CN116610155B - Intelligent guide method and system for rail locomotive based on unmanned aerial vehicle and electronic equipment - Google Patents
Intelligent guide method and system for rail locomotive based on unmanned aerial vehicle and electronic equipment Download PDFInfo
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Abstract
The invention relates to the technical field of intelligent guidance scheme design of rail locomotives, and provides an intelligent guidance method and system of a rail locomotive based on an unmanned aerial vehicle, and electronic equipment, wherein the intelligent guidance method comprises the following steps: when the rail locomotive runs at a first preset speed along a preset route, the control module acquires positioning data of the rail locomotive by using the positioning module arranged on the rail locomotive, acquires current visibility data of a corresponding area released by the Internet according to the positioning data of the rail locomotive, judges whether the current visibility data is smaller than or equal to a first preset threshold value, and controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance according to a judging result. According to the invention, when the vision is completely lost, the unmanned aerial vehicle is controlled to fly in front of the locomotive to guide the rail locomotive, so that the operation safety of the locomotive when the vision is completely lost is greatly improved, complex algorithm modeling is not needed, and the usability, reliability, intelligent degree and safety of the invention are greatly improved.
Description
Technical Field
The invention relates to the technical field of intelligent guidance scheme design of rail locomotives, in particular to an intelligent guidance method and system for a rail locomotive based on an unmanned aerial vehicle and electronic equipment.
Background
Along with the maturity of unmanned car technique in China, and the intelligent driving and unmanned technique of being applied to the track locomotive of track transportation is corresponding to be short, and the operation routine of a track locomotive needs 8 people three-shift driving operation, and the personnel cost is nearly millions/year, and implements intelligent unmanned operation environment complexity and is far lower than road car, is the urgent demand of track transportation trade to intelligent driving and unmanned driving in order to improve the driving security and reduce running cost of track locomotive. At present, the traditional unmanned scheme of rail transit needs to erect a large number of sensors on two sides of a rail line to assist a locomotive to perform intelligent driving or unmanned guiding besides a ground induction coil detection method, an infrared detection method, a microwave detection method, an ultrasonic detection method and a laser radar detection method adopted by a vehicle, so that the investment is overlarge, and the enterprise investment enthusiasm is low.
With the rapid development of unmanned aerial vehicles, civil unmanned aerial vehicles have become popular gradually, so that an intelligent guiding system of a vehicle-mounted accompanying unmanned aerial vehicle is required to be provided, the intelligent guiding system comprises a computer vision system, a laser radar and other systems, a track and a forward route can be surveyed, the intelligent guiding system is communicated with a locomotive through a wireless communication technology, survey data information is provided for a microcomputer end of the locomotive in real time to provide guiding information for the locomotive, when road conditions or weather are poor or even the vision is completely lost, the unmanned aerial vehicle is controlled to automatically accompany, real-time information signals are provided for actions such as obstacle avoidance and braking of the locomotive, the intelligent guiding system can return to the locomotive through automatic guiding after accompanying, and a scheme for replacing a large number of sensors beside the track is provided.
Thus, the prior art is still to be further developed.
Disclosure of Invention
The invention aims to overcome the technical defects, and provides an intelligent guide method, an intelligent guide system and electronic equipment for a rail locomotive based on an unmanned aerial vehicle, so as to solve the problems in the prior art.
To achieve the above technical object, according to a first aspect of the present invention, there is provided an intelligent guidance method for a rail locomotive based on an unmanned aerial vehicle, the method comprising:
when the rail locomotive runs at a first preset speed along a preset route, the control module acquires positioning data of the rail locomotive by using a first Beidou/GPS dual-mode positioning module arranged on the rail locomotive, acquires current visibility data of a corresponding area issued by the Internet according to the positioning data of the rail locomotive, judges whether the current visibility data is smaller than or equal to a first preset threshold value, and controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance according to a judging result.
Specifically, the method further comprises:
if the current visibility data is smaller than or equal to a first preset threshold value, the control module controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance;
If the current visibility data is recovered to be larger than a first preset threshold value in the flying process of the unmanned aerial vehicle, the control module controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to return to the warehouse.
Specifically, the method further comprises:
the control module acquires a current frame road condition picture in front of the rail locomotive according to a first preset period by using an imaging device arranged on the rail locomotive, carries out gray processing on the current frame road condition picture, extracts a point of a gray value in the gray picture, which is positioned in a first preset interval, and establishes a target search frame, judges whether the area of the target search frame is smaller than or equal to a second preset threshold value, counts abnormal frames according to a judgment result by using a counter in the control module, records the continuous occurrence times of the abnormal frames, and controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance according to the counting result.
Specifically, the method further comprises:
if the area of the target search frame is smaller than or equal to a second preset threshold value, judging that the road condition picture of the current frame is an abnormal frame, adding 1 to a counter by a control module, and outputting a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance by the control module when the continuous occurrence times of the abnormal frame is larger than a third preset threshold value;
If the area of the target search frame is restored to be larger than a second preset threshold value in the process of accompanying the unmanned aerial vehicle, judging that the road condition picture of the current frame is a normal frame, resetting a control module control counter and adding 1, then counting the normal frame according to a judging result by utilizing the counter in the control module, judging the continuous occurrence times of the normal frame, and controlling an execution module to output a control signal related to controlling the unmanned aerial vehicle to return to a database according to the counting result.
