WO2022036594A1 - Sea port patrolling system based on unmanned aerial vehicle - Google Patents

Sea port patrolling system based on unmanned aerial vehicle Download PDF

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Publication number
WO2022036594A1
WO2022036594A1 PCT/CN2020/110054 CN2020110054W WO2022036594A1 WO 2022036594 A1 WO2022036594 A1 WO 2022036594A1 CN 2020110054 W CN2020110054 W CN 2020110054W WO 2022036594 A1 WO2022036594 A1 WO 2022036594A1
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unit
unmanned aerial
uav
positioning
flight
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PCT/CN2020/110054
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French (fr)
Chinese (zh)
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刘浩源
郭舒璐
田丙奇
孙立晶
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唐山哈船科技有限公司
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Priority to PCT/CN2020/110054 priority Critical patent/WO2022036594A1/en
Publication of WO2022036594A1 publication Critical patent/WO2022036594A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman

Definitions

  • the invention relates to the technical field of marine port inspection, in particular to a marine port inspection system based on unmanned aerial vehicles.
  • the present invention provides a marine port inspection system based on unmanned aerial vehicles.
  • the present invention provides a marine port inspection system based on UAV, including multiple groups of UAV setting units, flight trajectory positioning monitoring units, wireless receiving units, ground control units, wireless transmission units, Intelligent analysis unit, alarm unit, UAV group and database, the ground control unit is interactively connected with multiple groups of UAV setting units, the flight trajectory positioning monitoring unit is connected with the ground control unit, and the wireless receiving unit is connected with the ground
  • the control unit is connected, the ground control unit is connected with the wireless transmission unit, the wireless transmission unit is connected with the UAV group, the wireless receiving unit is interactively connected with the UAV group, the ground control unit is interactively connected with the database, the The wireless receiving unit is connected with the intelligent analysis unit, and the intelligent analysis unit is connected with the ground control unit;
  • the ground control unit is used to control the setting, trajectories and unmanned aerial vehicles of multiple groups of unmanned aerial vehicle setting units, flight trajectory positioning monitoring units and unmanned aerial vehicle groups through information transmission;
  • the multiple groups of UAV setting units are used to set correspondingly the area, route and duration of UAV flight;
  • the flight trajectory positioning monitoring unit is used for monitoring the coverage of multiple groups of unmanned aerial vehicles, specific positioning and checking the location information of the unmanned aerial vehicles.
  • the flight trajectory positioning monitoring unit includes an area coverage transmission unit, an area coverage determination unit, an area coverage location unit and a total area coverage traversal inspection unit, and the area coverage transmission unit is used to The coverage data results are transmitted, the area coverage positioning unit is used to locate the position information of the UAV group distributed in its area, the area coverage judgment unit is used to determine whether the UAV group in the current distribution area is fully covered, and the total The area coverage traversal check unit is used to check the coverage track points of all its UAV groups.
  • the multiple groups of UAV setting units include a flight area distribution unit, a flight route specification unit and a flight duration control unit, and the flight area distribution unit is used to distribute the UAV groups to each set area patrol unit.
  • the flight route specification unit is used to set a fixed route when the UAV group flies to the distribution area
  • the flight duration control unit is used to control the flight inspection time of the UAV group.
  • the database includes an area coverage storage unit and an area data image storage unit.
  • the unmanned aerial vehicle group includes an information receiving unit, a GPS positioning unit, a flight control unit, a lighting unit, and an inspection and collection unit
  • the information receiving unit is used for receiving the instructions sent by the ground control unit through the wireless transmission unit
  • the GPS positioning unit is used to locate the individual flight inspection positions of all the drones in the drone group
  • the flight control unit receives the instructions sent by the wireless transmission unit to fly according to its settings.
  • the inspection collection unit includes a camera, a video camera, a GPS sensor, and an image wireless transmission unit, and the camera, video camera, and GPS sensor are used to monitor the images, video, and GPS of the images and video within the inspection range. position, the image wireless transmission unit is used to transmit the inspection information to the ground control unit.
  • the database is used for storing regional coverage track data points and image information of regional data monitoring.
  • the ground control unit is connected to the alarm unit.
  • the present invention provides a marine port inspection system based on UAV, which has the following beneficial effects:
  • the UAV-based marine port inspection system distributes multiple groups of inspection UAVs to various distributed areas for monitoring, and cooperates with the flight route specification unit to plan the flight of each UAV in its own area.
  • the route of the patrol inspection; through the area coverage and positioning unit, the GPS positioning unit of the drone is used as the positioning information to perform regional positioning, and then according to the coverage and positioning information of the regional coverage positioning unit, it is judged whether it is in the distributed inspection area. Judging the presence of its positioning information and abnormal situations that are not in the coverage area, by checking the drone positioning in all distribution areas, and then obtaining the drone positioning within the distribution area where the whole port is located, so that the staff can timely understand the unmanned aerial vehicle.
  • Fig. 1 is the system flow chart of the present invention.
  • the UAV-based marine port inspection system includes multiple groups of UAV setting units, flight trajectory positioning monitoring units, wireless receiving units, ground control units, wireless transmission units unit, intelligent analysis unit, alarm unit, UAV group and database; the ground control unit is interactively connected with multiple groups of UAV setting units, the flight trajectory positioning monitoring unit is connected with the ground control unit, and the wireless receiving unit is connected with the ground control unit.
