CN106814752A - A kind of round-the-clock City Surveillance System based on unmanned plane cluster - Google Patents
A kind of round-the-clock City Surveillance System based on unmanned plane cluster Download PDFInfo
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- CN106814752A CN106814752A CN201710172690.2A CN201710172690A CN106814752A CN 106814752 A CN106814752 A CN 106814752A CN 201710172690 A CN201710172690 A CN 201710172690A CN 106814752 A CN106814752 A CN 106814752A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 28
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 11
- 238000005259 measurement Methods 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 8
- 238000007689 inspection Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a kind of round-the-clock City Surveillance System based on unmanned plane cluster, it is made up of multiple unmanned plane bodies, including unmanned aerial vehicle control system, cluster flight control system, ground control station, fly control subsystem and high-altitude wireless charging platform network system, on the one hand cluster flight control system flies control subsystem and is connected with multiple respectively, still further aspect is connected with unmanned aerial vehicle control system, unmanned aerial vehicle control system flies control subsystem with multiple and is connected respectively, on the one hand ground control station is connected with unmanned aerial vehicle control system, still further aspect is connected with high-altitude wireless charging platform network system, multimachine goes on patrol the monitoring of formula, reduce monitoring dead angle；Utilization to wireless charging technology, realize it is round-the-clock whole route make an inspection tour and it is intelligentized periphery situation is detected and alarmed, solve the problems, such as to need substantial amounts of manpower to judge monitoring process；And with technologies such as autonomous landing, flight course planning and unmanned plane clusters, only need a small amount of people just controllable whole monitoring system.
Description
Technical field
The invention belongs to monitoring unmanned systems technology field, specifically, unmanned plane collection is based on the present invention relates to one kind
The round-the-clock City Surveillance System of group.
Background technology
With the development of unmanned air vehicle technique, monitoring unmanned gradually begins to use in anti-terrorism and security, and fixation at present is taken the photograph
As hair style Video Supervision Technique：Monitoring range is fixed, and most of place is difficult to monitor, if where all install monitoring taken the photograph
As head, it is necessary to the quantity of camera is too many and cost is too high.Only machine patrol formula safety defense monitoring system based on unmanned plane：Unmanned plane
Cruising time is short, need to manually operate, and if necessary to large-range monitoring, then must need manipulation multi rack of working in coordination between several winged hands
Unmanned plane, causes human cost too high, while cruising time is short, and needs many people's manipulations, is susceptible to collision accident.
The content of the invention
The present invention provides a kind of round-the-clock City Surveillance System based on unmanned plane cluster, and the monitoring of formula is gone on patrol using multimachine
Periphery situation, reduces monitoring dead angle；Additionally, due to the utilization to wireless charging technology, realize and round-the-clock whole route is entered
Row is maked an inspection tour and periphery situation is detected and alarmed with intelligentized, solves needs substantial amounts of manpower and monitoring process is sentenced
Disconnected problem；And the technologies such as autonomous landing, flight course planning and unmanned plane cluster are employed, only need a small amount of manpower just can manipulate
Whole monitoring system.
To achieve these goals, the technical scheme taken of the present invention is：A kind of round-the-clock city based on unmanned plane cluster
City's monitoring system, is made up of multiple unmanned plane bodies, including unmanned aerial vehicle control system, cluster flight control system, ground control
Stand, fly control subsystem and high-altitude wireless charging platform network system, wherein flying control subsystem is provided with multiple, the cluster flight control
On the one hand system processed flies control subsystems and is connected with multiple respectively, and still further aspect is connected with unmanned aerial vehicle control system, it is described nobody
Machine control system flies control subsystem with multiple and is connected respectively, and on the one hand the ground control station is connected with unmanned aerial vehicle control system,
Still further aspect is connected with high-altitude wireless charging platform network system.
Preferably, each winged control subsystem one unmanned plane body of correspondence.
