CN209373438U - A kind of aerial work aerocraft system - Google Patents
A kind of aerial work aerocraft system Download PDFInfo
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- CN209373438U CN209373438U CN201920326685.7U CN201920326685U CN209373438U CN 209373438 U CN209373438 U CN 209373438U CN 201920326685 U CN201920326685 U CN 201920326685U CN 209373438 U CN209373438 U CN 209373438U
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Abstract
The utility model discloses a kind of aerial work aerocraft systems, comprising: at least one is with aircraft, for obtaining the supplement ambient information in operation aircraft blind area；Data processor with there is data connection with aircraft foundation, is used to generate job instruction according to supplement ambient information；The operation aircraft for having data connection is established with data processor, for executing aerial work or avoiding barrier to manipulating object according to job instruction.The aerial work aerocraft system compensates for the defect of itself limited view of operation aircraft, the details location information of the obstacle information and manipulating object in operation aircraft blind area can be obtained, to make the reliable avoidance of operation aircraft or more accurately operation, the reliability and precision of operation aircraft are improved.
Description
Technical field
The utility model relates to technical field of high-altitude operation equipment, more specifically to a kind of aerial work aircraft
System.
Background technique
With the fast development of communal facility, aerial work task and the frequency are more and more.For example, high-tension line detects work
Make, is required according to power industry, the insulation performance of every 6 years domestic demands forced measurement insulated terminal, and national about 7,000,000 seat heights
Piezoelectricity tower, therefore, the operation frequency and repeatability of high-tension line detection are higher.
In the prior art, manual work and remote control operation two ways is generallyd use to insulate on high-tension line to measure
The zero of terminal.
Manual work mode is the operation mode of mainstream in current industry, and the main staff by profession carries detection
Equipment climbs up transmission electric tower, uses the insulation performance of hand-held measuring device measurement insulated terminal.However, the people of manual work
Power is at high cost, and operating efficiency is low, and the risk of high altitude operation is big, and manual work is usually to charge in ultra-high-tension power transmission line
In the case of carry out, the safety of staff is unable to get good guarantee.
Remote control operation refers to operating personnel's remote controlled drone, passes through the camera and unmanned plane and ground on unmanned plane
The first visual angle that face communication link provides carries out operation.This operation mode observes unmanned plane by visually by operating personnel
Ambient enviroment, and control unmanned plane obstacle avoidance by operating personnel, pass through the related letter that the first visual angle obtains manipulating object
Breath carrys out less important work personnel's operation.
Although remote control operation has ensured the safety of staff, to a certain extent compared to manual work mode
Also improve operating efficiency, however, due to human eye limited line-of-sight range, can not multi-angle observation aircraft ambient enviroment, and obtain
The first perspective data there are certain delays, therefore, operating personnel not can be carried out and effectively operate, to operating personnel manipulate
The requirement of aircraft is very high.
Moreover, remote control operation at present generallys use single aircraft separate operaton, installed by operation aircraft itself
Various sensors carry out data acquisition and to each data carry out melt processing with avoidance, since airborne sensor is by aerial work
The limitation of the factors such as aircraft load capacity, bulk and itself blind area, operation flies when tending not to perceive operation well
Row device ambient enviroment, therefore, near complicated transmission electric tower or when its internal work, since the space of operating environment is limited and
Environment is more complex, and aerial work aircraft is easy to contact and collide with the barrier generation in ambient enviroment, leads to job content
It is unable to complete, or even falls in the presence of collision and wait danger.
Fall in conclusion how to provide one kind and be capable of the ambient enviroment of complete perception operation aircraft to avoid its collision
Aerial work aerocraft system, be a problem to be solved by those skilled in the art.
Utility model content
In view of this, the purpose of the utility model is to provide a kind of aerial work aerocraft system, with better perception work
The ambient condition information of industry aircraft, to make the reliable avoidance of operation aircraft or precisely work.
To achieve the goals above, the utility model provides the following technical solutions:
A kind of aerial work aerocraft system, comprising:
At least one is with aircraft, for obtaining the supplement ambient information in operation aircraft blind area；
The data processor for having data connection is established with the adjoint aircraft, for raw according to the supplement ambient information
At job instruction；
The operation aircraft for having data connection is established with the data processor, for according to the job instruction pair
Manipulating object executes aerial work or avoiding barrier.
Preferably, the data processor is set to the operation aircraft or the adjoint aircraft.
It preferably, further include earth station, the data processor is set to the earth station.
It preferably, further include earth station, the quantity of the data processor is three, is respectively arranged on the operation flight
Device, the adjoint aircraft and the earth station；
The earth station, which is additionally provided with, generates switching device with the instruction that three data processors are connected, for making three
A data processor alternatively switch operating.
Preferably, the operation aircraft is equipped with for sending specific bit attitude control to the flight control system of the adjoint aircraft
The controller of instruction is made, so that the adjoint aircraft obtains the corresponding operation aircraft blind area under specified pose
Interior supplement ambient information.
