CN118012112A - Unmanned aerial vehicle bee colony and vehicle cooperative system based on long-wave ultraviolet and wireless ranging - Google Patents
Unmanned aerial vehicle bee colony and vehicle cooperative system based on long-wave ultraviolet and wireless ranging Download PDFInfo
- Publication number
- CN118012112A CN118012112A CN202211330911.1A CN202211330911A CN118012112A CN 118012112 A CN118012112 A CN 118012112A CN 202211330911 A CN202211330911 A CN 202211330911A CN 118012112 A CN118012112 A CN 118012112A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- vehicle
- long
- wave ultraviolet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims description 66
- 230000003993 interaction Effects 0.000 claims description 40
- 238000000034 method Methods 0.000 claims description 36
- 238000005259 measurement Methods 0.000 claims description 26
- 238000012545 processing Methods 0.000 claims description 20
- 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 description 18
- 230000005757 colony formation Effects 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 238000004904 shortening Methods 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 238000011835 investigation Methods 0.000 abstract description 9
- 238000000691 measurement method Methods 0.000 abstract 1
- 230000015572 biosynthetic process Effects 0.000 description 12
- 230000008901 benefit Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned aerial vehicle bee colony and vehicle cooperative system based on long-wave ultraviolet and wireless ranging, which comprises the following components: the system can ensure that the unmanned bee colony and the manned vehicle can cooperate to finish a investigation and search task under the condition that satellite navigation information is unavailable, the position of the unmanned bee colony is as close as possible to the relative position of the unmanned bee colony and the vehicle expected by a person, and the position measurement method between the unmanned bee colony and the manned vehicle is ensured to run stably.
Description
Technical Field
The invention relates to the technical field of information and the field of automatic control, in particular to an unmanned aerial vehicle bee colony and vehicle cooperative system based on long-wave ultraviolet and wireless ranging.
Background
Along with the maturation of unmanned aerial vehicle technique, a large amount of unmanned aerial vehicles are applied and investigation, search and rescue field, and when robot bee colony application and investigation, search and rescue task, its efficiency can be more high-efficient. In addition, human participation is also necessary when the drone swarm is performing the tasks described above. Firstly, people can monitor search results of the unmanned aerial vehicle bee colony in real time, secondly, people can make a more efficient search plan according to own experience, and when a task is detected, searched and searched, the task is often required to be communicated with the outside, the target area of the task is also likely to change, and the people are required to communicate with the outside in real time.
In the task, the cooperation of the vehicle carrier driven by the person and the unmanned bee colony is a common form, so that the advantage and the maneuverability of the unmanned aerial vehicle bee colony searching efficiency can be fully exerted, and the detection and the searching of a large-scale area can be completed in a short time. In the above search mode, it is necessary that the vehicle and the unmanned aerial vehicle bee colony form a good formation, and the formation configuration of the good vehicle and unmanned aerial vehicle bee colony can greatly improve the efficiency of investigation and search.
For this reason, the solution of the relative position between unmanned aerial vehicles and ground vehicles is necessary, and in unmanned aerial vehicle bee colony, only between unmanned aerial vehicles, the relative position between unmanned aerial vehicle and ground vehicles is known, and the above-mentioned unmanned aerial vehicle and vehicles can construct reasonable formation to accomplish the task jointly. The common method for solving the relative position is to acquire the position information of each unmanned aerial vehicle and each vehicle by using GPS/Beidou and the like, and then calculate the difference value to obtain the relative position relation. However, the above scheme is very dependent on global positioning signals such as GPS/beidou, and in some cases, the global positioning signals such as GPS/beidou are not available, for example, the area signal is weak or there is an interference source of the global positioning signals such as GPS/beidou nearby. At this time, it is necessary to determine the relative positions between the unmanned aerial vehicles and the vehicles by other means, and at present, common schemes independent of global positioning signals such as GPS/beidou mainly comprise the following schemes:
1. UWB-based relative ranging approaches. However, the effective distance of UWB is short, and in general, the positioning distance is not more than 100m, so the above scheme is only suitable for indoor or small scene positioning.