  • the ground control unit is connected with the wireless transmission unit, the wireless transmission unit is connected with the UAV group, the wireless receiving unit is interactively connected with the UAV group, the ground control unit is interactively connected with the database, the wireless receiving unit is connected with the intelligent analysis unit, and the intelligent analysis unit is connected with the ground
  • the control unit is connected; the ground control unit is used to control the setting, trajectory and UAV of multiple groups of UAV setting units, flight trajectory positioning monitoring units and UAV groups through information transmission; multiple groups of UAV setting units are used for It is used to set the area, route and duration of the UAV flight accordingly; the flight trajectory positioning monitoring unit is used to monitor the coverage of multiple groups of UAV areas, specific positioning and check the location information of the UAV.
  • the flight trajectory positioning monitoring unit includes an area coverage transmission unit, an area coverage judgment unit, an area coverage positioning unit, and a total area coverage traversal inspection unit
  • the area coverage transmission unit is used for the unmanned aerial vehicle group in the distribution area.
  • the area coverage positioning unit is used to locate the location information of the UAV group distributed in its area
  • the area coverage judgment unit is used to determine whether the UAV group in the current distribution area is fully covered
  • the total area coverage traverses the inspection unit It is used to check the coverage track points of all its UAV groups, and use the GPS (Global Positioning System) positioning unit of the UAV group as the positioning information to perform regional positioning through the regional coverage positioning unit.
  • GPS Global Positioning System
  • the coverage judging unit makes a corresponding judgment according to the coverage and positioning information of the area coverage and positioning unit whether it is within the specified inspection area.
  • UAV positioning information in the distribution area and then transmit the positioning information to the ground control unit with the area coverage transmission unit, for example, through wireless network such as Wi-Fi, mobile network, Bluetooth, and then make the ground control in case of abnormality.
  • the unit sends information to the alarm unit, so that the staff can know the specific situation of the drone inspection in time.
  • the multiple groups of UAV setting units include a flight area distribution unit, a flight route specification unit and a flight duration control unit
  • the flight area distribution unit is used to distribute the UAV groups to each set area Within the inspection range
  • the flight route specification unit is used to set the fixed route when the UAV group flies to the distribution area
  • the flight duration control unit is used to control the flight inspection time of the UAV group, which is set by the flight area distribution unit.
  • the drones in the drone group are divided into multiple groups of inspection areas, each of which goes to the distributed area for inspection, and cooperates with the flight route specification unit to plan the inspection route for each drone to fly, and pass the inspection.
  • the flight duration control unit is used to control the time of the drone inspection and the time to return to home.
  • the database includes an area coverage storage unit and an area data image storage unit
  • the video shot by the drone and the video are transmitted to the wireless receiving unit through the image wireless transmission unit
  • the intelligent analysis unit analyzes whether abnormal images occur.
  • the problem is that the abnormal behavior is sent to the alarm unit by the ground control unit and all information is stored in the area data image storage unit, while the monitored UAV coverage and positioning track points are stored in the area coverage storage unit, and the ground control unit can Area coverage and area data images are recalled for retrieval.
  • the unmanned aerial vehicle group includes an information receiving unit, a GPS positioning unit, a flight control unit, a lighting unit and an inspection and collection unit
  • the information receiving unit is used to receive the information sent by the ground control unit through the wireless transmission unit.
  • the GPS positioning unit is used to locate the individual flight inspection positions of all the drones in the drone group.
  • the flight control unit receives the command sent by the wireless transmission unit and performs the flight according to its setting, and locates each unmanned aerial vehicle through the GPS positioning unit. The real-time position of the drone is inspected, and the lighting of the drone is provided at night through the lighting unit.
  • the inspection collection unit includes a camera, a video camera, a GPS sensor, and an image wireless transmission unit
  • the camera, video camera, and GPS sensor are used for the inspection of the image, video, and the image and video within the inspection range.
  • GPS location the image wireless transmission unit is used to transmit the inspection information to the ground control unit
  • the GPS sensor is used to locate the location of the captured images and video, ensuring that the captured images and videos can be specifically positioned, which is convenient for work. personnel to operate accordingly.
  • the database is used for storing regional coverage track data points and image information of regional data monitoring.
  • the ground control unit is connected to the alarm unit, and the ground control unit is connected to the alarm unit, so that the coverage trajectory of the drone and the abnormal image problems are sent to the alarm unit through the ground control unit for alarm, thereby facilitating the Alert staff of unusual situations that have occurred.
  • the working principle and working process of the marine port inspection system based on UAV is that, when in use, the UAV group is divided into multiple groups of inspection areas through the flight area distribution unit.
  • the drones go to the distributed areas for inspection, and plan the inspection route of each drone through the flight route regulation unit, and control the inspection by the drone through the flight duration control unit.
  • the time and the time of returning home are carried out by the area coverage and positioning unit using the GPS positioning unit of the UAV group as the positioning information, and then the area coverage judgment unit is used to determine whether it is within the specified range according to the coverage and positioning information of the area coverage and positioning unit.
  • the total area coverage traversal inspection unit is used to query the UAV positioning information in all distribution areas, and then the positioning information is used in the area coverage transmission unit. It is transmitted to the ground control unit, and then when an abnormality occurs, the ground control unit sends information to the alarm unit, so that the staff can know the specific situation of the drone inspection in time, and the GPS positioning unit is used to locate all the unmanned aerial vehicles in the drone group.
  • the flight control unit receives the instructions sent by the wireless transmission unit to fly according to its settings, locates the real-time position of each drone's patrol inspection through the GPS positioning unit, and provides it at night through the lighting unit.
