used as communication nodes, stay a group of first formation unmanned aerial vehicle modules within a set distance when the mine is not occupied, transmit mapping data to the surrounding remaining first formation unmanned aerial vehicle modules, repeatedly repeat the steps, enable the first formation unmanned aerial vehicle modules to form communication paths under the mine, share the data, transmit the data back to a control module through the first formation unmanned aerial vehicle modules provided with a data transmission module, meanwhile, the surrounding environment information is acquired through a detection module in the command transmission process, the first formation unmanned aerial vehicle is prevented from obstacle avoidance, and the situation before the command is knocked down is reduced;
s4: when the first formation unmanned aerial vehicle module surveys the mine, the second formation unmanned aerial vehicle module flies along with the forefront group of unmanned aerial vehicle modules;
s5: in the process of returning, when the electric quantity of the first formation unmanned aerial vehicle module is low, the locking device on the first formation unmanned aerial vehicle module is matched with the locking device on the second formation unmanned aerial vehicle module, and the main power supply module on the first formation unmanned aerial vehicle module is installed in the second formation unmanned aerial vehicle module, so that the second formation unmanned aerial vehicle module returns enough electric energy;
s6: and pouring the returned data into a three-dimensional modeling module through a control module to perform three-dimensional modeling and act as a three-dimensional image.
Preferably, the method for using the mine comprises the following steps:
s1: detaching the laser scanning module on the first formation unmanned aerial vehicle module, and reducing the weight of the second formation unmanned aerial vehicle module;
s2: the control module is used for carrying out route planning on the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module, so that the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module take off, and the mine is shot;
s3: in the shooting process, the first formation unmanned aerial vehicle module flies below the second formation unmanned aerial vehicle module, the second shooting module shoots a mine to obtain a mine main body outline, and the first formation unmanned aerial vehicle shoots the mine in detail;
s4: in the shooting process, a data processing module on the first formation unmanned aerial vehicle module analyzes and processes data sent by the first camera module, judges whether an image is a blurred image, finds out a blurred position, then the unmanned aerial vehicle module shooting the blurred image returns to a shooting point along a planned route to shoot again, analyzes the re-shot image through the data processing module, the image is still blurred, the re-shot unmanned aerial vehicle descends to a height to shoot a clear image, and meanwhile, a group of unmanned aerial vehicles adjacent to the unmanned aerial vehicle leaving the mapping unmanned aerial vehicle formation moves to a position between the original position and the position of the unmanned aerial vehicle leaving the mapping unmanned aerial vehicle formation, and the height is lifted, so that the mine is shot to make up for the vacant position in the first formation unmanned aerial vehicle;
s5: in the shooting process, the shot clear images are reduced through an image processing unit, scenery in the clear images is overlapped with scenery in the images shot before, then the clear images are blended into the images shot before, meanwhile, corresponding fuzzy layers are applied to the blended images according to pixels of the images shot before, the integral pixels of the blended images are the same, and then the blended images are transmitted to a control module;
s6: in the shooting process, data transmission is carried out among a plurality of first formation unmanned aerial vehicle modules and a plurality of second formation unmanned aerial vehicle modules, each first formation unmanned aerial vehicle module and each second formation unmanned aerial vehicle module are respectively provided with complete mapping data, after the first formation unmanned aerial vehicle modules and the second formation unmanned aerial vehicle modules are in interrupt connection with the numerical control module, the first formation unmanned aerial vehicle modules and the second formation unmanned aerial vehicle modules store the data when mapping work is carried out according to a planned route continuously, meanwhile, the unmanned aerial vehicles are damaged after interrupt connection, damaged unmanned aerial vehicle data can be found out through the data of other unmanned aerial vehicles stored in other unmanned aerial vehicles, and the loss of the data is reduced;
s7: after the control module receives the fused image, the image is poured into the three-dimensional modeling module to draw the three-dimensional image.