Preferably, be embedded with each unmanned plane body monitoring module, d GPS locating module, avoidance module, power module and
Wireless charging module, the wireless charging module is connected with power module by wire, and the wireless charging module can be in addition
High-altitude wireless charging platform network system connection.
Preferably, the intelligence calculation of boundary defence, movement/delay and face Intelligent Measurement is embedded with the unmanned plane body
Method.
Beneficial effect using above technical scheme is：This is based on the round-the-clock City Surveillance System of unmanned plane cluster,
Ground control station has planned the patrol route of each unmanned plane body, each the unmanned plane body in a key control unmanned plane cluster
Member is taken off, and unmanned plane body is flown according to the course line planned, carrying out patrol formula by monitoring module monitors；And utilize
The intelligent algorithm of embedded boundary defence, movement/delay and face Intelligent Measurement is to regarding on patrol route in unmanned plane body
Frequency image is detected, when abnormal conditions are detected, information warning is reflected back into ground control station；Work as unmanned aerial vehicle control system
When detecting electricity and reaching warning line, unmanned plane body can automatically search for the position of high-altitude wireless charging platform, and it is paramount to fly
Empty wireless charging platform is charged by wireless charging module, and while charging, being in using the wireless charging platform should
The commanding elevation in location, serves as fixed monitoring system, and the environment to periphery is monitored.After fully charged, the unmanned plane sheet
Know from experience automatic takeoff, and tour of flying is continued in the course line planned according to ground control station；The d GPS locating module, realizes nothing
The man-machine positioning during monitoring is navigated by water；The avoidance module, it is ensured that the flight safety of unmanned plane.
Brief description of the drawings
Fig. 1 is the round-the-clock City Surveillance System operation principle block diagram that this is based on unmanned plane cluster；
Wherein：
Specific embodiment
Below against accompanying drawing, by the description to embodiment, further details of is made to specific embodiment of the invention
Explanation, it is therefore an objective to help those skilled in the art to have more complete, accurate and deep reason to design of the invention, technical scheme
Solution, and contribute to it to implement.
As shown in figure 1, the present invention is a kind of round-the-clock City Surveillance System based on unmanned plane cluster, it is to be applied to nobody
Many redundant power supplies of machine flight control system are distributed with power supply, and for flight control system provides multiple-way supply, the preferred power supply of intelligence is prevented because supplying
Electric problem causes system for flight control computer operation irregularity.
Specifically, as shown in figure 1, being made up of multiple unmanned plane bodies, including the flight control of unmanned aerial vehicle control system, cluster
System processed, ground control station, winged control subsystem and high-altitude wireless charging platform network system, wherein flying control subsystem is provided with many
Individual, on the one hand the cluster flight control system flies control subsystems and is connected with multiple respectively, still further aspect and unmanned aerial vehicle (UAV) control
System is connected, and the unmanned aerial vehicle control system flies control subsystems with multiple and be connected respectively, ground control station one side and nothing
Man-machine control system is connected, and still further aspect is connected with high-altitude wireless charging platform network system.
Each winged control subsystem one unmanned plane body of correspondence.
Monitoring module, d GPS locating module, avoidance module, power module and wireless charging are embedded with each unmanned plane body
Electric module, the wireless charging module is connected with power module by wire, in addition the wireless charging module can in high-altitude without
Line charging platform network system is connected.
The intelligent algorithm of boundary defence, movement/delay and face Intelligent Measurement is embedded with the unmanned plane body.Below
Specific works mode is illustrated with specific embodiment：
This is based on the round-the-clock City Surveillance System of unmanned plane cluster, with unmanned plane body as carrier, using autonomous landing
And the automatic technique of flight course planning, the basic flight road of each unmanned plane body member in cluster is planned on ground control station
Line, controls the whole normal landing of unmanned plane cluster with flight.By setting corresponding rule weight coefficient, set up cluster and into
Two kinds of systems of member, carry out evading guidance and control.