2. Based on known geographic features or relative position solutions of SLAM positioning algorithms. The algorithm relies on known prior information such as known image information and point cloud information of the environment, shape information and position information of known geographical features in the environment, etc., and the scheme does not work well for a completely strange field environment.
3. Positioning means based on mutual measurements. The positioning means mainly depend on direct measurement of the relative positions between unmanned aerial vehicles, and mutual positioning between unmanned aerial vehicles is completed by solving the relative distance and the relative angle. Typically, we can determine position by performing distance measurements through LTE or active light source features, and relative angle measurements through cameras. However, the disadvantage of the above solution is that once there is an occlusion between two objects that need to be positioned relative to each other, the above positioning algorithm will fail until the occlusion is removed.
It can be seen that certain defects exist in the algorithm which is currently applied between unmanned aerial vehicle clusters and is independent of satellite navigation information such as GPS/Beidou and the like between unmanned aerial vehicles and vehicles, and certain difficulties exist in the situation that satellite navigation information such as GPS/Beidou and the like is unavailable when a manned vehicle and the unmanned cluster cooperate to finish tasks such as investigation and search. Therefore, when the vehicle and the unmanned aerial vehicle bee colony cooperate to detect and search tasks, the whole unmanned aerial vehicle bee colony control algorithm, the vehicle and the unmanned aerial vehicle bee colony cooperate to perform good uniform design on the vehicle and unmanned aerial vehicle bee colony mutual positioning algorithm, so that the reliability is higher and the efficiency is higher when the whole system completes tasks.
Disclosure of Invention
The invention aims to construct a cooperative system for cooperatively completing a investigation and search task by using an unmanned bee colony and a manned vehicle under the condition that satellite navigation information is unavailable. In the cooperative system, the position of the unmanned aerial vehicle bee colony and the position of the manned vehicle can be determined by a method based on long-wave ultraviolet and LTE ranging; the relative position of the unmanned aerial vehicle bee colony to the vehicle can be set by a vehicle driver according to task requirements; the method for controlling the relative positions of the swarms and the vehicles ensures that the positions of the unmanned aerial vehicle swarms are as close as possible to the relative positions of the unmanned aerial vehicle swarms and the vehicles expected by people, and ensures that the method for measuring the positions of the unmanned aerial vehicle swarms and the vehicles driven by people runs stably.
In order to solve the technical problems, in a first aspect, the invention provides an unmanned aerial vehicle with a long-wave ultraviolet sensing system and a wireless ranging system, a fixed-structure long-wave ultraviolet generator fixed on the top of a driving vehicle of an operator, and a vehicle-mounted unmanned aerial vehicle bee colony interaction control system.
The vehicle-mounted unmanned bee colony interaction control system is connected with an unmanned aerial vehicle with wireless ranging capability outside long waves through communication equipment and has the capability of measuring the distance between the vehicle-mounted unmanned bee colony interaction control system and the unmanned aerial vehicle through wireless communication;
the vehicle-mounted unmanned bee colony interaction control system can interact with an operator and receive a control instruction of the operator, and can control unmanned bee colony formation;
The unmanned aerial vehicle can measure fixed and fixed structure long wave ultraviolet generator at the top of the operator driving vehicle through the long wave ultraviolet sensing system and is located the azimuth angle of unmanned aerial vehicle.
In one embodiment, the unmanned aerial vehicle with a long wave ultraviolet sensing system and a wireless ranging system comprises: organism, power and gesture controlling means, flight control and management equipment, flight gesture measurement system, LTE communication system, UWB inter-machine communication system, visible light sensing system, long wave ultraviolet sensing system.
The power system, the flight control and management equipment, the flight attitude measurement system, the LED communication system, the UWB inter-machine communication system, the visible light sensing system and the long-wave ultraviolet sensing system are all arranged on the machine body.
The flight attitude measurement system, the LTE communication system, the UWB inter-machine communication system, the visible light sensing system and the long-wave ultraviolet sensing system are all connected with the flight control and management equipment; the flight control management device provides computational support for the above modules.
The flight control and management equipment is connected with the power and gesture control device and controls the power and gesture control device in real time.