Compared with the prior art, the invention has the beneficial effects that:
1. the unmanned aerial vehicle system has the advantages that the unmanned aerial vehicles are used for mapping a plurality of roadways in a distributed mode in a well, mapping time is saved, consumption of electric quantity of the unmanned aerial vehicles is reduced, node type data and command transmission are carried out through distribution of the unmanned aerial vehicles, control of the unmanned aerial vehicles in the well is achieved, workers do not need to go down into the well, a second formation unmanned aerial vehicle is used as a guarantee machine for providing a replaced battery for the first formation unmanned aerial vehicle in a mode of two groups of unmanned aerial vehicle formation, and mapping time of unmanned aerial vehicle formation to the well is prolonged;
2. the first formation unmanned aerial vehicle is used for analyzing and processing the photographed images, so that the time for analyzing and processing the images by the control module is saved, the control module is convenient for controlling the first formation unmanned aerial vehicle, the mapping efficiency is improved, and the unmanned aerial vehicle mapping system is convenient for coping with emergency situations;
3. the unmanned aerial vehicle in unmanned aerial vehicle formation carries out data sharing, makes all store complete survey and drawing data in every group unmanned aerial vehicle, and after unmanned aerial vehicle and control module interrupt contact part unmanned aerial vehicle damage or lose, can call the shared data that remaining unmanned aerial vehicle stored and use, reduce the loss of data
4. The image fusion degree is improved by adding a fuzzy layer corresponding to surrounding image pixels to the fusion position in the image;
5. the method is widely applied, can be used for mapping mines, can be used for mapping the interior of the mines, and can also be used for mapping the mines with local collapse.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the structure of a data processing module of the present invention;
fig. 3 is a schematic structural diagram of a data transmission module according to the present invention;
FIG. 4 is a schematic diagram of the control module of the present invention;
FIG. 5 is a schematic view of the structure of the locking device of the present invention;
fig. 6 is a schematic view of the structure of the present invention enlarging the portion a in fig. 5;
fig. 7 is a schematic diagram of a state structure of the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle of the present invention when mine mapping is performed;
the reference numerals in the drawings: 1. a main power supply battery; 2. a first position sensor; 3. a second position sensor; 4. a driving motor; 5. a connecting rod; 6. a spring; 7. and a roller.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. This invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Example 1
As shown in fig. 1-6, mine down-hole mapping:
firstly, detaching a second camera module on a second formation unmanned aerial vehicle module, lightening the weight of the second formation unmanned aerial vehicle module, controlling and planning a route of the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module through a control module, enabling the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module to enter a mine, enabling the first formation unmanned aerial vehicle module provided with a data transmission module to stay at a position close to a wellhead, enabling the rest first formation unmanned aerial vehicle module to fly downwards along a mine main channel, entering the mine through a group of first formation unmanned aerial vehicle modules after encountering the mine, scanning and mapping the mine through a laser scanning module, enabling the rest first formation unmanned aerial vehicle modules to continuously fly downwards, and meanwhile, separating out the position of the first formation unmanned aerial vehicle module for mapping the mine after finishing the mapping in the mine, staying at the main channel for performing the well, when the system is used as a communication node, when no roadway exists, 1-3 groups of first formation unmanned aerial vehicle modules stay in a set distance, mapping data are transmitted to other surrounding first formation unmanned aerial vehicle modules, then the steps are repeated repeatedly, so that a plurality of first formation unmanned aerial vehicle modules form a communication path under a mine, data sharing is carried out, the data are transmitted to a control module through the first formation unmanned aerial vehicle modules provided with a data transmission module, meanwhile, commands sent by the control module are transmitted through the steps, in the command transmission process, the detection module is used for acquiring surrounding environment information, so that the first formation unmanned aerial vehicle can avoid obstacles, collision of the unmanned aerial vehicle is reduced before the commands arrive, and the second formation unmanned aerial vehicle module flies along with the forefront group of unmanned aerial vehicle modules when the first formation unmanned aerial vehicle modules perform mapping in the mine, in the process of returning, when the electric quantity of the first formation unmanned aerial vehicle module is low, the locking device on the first formation unmanned aerial vehicle module is matched with the locking device on the second formation unmanned aerial vehicle module, the main power supply module on the first formation unmanned aerial vehicle module is installed in the second formation unmanned aerial vehicle module, so that the second formation unmanned aerial vehicle module returns enough electric energy, and the returned data is poured into the three-dimensional modeling module through the control module to perform three-dimensional modeling and act as a three-dimensional image;
through the mode survey and drawing under the mine, realize unmanned aerial vehicle survey and drawing the operation in the mine of unmanned aerial vehicle to through data sharing, reduce the loss of unmanned aerial vehicle damage back data, carry the battery for first formation unmanned aerial vehicle through second formation unmanned aerial vehicle, make second formation unmanned aerial vehicle's duration increase, especially to the mine that appears local subsidence, make unmanned aerial vehicle survey and drawing the mine depths more, make the up-hole staff in time know the underground environment and make the coping process.