Preferably, the operation aircraft is equipped with visual indicia, and the adjoint aircraft is equipped with for detecting the vision
It marks to obtain the positioning visual sensor of the relative pose of the adjoint aircraft and the operation aircraft.
Preferably, the operation aircraft is equipped with for obtaining the location information of the manipulating object and monitoring the operation
The First look sensor of the handling situations of aircraft；The supplement ambient information is First look sensor field of view blind area
Interior information, the adjoint aircraft are equipped with the second visual sensor for obtaining the supplement ambient information.
Preferably, the positioning visual sensor and second visual sensor are the same visual sensor.
Aerial work aerocraft system provided by the utility model obtains operation with aircraft using at least one and flies
Supplement ambient information in row device blind area, with the defect of itself limited view of adjunctive program aircraft, to obtain operation
Full dose environmental information around aircraft is such as hided so that operation aircraft carries out operation according to surrounding full dose environmental information
Obstacle avoidance object executes aerial work task dispatching to manipulating object.
It is provided by the utility model aerial by the technical solution of operation aircraft separate operaton in compared with the prior art
Operation aerocraft system is capable of the ambient enviroment of complete perception operation aircraft, solves the sense of operation aircraft in the prior art
The technical issues of knowing limited ability and ground handling operator's limited view.Moreover, compared to the meat by ground handling operator
Eye observes the ambient enviroment of operation aircraft, can be seen in safety zone near operation aircraft with aircraft
It surveys, operating position and the risk of collision of operation aircraft can be appreciated more fully.Therefore, operation aircraft itself is compensated for
The defect that blind area and the visual field stop, can obtain the details of the obstacle information and manipulating object in operation aircraft blind area
Location information improves the reliability and essence of operation aircraft to make the reliable avoidance of operation aircraft or more accurately operation
Accuracy.
Meanwhile operation aircraft being avoided itself to carry excessive sensor and corresponding processor, reduce operation flight
The overall weight of device reduces the energy consumption of operation aircraft, improves the transaction capabilities and working efficiency of operation aircraft.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is the embodiments of the present invention, for those of ordinary skill in the art, without creative efforts, also
Other attached drawings can be obtained according to the attached drawing of offer.
Fig. 1 is the structural block diagram of aerial work aerocraft system specific embodiment one provided by the utility model；
Fig. 2 is the structural block diagram of aerial work aerocraft system specific embodiment two；
Fig. 3 is the structural block diagram of aerial work aerocraft system specific embodiment three；
Fig. 4 is the structural block diagram of aerial work aerocraft system specific embodiment four；
Fig. 5 is the structural block diagram of aerial work aerocraft system specific embodiment five；
Fig. 6 is the structural schematic diagram of aerial work aerocraft system shown in Fig. 4 and Fig. 5；
Fig. 7 be Fig. 1 to aerial work aerocraft system shown in fig. 6 control method specific embodiment one flow chart；
Fig. 8 be Fig. 1 to aerial work aerocraft system shown in fig. 6 control method specific embodiment two flow chart；
Fig. 9 is that the data processor in Fig. 5 shows according to what the second visual sensor information collected was coordinately transformed
It is intended to.
Appended drawing reference of the Fig. 1 into Fig. 9 is as follows:
1 it is operation aircraft, 2 be with aircraft, 3 is earth station.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
The core of the utility model is to provide a kind of aerial work aerocraft system, preferably to perceive operation aircraft
Ambient condition information, to make the reliable avoidance of operation aircraft or precisely work.
Fig. 1-Fig. 9 is please referred to, Fig. 1 is aerial work aerocraft system specific embodiment one provided by the utility model
Structural block diagram；Fig. 2 is the structural block diagram of aerial work aerocraft system specific embodiment two；Fig. 3 is aerial work aircraft system
The structural block diagram of system specific embodiment three；Fig. 4 is the structural block diagram of aerial work aerocraft system specific embodiment four；Fig. 5 is
The structural block diagram of aerial work aerocraft system specific embodiment five；Fig. 6 is aerial work aerocraft system shown in Fig. 4 and Fig. 5
Structural schematic diagram；Fig. 7 be Fig. 1 to aerial work aerocraft system shown in fig. 6 control method specific embodiment one stream
Cheng Tu；Fig. 8 be Fig. 1 to aerial work aerocraft system shown in fig. 6 control method specific embodiment two flow chart；Fig. 9
The schematic diagram being coordinately transformed for the data processor in Fig. 5 according to the second visual sensor information collected.
The utility model provides a kind of aerial work aerocraft system, flies including the operation for executing aerial work task
Row device 1 and for assist operation aircraft 1 complete the aerial work task adjoint aircraft 2.Operation aircraft 1 and with fly
The main structure of row device 2 refers to Flight Vehicle Structure conventional in the prior art, and the utility model is not specifically limited.