In one embodiment, the power and attitude control device comprises a battery, a motor, a propeller, a steering engine and an aileron, and is responsible for controlling the attitude of the unmanned aerial vehicle and providing power for the unmanned aerial vehicle.
In one embodiment, the flight control and management device is comprised of a high performance embedded computer and associated peripheral circuitry and protective housing.
In one embodiment, the attitude measurement system is comprised of an IMU, barometer, gravity sensor.
In one embodiment, the LTE communication system is composed of an LTE communication module and an antenna; the LTE communication system has wireless ranging capability, and can measure the communication distance from an LTE communication module in the vehicle-mounted unmanned bee colony interaction control system.
In one embodiment, the UWB inter-machine communication system is used for communication and distance measurement between unmanned aerial vehicles.
In one embodiment, the visible light sensing system is composed of a three-axis camera holder and a visible light camera, the three-axis camera holder is arranged in front of the machine body, the visible light camera is connected with the three-axis camera holder, and the visible light camera is used for detecting and sensing targets.
The visible light camera can transmit the image back to the vehicle-mounted unmanned bee colony interaction control system through the LTE communication module.
In one embodiment, the long-wave ultraviolet sensing system is composed of a triaxial camera holder, a long-wave ultraviolet filter and a long-wave ultraviolet camera, wherein the triaxial camera holder is arranged behind the machine body, and the long-wave ultraviolet camera is connected with the triaxial camera holder;
The three-axis camera tripod head is provided with a gravity sensing system and a camera attitude measurement system, so that the attitude of the tripod head and the attitude of the camera relative to the tripod head can be measured;
the long-wave ultraviolet filter is used for filtering light rays except long-wave ultraviolet.
In one embodiment, the fixed structure long wave ultraviolet generator fixed to the top of a driver's vehicle comprises: the long wave ultraviolet lamp, the battery and the control circuit and the fixed structure of the long wave ultraviolet lamp fixing frame.
The long-wave ultraviolet lamp has the capability of generating a long-wave ultraviolet light source;
The battery and control circuit provides electric energy for the long-wave ultraviolet lamp and controls the on-off of the long-wave ultraviolet lamp;
the structure size of the fixed-structure long-wave ultraviolet lamp fixing frame is measured in advance, and the long-wave ultraviolet lamp is arranged at the corresponding position of the long-wave ultraviolet lamp.
In one embodiment, the vehicle-mounted unmanned bee colony interaction control system comprises: the system comprises a display, a control and processing computing system, a voice broadcasting and interaction system and an LTE communication system;
the display, the voice broadcasting and interaction system and the LTE communication system are connected with the control and processing computing system;
the display is used for displaying visible light image information returned by the unmanned aerial vehicle, and can also be used for displaying the state information and the control command information of the bee colony of the unmanned aerial vehicle;
The control and processing computing system is composed of a high-performance computer; the control and processing computing system is used for controlling the unmanned aerial vehicle bee colony;
The voice broadcasting and interaction system consists of a microphone and a loudspeaker, wherein the microphone transmits a voice control command of an operator back to the control and processing computing system and is recognized by the control and processing computing system;
The LTE communication system is composed of an LTE communication module and an antenna; the LTE communication system can be connected with all unmanned aerial vehicles in the unmanned aerial vehicle bee colony for communication.