Specifically, the method further comprises:
if the number of continuous occurrence times of the normal frames is larger than or equal to a fourth preset threshold value, the control module controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to return to the library.
Specifically, the outputting a control signal related to controlling the unmanned aerial vehicle to perform accompanying guidance includes:
the control module acquires positioning data of the unmanned aerial vehicle by using a second Beidou/GPS dual-mode positioning module arranged in the unmanned aerial vehicle, calculates actual distance data between the unmanned aerial vehicle and the track locomotive according to the positioning data of the track locomotive, the positioning data of the unmanned aerial vehicle and a preset route, controls the unmanned aerial vehicle to fly along the preset route at a second preset speed, judges whether the actual distance data is greater than or equal to a fifth preset threshold value, and if so, controls the unmanned aerial vehicle to continue to fly along the preset route at the first preset speed.
Specifically, the method further comprises:
in the flight process, the control module measures the height of the unmanned aerial vehicle from the ground by using the laser ranging sensor arranged below the unmanned aerial vehicle and controls the unmanned aerial vehicle to fly at a first preset height from the ground all the time, and the first preset height is smaller than the actual height of the rail locomotive.
Specifically, the method further comprises:
in the flight process of the unmanned aerial vehicle, the control module controls the unmanned aerial vehicle to send a protocol data frame to the rail locomotive according to a second preset period, the protocol data frame comprises time information for sending the protocol data frame, whether the authorization is completed with the rail locomotive is judged, if the authorization is completed, a timer in the control module is utilized to start recording the authorization duration, when the unmanned aerial vehicle sends the next protocol data frame to the rail locomotive through the second preset period, if the next authorization is completed, the control timer is cleared, the authorization duration is recorded, whether the authorization duration is larger than a sixth preset threshold value is judged, and if the authorization duration is larger than the sixth preset threshold value, the control module controls the execution module to output a control signal related to controlling emergency braking of the rail locomotive.
According to a second aspect of the present invention, there is provided an intelligent guidance system for a rail locomotive based on an unmanned aerial vehicle, comprising:
The acquisition module comprises a Beidou/GPS dual-mode positioning module and is used for acquiring positioning data of the rail locomotive;
the control module is used for acquiring positioning data of the rail locomotive by using a first Beidou/GPS dual-mode positioning module arranged on the rail locomotive when the rail locomotive runs at a first preset speed along a preset route, acquiring current visibility data of a corresponding area issued by the Internet according to the positioning data of the rail locomotive, judging whether the current visibility data is smaller than or equal to a first preset threshold value, and controlling the execution module to output a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance according to a judging result;
and the execution module is used for outputting a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance.
According to a third aspect of the present application, there is provided an electronic device comprising: a memory; and the processor is used for storing computer readable instructions on the memory, and the computer readable instructions realize the intelligent guidance method of the rail locomotive based on the unmanned aerial vehicle when being executed by the processor.
The beneficial effects are that:
the application can realize investigation on the track and the forward route, communicate with the locomotive through a wireless communication technology, provide investigation data information for a microcomputer end of the locomotive in real time to provide guide information for the locomotive, automatically control the unmanned aerial vehicle to fly along automatically when road conditions or weather are bad, provide real-time information signals for actions such as obstacle avoidance, braking, deceleration and the like for the locomotive, automatically guide the locomotive back after flying along, replace a scheme of arranging a large number of sensors beside the track, greatly reduce the complexity of the system, and guide the locomotive of the track by controlling the unmanned aerial vehicle to fly in front of the locomotive when the visibility is low or even the vision is completely lost, greatly improve the operation safety of the locomotive when the visibility is low or even the vision is completely lost, and avoid complex algorithm modeling, greatly expand the application scene of the application, and greatly improve the usability, reliability, intelligent degree and safety of the application.
Drawings
FIG. 1 is a flow chart of an intelligent guidance method for a rail locomotive based on an unmanned aerial vehicle, which is provided in an embodiment of the application;
FIG. 2 is a system diagram of an intelligent guidance system for a rail locomotive based on an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic structural view of a drone apron provided in the practice of the present application;
FIG. 4 is a schematic diagram of the connection of an automatic wireless charging assembly provided in the practice of the present application;
FIG. 5 is a schematic diagram of a track locomotive provided in the practice of the present application.
Detailed Description
In order to make the technical solution of the present application better understood by those skilled in the art, the technical solution of the present application will be clearly and completely described in the following with reference to the accompanying drawings, and based on the embodiments of the present application, other similar embodiments obtained by those skilled in the art without making any inventive effort should be included in the scope of protection of the present application. In addition, directional words such as "upper", "lower", "left", "right", and the like, as used in the following embodiments are merely directions with reference to the drawings, and thus, the directional words used are intended to illustrate, not to limit, the application.
The invention will be further described with reference to the drawings and preferred embodiments.
Referring to fig. 1, the invention provides an intelligent guiding method for a rail locomotive based on an unmanned aerial vehicle, comprising the following steps:
and S100, when the rail locomotive runs at a first preset speed along a preset route, the control module acquires positioning data of the rail locomotive by using a first Beidou/GPS dual-mode positioning module arranged on the rail locomotive.