  • the lighting of the drone, the wireless transmission unit, the camera, the video camera and the GPS sensor are used to locate the image and video within the inspection range, and the GPS sensor is used to locate the location of the captured image and the video to ensure that the captured image and video are located.
  • the specific positioning of images and videos is convenient for the staff to perform corresponding operations.
  • the video captured by the drone and the video are transmitted to the wireless receiving unit through the image wireless transmission unit, and the intelligent analysis unit analyzes whether abnormal image problems occur.
  • the abnormal behavior is sent to the alarm unit and all information is stored in the area data image storage unit, while the monitored drone coverage and positioning track points are stored in the area coverage storage unit, and the area coverage and area data images can be stored through the ground control unit. Call out to check.

Abstract

Disclosed is a sea port patrolling system based on unmanned aerial vehicles, the system comprising: a setting unit for a plurality of groups of unmanned aerial vehicles, a flight trajectory positioning and monitoring unit, a wireless receiving unit, a ground control unit, a wireless transmission unit, an intelligent analysis unit, an alarm unit, an unmanned aerial vehicle group, and a database. The ground control unit is in interactive connection with the setting unit for the plurality of groups of unmanned aerial vehicles; and the flight trajectory positioning and monitoring unit is connected to the ground control unit. A regional coverage positioning unit carries out regional positioning by taking a GPS positioning unit of an unmanned aerial vehicle as positioning information; then, according to coverage positioning information of the regional coverage positioning unit, whether the positioning information is within a distributed patrolling region is correspondingly determined; and if it is determined that an abnormality of the positioning information being absent and not within the coverage region has occurred, the positioning of unmanned aerial vehicles within a distributed region range of the entire port is acquired by means of checking the positioning of unmanned aerial vehicles in all distributed regions, such that working staff can know, in a timely manner, the specific condition of the unmanned aerial vehicle patrolling.

Description

一种基于无人机的海洋港口巡检系统A UAV-based marine port inspection system 技术领域technical field
本发明涉及海洋港口巡检技术领域，具体为一种基于无人机的海洋港口巡检系统。The invention relates to the technical field of marine port inspection, in particular to a marine port inspection system based on unmanned aerial vehicles.
背景技术Background technique
众所周知，随着我国经济的快速发展、全球经济一体化的发展，我国经济对河运、海运的依赖性也日益提高，使得港口成为了大型货运物流周转核心。港口的规模日益扩大，其安全管理要求也愈发严格。现代港口包括船只停泊区、货物装卸区、货物堆场区、公共设施区等，尤其是港口大型起重机，其安全规范要求较高，设备的安全运行关系着港口企业的命脉。此外，各个区域结构复杂，设备昂贵且种类多样化，对防火、防盗等也有着相应的严格要求。对可疑目标的巡检是港口安全领域中不可缺少的工作之一。As we all know, with the rapid development of my country's economy and the development of global economic integration, my country's economy is increasingly dependent on river transportation and shipping, making ports the core of large-scale freight logistics turnover. The scale of the port is expanding day by day, and its safety management requirements are becoming more and more strict. Modern ports include ship berthing areas, cargo loading and unloading areas, cargo yard areas, public facilities areas, etc., especially large port cranes, which require high safety standards, and the safe operation of equipment is related to the lifeblood of port enterprises. In addition, each area has a complex structure, expensive and diverse equipment, and has corresponding strict requirements on fire prevention and theft. The inspection of suspicious targets is one of the indispensable tasks in the field of port security.
现有的无人机最多按照自己设定的航线进行巡检，以数量多些的无人机组在巡检过程中，无法合理的对巡检的区域进行分配，进而导致航行的路线较为紊乱，且也不清楚无人机是否巡查港口全线的覆盖轨迹，不仅导致采集图像的不全面，且还在无人机发生异常问题时无法及时有效的了解。Existing drones conduct inspections at most according to their own set routes. During the inspection process, a larger number of UAV groups cannot reasonably allocate the inspection areas, resulting in a more disordered navigation route. And it is not clear whether the UAV patrols the coverage of the entire port, which not only leads to incomplete image acquisition, but also fails to timely and effectively understand when the UAV has abnormal problems.
发明内容SUMMARY OF THE INVENTION
(一)解决的技术问题(1) Technical problems solved
针对现有技术的不足，本发明提供了一种基于无人机的海洋港口巡检系统。Aiming at the deficiencies of the prior art, the present invention provides a marine port inspection system based on unmanned aerial vehicles.