Preferably, operation aircraft 1 and adjoint aircraft 2 pass through wireless telecommunications progress signal transmitting and data are transmitted.
Operation aircraft 1 can be mutually indepedent with adjoint aircraft 2, respectively the course line of both control and flight.Certainly,
It can be operation aircraft 1 to be connected with aircraft 2 by connector, to realize adjoint by the draw of connector
The flight synchronous with operation aircraft 1 of aircraft 2.The utility model to the specific structure of connector without limitation, for example, connection
Part can be rope, cable or other machinery connection structure, as long as can be realized operation aircraft 1 and the company with aircraft 2
It connects.
Preferably, it is to be tethered at unmanned plane, and be connected with operation aircraft 1 by being tethered at cable with aircraft 2, passes through
It is tethered at the draw of cable, adjoint aircraft 2 is synchronized, operation aircraft 1 is followed to fly, to ensure that operation is flown
Device 1 flies with aircraft 2 is synchronous to target job region, and control is simple, is easy to implement.
Furthermore, it is contemplated that not executing job task with 2 responsible assistance of aircraft, function is relatively single, therefore,
Preferably, it is equipped with the power supply unit for powering to operation aircraft 1 with aircraft 2, operation aircraft 1 is equipped with power supply mould
Block, the power module of operation aircraft 1 are connect with the power supply unit of aircraft 2 by being tethered at cable, by with winged
Row device 2 is the power supply of operation aircraft 1, and then increases the activity duration of operation aircraft 1.Operation aircraft 1 is used as aerial work
Main body, it is preferable that equipped with for implement Job Operations movement mechanical arm.
Aerial work task is executed for the ease of operation aircraft 1, it is generally the case that operation aircraft 1 is equipped with for adopting
Collect the sensor of its ambient condition information, the information that the utility model obtains 1 self-sensor device of operation aircraft is known as basis
Environmental information, that is, the environmental information in 1 visual field of operation aircraft.
However, there are one in itself visual field of operation aircraft 1 due to being limited by 1 own load weight of operation aircraft
Fixed blind area.
In order to obtain more comprehensive environmental information around operation aircraft 1, the main improvement of the utility model is, adopts
The supplement ambient information in 1 blind area of operation aircraft is obtained with aircraft 2 at least one, is flown with adjunctive program
The defect of itself limited view of device 1, so that the full dose environmental information around operation aircraft 1 is obtained, so that 1, operation aircraft
Operation is carried out according to surrounding full dose environmental information, executes aerial work task dispatching such as avoiding barrier or to manipulating object.
Here blind area refers mainly to the region that operation aircraft 1 does not observe, for example, outside 1 visual field of operation aircraft
Region, or the region that can not be observed due to the blocking of 1 job execution mechanism (such as mechanical arm) of operation aircraft.
Information in 1 blind area of operation aircraft obtained with aircraft 2 is known as supplement ambient by the utility model
Information, basic environment information and supplement ambient information form the full dose environmental information around operation aircraft 1.Basic environment information
The location information of barrier and/or the location information of manipulating object are respectively included with supplement ambient information.
It should be noted that when operation aircraft 1 is job area is larger, airspace is open or manipulating object position ratio
More prominent and when carrying out operation in environment convenient for observation etc., operation aircraft 1 passes through the basic environment in the visual field that itself obtains
The job instruction that information generates can carry out decision operation.
For example, the position for obtaining barrier is sat when operation aircraft 1, which detects, has barrier in basic environment information
Mark, and according to the relative pose of itself and barrier, air position regulation is carried out by included flight control system and positioning device, with
Far from barrier.
When operation aircraft 1 detects the manipulating object in basic environment information, the position coordinates of manipulating object are obtained,
Then it is flown by included flight control system and positioning device to progress Job Operations at manipulating object.
However, when operation aircraft 1 is job area is narrow, airspace barrier is more or manipulating object is answered than more covert
When working under heterocycle border, then need to assist operation aircraft 1 to complete aerial work task with aircraft 2.That is, needing basis
1 avoiding barrier of operation aircraft is controlled with the supplement ambient information that aircraft 2 obtains or carries out Job Operations.
The being easy to implement property of information is obtained in view of operation aircraft 1 and with aircraft 2, it is preferable that operation aircraft 1
First look sensor equipped with the location information for obtaining manipulating object is equipped with aircraft 2 for obtaining the first view
Feel the second visual sensor of the supplement ambient information in sensor field of view blind area.That is, in the present embodiment, First look passes
The field range of sensor is the field range of operation aircraft 1, and First look sensor information collected is that operation flies
Basic environment information in 1 visual field of row device, the second visual sensor information collected are in 1 blind area of operation aircraft
Supplement ambient information.
Preferably, First look sensor is work camera, and the second visual sensor is depth camera.