Here, the positioning data is longitude and latitude data.
Here, the step S100 includes, before:
the first preset speed, the second preset speed, the first preset threshold, the second preset threshold, the third preset threshold, the fourth preset threshold, the fifth preset threshold, the sixth preset threshold, the seventh preset threshold, the eighth preset threshold, the ninth preset threshold, the first preset period, the second preset period, the first preset interval, and the first preset height are preset. The first preset speed is smaller than the second preset speed, and the first preset height is smaller than the actual height of the rail locomotive. The method for determining the seventh preset threshold specifically sets according to the actual resolution, pixels and image sizes of the road condition picture of the current frame in practical application, uses an experimental method to determine the seventh preset threshold, fits a corresponding relation curve between a temperature value and a gray value in the actual road condition picture acquired by an instrument for multiple experiments, calculates a gray value corresponding to the human body temperature, and determines the seventh preset threshold according to the gray value corresponding to the human body temperature and an allowable error, wherein the calculation method of the seventh preset threshold is to subtract the allowable error from the gray value corresponding to the human body temperature, and the allowable error is 3 ℃.
Preferably, the first preset height is half of the actual height of the rail locomotive. The third preset threshold is smaller than the fourth preset threshold. The first preset interval is located in the interval of [ 0,255 ]. The first preset threshold is preferably 3000 m, the fifth preset threshold is preferably 1500 m, the first preset period is preferably 1 second, the second preset period is 0.5 s, the third preset threshold is preferably 10 times, the fourth preset threshold is preferably 30 times, the sixth preset threshold is 10 s, the first preset speed is preferably 200 km/h, and the second preset speed is preferably 260 km/h.
And S200, acquiring current visibility data of a corresponding area released by the Internet according to the positioning data of the rail locomotive, and judging whether the current visibility data is smaller than or equal to a first preset threshold value.
Specifically, if the current visibility data is smaller than or equal to a first preset threshold, the control module controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance.
It will be appreciated that the visibility of the area in which the rail locomotive is located will greatly impact the safety of the rail locomotive operation. Therefore, when the current visibility data is smaller than the first preset threshold value, the current visibility data is lower, and the potential safety hazard of autonomous operation of the rail locomotive is larger, so that the rail locomotive needs to be safely guided by the unmanned aerial vehicle, and when an abnormal condition occurs, the rail locomotive can have enough distance to perform normal braking, and the safety of the rail is improved.
It should be noted that, because the braking distance of the rail locomotive is generally 2 km when the speed of the rail locomotive is 200 km per hour, the application preferably sets the first preset threshold to 3000 m, and sets the first preset threshold to 3000 m, which is obtained by a plurality of experiments of technicians in the application, the rail locomotive can have better distance and system response time to perform normal braking when abnormal conditions occur, and the safety of the rail is further improved.
If the current visibility data is recovered to be larger than a first preset threshold value in the flying process of the unmanned aerial vehicle, the control module controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to return to the warehouse.
It should be noted that, if the current visibility data is restored to be greater than the first preset threshold value in the flying process of the unmanned aerial vehicle, that is, the visibility of the area where the rail locomotive is located is proved to be higher, the autonomous operation safety of the rail locomotive is higher, the unmanned aerial vehicle is not required to fly, at this time, the control module controls the execution module to output a control signal for controlling the unmanned aerial vehicle to return to the garage, it can be understood that the unmanned aerial vehicle garage is installed on the locomotive, the unmanned aerial vehicle garage comprises an unmanned aerial vehicle parking apron, an automatic wireless charging component is arranged in the unmanned aerial vehicle garage, when the unmanned aerial vehicle falls to the unmanned aerial vehicle parking apron, the unmanned aerial vehicle parking apron can automatically charge the unmanned aerial vehicle,
Specifically, the method further comprises:
the control module acquires a current frame road condition picture in front of the rail locomotive according to a first preset period by using an imaging device arranged on the rail locomotive, carries out gray processing on the current frame road condition picture, extracts a point of a gray value in the gray picture, which is positioned in a first preset interval, and establishes a target search frame, judges whether the area of the target search frame is smaller than or equal to a second preset threshold value, counts abnormal frames according to a judgment result by using a counter in the control module, records the continuous occurrence times of the abnormal frames, and controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance according to the counting result.
Here, since the threshold value of the gradation-processed photograph is "0, 255", the gradation value of the gradation-processed image should be close to 0 when the road condition in front is a dark road condition without light, and the gradation value of the gradation-processed image should be close to 255 when the road condition in front is a thick fog, the gradation value of the image should be within the interval of "0, 255".
Specifically, the method further comprises:
if the area of the target search frame is smaller than or equal to a second preset threshold value, judging that the road condition picture of the current frame is an abnormal frame, adding 1 to the counter by the control module, and outputting a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance by the control module when the continuous occurrence number of the abnormal frame is larger than a third preset threshold value.