In a second aspect, the present invention provides a method of controlling the relative position of a bee colony-vehicle, the method comprising:
S1, an unmanned aerial vehicle swarm operator gives out horizontal relative position information of a desired unmanned aerial vehicle swarm from a vehicle through a vehicle-mounted unmanned aerial vehicle swarm interaction control system, and gives out desired flight height information;
S2, the vehicle-mounted unmanned aerial vehicle bee colony interaction control system calculates an ideal expected position of each unmanned aerial vehicle in the unmanned aerial vehicle bee colony formation according to a virtual structure method, and when an operator updates the horizontal relative position of the unmanned aerial vehicle bee colony from a vehicle, the vehicle-mounted unmanned aerial vehicle bee colony interaction control system updates the ideal expected position of each unmanned aerial vehicle in the unmanned aerial vehicle bee colony formation according to the virtual structure method;
S3, the unmanned aerial vehicle which cannot detect the fixed-structure long-wave ultraviolet generator fixed on the top of the driving vehicle of the operator through the long-wave ultraviolet sensing system is called as an unmanned aerial vehicle in a state of being unable to be positioned directly, and the position of the unmanned aerial vehicle which is not in the state of being unable to be positioned directly in the unmanned aerial vehicle bee colony is adjusted to be consistent with the ideal position;
S4, traversing unmanned aerial vehicles in the unmanned aerial vehicle bee colony, recording unmanned aerial vehicle numbers which cannot be in a direct positioning state, and calculating the proportion of the number of unmanned aerial vehicles in the direct positioning state to the total number of the unmanned aerial vehicle bee colony;
s5, inquiring whether the unmanned aerial vehicle in the non-direct-positioning state is an unmanned aerial vehicle in the non-direct-positioning state at a nearby position, and selecting two unmanned aerial vehicles which are closest to the unmanned aerial vehicle in the non-direct-positioning state and are not in the non-direct-positioning state, namely a nearby target unmanned aerial vehicle and a next nearby target unmanned aerial vehicle of the unmanned aerial vehicle in the non-direct-positioning state;
S5, adjusting the relative distances between all unmanned aerial vehicles in the state of being unable to be positioned directly and adjacent target unmanned aerial vehicles and next-adjacent target unmanned aerial vehicles of the unmanned aerial vehicles in the state of being unable to be positioned directly, and keeping ideal flying height to enable the positions of the unmanned aerial vehicles in the state of being unable to be positioned directly to be consistent with the positions of ideal states;
S6, calculating the proportion of the number of unmanned aerial vehicles in a state of being unable to be positioned directly to the total number of unmanned aerial vehicle bee colonies, judging whether the proportion exceeds a threshold, if so, entering a step S7, and if not, entering a step S8;
S7, sequentially shortening the relative distance between the unmanned aerial vehicle in the non-direct positioning state and the adjacent target unmanned aerial vehicle and the next adjacent target unmanned aerial vehicle of the unmanned aerial vehicle in the non-direct positioning state until the fixed structure long-wave ultraviolet generator fixed on the top of the driving vehicle of an operator appears in the long-wave ultraviolet sensing system of the unmanned aerial vehicle in the non-direct positioning state again, stopping shortening the relative distance, and regarding the unmanned aerial vehicle subjected to the process as a non-ideal position unmanned aerial vehicle, after each shortening process, calculating the proportion of the number of unmanned aerial vehicles in the non-direct positioning state to the total number of unmanned aerial vehicle bee colonies, judging whether the proportion exceeds a threshold value, returning to the step S2 if the proportion is smaller than the threshold value, and continuously executing the step S7 if the proportion is still larger than the threshold value;
S8, calculating the proportion of the number of unmanned aerial vehicles in a state of being unable to be positioned directly to the total number of the unmanned aerial vehicle bee colony, judging whether the proportion is smaller than or equal to one third of a threshold value (rounding upwards), returning to the step S2 if the proportion is not smaller than one third of the threshold value (rounding upwards), and entering the step S9 if the proportion is smaller than or equal to one third of the threshold value (rounding upwards);
And S9, adjusting the unmanned aerial vehicle at the non-ideal position to an ideal position in sequence, calculating the proportion of the number of unmanned aerial vehicles which are in a state of being unable to be positioned directly after the adjustment is completed to the total number of the unmanned aerial vehicle bee colony after each adjustment process, judging whether the proportion is less than or equal to one third of a threshold value (rounding upwards), repeating the step S9 if the proportion is less than or equal to one third of the threshold value (rounding upwards), and returning to the step S2 if the proportion is greater than one third of the threshold value (rounding upwards).
The invention has the advantages that the invention provides the unmanned aerial vehicle with the long-wave ultraviolet sensing system and the wireless ranging system, and the fixed-structure long-wave ultraviolet generator and the vehicle-mounted unmanned aerial vehicle bee colony interaction control system which are fixed at the top of the driving vehicle of an operator; in the system, the position of the unmanned aerial vehicle bee colony and the position of the manned vehicle can be determined by a method based on long-wave ultraviolet and LTE ranging; the relative position of the unmanned aerial vehicle bee colony to the vehicle can be set by a vehicle driver according to task requirements.