It is understood that First look sensor is also used to monitor the handling situations of operation aircraft 1, for example, operation
In place and whether job execution mechanism (such as mechanical arm) is accurately held whether the job execution mechanism (such as mechanical arm) of aircraft 1
Operational motion is gone.
The aerial work aerocraft system further includes for carrying out data processing to supplement ambient information and generating operation to refer to
The data processor of order.
Data processor and with aircraft 2 foundation have data connection, with realize data processor and with aircraft 2 it
Between data transmission, thus make data processor receive with aircraft 2 send supplement ambient information.
Data Data processor and the foundation of operation aircraft 1 have data connection, to realize that data processor and operation fly
Data transmission between device 1, so that the job instruction for generating data processor is sent to operation aircraft 1.
Preferably, operation aircraft 1 and adjoint aircraft 2 are respectively equipped with communication module, operation aircraft 1 and adjoint flight
Device 2 is connected with data processor respectively by respective communication module.
It should be noted that the utility model to the specific setting position of the data processor without limitation, data processing
Device can be set on operation aircraft 1, also can be set on aircraft 2, other carriers can also be arranged in certainly
On, such as earth station 3.If data processor can carry out data transmission with operation aircraft 1 and with aircraft 2 respectively, and
The job instruction for instructing 1 operation of operation aircraft can be generated according to the supplement ambient information sent with aircraft 2.
When data processor is set to operation aircraft 1, sent with the supplement ambient information that aircraft 2 is detected
To operation aircraft 1, operation aircraft 1 carries out data processing and calculating to received supplement ambient information, and generates work
Industry instruction, then, operation aircraft 1 directly controls the flight control system of operation aircraft 1 according to its own job instruction generated
Adjust operation aircraft 1 pose so that 1 avoiding barrier of operation aircraft or to manipulating object execute aerial work task.
It can thus be seen that when using this scheme, it is only necessary to be carried out between operation aircraft 1 and adjoint aircraft 2
The transmission of data, and operation aircraft 1 and relatively close with the distance between aircraft 2, operation aircraft 1 execute operation and
When property is preferable.However, carrying out data processing and meter by operation aircraft 1 since data processor is arranged on operation aircraft 1
It calculates, therefore, increases the load weight and power consumption of operation aircraft 1.
It should be noted that data processor can be operation aircraft when data processor is set to operation aircraft 1
1 included central processing unit itself, carries out supplement ambient information that is, being undertaken by the central processing unit of operation aircraft 1
The work of reason；Certainly, data processor may be the data processing module being connected with the central processing unit of operation aircraft 1.
The central processing unit of operation aircraft 1 is also used to handle basic environment information, and generates for controlling operation aircraft 1
Adjust the job instruction of pose.
When data processor is set to aircraft 2, believe with the supplement ambient that aircraft 2 first detects itself
Breath carries out data processing and calculating, and generates job instruction, then, is sent to the job instruction that aircraft 2 is generated
Operation aircraft 1 controls 1 avoiding barrier of operation aircraft or executes aerial work task to manipulating object.
That is, such scheme, which is used, directly controls the completion avoidance of operation aircraft 1 or part work with aircraft 2
Industry, that is, the flight control system of operation aircraft 1 with aircraft 2 by directly taking at this time.
When using this scheme, since the work of data processing and calculating with aircraft 2 by completing, alleviate
The load weight and power consumption of operation aircraft 1.
It should be noted that data processor can be for aircraft when data processor is set to aircraft 2
2 included central processing unit itself, carry out supplement ambient information that is, being undertaken by the central processing unit with aircraft 2
The work of reason；Certainly, data processor may be the data processing module being connected with the central processing unit with aircraft 2.
It further include earth station 3 in another preferred embodiment, data processor is set to earth station 3.
Specifically, it is sent to earth station 3 with the supplement ambient information that aircraft 2 is obtained, earth station 3 receives it
The supplement ambient information arrived carries out data processing and calculating, and the job instruction generated is sent to operation aircraft 1, control
1 avoiding barrier of operation aircraft executes aerial work task to manipulating object.
That is, such scheme, which directly controls operation aircraft 1 using earth station 3, completes avoidance or local job, this
When, the flight control system of operation aircraft 1 is directly taken over by the ground handling operator of earth station 3, is carried out manually to operation aircraft 1
Regulation.
It is understood that earth station 3 is also used to send aerial work task to operation aircraft 1, and monitors operation and fly
The handling situations of row device 1.Meanwhile operation aircraft 1 and with aircraft 2 by respective coordinate position real-time transmission to earth station
3, and shown on 3 display screen of earth station, in order to which 3 operator of earth station is monitored operation.
It should be noted that data processor can be the center of earth station 3 when data processor is set to earth station 3
Processor, that is, undertaking the work handled supplement ambient information by the central processing unit of earth station 3；Certainly, at data
Reason device may be the data processing module being connected with earth station central processing unit.