It can be understood that if the road condition in front of the image captured by the image capturing device is a normal road condition, after the gray level processing is performed on the current frame road condition photograph, the pixel point value in the image should be in a first preset interval, where the first preset interval is in the interval of [ 0,255 ], preferably, the first preset interval is in the interval of [ 30,230 ], the first preset interval is set to be the interval of [ 30,230 ] by those skilled in the art, and is obtained through a large number of experiments, when the value of the pixel point in the image is in the interval of [ 30,230 ] and the area of the target search frame is greater than the second preset threshold, the road condition can be better resolved, and when the value of the pixel point in the image is not in the interval of [ 30,230 ] and the area of the target search frame is less than or equal to the second preset threshold, the road condition cannot be better, and the light is weak or the external visibility suddenly decreases. According to the application, the possibility of inaccurate weather information issued by the Internet can be avoided, the duration time of sudden darkening or sudden lowering of the visibility of the external environment can be judged according to the image acquired by the image pickup device, the continuous occurrence times of the abnormal frames and the first preset period under the condition that the external environment suddenly darkens or the visibility suddenly lowers, and when the duration time of sudden darkening or sudden lowering of the visibility of the external environment is overlong, namely, the continuous occurrence times of the abnormal frames are larger than the third preset threshold value, the unmanned aerial vehicle is controlled to carry out accompanying guidance, so that the intelligent degree, the safety and the reliability of the application are improved to a great extent, and the application scene of the application is further expanded.
If the area of the target search frame is restored to be larger than a second preset threshold value in the process of accompanying the unmanned aerial vehicle, judging that the road condition picture of the current frame is a normal frame, resetting a control module control counter and adding 1, then counting the normal frame according to a judging result by utilizing the counter in the control module, judging the continuous occurrence times of the normal frame, and controlling an execution module to output a control signal related to controlling the unmanned aerial vehicle to return to a database according to the counting result.
Specifically, the method further comprises:
if the number of continuous occurrence times of the normal frames is larger than or equal to a fourth preset threshold value, the control module controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to return to the library.
It can be understood that if the area of the target search frame is restored to be greater than the second preset threshold value in the flying process of the unmanned aerial vehicle, the road condition picture of the current frame is judged to be a normal frame, if the continuous occurrence number of the normal frame is greater than or equal to the fourth preset threshold value, the illumination intensity or the visibility near the rail locomotive is proved to be restored to a safe range, the unmanned aerial vehicle is not required to carry out flying guidance, the intelligent degree of the invention is further improved, the service life of the unmanned aerial vehicle is prolonged to a great extent by controlling the unmanned aerial vehicle to return to the parking apron to carry out automatic charging, and the usability of the invention is further improved.
Specifically, the outputting a control signal related to controlling the unmanned aerial vehicle to perform accompanying guidance includes:
the control module acquires positioning data of the unmanned aerial vehicle by using a second Beidou/GPS dual-mode positioning module arranged in the unmanned aerial vehicle, calculates actual distance data between the unmanned aerial vehicle and the track locomotive according to the positioning data of the track locomotive, the positioning data of the unmanned aerial vehicle and a preset route, controls the unmanned aerial vehicle to fly along the preset route at a second preset speed, judges whether the actual distance data is greater than or equal to a fifth preset threshold value, and if so, controls the unmanned aerial vehicle to continue to fly along the preset route at the first preset speed.
Specifically, the method further comprises:
in the flight process, the control module measures the height of the unmanned aerial vehicle from the ground by using the laser ranging sensor arranged below the unmanned aerial vehicle and controls the unmanned aerial vehicle to fly at a first preset height from the ground all the time, and the first preset height is smaller than the actual height of the rail locomotive.
Specifically, the method further comprises:
in the flight process of the unmanned aerial vehicle, the control module controls the unmanned aerial vehicle to send a protocol data frame to the rail locomotive according to a second preset period, the protocol data frame comprises time information for sending the protocol data frame, whether the authorization is completed with the rail locomotive is judged, if the authorization is completed, a timer in the control module is utilized to start recording the authorization duration, when the unmanned aerial vehicle sends the next protocol data frame to the rail locomotive through the second preset period, if the next authorization is completed, the control timer is cleared, the authorization duration is recorded, whether the authorization duration is larger than a sixth preset threshold value is judged, and if the authorization duration is larger than the sixth preset threshold value, the control module controls the execution module to output a control signal related to controlling emergency braking of the rail locomotive.
It will be appreciated that the present application will preferably have a first predetermined height that is half the actual height of the rail locomotive. When the control module judges that the unmanned aerial vehicle and the rail locomotive complete one-time authorization, the unmanned aerial vehicle is proved to still normally run at the moment, no obstacle is bumped or abnormal damage is caused, at the moment, the locomotive does not need to carry out emergency braking, and according to relevant regulations in China, the emergency braking distance of the rail locomotive on any ramp does not exceed 800 meters, so that the fifth preset threshold value is preferably 1500 meters, the sixth preset threshold value is preferably 10 seconds, when the rail locomotive moves forward at a distance of 200 km/h, the distance travelled by 10 seconds is 550 meters, the safety distance still remains 1500-550=950 meters, and sufficient distance still exists for emergency braking, namely, when the unmanned aerial vehicle bumps against the obstacle or abnormal damage, the unmanned aerial vehicle cannot send the next protocol data frame, and when the authorization duration is greater than or equal to 10 seconds, the emergency braking is proved not to be due to output transmission delay caused by external signals, at the moment, the unmanned aerial vehicle can be bumped due to the existence of a road obstacle in front or crash due to sudden environmental factors, and the emergency braking needs to be controlled. At this time, the control module controls the execution module to output a control signal related to controlling the emergency brake of the rail locomotive. According to the application, through the design, the operation safety of the rail locomotive is improved to a great extent, the intelligent degree of the rail locomotive is further improved, the problem of complex unmanned aerial vehicle safety accompanying guiding is solved through ingenious design, complex modeling is not needed, and the intelligent degree and safety of the rail locomotive are improved to a great extent.