Example 2
As shown in fig. 1-7, mapping over mine:
firstly, detaching a laser scanning module on a first formation unmanned aerial vehicle module, lightening the weight of a second formation unmanned aerial vehicle module, planning a route through a control module on the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module, enabling the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module to take off, shooting a mine, in the shooting process, enabling the first formation unmanned aerial vehicle module to fly below the second formation unmanned aerial vehicle module, shooting the mine by a second camera module to obtain the outline of the mine main body, enabling the first formation unmanned aerial vehicle to shoot the mine in detail, enabling a shooting range of the adjacent first formation unmanned aerial vehicle to be provided with a redundant area, conveniently solving the condition that shaking occurs when encountering high wind or other reasons in the shooting process of the first formation unmanned aerial vehicle, affecting image synthesis, simultaneously enabling a data processing module on the first formation unmanned aerial vehicle module to analyze and process data sent by the first camera module, judging whether the image is an image or not, finding out a position, returning the unmanned aerial vehicle module shooting the blurred image to a shooting point along the planned route, shooting the mine, shooting the image again by the data processing module, shooting the image again, enabling the image to be in the shooting position to be high, making up for a clear image between the unmanned aerial vehicle and the previous image shooting position, and the image in the previous formation unmanned aerial vehicle, and the image is clearly shooting the image by the image, and moving the unmanned aerial vehicle, and the image clearly taking the image clearly and the unmanned aerial vehicle in the shooting position, and the image clearly before the image is formed by the shooting position, and the image clearly by the unmanned aerial vehicle, and the shooting unit is moved by the redundant area and the redundant area, meanwhile, a corresponding fuzzy layer is applied to the fused image according to the pixels of the previous shot image, the whole pixels of the fused image are the same, the fused image is transmitted to a control module, then data transmission is carried out between a plurality of first formation unmanned aerial vehicle modules and a plurality of second formation unmanned aerial vehicle modules, each first formation unmanned aerial vehicle module and each second formation unmanned aerial vehicle module store complete mapping data, when the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module are in interrupt connection with a numerical control module, the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module store data when mapping work is carried out continuously according to a planned route, meanwhile, the unmanned aerial vehicle is damaged after the connection is interrupted, damaged through the data of other unmanned aerial vehicles stored in the other unmanned aerial vehicles, the loss of the data is reduced, after the control module receives the fused image, the image is poured into a three-dimensional modeling module to carry out three-dimensional image drawing, and then when workers observe a fusion area, the fuzzy observation area is further carried out on the work area with the amplifying layer of the image;
the analysis and the processing of the image are independently carried out through a plurality of second formation unmanned aerial vehicle modules, the data transmission control module is saved, the analysis is carried out through the control module, the time for sending the command to the second formation unmanned aerial vehicle modules is further shortened, the second formation unmanned aerial vehicle modules are disconnected with the control module, the second formation unmanned aerial vehicle continues to carry out mapping work, and the data loss after the unmanned aerial vehicle is damaged is reduced through data sharing.
Before the deep learning processor is used, a sufficient sample is input to the deep learning processing module, the deep learning processing module is set, when the image is analyzed, the initialization weight network setting is carried out, whether the image is blurred or not is judged according to the brightness of the image, the edge contour of the image, the color depth of a local image and a surrounding image, the shape of stones and buildings on a mine, the sample comprises a large number of clear mine images and a large number of blurred mine images, a clear image set is established according to the large number of clear mine images, a blurred image set is established according to the large number of blurred mine images, then a clear image block set is established according to the clear image set through a convolutional neural network, the fuzzy image block set is established according to the blurred image set, the convolutional neural network is trained for a plurality of times according to the data, and the weight value is repeatedly adjusted, so that the analysis precision of the deep learning processing module reaches the use requirement, and then the deep learning processing module is put into use.