When using this scheme, needing progress, distance data transmission, Operating Ratio are more serious twice.However, by ground
The work of data processing and calculating is served as at face station 3, can mitigate simultaneously operation aircraft 1 and with aircraft 2 load weight and
Power consumption, meanwhile, earth station 3 can monitor operation aircraft 1 and the handling situations with aircraft 2 in real time, and reliability is higher.
In view of the further flexibility of control mode, while improving the working efficiency of operation aircraft 1, to guarantee to make
The reliability and safety of industry aircraft 1.It further include earth station 3 in another preferred embodiment, the quantity of data processor is
Three, it is respectively arranged on operation aircraft 1, with aircraft 2 and earth station 3；Earth station 3 is additionally provided with instruction and generates switching device,
Instruction generates switching device and connect respectively with three data processor communications, for making three data processors alternatively switch work
Make.
That is, operation aircraft 1, adjoint aircraft 2 and 3 three of earth station can control the winged control of operation aircraft 1
The pose of system call interception operation aircraft 1, and switching device is generated by instruction and controls three alternatively to operation aircraft 1
Flight control system sends job instruction.
In such scheme, three data processors can be respectively that operation aircraft 1, adjoint aircraft 2 and earth station 3 are each
From central processing unit.
That is, there are three types of pose regulation and control models for the tool of operation aircraft 1 in the present embodiment.That is: by operation aircraft 1
It directly controls the auto-control mode of its flight control system, operation aircraft 1 is regulated and controled by the ground handling operator of earth station 3
Manual regulation and control model and the adjoint regulation and control model by being regulated and controled to operation aircraft 1 with aircraft 2.It is given birth to by instruction
Switching of the operation aircraft 1 between three kinds of pose regulation and control models is realized at switching device.
For example, when with aircraft 2 according to its supplement ambient information can not confirm barrier whether necessary being when, operation
Aircraft 1 stops movement first, and ground station 3 sends warning information, is shown by 3 operator of earth station according to earth station 3
The content of screen display judge risk whether necessary being, when risk of collision necessary being, ground handling operator can pass through
Instruction generates the pose regulation and control model of switching device selection operation aircraft 1, so that operation aircraft 1 hides risk of collision point.
When risk of collision is not present, ground handling operator controls to be observed again with aircraft 2, that is, is controlled and adjusted with aircraft 2
Observation position, the angle of replacement observation operation aircraft 1, to be observed and to be measured in more detail.
It is understood that data processor to supplement ambient information in the process of processing, need combine operation
The relative position vector of aircraft 1 and adjoint aircraft 2, carries out space coordinate transformation, Lai Shengcheng job instruction.
Specifically, when detecting with aircraft 2 has barrier around operation aircraft 1, barrier is obtained
Position coordinates, at this point, the position coordinates of barrier are coordinate of the barrier under with 2 coordinate system of aircraft, data processor
It is calculated according to aircraft 2 and the relative pose relationship of operation aircraft 1 by the coordinate transform of space coordinates
Coordinate of the barrier under 1 coordinate system of operation aircraft, that is, the relative pose of operation aircraft 1 Yu barrier is obtained, thus
The pose that operation aircraft 1 is adjusted by the flight control system and positioning device of operation aircraft 1 makes operation aircraft 1 far from barrier
Hinder object.
In addition, as operation aircraft 1 moves closer to manipulating object, because of job execution mechanism (such as machine of operation aircraft 1
Tool arm) block the visual field of operation aircraft 1 or when operation aircraft 1 can not precisely observe manipulating object, it can be adjoint by making
The flight of aircraft 2 is to the preferable position of observation visual angle, for example mechanical arm and manipulating object be between the two on the vertical plane of line,
Using the positional relationship for monitoring mechanical arm and manipulating object with aircraft 2, to ensure that operation aircraft 1 is realized efficiently precisely
Operation.
That is, the position coordinates of manipulating object are obtained, at this point, operation pair when detecting manipulating object with aircraft 2
The coordinate that the position coordinates of elephant are manipulating objects under with 2 coordinate system of aircraft, data processor according to aircraft 2 and
The relative pose relationship of 1 mechanical arm of operation aircraft is calculated manipulating object and is being made by the coordinate transform of space coordinates
Coordinate under 1 coordinate system of industry aircraft works as machine that is, obtaining the mechanical arm of operation aircraft 1 and the relative pose of manipulating object
When the relative pose of tool arm and manipulating object is in predetermined safe range, then the operational motion of mechanical arm is kept；When the phase of the two
When being more than predetermined safe range to pose, then stop the operational motion of mechanical arm, and the pose for adjusting operation aircraft 1 makes machinery
Arm and manipulating object have suitable relative pose, in order to further operating.