The invention also has the advantages that the invention provides a control method for the relative position of the bee colony and the vehicle, which ensures that the position of the bee colony of the unmanned aerial vehicle is as close as possible to the expected position set by a person, and ensures that the position measuring method of the bee colony of the unmanned aerial vehicle and the vehicle driven by the person runs stably.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
fig. 1 is a schematic diagram of an unmanned aerial vehicle with a long-wave ultraviolet sensing system and a wireless ranging system according to an embodiment of the present invention;
Fig. 2 is a schematic diagram of an unmanned aerial vehicle side view structure with a long-wave ultraviolet sensing system and a wireless ranging system according to an embodiment of the present invention;
FIG. 3 shows a fixed structure long wave ultraviolet generator provided by an embodiment of the invention and fixed on the top of a driver's vehicle;
Fig. 4 is a schematic diagram of a bee colony of an unmanned aerial vehicle based on a virtual structure method according to an embodiment of the present invention;
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the invention provides a cooperative system for enabling unmanned swarms and manned vehicles to cooperatively finish investigation and search tasks under the condition that satellite navigation information is unavailable. In the cooperative system, the position of the unmanned aerial vehicle bee colony and the position of the manned vehicle can be determined by a method based on long-wave ultraviolet and LTE ranging; the relative position of the unmanned aerial vehicle bee colony to the vehicle can be set by a vehicle driver according to task requirements; the method for controlling the relative positions of the swarms and the vehicles ensures that the positions of the swarms of the unmanned aerial vehicle are as close as possible to the positions set by the people, and ensures that the method for measuring the positions of the swarms of the unmanned aerial vehicle and the vehicles driven by the people runs stably.
The cooperative system for cooperatively completing the investigation and search tasks by the unmanned bee colony and the manned vehicle provided by the invention comprises the following components: the system comprises an unmanned aerial vehicle with a long-wave ultraviolet sensing system and a wireless ranging system, a fixed-structure long-wave ultraviolet generator fixed at the top of a driving vehicle of an operator and a vehicle-mounted unmanned aerial vehicle bee colony interaction control system. The vehicle-mounted unmanned bee colony interaction control system is connected with an unmanned aerial vehicle with wireless ranging capability outside long waves through communication equipment, and has the capability of measuring the distance between the vehicle-mounted unmanned bee colony interaction control system and the unmanned aerial vehicle through wireless communication; the vehicle-mounted unmanned bee colony interaction control system can interact with an operator and receive a control instruction of the operator, and can control unmanned bee colony formation; the unmanned aerial vehicle can measure the fixed structure long wave ultraviolet generator that drives the vehicle top with operating personnel through the long wave ultraviolet sensing system and is located unmanned aerial vehicle's azimuth angle.
The following disables the detailed description of the unmanned aerial vehicle with the long-wave ultraviolet sensing system and the wireless ranging system, the fixed-structure long-wave ultraviolet generator fixed at the top of the driving vehicle of an operator and the vehicle-mounted unmanned aerial vehicle bee colony interaction control system:
In one embodiment, the unmanned aerial vehicle with the long-wave ultraviolet sensing system and the wireless ranging system, as shown with reference to fig. 1, comprises: the device comprises a machine body 1, a power and posture control device, a flight control and management device, a flight posture measurement system, an LTE communication system, an UWB inter-machine communication system, a visible light sensing system 2 and a long-wave ultraviolet sensing system 3.
The power system, the flight control and management equipment, the flight attitude measurement system, the LED communication system, the UWB inter-machine communication system, the visible light sensing system 2 and the long-wave ultraviolet sensing system 3 are all arranged on the machine body 1.
The flight attitude measurement system, the LTE communication system, the UWB (ultra Wide band) inter-aircraft communication system, the visible light sensing system 2 and the long-wave ultraviolet sensing system 3 are all connected with the flight control and management equipment; the flight control management device provides computational support for the above modules.
The flight control and management equipment is connected with the power and gesture control device and controls the power and gesture control device in real time.