The first formation unmanned aerial vehicle, the second formation unmanned aerial vehicle and other modules installed on the first formation unmanned aerial vehicle and the second formation unmanned aerial vehicle are subjected to explosion-proof treatment; the three-dimensional modeling module can select different three-dimensional modeling modules according to different data forms; the main power supply battery 1, the first position sensor 2, the second position sensor 3 and the driving motor 4 of the mapping system for double unmanned aerial vehicle formation are purchased in the market, and a person skilled in the art only needs to install and operate according to the attached use instruction without creative labor of the person skilled in the art.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present invention, and these modifications and variations should also be regarded as the scope of the invention.
Claims (9)
1. A mapping system for double unmanned aerial vehicle formation, comprising:
and a three-dimensional modeling module: importing the data received by the control module into a three-dimensional modeling module, and drawing a three-dimensional image according to the imported data;
and the control module is used for: the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module are controlled, positions of the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module are displayed, and data transmitted back by the data transmission module are received;
the first formation unmanned aerial vehicle module: the system comprises a plurality of groups of portable laser scanning modules, a first camera module, a detection module, a first GPS positioning module, a data processing module, a data transmission module, a first power supply module and a data sending module, wherein the portable laser scanning modules, the first camera module, the detection module, the first GPS positioning module, the data processing module, the data transmission module, the first power supply module and the data sending module fly under or on a mine;
and the laser scanning module is used for: the number of the unmanned aerial vehicle modules is the same as that of the first formation unmanned aerial vehicle modules, the inside of the roadway is scanned, the size and shape data of the roadway are obtained, and the data are sent to the data processing module;
the first camera module: the number of the unmanned aerial vehicle modules is the same as that of the first formation unmanned aerial vehicle modules, the front of the first formation unmanned aerial vehicle modules or the lower of the first formation unmanned aerial vehicle modules are shot, and shot images are sent to the data processing module;
and a detection module: the number of the unmanned aerial vehicle modules is the same as that of the unmanned aerial vehicle modules in the first formation, surrounding environment information is acquired, the unmanned aerial vehicle in the first formation can avoid obstacles, and meanwhile, data are sent to the data processing module;
a first GPS positioning module: the number of the unmanned aerial vehicle modules is the same as that of the unmanned aerial vehicle modules of the first formation, and the unmanned aerial vehicle modules of the first formation are positioned;
and a data processing module: the number of the unmanned aerial vehicle modules is the same as that of the first formation unmanned aerial vehicle modules and the second formation unmanned aerial vehicle modules, and data sent by the laser scanning module, the first camera module, the second camera module and the detection module are analyzed and processed, so that the burden of the control module is reduced;
and a data transmission module: the number of the data transmission modules is the same as the number of the first formation unmanned aerial vehicle modules and the second formation unmanned aerial vehicle modules, when mapping is carried out, a group of data transmission modules transmit processed data, the data of the first GPS positioning module and the data of the second GPS positioning module to other data transmission modules in the transmission range, and the steps are repeated repeatedly until the processed data, the data of the first GPS positioning module and the data of the second GPS positioning module are transmitted to the data transmission module or the data are directly transmitted to the control module;
a first power supply module: the number of the unmanned aerial vehicle modules is the same as that of the first formation unmanned aerial vehicle modules, and electric energy is provided for the first formation unmanned aerial vehicle modules;
and a data transmitting module: the system is arranged on a group of second formation unmanned aerial vehicle modules, receives the data sent by the data transmission module and sends the data to the control module;
the second formation unmanned aerial vehicle module: carrying a second camera module, a second GPS positioning module, a data processing module, a data transmission module and a second power supply module to fly under or on a mine;
the second camera module: shooting the lower part of the second formation unmanned aerial vehicle module, and sending the shot image to the data processing module;
the second GPS positioning module: positioning a second formation unmanned aerial vehicle module;
and a second power supply module: providing electrical energy for the second formation unmanned aerial vehicle module and supplementing electrical energy for the first formation unmanned aerial vehicle module.