The method comprises the steps of carrying out graying treatment on an infrared thermal imaging image of a current frame acquired by the infrared thermal imaging device to obtain current frame infrared thermal imaging road condition photo data, determining a pixel point with a gray value larger than or equal to a seventh preset threshold value in the current frame infrared thermal imaging road condition photo data, determining a target range according to the target point, wherein the target range needs to comprise all target points in the current frame infrared thermal imaging image data, establishing a target search frame according to the target range, judging whether the area of the target search frame is larger than or equal to an eighth preset threshold value and judging whether the total gray value of each target point is larger than or equal to a ninth preset threshold value, and if the area of the target search frame is larger than or equal to the eighth preset threshold value or the total gray value of each target point is larger than or equal to the ninth preset threshold value, judging that the target in the current frame infrared thermal imaging road condition photo data is defined by human images.
It may be appreciated that, in the technical solution of the present application, if a pixel point whose gray value is greater than or equal to a seventh preset threshold exists in the infrared thermal imaging image data of the current frame, the pixel point is determined as a target point, a target range is determined according to the target point, the target range needs to include all target points in the infrared thermal imaging image data of the current frame, a target search frame is established according to the target range, whether the area of the target search frame is greater than or equal to the eighth preset threshold and whether the total gray value of each target point is greater than or equal to a ninth preset threshold is determined, and if the area of the target search frame is greater than or equal to the eighth preset threshold or the total gray value of each target point is greater than or equal to the ninth preset threshold, it is determined that a target image defined as a person exists in the infrared thermal imaging image of the current frame, and the target search frame needs to include a target range and a background of a preset range around the target. When the unmanned aerial vehicle moves to a certain distance from the target, the sum of gray values of the target points in the target search frame has larger difference according to different target types, when the target is a person, the sum of gray values of the target points in the target search frame should have limited difference and the area of the target search frame should have limited difference.
It can be understood that the application can realize investigation on the track and the forward route, communicate with the locomotive through a wireless communication technology, provide investigation data information for a microcomputer end of the locomotive in real time to provide guide information for the locomotive, automatically control the unmanned aerial vehicle to fly along automatically when road conditions or weather are bad, provide real-time information signals for actions such as obstacle avoidance, braking, deceleration and the like for the locomotive, automatically guide the locomotive back after flying along, replace a scheme of arranging a large number of sensors beside the track, greatly reduce the complexity of the system, and guide the locomotive of the track by controlling the unmanned aerial vehicle to fly in front of the locomotive when the visibility is low or even the vision is completely lost, greatly improve the operation safety of the locomotive when the visibility is low or even the vision is completely lost, and avoid complex algorithm modeling, greatly improve the application scene of the application, and greatly improve the usability, reliability, intelligent degree and safety of the application.
And S300, controlling the execution module to output a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance according to the judging result.
Referring to fig. 2-5, another embodiment of the present application is provided, and the present embodiment provides an intelligent guidance system for a rail locomotive 8 based on an unmanned aerial vehicle, where the intelligent guidance system for the rail locomotive 8 based on the unmanned aerial vehicle includes:
The acquisition module 100 comprises a Beidou/GPS dual-mode positioning module and is used for acquiring positioning data of the rail locomotive 8;
the control module 200 is configured to, when the rail locomotive 8 is running along a preset route at a first preset speed, obtain positioning data of the rail locomotive 8 by using a first beidou/GPS dual-mode positioning module 100 disposed on the rail locomotive 8, obtain current visibility data of a corresponding area published by the internet according to the positioning data of the rail locomotive 8, determine whether the current visibility data is less than or equal to a first preset threshold, and control the execution module 300 according to a determination result to output a control signal related to controlling the unmanned aerial vehicle to perform accompanying guidance;
the execution module 300 is configured to output a control signal related to controlling the unmanned aerial vehicle to perform accompanying guidance.
The system of the invention further comprises an unmanned aerial vehicle and a rail locomotive 8, wherein the unmanned aerial vehicle comprises an auxiliary wireless transmitter, an intelligent processor, a memory, a detector and a camera device 7, the detector is a laser detector and a millimeter wave detector, the laser detector comprises a laser ranging sensor, the intelligent processor and the memory are in communication connection, the detector head and the camera device 7 are connected with the intelligent processor, the detector head and the camera device 7 are controlled by the intelligent processor, the intelligent processor and the auxiliary wireless transmitter are in communication connection, a main wireless transmitter, a microprocessor and a display screen are arranged in the rail locomotive 8, the main wireless transmitter and the auxiliary wireless transmitter are in wireless connection, the microprocessor and the main wireless transmitter are in communication connection, the microprocessor is connected with the display screen, and the display screen controls the microprocessor. Meanwhile, the rail locomotive 8 is used for providing the unmanned aerial vehicle with the unmanned aerial vehicle parking apron 1 and a power supply which can be automatically charged. When the unmanned aerial vehicle returns to the warehouse, automatic charging can be performed.