Preferably, data processor includes the coordinate transformation unit for being coordinately transformed.Realize the data of the function
Processor refers to the data processor of Work robot in the prior art, for example, when the mechanical arm in Work robot works,
Position coordinates of the arm end in reference frame need to be obtained by coordinate transform.
Further, the application obtains the side of operation aircraft 1 and the relative pose with aircraft 2 to data processor
Formula is without limitation.For example, since data processor has data connection with operation aircraft 1 and the adjoint foundation of aircraft 2 respectively, because
This, respective positions coordinate can be sent to data processor in real time by operation aircraft 1 and adjoint aircraft 2, by data
Manage the relative pose that device calculates the two by operation aircraft 1 and with the coordinate position of aircraft 2.
As another preferred embodiment, operation aircraft 1 is equipped with visual indicia, is equipped with aircraft 2 for detecting view
Label is felt to obtain the positioning visual sensor with aircraft 2 and the relative pose of operation aircraft 1.
That is, the present embodiment is opposite with operation aircraft 1 with aircraft 2 by positioning visual sensor acquisition
Pose, then, then by the way that the relative pose for positioning visual sensor detection is sent to data processor with aircraft 2.
It should be noted that positioning visual sensor obtains information documented by visual indicia, and obtained by vision algorithm
It is taken as industry aircraft 1 and can be found in the prior art with the concrete methods of realizing of the relative pose of aircraft 2, the utility model is not
It repeats again.
Preferably, positioning visual sensor is positioning camera.
Further, in order to reduce the load weight with aircraft 2, it is preferable that positioning visual sensor and the second view
Feel sensor is the same visual sensor.
It substitutes for example, the second visual sensor (depth camera) can be directly used with the positioning vision in aircraft 2
Sensor (positioning camera), at this point, the second visual sensor (depth camera) has both pair of environment sensing and precise positioning simultaneously
Weight function.
It should be noted that the utility model to the particular number with aircraft 2 without limitation, with aircraft 2
Quantity can be one, or at least two.
As a preferred embodiment, when being one with the quantity of aircraft 2, there is at least one with aircraft 2
Specified pose, to obtain with supplement ambient of the aircraft 2 in each specified pose in corresponding 1 blind area of operation aircraft
Information.
That is, the present embodiment is obtained with aircraft 2 by changing position and posture with aircraft 2 not
With the supplement ambient information in corresponding 1 blind area of operation aircraft under specified pose.The specified pose of adjoint aircraft 2 is not
Together, different from the relative pose of operation aircraft 1 with aircraft 2, therefore, with operation aircraft 1 acquired in aircraft 2
Supplement ambient information in blind area is different, thus by make to be located at aircraft 2 each specified pose can obtain it is adjoint
The supplement ambient information of different angle in 2 relative activity aircraft of aircraft, 1 blind area.
Specifically, it can also be flown according to operation to the specified pose that preset quantity is arranged in advance with aircraft 2
The demand of device 1, by controlling and flying with aircraft 2 to a certain to the specified Pose Control instruction of the transmission in real time of aircraft 2
Specified pose.It specifically can be from operation aircraft 1 or earth station 3 to the specified Pose Control instruction of the transmission in real time of aircraft 2.
Preferably, operation aircraft 1 or earth station 3 are equipped with for sending specific bit to the flight control system of aircraft 2
The controller of appearance control instruction, so as to be obtained in corresponding 1 blind area of operation aircraft under specified pose with aircraft 2
Supplement ambient information.
It is preferably operation flight for sending the controller that specified Pose Control instructs to the flight control system with aircraft 2
Device 1 or the central processing unit of earth station 3.
It is understood that when sending specified Pose Control instruction in real time to adjoint aircraft 2 from operation aircraft 1,
Refer to the specified pose of aircraft 2 with coordinates of targets of the aircraft 2 in the coordinate system of operation aircraft 1.Work as control
When with the flight of aircraft 2 to a certain specified pose, need to carry out according to aircraft 2 and the relative pose of operation aircraft 1
The coordinate transform of space coordinates determines the coordinate of the specified pose in adjoint 2 coordinate system of aircraft, to make with flight
Device 2 is flown by the flight control system of itself and specifies pose to this.
When sending specified Pose Control instruction to adjoint aircraft 2 is real-time from earth station 3, adjoint aircraft 2 is specified
Pose refers to coordinates of targets of the aircraft 2 in 3 coordinate system of earth station.It flies with aircraft 2 to a certain finger when controlling
When positioning appearance, earth station 3 is according to the adjoint current pose of aircraft 2 and operation aircraft 1 in 3 coordinate system of earth station, to companion
Specified Pose Control instruction is sent with aircraft 2, is directly controlled by earth station 3 and is flown with the flight control system of aircraft 2 to this
Specified pose；Alternatively, carrying out the coordinate transform of space coordinates with the relative pose of earth station 3 according to it with aircraft 2, really
The fixed specified pose flies to automatically control its flight control system to the specific bit with the coordinate in 2 coordinate system of aircraft
Appearance.