(二)技术方案(2) Technical solutions
为实现上述目的，本发明提供了一种基于无人机的海洋港口巡检系统，包括多组无人机设定单元、飞行轨迹定位监测单元、无线接收单元、地面控制单元、无线传输单元、智能分析单元、报警单元、无人机组和数据库，所述地面控制单元与多组无人机设定单元交互连接，所述飞行轨迹定位监测单元与地面控制单元连接，所述无线接收单元与地面控制单元连接，所述地面控制单元与无线传输单元连接，所述无线传输单元与无人机组连接，所述无线接收单元与无人机组交互连接，所述地面控制单元与数据库交互连接，所述无线接收单元与智能分析单元连接，所述智能分析单元与地面控制单元连接；In order to achieve the above purpose, the present invention provides a marine port inspection system based on UAV, including multiple groups of UAV setting units, flight trajectory positioning monitoring units, wireless receiving units, ground control units, wireless transmission units, Intelligent analysis unit, alarm unit, UAV group and database, the ground control unit is interactively connected with multiple groups of UAV setting units, the flight trajectory positioning monitoring unit is connected with the ground control unit, and the wireless receiving unit is connected with the ground The control unit is connected, the ground control unit is connected with the wireless transmission unit, the wireless transmission unit is connected with the UAV group, the wireless receiving unit is interactively connected with the UAV group, the ground control unit is interactively connected with the database, the The wireless receiving unit is connected with the intelligent analysis unit, and the intelligent analysis unit is connected with the ground control unit;
所述地面控制单元用于通过信息传输控制多组无人机设定单元、飞行轨迹定位监测单元和无人机组的设定、轨迹和无人机；The ground control unit is used to control the setting, trajectories and unmanned aerial vehicles of multiple groups of unmanned aerial vehicle setting units, flight trajectory positioning monitoring units and unmanned aerial vehicle groups through information transmission;
所述多组无人机设定单元用于对无人机飞行的区域、路线和时长进行相应的设定；The multiple groups of UAV setting units are used to set correspondingly the area, route and duration of UAV flight;
所述飞行轨迹定位监测单元用于监测多组无人机区域的覆盖性、具体定位和查检无人机所处位置信息。The flight trajectory positioning monitoring unit is used for monitoring the coverage of multiple groups of unmanned aerial vehicles, specific positioning and checking the location information of the unmanned aerial vehicles.
优选的，所述飞行轨迹定位监测单元包括区域覆盖传输单元、区域覆盖判断单元、区域覆盖定位单元和总区域覆盖遍历查检单元，所述区域覆盖传输单元用于将无人机组在分布区域内的覆盖数据结果进行传输，所述区域覆盖定位单元用于定位无人机组分布在其区域内的位置信息，所述区域覆盖判断单元用于判断当前分布区域内无人机组是否全部覆盖，所述总区域覆盖遍历查检单元用于查检其全部无人机组的覆盖轨迹点。Preferably, the flight trajectory positioning monitoring unit includes an area coverage transmission unit, an area coverage determination unit, an area coverage location unit and a total area coverage traversal inspection unit, and the area coverage transmission unit is used to The coverage data results are transmitted, the area coverage positioning unit is used to locate the position information of the UAV group distributed in its area, the area coverage judgment unit is used to determine whether the UAV group in the current distribution area is fully covered, and the total The area coverage traversal check unit is used to check the coverage track points of all its UAV groups.
优选的，所述多组无人机设定单元包括飞行区域分布单元、飞行路线规定单元和飞行时长控制单元，所述飞行区域分布单元用于将无人机组分布到 各个所设定的区域巡检范围之内，所述飞行路线规定单元用于设定无人机组向分布区域飞行时的固定路线，所述飞行时长控制单元用于控制无人机组的飞行巡检的时间。Preferably, the multiple groups of UAV setting units include a flight area distribution unit, a flight route specification unit and a flight duration control unit, and the flight area distribution unit is used to distribute the UAV groups to each set area patrol unit. Within the inspection range, the flight route specification unit is used to set a fixed route when the UAV group flies to the distribution area, and the flight duration control unit is used to control the flight inspection time of the UAV group.
优选的，所述数据库包括区域覆盖存储单元和区域数据图像存储单元。Preferably, the database includes an area coverage storage unit and an area data image storage unit.
优选的，所述无人机组包括信息接收单元、GPS定位单元、飞行控制单元、灯光照明单元和巡检采集单元，所述信息接收单元用于接收地面控制单元所通过无线传输单元所发出的指令，所述GPS定位单元用于定位无人机组内所有无人机单独的飞行巡检位置，所述飞行控制单元接收无线传输单元发出的指令进行按照其设定飞行。Preferably, the unmanned aerial vehicle group includes an information receiving unit, a GPS positioning unit, a flight control unit, a lighting unit, and an inspection and collection unit, and the information receiving unit is used for receiving the instructions sent by the ground control unit through the wireless transmission unit , the GPS positioning unit is used to locate the individual flight inspection positions of all the drones in the drone group, and the flight control unit receives the instructions sent by the wireless transmission unit to fly according to its settings.
优选的，所述巡检采集单元包括相机、摄像机、GPS传感器和图像无线传输单元，所述相机、摄像机和GPS传感器用于对巡检范围内的图像、摄像视频以及该图像和摄像视频的GPS位置，所述图像无线传输单元用于将巡检信息传输到地面控制单元。Preferably, the inspection collection unit includes a camera, a video camera, a GPS sensor, and an image wireless transmission unit, and the camera, video camera, and GPS sensor are used to monitor the images, video, and GPS of the images and video within the inspection range. position, the image wireless transmission unit is used to transmit the inspection information to the ground control unit.
优选的，所述数据库用于存储区域覆盖轨迹数据点和区域数据监测的图像信息。Preferably, the database is used for storing regional coverage track data points and image information of regional data monitoring.
优选的，所述地面控制单元与报警单元连接。Preferably, the ground control unit is connected to the alarm unit.