The unmanned aerial vehicle air park 1 is a rectangular plate body, an air park base 2 is arranged at the bottom of the unmanned aerial vehicle air park 1, the air park base 2 is of a hollow cavity structure, and an automatic wireless charging assembly is arranged inside the air park base.
The automatic wireless charging assembly is composed of an AC220V input interface 3, a power management module, a linkage control module, a power output control module, a wireless charging coil, a charging coil lifting module, a wireless charging induction coil, a charging current monitoring module, a charging voltage monitoring module and a gravity monitoring module. The AC220V input interface 3 is arranged on one side of the parking apron base 2, the wireless charging induction coil is arranged on a storage battery of the unmanned aerial vehicle, the gravity monitoring module is arranged at the bottom of the unmanned aerial vehicle parking apron 1, and the charging coil lifting module is arranged at the center of the unmanned aerial vehicle parking apron 1 and can drive the wireless charging coil to lift. The power management module is respectively connected with the AC220V input interface 3, the linkage control module, the charging coil lifting module, the gravity monitoring module and the power output control module in a wired mode, the power output control module is connected with the wireless charging coil in a wired mode, and the charging current monitoring module and the charging voltage monitoring module are further connected on the connecting wire and are connected with the linkage control module in a wired mode.
The charging coil lifting module comprises a motor transmission assembly, a charging panel lifting rod 4 and a charging panel 5, wherein the charging panel lifting rod 4 is in transmission connection with the motor transmission assembly, and the top of the charging panel lifting rod 4 is provided with the charging panel 5 which can be embedded in the unmanned aerial vehicle parking apron 1. The wireless charging coil is arranged in the charging panel 5 and is wound into a coil by adopting pure copper materials. The power management module is a ZJXED manufacturer S360-12 model product, is connected with the AC220V input interface 3, and is connected with an external AC220V power supply to provide necessary power supply for the device. The linkage control module adopts a model product AS320T-B of a station manufacturer, is connected with the power management module and is powered by the power management module. The charging voltage monitoring module adopts a product of Shenzhen Jian Si research science and technology Co., ltd.JSY 1003 model, and has the functions as follows: after unmanned aerial vehicle drops to unmanned aerial vehicle air park 1 and begins to charge, charging voltage monitoring module begins to work, monitors unmanned aerial vehicle battery charging voltage, and when unmanned aerial vehicle battery charging voltage is close to the cut-off voltage, charging voltage monitoring module returns monitoring signal to power output control module, and power output control module receives voltage monitoring module return signal after will output constant voltage's charging power. The charging current monitoring module adopts a product of Shenzhen Jian Si research science and technology Co., ltd.JSY 1003 model, and has the functions as follows: when the charging voltage output by the power output control module is constant, the charging current monitoring module starts to work, the charging current of the unmanned aerial vehicle storage battery is monitored, at the moment, the charging current is smaller and smaller, and when the charging current of the unmanned aerial vehicle storage battery is lower than a threshold value, the power output control module stops outputting and is regarded as the completion of charging of the unmanned aerial vehicle storage battery. The power output control module adopts a model AS320T-B product of a Taida manufacturer, and has the functions AS follows: and collecting data of the charging voltage monitoring module and the charging current monitoring module, managing charging of the unmanned aerial vehicle storage battery, avoiding overcharging of the battery and protecting the unmanned aerial vehicle storage battery. The gravity monitoring module is a gravity sensor.
The working principle of the unmanned aerial vehicle automatic charging parking apron is as follows: arrange this unmanned aerial vehicle automatic charging air apron in the relay protection room one corner of track locomotive 8 to install wireless charging induction coil on the battery of unmanned aerial vehicle bottom, use the manual work to place unmanned aerial vehicle on unmanned aerial vehicle air apron 1. When the unmanned aerial vehicle is placed on the parking apron, after the gravity monitoring module at the bottom of the unmanned aerial vehicle parking apron 1 monitors gravity change and is stable, the charging coil lifting module is started, and the motor transmission assembly is controlled to drive the charging panel lifting rod 4 and the charging panel 5 to lift, so that the charging coil in the charging panel 5 is lifted to be in contact with a storage battery at the bottom of the unmanned aerial vehicle; when the charging voltage monitoring module monitors that the charging voltage is not 0, the charging coil lifting module stops rising and keeps the current state. At this moment, the unmanned aerial vehicle parking apron 1 starts to charge for unmanned aerial vehicle, and after charging is accomplished, when charging current monitoring module monitors that charging current is less than the current threshold value promptly, power output control module cuts off charging power output, and charging coil lifting module control motor drive subassembly drives charging panel lifter 4 and charging panel 5 and descends to the primitive state. At this time, the unmanned aerial vehicle completes charging and has the flight guidance operation condition.