The power and gesture control device comprises a battery, a motor, a propeller, a steering engine and ailerons, and is responsible for controlling the gesture of the unmanned aerial vehicle and providing power for the unmanned aerial vehicle.
The flight control and management equipment is composed of a high-performance embedded computer and a matched peripheral circuit and a protective shell.
The flight attitude measurement system consists of an IMU, a barometer and a gravity sensor.
The LTE communication system is composed of an LTE communication module and an antenna; the LTE communication system has wireless ranging capability, and can measure the communication distance from an LTE communication module in the vehicle-mounted unmanned bee colony interactive control system.
The UWB inter-machine communication system is used for communication and distance measurement between unmanned aerial vehicles.
The visible light sensing system 2, referring to fig. 2, is composed of a three-axis camera holder 4 and a visible light camera 5, wherein the three-axis camera holder 4 is arranged in front of the machine body 1, the visible light camera 5 is connected with the three-axis camera holder 4, and the visible light camera 5 is used for detecting and sensing targets.
The visible light camera 5 can transmit the image back to the vehicle-mounted unmanned bee colony interaction control system through the LTE communication module.
The long-wave ultraviolet sensing system 3 is composed of a triaxial camera holder 6, a long-wave ultraviolet filter and a long-wave ultraviolet camera 7, wherein the triaxial camera holder 6 is arranged behind the machine body 1, and the long-wave ultraviolet camera 7 is connected with the triaxial camera holder;
The three-axis camera tripod head 6 is provided with a gravity sensing system and a camera attitude measurement system, and can measure the attitude of the tripod head and the attitude of the camera relative to the tripod head;
The long-wave ultraviolet filter is used for filtering light rays except the long-wave ultraviolet.
In one embodiment, a fixed-structure long-wave ultraviolet generator, which is fixed to the top of a vehicle driven by an operator, as shown with reference to fig. 2, includes: a long-wave ultraviolet lamp 8, a battery and control circuit 9 and a fixed-structure long-wave ultraviolet lamp fixing frame 10;
The installation position of the fixed structure long-wave ultraviolet generator fixed on the top of the operator driving vehicle is positioned on the top of the operator driving vehicle;
the long-wave ultraviolet lamp 8 has the capability of generating a long-wave ultraviolet light source;
The battery and the control circuit provide electric energy for the long-wave ultraviolet lamp 8 and control the on-off of the long-wave ultraviolet lamp 8;
The structure size of the fixed structure of the long wave ultraviolet lamp 8 fixing frame is measured in advance, and the long wave ultraviolet lamp 8 is arranged at the corresponding position of the long wave ultraviolet lamp 8.
In one embodiment, the vehicle-mounted unmanned bee colony interaction control system comprises a display, a control and processing computing system, a voice broadcasting and interaction system and an LTE communication system;
the display, the voice broadcasting and interaction system and the LTE communication system are connected with the control and processing computing system;
the display is used for displaying visible light image information returned by the unmanned aerial vehicle, and can also be used for displaying the state information and the control command information of the bee colony of the unmanned aerial vehicle;
The control and processing computing system is composed of a high-performance computer; the control and processing computing system is used for controlling the unmanned aerial vehicle bee colony;
the voice broadcasting and interaction system consists of a microphone and a loudspeaker, wherein the microphone transmits a voice control command of an operator back to the control and processing computing system and is recognized by the control and processing computing system;
The LTE communication system is composed of an LTE communication module and an antenna; the LTE communication system can be connected and communicated with all unmanned aerial vehicles in the unmanned aerial vehicle bee colony.
In one embodiment, the distance estimation between the two through wireless communication measurement is calculated based on RTT (round trip delay) of an LTE TDD system, in which the round trip time between nodes can be roughly estimated by TA (Timing Advance), and then the approximate distance is calculated according to the round trip time of the nodes assuming that the signal propagation speed is the speed of light.
In one embodiment, the distance measurement between unmanned aerial vehicles is accomplished by a UWB module, the UWB ranging principle being based on a two-way time-of-flight approach. I.e. each UWB module generates an independent time stamp from start-up. The transmitter of UWB module a transmits a pulse signal of the requested nature at Ta1 at its time stamp and the receiver of UWB module B receives the signal at Tb1 at its time stamp. After a certain processing means is applied to the UWB signal, the UWB module B transmits a signal with response property at the moment Tb2, and the signal is received by the UWB module A at the moment of own time stamp Ta. The flight time of the pulse signal between the two UWB modules can thus be calculated, so that the flight distance is determined.