(三)有益效果(3) Beneficial effects
与现有技术相比，本发明提供了一种基于无人机的海洋港口巡检系统，具备以下有益效果：Compared with the prior art, the present invention provides a marine port inspection system based on UAV, which has the following beneficial effects:
该一种基于无人机的海洋港口巡检系统，通过多组巡检无人机分配至各个分布的区域内进行监测，并和飞行路线规定单元配合规划好各个无人机在各自区域内飞行的巡检的路线；通过区域覆盖定位单元以无人机的GPS定位单元为定位信息进行区域定位，然后根据区域覆盖定位单元的覆盖定位信息 进行相应的判断是否在分布的巡检区域内，若判断出现其定位信息以及不在该覆盖区域内的异常情况，通过查检所有分布区域内的无人机定位，进而获取到全港口所在分布区域范围内的无人机定位，使得工作人员及时了解到无人机巡检的具体情况。The UAV-based marine port inspection system distributes multiple groups of inspection UAVs to various distributed areas for monitoring, and cooperates with the flight route specification unit to plan the flight of each UAV in its own area. The route of the patrol inspection; through the area coverage and positioning unit, the GPS positioning unit of the drone is used as the positioning information to perform regional positioning, and then according to the coverage and positioning information of the regional coverage positioning unit, it is judged whether it is in the distributed inspection area. Judging the presence of its positioning information and abnormal situations that are not in the coverage area, by checking the drone positioning in all distribution areas, and then obtaining the drone positioning within the distribution area where the whole port is located, so that the staff can timely understand the unmanned aerial vehicle. The specific situation of man-machine inspection.
附图说明Description of drawings
图1为本发明系统流程图。Fig. 1 is the system flow chart of the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
实施例Example
请参阅图1-1，根据本发明一个实施方案的基于无人机的海洋港口巡检系统包括多组无人机设定单元、飞行轨迹定位监测单元、无线接收单元、地面控制单元、无线传输单元、智能分析单元、报警单元、无人机组和数据库；地面控制单元与多组无人机设定单元交互连接，飞行轨迹定位监测单元与地面控制单元连接，无线接收单元与地面控制单元连接，地面控制单元与无线传输单元连接，无线传输单元与无人机组连接，无线接收单元与无人机组交互连接，地面控制单元与数据库交互连接，无线接收单元与智能分析单元连接，智能分析单元与地面控制单元连接；地面控制单元用于通过信息传输控制多组无人机设定单元、飞行轨迹定位监测单元和无人机组的设定、轨迹和 无人机；多组无人机设定单元用于对无人机飞行的区域、路线和时长进行相应的设定；飞行轨迹定位监测单元用于监测多组无人机区域的覆盖性、具体定位和查检无人机所处位置信息。Please refer to Fig. 1-1, according to an embodiment of the present invention, the UAV-based marine port inspection system includes multiple groups of UAV setting units, flight trajectory positioning monitoring units, wireless receiving units, ground control units, wireless transmission units unit, intelligent analysis unit, alarm unit, UAV group and database; the ground control unit is interactively connected with multiple groups of UAV setting units, the flight trajectory positioning monitoring unit is connected with the ground control unit, and the wireless receiving unit is connected with the ground control unit. The ground control unit is connected with the wireless transmission unit, the wireless transmission unit is connected with the UAV group, the wireless receiving unit is interactively connected with the UAV group, the ground control unit is interactively connected with the database, the wireless receiving unit is connected with the intelligent analysis unit, and the intelligent analysis unit is connected with the ground The control unit is connected; the ground control unit is used to control the setting, trajectory and UAV of multiple groups of UAV setting units, flight trajectory positioning monitoring units and UAV groups through information transmission; multiple groups of UAV setting units are used for It is used to set the area, route and duration of the UAV flight accordingly; the flight trajectory positioning monitoring unit is used to monitor the coverage of multiple groups of UAV areas, specific positioning and check the location information of the UAV.
本实施例中，具体的：飞行轨迹定位监测单元包括区域覆盖传输单元、区域覆盖判断单元、区域覆盖定位单元和总区域覆盖遍历查检单元，区域覆盖传输单元用于将无人机组在分布区域内的覆盖数据结果进行传输，区域覆盖定位单元用于定位无人机组分布在其区域内的位置信息，区域覆盖判断单元用于判断当前分布区域内无人机组是否全部覆盖，总区域覆盖遍历查检单元用于查检其全部无人机组的覆盖轨迹点，通过区域覆盖定位单元以无人机组的GPS(全球定位系统)定位单元为定位信息进行区域定位，也可以使用北斗定位系统进行定位，然后以区域覆盖判断单元根据区域覆盖定位单元的覆盖定位信息进行相应的判断是否在规定的巡检区域内，若判断出现缺少其定位信息以及不在该覆盖区域内的异常，通过总区域覆盖遍历查检单元查询所有分布区域内的无人机定位信息，然后将该定位信息以区域覆盖传输单元传输至地面控制单元，例如通过无线网络例如Wi-Fi、移动网络、蓝牙进行传输，进而在出现异常时使得地面控制单元发送信息至报警单元，使得工作人员及时了解到无人机巡检的具体情况。In this embodiment, specifically: the flight trajectory positioning monitoring unit includes an area coverage transmission unit, an area coverage judgment unit, an area coverage positioning unit, and a total area coverage traversal inspection unit, and the area coverage transmission unit is used for the unmanned aerial vehicle group in the distribution area. The area coverage positioning unit is used to locate the location information of the UAV group distributed in its area, the area coverage judgment unit is used to determine whether the UAV group in the current distribution area is fully covered, and the total area coverage traverses the inspection unit It is used to check the coverage track points of all its UAV groups, and use the GPS (Global Positioning System) positioning unit of the UAV group as the positioning information to perform regional positioning through the regional coverage positioning unit. The coverage judging unit makes a corresponding judgment according to the coverage and positioning information of the area coverage and positioning unit whether it is within the specified inspection area. UAV positioning information in the distribution area, and then transmit the positioning information to the ground control unit with the area coverage transmission unit, for example, through wireless network such as Wi-Fi, mobile network, Bluetooth, and then make the ground control in case of abnormality. The unit sends information to the alarm unit, so that the staff can know the specific situation of the drone inspection in time.