It, can be by making multiple adjoint aircraft 2 around operation aircraft 1 when being at least two with the quantity of aircraft 2
Fixed point distribution is to obtain comprehensive supplement ambient information in 1 blind area of operation aircraft.
In conclusion the utility model can be made by operation aircraft 1 and with the synergistic effect of aircraft 2
Full dose environmental information around industry aircraft 1, and operation aircraft 1 is controlled according to the full dose environmental information and carries out operation.
By the technical solution of 1 separate operaton of operation aircraft, sky provided by the utility model in compared with the prior art
Middle operation aerocraft system is capable of the ambient enviroment of complete perception operation aircraft 1, solves operation aircraft 1 in the prior art
The technical issues of sensing capability is limited and ground handling operator's limited view.Moreover, compared to ground handling operator is passed through
Naked eyes observe the ambient enviroment of operation aircraft 1, with aircraft 2 can near operation aircraft 1 safety zone
It is inside observed, operating position and the risk of collision of operation aircraft 1 can be appreciated more fully.Therefore, operation is compensated for fly
The defect that the blind area of row device 1 itself and the visual field stop, can obtain the obstacle information and work in 1 blind area of operation aircraft
The details location information of industry object improves operation aircraft to make the reliable avoidance of operation aircraft 1 or more accurately operation
1 reliability and precision.
Meanwhile operation aircraft 1 being avoided itself to carry excessive sensor and corresponding processor, reduce operation flight
The overall weight of device 1 reduces the energy consumption of operation aircraft 1, improves the transaction capabilities and working efficiency of operation aircraft 1.
In addition to above-mentioned aerial work aerocraft system, the utility model also provides a kind of be applied to disclosed in above-described embodiment
The control method of aerial work aerocraft system, the control method include:
Step S1: the supplement ambient information obtained in 1 blind area of operation aircraft with aircraft 2 is utilized.
It is understood that further including step S0 before executing step S1:
Step S0: control Work robot and adjoint robot are flown respectively to target job region.
Target job region refers mainly to the local air region where target object.
Preferably, Work robot is controlled by earth station 3 and is flown simultaneously with robot to target job region.
Further, it is preferable to be obtained using with the second visual sensor (such as depth camera) being arranged on aircraft 2
Supplement ambient information in 1 blind area of operation aircraft.
Step S1 includes step S11 and step S12 as a preferred method:
Step S11: it controls and adjusts pose to specified pose with aircraft 2.
Preferably, there is at least one specified pose with aircraft 2.
Preferably, specified Pose Control instruction, control are sent to aircraft 2 by operation aircraft 1 or earth station 3
Pose is adjusted to specified pose with aircraft 2.
Preferably, before controlling with the adjustment pose to specified pose of aircraft 2, including step S10:
Step S10: operation aircraft 1 and the relative pose with aircraft 2 are obtained.So that being capable of essence with aircraft 2
It is flown to specified pose quasi-ly.
In view of obtaining the concrete mode of operation aircraft 1 and the relative pose with aircraft 2, it is preferable that step S10
Including step S101 or step S102:
Step S101: by detecting the visual indicia information on operation aircraft 1 with aircraft 2, operation flight is obtained
The relative pose of device 1 and adjoint aircraft 2.
That is, operation aircraft 1 is equipped with visual indicia, after detecting the visual indicia with aircraft 2, vision is obtained
Mark the coordinate information under with 2 coordinate system of aircraft；Using the visual indicia as reference point, made by visual indicia
The coordinate information of coordinate information and visual indicia under with 2 coordinate system of aircraft under 1 coordinate system of industry aircraft, by sitting
Mark transformation, obtains operation aircraft 1 and the relative pose with aircraft 2.
It is obtained when aerial work aerocraft system includes earth station 3 using step S102 as another implementation
It is taken as industry aircraft 1 and the relative pose with aircraft 2.
Step S102, the operation aircraft 1 received by earth station 3 and the adjoint respective real time position of aircraft 2 are sat
Mark, which calculates, obtains operation aircraft 1 and the relative pose with aircraft 2.
That is, respective positions coordinate is sent to earth station 3 by operation aircraft 1 and adjoint aircraft 2 in real time, make here
Industry aircraft 1 and adjoint 2 respective positions coordinate of aircraft are the coordinates under 3 coordinate system of earth station, by 3 conduct of earth station
Operation aircraft 1 and the relative pose with aircraft 2 is calculated by coordinate transform in reference coordinate system.
Step S12: the supplement with aircraft 2 in specified pose in corresponding 1 blind area of operation aircraft is obtained
Environmental information.
Step S2: data processing is carried out to supplement ambient information using data processor and generates job instruction.
Data processor can be set in operation aircraft 1, with any one in 3 three of aircraft 2 and earth station
On.