Carry out patrol formula by monitoring module to monitor, using the intelligence of boundary defence, movement/delay and face Intelligent Measurement
Algorithm is detected to the video image on patrol route, and abnormal alarm.
Crucial commanding elevation on each patrol route, installs by the high-altitude wireless charging level of ground control station remote control
Platform, installs wireless charging module on unmanned plane body in addition.When unmanned plane body is maked an inspection tour according on the route planned in advance
When, if unmanned aerial vehicle control system detects electricity and reaches warning line, high-altitude wireless charging level nearest in automatic scouting course
Platform, and plan to the course line between the wireless charging platform of high-altitude, then fly to high-altitude wireless charging platform overhead and drop to
On the wireless charging platform of high-altitude, while message reflection unmanned plane body dropped on the wireless charging platform of high-altitude is controlled to ground
System station, the then corresponding wireless charging system start-up operation of ground control station control；When electricity is full of, ground control is informed
Termination of standing is charged, and UAV system body start independently to take off and according to the good course line of preplanning maked an inspection tour.Charging
While, the commanding elevation in the location is in using the wireless charging platform, serve as fixed monitoring system, to the environment on periphery
It is monitored.The d GPS locating module, realizes positioning of the unmanned plane during monitoring is navigated by water；The avoidance module, it is ensured that
The flight safety of unmanned plane.
This is based on the round-the-clock City Surveillance System of unmanned plane cluster, and the monitoring periphery situation of formula is gone on patrol using multimachine, subtracts
Small monitoring dead angle；Additionally, due to the utilization to wireless charging technology, round-the-clock tour to whole route and intelligence is realized
Energyization periphery situation is detected and alarmed, solves the problems, such as to need substantial amounts of manpower to judge monitoring process；
And the technologies such as autonomous landing, flight course planning and unmanned plane cluster are employed, only need a small amount of manpower just can manipulate whole monitoring
System.
The present invention is exemplarily described above in association with accompanying drawing, it is clear that the present invention is implemented and do not receive above-mentioned side
The limitation of formula, as long as employ the improvement of the various unsubstantialities that method of the present invention design and technical scheme are carried out；Or not
It is improved, above-mentioned design of the invention and technical scheme are directly applied into other occasions, in protection scope of the present invention
Within.
Claims (4)
1. a kind of round-the-clock City Surveillance System based on unmanned plane cluster, is made up of multiple unmanned plane bodies, it is characterised in that：
Including unmanned aerial vehicle control system, cluster flight control system, ground control station, winged control subsystem and high-altitude wireless charging platform net
Network system, wherein flying control subsystem is provided with multiple, on the one hand the cluster flight control system flies control subsystem with multiple respectively
Connection, still further aspect is connected with unmanned aerial vehicle control system, and the unmanned aerial vehicle control system flies control subsystem with multiple and connects respectively
Connect, on the one hand the ground control station be connected with unmanned aerial vehicle control system, still further aspect and high-altitude wireless charging platform network
System is connected.
2. a kind of round-the-clock City Surveillance System based on unmanned plane cluster according to claim 1, it is characterised in that：Often
Individual winged control subsystem one unmanned plane body of correspondence.
3. a kind of round-the-clock City Surveillance System based on unmanned plane cluster according to claim 1, it is characterised in that：Often
Monitoring module, d GPS locating module, avoidance module, power module and wireless charging module are embedded with individual unmanned plane body, it is described
Wireless charging module is connected with power module by wire, and the wireless charging module can be in high-altitude wireless charging platform net in addition
Network system is connected.
4. a kind of round-the-clock City Surveillance System based on unmanned plane cluster according to claim 1, it is characterised in that：Institute
State and be embedded with the intelligent algorithms such as boundary defence, movement/delay and face Intelligent Measurement in unmanned plane body.