本实施例中，具体的：多组无人机设定单元包括飞行区域分布单元、飞行路线规定单元和飞行时长控制单元，飞行区域分布单元用于将无人机组分布到各个所设定的区域巡检范围之内，飞行路线规定单元用于设定无人机组向分布区域飞行时的固定路线，飞行时长控制单元用于控制无人机组的飞行巡检的时间，通过飞行区域分布单元设定无人机组内分化为多组巡检的区域的无人机，其各自到分布的区域进行巡检，并通过飞行路线规定单元配合规 划好每个无人机飞行的巡检的路线，且通过飞行时长控制单元来控制无人机所巡检的时间及其返航的时间。In this embodiment, specifically: the multiple groups of UAV setting units include a flight area distribution unit, a flight route specification unit and a flight duration control unit, and the flight area distribution unit is used to distribute the UAV groups to each set area Within the inspection range, the flight route specification unit is used to set the fixed route when the UAV group flies to the distribution area, and the flight duration control unit is used to control the flight inspection time of the UAV group, which is set by the flight area distribution unit. The drones in the drone group are divided into multiple groups of inspection areas, each of which goes to the distributed area for inspection, and cooperates with the flight route specification unit to plan the inspection route for each drone to fly, and pass the inspection. The flight duration control unit is used to control the time of the drone inspection and the time to return to home.
本实施例中，具体的：数据库包括区域覆盖存储单元和区域数据图像存储单元，无人机所拍摄以及摄像视频通过图像无线传输单元传输到无线接收单元，并通过智能分析单元分析是否发生异常图像问题，通过地面控制单元以异常行为发送至报警单元及将所有信息存储在区域数据图像存储单元内，而监测的无人机覆盖定位轨迹点存储到区域覆盖存储单元内，并通过地面控制单元能够将区域覆盖和区域数据图像调出进行查取。In this embodiment, specifically: the database includes an area coverage storage unit and an area data image storage unit, the video shot by the drone and the video are transmitted to the wireless receiving unit through the image wireless transmission unit, and the intelligent analysis unit analyzes whether abnormal images occur. The problem is that the abnormal behavior is sent to the alarm unit by the ground control unit and all information is stored in the area data image storage unit, while the monitored UAV coverage and positioning track points are stored in the area coverage storage unit, and the ground control unit can Area coverage and area data images are recalled for retrieval.
本实施例中，具体的：无人机组包括信息接收单元、GPS定位单元、飞行控制单元、灯光照明单元和巡检采集单元，信息接收单元用于接收地面控制单元所通过无线传输单元所发出的指令，GPS定位单元用于定位无人机组内所有无人机单独的飞行巡检位置，飞行控制单元接收无线传输单元发出的指令进行按照其设定飞行，通过GPS定位单元定位到每个无人机的巡检实时的位置，通过灯光照明单元在夜晚提供无人机的照明。In this embodiment, specifically: the unmanned aerial vehicle group includes an information receiving unit, a GPS positioning unit, a flight control unit, a lighting unit and an inspection and collection unit, and the information receiving unit is used to receive the information sent by the ground control unit through the wireless transmission unit. The GPS positioning unit is used to locate the individual flight inspection positions of all the drones in the drone group. The flight control unit receives the command sent by the wireless transmission unit and performs the flight according to its setting, and locates each unmanned aerial vehicle through the GPS positioning unit. The real-time position of the drone is inspected, and the lighting of the drone is provided at night through the lighting unit.
本实施例中，具体的：巡检采集单元包括相机、摄像机、GPS传感器和图像无线传输单元，相机、摄像机和GPS传感器用于对巡检范围内的图像、摄像视频以及该图像和摄像视频的GPS位置，图像无线传输单元用于将巡检信息传输到地面控制单元，通过GPS传感器用于定位拍摄的图像和摄像视频所处在的定位，保证能够将拍摄的图像和视频具体定位，便于工作人员进行相应的操作。In this embodiment, specifically: the inspection collection unit includes a camera, a video camera, a GPS sensor, and an image wireless transmission unit, and the camera, video camera, and GPS sensor are used for the inspection of the image, video, and the image and video within the inspection range. GPS location, the image wireless transmission unit is used to transmit the inspection information to the ground control unit, and the GPS sensor is used to locate the location of the captured images and video, ensuring that the captured images and videos can be specifically positioned, which is convenient for work. personnel to operate accordingly.
本实施例中，具体的：数据库用于存储区域覆盖轨迹数据点和区域数据监测的图像信息。In this embodiment, specifically: the database is used for storing regional coverage track data points and image information of regional data monitoring.
本实施例中，具体的：地面控制单元与报警单元连接，通过地面控制单 元与报警单元连接，使得在无人机覆盖轨迹以及图像异常问题均通过地面控制单元发送至报警单元予以报警，进而便于提醒工作人员所发生的异常情况。In this embodiment, specifically: the ground control unit is connected to the alarm unit, and the ground control unit is connected to the alarm unit, so that the coverage trajectory of the drone and the abnormal image problems are sent to the alarm unit through the ground control unit for alarm, thereby facilitating the Alert staff of unusual situations that have occurred.