In one embodiment, the principle that the unmanned aerial vehicle can measure the fixed structure long wave ultraviolet generator positioned at the azimuth angle of the unmanned aerial vehicle with the top of the driving vehicle of the operator through the long wave ultraviolet sensing system is as follows:
s1, a fixed-structure long-wave ultraviolet generator is arranged on the top of a driver vehicle, and emits a long-wave ultraviolet source different from natural environment light;
S2, a long-wave ultraviolet filter is covered on the long-wave ultraviolet camera and used for filtering light rays outside the long-wave ultraviolet, binarization processing is carried out on an image of the long-wave ultraviolet camera, and if the fixed-structure long-wave ultraviolet generator is in a visual field, a picture with bright spots can be obtained;
s3, if the camera view does not contain the fixed structure long-wave ultraviolet generator, the triaxial camera cradle head drives the long-wave ultraviolet camera to regularly swing until the fixed structure long-wave ultraviolet generator appears in the view;
S4, after the fixed-structure long-wave ultraviolet generator appears in the visual field, the triaxial camera holder drives the long-wave ultraviolet camera to adjust the angle until a bright spot generated by the fixed-structure long-wave ultraviolet generator in the camera picture is positioned at the right center of the camera picture;
S5, recording parameters of a gravity sensing system and a camera attitude measurement system in the triaxial holder at the moment, wherein the gravity sensing system acquires corresponding parameters through a gravity meter, and the camera attitude measurement system measures the attitudes of all joints of the triaxial holder through an encoder, so that the current attitude of the camera is calculated, and a direction vector of a main optical axis of the camera can be solved according to the parameters, wherein the direction vector is a direction angle of a manned vehicle positioned on the unmanned aerial vehicle.
In one embodiment, as shown in fig. 4, the method of organizing the drone swarms is accomplished through a virtual structure method. In the method, the distance relation between each unmanned aerial vehicle and the adjacent unmanned aerial vehicle in the formation is given in advance, and when all unmanned aerial vehicles fly at a set height, each unmanned aerial vehicle only needs to keep a preset example with the unmanned aerial vehicle in the formation, so that the formation of the whole formation can be kept stable.
The invention also provides a method for controlling the relative position of the bee colony and the vehicle, which comprises the following steps:
S1, an unmanned aerial vehicle swarm operator gives out horizontal relative position information of a desired unmanned aerial vehicle swarm from a vehicle through a vehicle-mounted unmanned aerial vehicle swarm interaction control system, and gives out desired flight height information;
S2, the vehicle-mounted unmanned aerial vehicle bee colony interaction control system calculates an ideal expected position of each unmanned aerial vehicle in the unmanned aerial vehicle bee colony formation according to a virtual structure method, and when an operator updates the horizontal relative position of the unmanned aerial vehicle bee colony from a vehicle, the vehicle-mounted unmanned aerial vehicle bee colony interaction control system updates the ideal expected position of each unmanned aerial vehicle in the unmanned aerial vehicle bee colony formation according to the virtual structure method;
S3, the unmanned aerial vehicle which cannot detect the fixed-structure long-wave ultraviolet generator fixed on the top of the driving vehicle of the operator through the long-wave ultraviolet sensing system is called as an unmanned aerial vehicle in a state of being unable to be positioned directly, and the position of the unmanned aerial vehicle which is not in the state of being unable to be positioned directly in the unmanned aerial vehicle bee colony is adjusted to be consistent with the ideal position;
S4, traversing unmanned aerial vehicles in the unmanned aerial vehicle bee colony, recording unmanned aerial vehicle numbers which cannot be in a direct positioning state, and calculating the proportion of the number of unmanned aerial vehicles in the direct positioning state to the total number of the unmanned aerial vehicle bee colony;
s5, inquiring whether the unmanned aerial vehicle in the non-direct-positioning state is an unmanned aerial vehicle in the non-direct-positioning state at a nearby position, and selecting two unmanned aerial vehicles which are closest to the unmanned aerial vehicle in the non-direct-positioning state and are not in the non-direct-positioning state, namely a nearby target unmanned aerial vehicle and a next nearby target unmanned aerial vehicle of the unmanned aerial vehicle in the non-direct-positioning state;