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| CN201710172690.2A CN106814752A (en) | 2017-03-21 | 2017-03-21 | A kind of round-the-clock City Surveillance System based on unmanned plane cluster |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107300927A (en) * | 2017-06-26 | 2017-10-27 | 中国人民解放军国防科学技术大学 | A kind of unmanned plane base station selection and patrol method for optimizing route and device |
| CN107592499A (en) * | 2017-09-07 | 2018-01-16 | 单维峰 | Anti- harassment Command Information System based on unmanned plane |
| CN108241349A (en) * | 2018-01-15 | 2018-07-03 | 梁晓龙 | Fire-fighting unmanned aerial vehicle cluster system and fire-fighting method |
| CN109178333A (en) * | 2018-09-21 | 2019-01-11 | 南京天枢云信息技术有限公司 | A kind of miniature drone networking operational method based on BIM |
| CN109361273A (en) * | 2018-10-30 | 2019-02-19 | 中国运载火箭技术研究院 | A wireless power transmission system for self-organizing formation platform nodes |
| CN109491402A (en) * | 2018-11-01 | 2019-03-19 | 中国科学技术大学 | Multiple no-manned plane based on clustered control cooperates with targeted surveillance control method |
| CN109613931A (en) * | 2019-01-07 | 2019-04-12 | 北京航空航天大学 | Target tracking system and method of heterogeneous UAV swarm based on biological social force |
| CN110917527A (en) * | 2019-12-23 | 2020-03-27 | 郑俊跃 | A fire-extinguishing system of a high-rise building |
| CN112068592A (en) * | 2020-08-31 | 2020-12-11 | 南京航空航天大学 | A scheduling method for fence coverage based on rechargeable drones |
| CN112311872A (en) * | 2020-10-29 | 2021-02-02 | 山东翔迈智能科技有限公司 | Unmanned aerial vehicle nest autonomous cruise network system |
| CN115339632A (en) * | 2022-09-21 | 2022-11-15 | 泉州国器航空研究院有限公司 | A security UAV with good scalability and its security system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107300927B (en) * | 2017-06-26 | 2020-02-07 | 中国人民解放军国防科学技术大学 | Unmanned aerial vehicle base station site selection and patrol path optimization method and device |
| CN107300927A (en) * | 2017-06-26 | 2017-10-27 | 中国人民解放军国防科学技术大学 | A kind of unmanned plane base station selection and patrol method for optimizing route and device |
| CN107592499A (en) * | 2017-09-07 | 2018-01-16 | 单维峰 | Anti- harassment Command Information System based on unmanned plane |
| CN108241349A (en) * | 2018-01-15 | 2018-07-03 | 梁晓龙 | Fire-fighting unmanned aerial vehicle cluster system and fire-fighting method |
| CN109178333A (en) * | 2018-09-21 | 2019-01-11 | 南京天枢云信息技术有限公司 | A kind of miniature drone networking operational method based on BIM |
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| CN109491402A (en) * | 2018-11-01 | 2019-03-19 | 中国科学技术大学 | Multiple no-manned plane based on clustered control cooperates with targeted surveillance control method |
| CN109491402B (en) * | 2018-11-01 | 2020-10-16 | 中国科学技术大学 | Multi-unmanned aerial vehicle cooperative target monitoring control method based on cluster control |
| CN109613931A (en) * | 2019-01-07 | 2019-04-12 | 北京航空航天大学 | Target tracking system and method of heterogeneous UAV swarm based on biological social force |
| CN110917527A (en) * | 2019-12-23 | 2020-03-27 | 郑俊跃 | A fire-extinguishing system of a high-rise building |
| CN112068592A (en) * | 2020-08-31 | 2020-12-11 | 南京航空航天大学 | A scheduling method for fence coverage based on rechargeable drones |
| CN112311872A (en) * | 2020-10-29 | 2021-02-02 | 山东翔迈智能科技有限公司 | Unmanned aerial vehicle nest autonomous cruise network system |
| CN115339632A (en) * | 2022-09-21 | 2022-11-15 | 泉州国器航空研究院有限公司 | A security UAV with good scalability and its security system |
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Application publication date: 20170609 |