综上所述，该一种基于无人机的海洋港口巡检系统的工作原理和工作过程为，在使用时，通过飞行区域分布单元设定无人机组内分化为多组巡检的区域的无人机，其各自到分布的区域进行巡检，并通过飞行路线规定单元配合规划好每个无人机飞行的巡检的路线，且通过飞行时长控制单元来控制无人机所巡检的时间及其返航的时间，通过区域覆盖定位单元以无人机组的GPS定位单元为定位信息进行区域定位，然后以区域覆盖判断单元根据区域覆盖定位单元的覆盖定位信息进行相应的判断是否在规定的巡检区域内，若判断出现缺少其定位信息以及不在该覆盖区域内的异常，通过总区域覆盖遍历查检单元查询所有分布区域内的无人机定位信息，然后将该定位信息以区域覆盖传输单元传输至地面控制单元，进而在出现异常时使得地面控制单元发送信息至报警单元，使得工作人员及时了解到无人机巡检的具体情况，通过GPS定位单元用于定位无人机组内所有无人机单独的飞行巡检位置，飞行控制单元接收无线传输单元发出的指令进行按照其设定飞行，通过GPS定位单元定位到每个无人机的巡检实时的位置，通过灯光照明单元在夜晚提供无人机的照明，无线传输单元，相机、摄像机和GPS传感器对巡检范围内的图像、摄像视频，通过GPS传感器用于定位拍摄的图像和摄像视频所处在的定位，保证能够将拍摄的图像和视频具体定位，便于工作人员进行相应的操作，无人机所拍摄以及摄像视频通过图像无线传输单元传输到无线接收单元，并通过智能分析单元分析是否发生异常图像问题，通过地面控制单元以异常行为发送至报警单元及将所有信息存储在区域数据图像存储单元内，而监测的无人机覆盖定位轨迹点存储到区域覆盖存储单元内，并通过地面控制单元能够将 区域覆盖和区域数据图像调出进行查取。To sum up, the working principle and working process of the marine port inspection system based on UAV is that, when in use, the UAV group is divided into multiple groups of inspection areas through the flight area distribution unit. The drones go to the distributed areas for inspection, and plan the inspection route of each drone through the flight route regulation unit, and control the inspection by the drone through the flight duration control unit. The time and the time of returning home are carried out by the area coverage and positioning unit using the GPS positioning unit of the UAV group as the positioning information, and then the area coverage judgment unit is used to determine whether it is within the specified range according to the coverage and positioning information of the area coverage and positioning unit. In the inspection area, if it is judged that there is an abnormality that lacks its positioning information and is not in the coverage area, the total area coverage traversal inspection unit is used to query the UAV positioning information in all distribution areas, and then the positioning information is used in the area coverage transmission unit. It is transmitted to the ground control unit, and then when an abnormality occurs, the ground control unit sends information to the alarm unit, so that the staff can know the specific situation of the drone inspection in time, and the GPS positioning unit is used to locate all the unmanned aerial vehicles in the drone group. The flight control unit receives the instructions sent by the wireless transmission unit to fly according to its settings, locates the real-time position of each drone's patrol inspection through the GPS positioning unit, and provides it at night through the lighting unit. The lighting of the drone, the wireless transmission unit, the camera, the video camera and the GPS sensor are used to locate the image and video within the inspection range, and the GPS sensor is used to locate the location of the captured image and the video to ensure that the captured image and video are located. The specific positioning of images and videos is convenient for the staff to perform corresponding operations. The video captured by the drone and the video are transmitted to the wireless receiving unit through the image wireless transmission unit, and the intelligent analysis unit analyzes whether abnormal image problems occur. The abnormal behavior is sent to the alarm unit and all information is stored in the area data image storage unit, while the monitored drone coverage and positioning track points are stored in the area coverage storage unit, and the area coverage and area data images can be stored through the ground control unit. Call out to check.
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (8)

  1. 一种基于无人机的海洋港口巡检系统，其特征在于：包括多组无人机设定单元、飞行轨迹定位监测单元、无线接收单元、地面控制单元、无线传输单元、智能分析单元、报警单元、无人机组和数据库，所述地面控制单元与多组无人机设定单元交互连接，所述飞行轨迹定位监测单元与地面控制单元连接，所述无线接收单元与地面控制单元连接，所述地面控制单元与无线传输单元连接，所述无线传输单元与无人机组连接，所述无线接收单元与无人机组交互连接，所述地面控制单元与数据库交互连接，所述无线接收单元与智能分析单元连接，所述智能分析单元与地面控制单元连接；A marine port inspection system based on unmanned aerial vehicles, characterized in that it includes multiple sets of unmanned aerial vehicle setting units, flight trajectory positioning monitoring units, wireless receiving units, ground control units, wireless transmission units, intelligent analysis units, and alarming units. unit, unmanned aerial vehicle group and database, the ground control unit is interactively connected with multiple groups of unmanned aerial vehicle setting units, the flight trajectory positioning monitoring unit is connected with the ground control unit, the wireless receiving unit is connected with the ground control unit, so The ground control unit is connected to the wireless transmission unit, the wireless transmission unit is connected to the unmanned aerial vehicle group, the wireless receiving unit is interactively connected to the unmanned aerial vehicle group, the ground control unit is interactively connected to the database, and the wireless receiving unit is connected to the intelligent The analysis unit is connected, and the intelligent analysis unit is connected with the ground control unit;
    所述地面控制单元用于信息传输控制多组无人机设定单元、飞行轨迹定位监测单元和无人机组的设定、轨迹和无人机；The ground control unit is used for information transmission to control the setting, trajectories and unmanned aerial vehicles of multiple groups of unmanned aerial vehicle setting units, flight trajectory positioning monitoring units and unmanned aerial vehicle groups;
    所述多组无人机设定单元用于对无人机飞行的区域、路线和时长进行相应的设定；The multiple groups of UAV setting units are used to set correspondingly the area, route and duration of UAV flight;
    所述飞行轨迹定位监测单元用于监测多组无人机区域的覆盖性、具体定位和查检无人机所处位置信息。The flight trajectory positioning monitoring unit is used for monitoring the coverage of multiple groups of unmanned aerial vehicles, specific positioning and checking the location information of the unmanned aerial vehicles.