It should be noted that, if unmanned aerial vehicle receives and flies when guiding the operation signal, unmanned aerial vehicle is charging, and the charging current that charging current monitoring module monitored is not less than the current threshold value and when charging coil elevating module did not descend to the original state promptly, unmanned aerial vehicle inspection operation will be followed to unmanned aerial vehicle end of charging, and wireless charging coil elevating module descends to the original state after, unmanned aerial vehicle continues to accomplish inspection operation, if no inspection operation, unmanned aerial vehicle will be in standby state. In addition, the gravity monitoring module will work always, and the gravity change of real-time supervision unmanned aerial vehicle air apron 1, if unmanned aerial vehicle stays on the air apron for a long time, and the gravity data is not 0 and when not having the change for a long time after stabilizing promptly, unmanned aerial vehicle air apron 1 will regularly charge for unmanned aerial vehicle, guarantees that the electrical power is sufficient, can throw into companion flight guidance operation at any time.
In order to prevent the internal temperature of the apron base 2 from being too high, the working performance of each module of the automatic wireless charging assembly is affected. The unmanned aerial vehicle is characterized in that a temperature monitoring module and a heat dissipation module are further arranged in an apron base 2 of the automatic charging apron; the temperature monitoring module and the heat dissipation module are respectively connected with the power management module and the linkage control module in a wired mode. In addition, unmanned aerial vehicle air park 1 top still is equipped with the heat dissipation air outlet 6 of cooperation heat dissipation module. After unmanned aerial vehicle begins to charge, after charging voltage monitoring module detects that there is charging voltage promptly, temperature monitoring module begins work, real-time supervision unmanned aerial vehicle battery temperature, when the temperature exceeded the threshold value, heat dissipation module began to dispel the heat to unmanned aerial vehicle battery, and after unmanned aerial vehicle charged, heat dissipation module, temperature monitoring module stop work simultaneously.
The processing technology of the intelligent processor comprises route planning, vehicle positioning and identification, a positioning device capable of flying at a constant speed with a locomotive, automatic image identification and automatic guidance of other sensors, wherein the other sensors comprise laser sensors or millimeter wave sensors.
The unmanned aerial vehicle is stored with a circuit template image, and the circuit template image comprises preset route data.
The rail locomotive and the unmanned aerial vehicle are both provided with GPS positioners. An indicator lamp and an apron and a charging device which are provided for the unmanned aerial vehicle are arranged on the train body of the rail locomotive.
The algorithm of the route planning adopts an A-type algorithm or a machine learning algorithm, and inertial navigation is realized in a special area.
The technical scheme has the beneficial effects that the unmanned aerial vehicle can synchronously fly after sending the accompanying guiding control signal by the rail locomotive, can autonomously fly to survey the road ahead, and can return images and signals to the rail locomotive in real time. And a survey signal is provided for the operation of the rail locomotive through an unmanned aerial vehicle-mounted image and signal recognition equipment. After the rail locomotive stops or the road investigation is finished, a control signal related to controlling the unmanned aerial vehicle to return to a warehouse for charging is output, the unmanned aerial vehicle is controlled to automatically search the position of the rail locomotive, the function of automatic lifting is started, and the rail locomotive is retracted and automatically charged.
The unmanned aerial vehicle aerial image detection method has the advantages of wide viewing range, no dead angle and strong maneuverability, compared with a detection method of arranging a fixed sensor beside a track, the unmanned aerial vehicle and the track locomotive are adopted to carry out the detection, the information such as images and signals in a working condition operation area can be obtained, and synchronous operation processing can be realized through wireless transmission, so that the unmanned aerial vehicle-based low-altitude aerial image detection method has the advantages of wide detection range, high updating reaction speed, capability of replacing a large number of sensors beside the track, capability of providing road condition information for the track locomotive according to wide area image signal judgment provided by the unmanned aerial vehicle, capability of intelligently identifying the track locomotive, guiding the landing and automatic charging of the unmanned aerial vehicle, achieving the purposes of intelligent driving or unmanned driving by utilizing multiple technologies, realizing the purposes of intelligently improving the safe driving performance of the track locomotive and realizing the purpose of replacing manpower by unmanned aerial vehicle, and avoiding the defects of light and bad weather influence on safe driving of manual driving.
In a preferred embodiment, the present application also provides an electronic device, including:
a memory; and the processor is used for storing computer readable instructions on the memory, and the computer readable instructions realize the intelligent guidance method of the rail locomotive based on the unmanned aerial vehicle when being executed by the processor. The computer device may be broadly a server, a terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc. connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may have an operating system, computer programs, etc. stored therein or thereon. The internal memory may provide an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface and communication interface of the computer device may be used to connect and communicate with external devices via a network. Which when executed by a processor performs the steps of the method of the application.
The present invention may be implemented as a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes steps of a method of an embodiment of the present invention to be performed. In one embodiment, the computer program is distributed over a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion. A single method step/operation, or two or more method steps/operations, may be performed by a single computer device or processor, or by two or more computer devices or processors. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation or two or more method steps/operations.