2. A dual unmanned aerial vehicle formation mapping system according to claim 1, wherein the data processing module comprises:
deep learning processor: analyzing and processing the image, judging whether the image is a blurred image or not, and finding out the blurred position;
an image processing unit: according to analysis of a deep learning processor, blending the image re-shot at the fuzzy position into the image shot before, applying a corresponding fuzzy layer to the blended image according to pixels of the image shot before, enabling the integral pixels of the blended image to be identical, separating a building from the surrounding environment through a semantic segmentation algorithm, completing shading correction, enabling light and shadow to be more natural, and optimizing the fusion edges of the two groups of images through an intelligent region smoothing algorithm;
laser scanning data processing unit: comparing the data scanned by the laser with the data when the construction of the mine is completed, and judging whether the well wall of the mine scanned by the laser has a deformation position or not;
and the data storage module is used for: and storing the processed image data and the data when the mine construction is completed.
3. The mapping system for double unmanned aerial vehicle formation according to claim 2, wherein the deep learning processor adopts a frame of PyTorch, the neural network is a convolutional neural network, and when the image data is analyzed, whether the image is blurred is judged according to brightness of the image, edge contour of the image, depth of partial image and surrounding image colors, shape of stone and building on a mine.
4. A dual unmanned aerial vehicle formation mapping system according to claim 1, wherein the data transmission unit transmits data in the form of broadcast electromagnetic waves, the data transmission module comprising:
a receiving unit: receiving data;
and a processing unit: processing the received data and carrying out temporary backup;
an issuing unit: and sending out the processed data.
5. The mapping system for double unmanned aerial vehicle formation according to claim 1, wherein the first power supply module and the second power supply module are provided with locking devices, the first power supply module and the second power supply module are provided with main power supply batteries (1), the first power supply module is further provided with standby batteries, the main power supply batteries (1) on the second power supply module are in multiple groups, and the main power supply batteries (1) on the first power supply module are the same as the main power supply batteries (1) on the second power supply module in model number.
6. The mapping system for double unmanned aerial vehicle formation according to claim 5, wherein the locking device comprises a first position sensor (2), a second position sensor (3), two groups of driving motors (4), two groups of connecting rods (5), two groups of springs (6) and two groups of rollers (7), the left end and the right end at the top of the main power supply battery (1) and the left end and the right end at the bottom of the main power supply battery (1) are respectively provided with clamping grooves, the top end and the bottom end of the main power supply battery (1) are respectively provided with a charging end, the first position sensor (2) and the two groups of driving motors (4) are respectively arranged on the second formation unmanned aerial vehicle module, the second position sensor (3) is arranged on the main power supply battery (1), the two groups of connecting rods (5) are respectively rotatably arranged on output shafts of the two groups of driving motors (4), one ends of the two groups of springs (6) are respectively connected with the side ends of the two groups of connecting rods (5), and the side ends of the two groups of rollers (7) are respectively connected with the other ends of the two groups of springs (6).
7. A dual unmanned aerial vehicle formation mapping system according to claim 1, wherein the control module comprises:
and a control unit: the method comprises the steps of sending a command, controlling a first formation unmanned aerial vehicle and a second formation unmanned aerial vehicle, and receiving data sent back by the first formation unmanned aerial vehicle and the second formation unmanned aerial vehicle;
and a display unit: displaying the operation steps of the control unit and the route planning unit;
route planning unit: and planning the flight routes of the first formation unmanned aerial vehicle and the second formation unmanned aerial vehicle.