  2. 根据权利要求1所述的基于无人机的海洋港口巡检系统，其特征在于：所述飞行轨迹定位监测单元包括区域覆盖传输单元、区域覆盖判断单元、区域覆盖定位单元和总区域覆盖遍历查检单元，所述区域覆盖传输单元用于将无人机组在分布区域内的覆盖数据结果进行传输，所述区域覆盖定位单元用于定位无人机组分布在其区域内的位置信息，所述区域覆盖判断单元用于判断当前分布区域内无人机组是否全部覆盖，所述总区域覆盖遍历查检单元用于查检其全部无人机组的覆盖轨迹点。The UAV-based marine port inspection system according to claim 1, wherein the flight trajectory positioning monitoring unit comprises an area coverage transmission unit, an area coverage judgment unit, an area coverage positioning unit and a total area coverage traversal inspection unit unit, the area coverage transmission unit is used to transmit the coverage data results of the unmanned aerial vehicle group in the distribution area, and the area coverage positioning unit is used to locate the location information of the unmanned aerial vehicle group distributed in its area, and the area coverage The judging unit is used for judging whether all the UAV groups in the current distribution area are covered, and the total area coverage traversal checking unit is used for checking the coverage track points of all the UAV groups.
  3. 根据权利要求1所述的基于无人机的海洋港口巡检系统，其特征在于： 所述多组无人机设定单元包括飞行区域分布单元、飞行路线规定单元和飞行时长控制单元，所述飞行区域分布单元用于将无人机组分布到各个所设定的区域巡检范围之内，所述飞行路线规定单元用于设定无人机组向分布区域飞行时的固定路线，所述飞行时长控制单元用于控制无人机组的飞行巡检的时间。The UAV-based marine port inspection system according to claim 1, wherein: the multiple groups of UAV setting units include a flight area distribution unit, a flight route specification unit, and a flight duration control unit, and the The flight area distribution unit is used for distributing the UAV group to each set area inspection range, the flight route specification unit is used for setting the fixed route when the UAV group flies to the distribution area, and the flight duration The control unit is used to control the flight inspection time of the UAV group.
  4. 根据权利要求1所述的基于无人机的海洋港口巡检系统，其特征在于：所述数据库包括区域覆盖存储单元和区域数据图像存储单元。The UAV-based marine port inspection system according to claim 1, wherein the database comprises an area coverage storage unit and an area data image storage unit.
  5. 根据权利要求1所述的基于无人机的海洋港口巡检系统，其特征在于：所述无人机组包括信息接收单元、GPS定位单元、飞行控制单元、灯光照明单元和巡检采集单元，所述信息接收单元用于接收地面控制单元所通过无线传输单元所发出的指令，所述GPS定位单元用于定位无人机组内所有无人机单独的飞行巡检位置，所述飞行控制单元接收无线传输单元发出的指令进行按照其设定飞行。The UAV-based marine port inspection system according to claim 1, wherein the UAV group comprises an information receiving unit, a GPS positioning unit, a flight control unit, a lighting unit and an inspection and collection unit, and the The information receiving unit is used to receive the instructions sent by the ground control unit through the wireless transmission unit, the GPS positioning unit is used to locate the individual flight inspection positions of all UAVs in the UAV group, and the flight control unit receives the wireless The command from the transmission unit is to fly in accordance with its settings.
  6. 根据权利要求5所述的基于无人机的海洋港口巡检系统，其特征在于：所述巡检采集单元包括相机、摄像机、GPS传感器和图像无线传输单元，所述相机、摄像机和GPS传感器用于对巡检范围内的图像、摄像视频以及该图像和摄像视频的GPS位置，所述图像无线传输单元用于将巡检信息传输到地面控制单元。The UAV-based marine port inspection system according to claim 5, wherein the inspection and acquisition unit includes a camera, a video camera, a GPS sensor and an image wireless transmission unit, and the camera, the video camera and the GPS sensor are used for The image wireless transmission unit is used for transmitting the inspection information to the ground control unit for the image, the camera video and the GPS position of the image and the camera video within the inspection range.
  7. 根据权利要求4所述的基于无人机的海洋港口巡检系统，其特征在于：所述数据库用于存储区域覆盖轨迹数据点和区域数据监测的图像信息。The UAV-based marine port inspection system according to claim 4, wherein the database is used for storing regional coverage trajectory data points and image information of regional data monitoring.
  8. 根据权利要求1所述的基于无人机的海洋港口巡检系统，其特征在于：所述地面控制单元与报警单元连接。The UAV-based marine port inspection system according to claim 1, wherein the ground control unit is connected to the alarm unit.
PCT/CN2020/110054 2020-08-19 2020-08-19 Sea port patrolling system based on unmanned aerial vehicle WO2022036594A1 (en)

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