Alternatively, being equipped with the data processor in operation aircraft 1, adjoint 3 three of aircraft 2 and earth station, and pass through
The instruction of earth station 3, which generates switching device, makes the alternatively switch operating of the data processor in three.And then make operation aircraft 1
There are three types of pose regulation and control models for tool.
When carrying out data processing to supplement ambient information using data processor and generating job instruction, it is preferred to use empty
Between coordinate system coordinate transform it is theoretical, by the coordinate of the barrier in the supplement ambient information obtained with aircraft 2 or operation
The coordinate of object is converted to the coordinate of barrier or manipulating object in operation aircraft 1, is flown with acquired disturbance object and operation
The relative pose of device 1 or manipulating object and mechanical arm.
Step S3: operation aircraft 1 is controlled according to job instruction, aerial work or avoiding barrier is executed to manipulating object.
By step S2 it is found that job instruction can be generated by the data processor of operation aircraft 1 itself, work is directly controlled
The flight control system of industry aircraft 1 realizes the auto-control of operation aircraft 1；It can also be by the data processor with aircraft 2
It generates, and sends it to operation aircraft 1, realize the direct adapter tube with aircraft 2 to 1 flight control system of operation aircraft；
Certainly it can also be generated by the data processor of earth station 3, and send it to operation aircraft 1, realize ground handling operator
Manual regulation to 1 flight control system of operation aircraft.
Further, when operation aircraft 1, being equipped with the data processor with aircraft 2 and earth station 3, may be used also
Make the alternatively switch operating of the data processor in three to generate switching device by the instruction of earth station 3, and then makes operation
Aircraft 1 switches in auto-control mode, between regulation and control model and manual regulation and control model.
In conclusion the control method is the operation implementation method of above-mentioned aerial work aerocraft system, have with above-mentioned
Beneficial effect.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Aerial work aerocraft system provided by the utility model is described in detail above.It is used herein
Specific case is expounded the principles of the present invention and embodiment, and the explanation of above example is only intended to help to manage
Solve the method and its core concept of the utility model.It should be pointed out that for those skilled in the art, not
Under the premise of being detached from the utility model principle, several improvements and modifications can be made to this utility model, these improve and repair
Decorations are also fallen into the protection scope of the utility model claims.
Claims (8)
1. a kind of aerial work aerocraft system characterized by comprising
At least one is with aircraft (2), for obtaining the supplement ambient information in operation aircraft (1) blind area；
The data processor for having data connection is established with the adjoint aircraft (2), for raw according to the supplement ambient information
At job instruction；
The operation aircraft (1) for having data connection is established with the data processor, for according to the job instruction pair
Manipulating object executes aerial work or avoiding barrier.
2. aerial work aerocraft system according to claim 1, which is characterized in that the data processor is set to described
Operation aircraft (1) or the adjoint aircraft (2).
3. aerial work aerocraft system according to claim 1, which is characterized in that further include earth station (3), the number
The earth station (3) are set to according to processor.
4. aerial work aerocraft system according to claim 1, which is characterized in that further include earth station (3), the number
Quantity according to processor is three, is respectively arranged on the operation aircraft (1), the adjoint aircraft (2) and the earth station
(3)；
The earth station (3), which is additionally provided with, generates switching device with the instruction that three data processors are connected, for making three
A data processor alternatively switch operating.
5. aerial work aerocraft system according to claim 1-4, which is characterized in that the operation aircraft
(1) it is equipped with for sending the controller that specified Pose Control instructs to the flight control system of the adjoint aircraft (2), so that described
The supplement ambient information in corresponding operation aircraft (1) blind area is obtained under specified pose with aircraft (2).
6. aerial work aerocraft system according to claim 5, which is characterized in that the operation aircraft (1) is equipped with
Visual indicia, the adjoint aircraft (2) are equipped with for detecting the visual indicia to obtain the adjoint aircraft (2) and institute
State the positioning visual sensor of the relative pose of operation aircraft (1).
7. aerial work aerocraft system according to claim 6, which is characterized in that the operation aircraft (1) is equipped with
For obtain the location information of the manipulating object and monitor the operation aircraft (1) handling situations First look sensing
Device；The supplement ambient information is the information in First look sensor field of view blind area, and the adjoint aircraft (2) is equipped with
For obtaining the second visual sensor of the supplement ambient information.
8. aerial work aerocraft system according to claim 7, which is characterized in that the positioning visual sensor and institute
Stating the second visual sensor is the same visual sensor.
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| CN115587429A (en) * | 2022-11-22 | 2023-01-10 | 中国民用航空飞行学院 | Navigation accompanying flight system and method based on wireless transmission and digital twins |
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| CN115587429A (en) * | 2022-11-22 | 2023-01-10 | 中国民用航空飞行学院 | Navigation accompanying flight system and method based on wireless transmission and digital twins |
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