Those of ordinary skill in the art will appreciate that the method steps of the present invention may be implemented by a computer program, which may be stored on a non-transitory computer readable storage medium, to instruct related hardware such as a computer device or a processor, which when executed causes the steps of the present invention to be performed. Any reference herein to memory, storage, database, or other medium may include non-volatile and/or volatile memory, as the case may be. Examples of nonvolatile memory include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the description provided that such combinations are not inconsistent.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (3)
1. An intelligent guiding method of a rail locomotive based on an unmanned aerial vehicle is characterized by comprising the following steps:
when the rail locomotive runs at a first preset speed along a preset route, the control module acquires positioning data of the rail locomotive by using a first Beidou/GPS dual-mode positioning module arranged on the rail locomotive, acquires current visibility data of a corresponding area issued by the Internet according to the positioning data of the rail locomotive, judges whether the current visibility data is smaller than or equal to a first preset threshold value, and controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance according to a judging result;
the method further comprises the steps of:
If the current visibility data is smaller than or equal to a first preset threshold value, the control module controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance;
if the current visibility data is recovered to be larger than a first preset threshold value in the flying process of the unmanned aerial vehicle, the control module controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to return to a warehouse;
the method further comprises the steps of:
the control module acquires a current frame road condition picture in front of the rail locomotive according to a first preset period by using a camera device arranged on the rail locomotive, carries out gray processing on the current frame road condition picture, extracts a point of a gray value in the gray picture, which is positioned in a first preset interval, and establishes a target search frame, judges whether the area of the target search frame is smaller than or equal to a second preset threshold value, counts abnormal frames according to a judgment result by using a counter in the control module, records the continuous occurrence times of the abnormal frames, and controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance according to the counting result;
the method further comprises the steps of:
if the area of the target search frame is smaller than or equal to a second preset threshold value, judging that the road condition picture of the current frame is an abnormal frame, adding 1 to a counter by a control module, and outputting a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance by the control module when the continuous occurrence times of the abnormal frame is larger than a third preset threshold value;
If the area of the target search frame is restored to be larger than a second preset threshold value in the process of accompanying the unmanned aerial vehicle, judging that the road condition picture of the current frame is a normal frame, resetting a control module control counter and adding 1, then counting the normal frame according to a judging result by utilizing the counter in the control module, judging the continuous occurrence times of the normal frame, and controlling an execution module to output a control signal related to controlling the unmanned aerial vehicle to return to a database according to the counting result;
the method further comprises the steps of:
if the number of continuous occurrence times of the normal frames is greater than or equal to a fourth preset threshold value, the control module controls the execution module to output a control signal related to controlling the unmanned aerial vehicle to return to the library;
the output control signal for controlling the unmanned aerial vehicle to carry out accompanying guidance comprises:
the control module acquires positioning data of the unmanned aerial vehicle by using a second Beidou/GPS dual-mode positioning module arranged in the unmanned aerial vehicle, calculates actual distance data between the unmanned aerial vehicle and the track locomotive according to the positioning data of the track locomotive, the positioning data of the unmanned aerial vehicle and a preset route, controls the unmanned aerial vehicle to fly along the preset route at a second preset speed, judges whether the actual distance data is greater than or equal to a fifth preset threshold value, and if so, controls the unmanned aerial vehicle to continue to fly along the preset route at the first preset speed;
The method further comprises the steps of:
in the flight process, the control module measures the height of the unmanned aerial vehicle from the ground by using a laser ranging sensor arranged below the unmanned aerial vehicle and controls the unmanned aerial vehicle to fly at a first preset height from the ground all the time, wherein the first preset height is smaller than the actual height of the rail locomotive;
the method further comprises the steps of:
in the flight process of the unmanned aerial vehicle, the control module controls the unmanned aerial vehicle to send a protocol data frame to the rail locomotive according to a second preset period, the protocol data frame comprises time information for sending the protocol data frame, whether the authorization is completed with the rail locomotive is judged, if the authorization is completed, a timer in the control module is utilized to start recording the authorization duration, when the unmanned aerial vehicle sends the next protocol data frame to the rail locomotive through the second preset period, if the next authorization is completed, the control timer is cleared, the authorization duration is recorded, whether the authorization duration is larger than a sixth preset threshold value is judged, and if the authorization duration is larger than the sixth preset threshold value, the control module controls the execution module to output a control signal related to controlling emergency braking of the rail locomotive.
2. An intelligent guidance system for a rail locomotive based on an unmanned aerial vehicle, which is characterized in that the intelligent guidance method for the rail locomotive based on the unmanned aerial vehicle as claimed in claim 1 is adopted, and comprises the following steps:
The acquisition module comprises a Beidou/GPS dual-mode positioning module and is used for acquiring positioning data of the rail locomotive;
the control module is used for acquiring positioning data of the rail locomotive by using a first Beidou/GPS dual-mode positioning module arranged on the rail locomotive when the rail locomotive runs at a first preset speed along a preset route, acquiring current visibility data of a corresponding area issued by the Internet according to the positioning data of the rail locomotive, judging whether the current visibility data is smaller than or equal to a first preset threshold value, and controlling the execution module to output a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance according to a judging result;
and the execution module is used for outputting a control signal related to controlling the unmanned aerial vehicle to carry out accompanying guidance.
3. An electronic device, comprising:
a memory; and a processor having stored thereon computer readable instructions which when executed by the processor implement the unmanned based rail locomotive intelligent guidance method of claim 1.
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Inventor after: Wang Chun Inventor after: Gao Zhaoying Inventor after: Shao Bo Inventor after: Wang Dong Inventor after: Fan Jianfeng Inventor after: Wang Longxiang Inventor before: Wang Chun Inventor before: Gao Zhaoying Inventor before: Shao Bo Inventor before: Wang Dong Inventor before: Fan Jianfeng Inventor before: Wang Longxiang |