8. A dual unmanned aerial vehicle formation mapping system according to any of claims 1 to 7, wherein the method of use downhole comprises:
s1: detaching a second camera module on the second formation unmanned aerial vehicle module, so as to reduce the weight of the second formation unmanned aerial vehicle module;
s2: the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module are controlled and planned in a route through the control module, so that the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module enter a mine, and meanwhile, the first formation unmanned aerial vehicle module provided with the data transmission module is stopped at a position close to a wellhead;
s3: the method comprises the steps that the remaining first formation unmanned aerial vehicle modules fly downwards along a mine main channel, enter the mine through a group of first formation unmanned aerial vehicle modules after encountering the mine, scan and survey the mine through a laser scanning module, the remaining first formation unmanned aerial vehicle modules continue to fly downwards, meanwhile, after the first formation unmanned aerial vehicle modules complete the mapping in the mine, stay at the position of the main channel for carrying out the mine, when the first formation unmanned aerial vehicle modules are used as communication nodes, stay a group of first formation unmanned aerial vehicle modules within a set distance when the mine is not occupied, transmit mapping data to the surrounding remaining first formation unmanned aerial vehicle modules, repeatedly repeat the steps, enable the first formation unmanned aerial vehicle modules to form communication paths under the mine, share the data, transmit the data back to a control module through the first formation unmanned aerial vehicle modules provided with a data transmission module, meanwhile, the surrounding environment information is acquired through a detection module in the command transmission process, the first formation unmanned aerial vehicle is prevented from obstacle avoidance, and the situation before the command is knocked down is reduced;
s4: when the first formation unmanned aerial vehicle module surveys the mine, the second formation unmanned aerial vehicle module flies along with the forefront group of unmanned aerial vehicle modules;
s5: in the process of returning, when the electric quantity of the first formation unmanned aerial vehicle module is low, the locking device on the first formation unmanned aerial vehicle module is matched with the locking device on the second formation unmanned aerial vehicle module, and the main power supply module on the first formation unmanned aerial vehicle module is installed in the second formation unmanned aerial vehicle module, so that the second formation unmanned aerial vehicle module returns enough electric energy;
s6: and pouring the returned data into a three-dimensional modeling module through a control module to perform three-dimensional modeling and act as a three-dimensional image.
9. A dual unmanned aerial vehicle formation mapping system according to any of claims 1 to 7, wherein the method of use on the mine comprises:
s1: detaching the laser scanning module on the first formation unmanned aerial vehicle module, and reducing the weight of the second formation unmanned aerial vehicle module;
s2: the control module is used for carrying out route planning on the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module, so that the first formation unmanned aerial vehicle module and the second formation unmanned aerial vehicle module take off, and the mine is shot;
s3: in the shooting process, the first formation unmanned aerial vehicle module flies below the second formation unmanned aerial vehicle module, the second shooting module shoots a mine to obtain a mine main body outline, and the first formation unmanned aerial vehicle shoots the mine in detail;
s4: in the shooting process, a data processing module on the first formation unmanned aerial vehicle module analyzes and processes data sent by the first camera module, judges whether an image is a blurred image, finds out a blurred position, then the unmanned aerial vehicle module shooting the blurred image returns to a shooting point along a planned route to shoot again, analyzes the re-shot image through the data processing module, the image is still blurred, the re-shot unmanned aerial vehicle descends to a height to shoot a clear image, and meanwhile, a group of unmanned aerial vehicles adjacent to the unmanned aerial vehicle leaving the mapping unmanned aerial vehicle formation moves to a position between the original position and the position of the unmanned aerial vehicle leaving the mapping unmanned aerial vehicle formation, and the height is lifted, so that the mine is shot to make up for the vacant position in the first formation unmanned aerial vehicle;
s5: in the shooting process, the shot clear images are reduced through an image processing unit, scenery in the clear images is overlapped with scenery in the images shot before, then the clear images are blended into the images shot before, meanwhile, corresponding fuzzy layers are applied to the blended images according to pixels of the images shot before, the integral pixels of the blended images are the same, and then the blended images are transmitted to a control module;
s6: in the shooting process, data transmission is carried out among a plurality of first formation unmanned aerial vehicle modules and a plurality of second formation unmanned aerial vehicle modules, each first formation unmanned aerial vehicle module and each second formation unmanned aerial vehicle module are respectively provided with complete mapping data, after the first formation unmanned aerial vehicle modules and the second formation unmanned aerial vehicle modules are in interrupt connection with the numerical control module, the first formation unmanned aerial vehicle modules and the second formation unmanned aerial vehicle modules store the data when mapping work is carried out according to a planned route continuously, meanwhile, the unmanned aerial vehicles are damaged after interrupt connection, damaged unmanned aerial vehicle data can be found out through the data of other unmanned aerial vehicles stored in other unmanned aerial vehicles, and the loss of the data is reduced;
s7: after the control module receives the fused image, the image is poured into the three-dimensional modeling module to draw the three-dimensional image.
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| 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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