S5, adjusting the relative distances between all unmanned aerial vehicles in the state of being unable to be positioned directly and adjacent target unmanned aerial vehicles and next-adjacent target unmanned aerial vehicles of the unmanned aerial vehicles in the state of being unable to be positioned directly, and keeping ideal flying height to enable the positions of the unmanned aerial vehicles in the state of being unable to be positioned directly to be consistent with the positions of ideal states;
S6, calculating the proportion of the number of unmanned aerial vehicles in a state of being unable to be positioned directly to the total number of unmanned aerial vehicle bee colonies, judging whether the proportion exceeds a threshold, if so, entering a step S7, and if not, entering a step S8;
S7, sequentially shortening the relative distance between the unmanned aerial vehicle in the non-direct positioning state and the adjacent target unmanned aerial vehicle and the next adjacent target unmanned aerial vehicle of the unmanned aerial vehicle in the non-direct positioning state until the fixed structure long-wave ultraviolet generator fixed on the top of the driving vehicle of an operator appears in the long-wave ultraviolet sensing system of the unmanned aerial vehicle in the non-direct positioning state again, stopping shortening the relative distance, and regarding the unmanned aerial vehicle subjected to the process as a non-ideal position unmanned aerial vehicle, after each shortening process, calculating the proportion of the number of unmanned aerial vehicles in the non-direct positioning state to the total number of unmanned aerial vehicle bee colonies, judging whether the proportion exceeds a threshold value, returning to the step S2 if the proportion is smaller than the threshold value, and continuously executing the step S7 if the proportion is still larger than the threshold value;
S8, calculating the proportion of the number of unmanned aerial vehicles in a state of being unable to be positioned directly to the total number of the unmanned aerial vehicle bee colony, judging whether the proportion is smaller than or equal to one third of a threshold value (rounding upwards), returning to the step S2 if the proportion is not smaller than one third of the threshold value (rounding upwards), and entering the step S9 if the proportion is smaller than or equal to one third of the threshold value (rounding upwards);
And S9, adjusting the unmanned aerial vehicle at the non-ideal position to an ideal position in sequence, calculating the proportion of the number of unmanned aerial vehicles which are in a state of being unable to be positioned directly after the adjustment is completed to the total number of the unmanned aerial vehicle bee colony after each adjustment process, judging whether the proportion is less than or equal to one third of a threshold value (rounding upwards), repeating the step S9 if the proportion is less than or equal to one third of the threshold value (rounding upwards), and returning to the step S2 if the proportion is greater than one third of the threshold value (rounding upwards).
The core idea of the method is as follows: under the condition that satellite positioning signals cannot be used, when an operator drives vehicles and the unmanned bee colony to form a formation to complete a investigation and search task, some unmanned aerial vehicles in the formation cannot directly determine the positions of the unmanned aerial vehicles because some shielding objects cannot directly determine the positions of the unmanned aerial vehicles, the positions of the unmanned aerial vehicles can be determined by means of other unmanned aerial vehicles in the formation, and the formation is ensured; after the occlusion object disappears, the unmanned aerial vehicle formation may return to the previous preset position.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and all such modifications and equivalents should be embraced by the scope of the claims of the present invention.
Claims (9)
1. Unmanned aerial vehicle bee colony and vehicle cooperation system based on long wave ultraviolet and wireless ranging, its characterized in that: the system comprises an unmanned aerial vehicle with a long-wave ultraviolet sensing system and a wireless ranging system, a fixed-structure long-wave ultraviolet generator fixed at the top of a driving vehicle of an operator, and a vehicle-mounted unmanned aerial vehicle bee colony interaction control system.
2. The unmanned aerial vehicle swarm and vehicle cooperative system based on long-wave ultraviolet and wireless ranging according to claim 1, wherein: the vehicle-mounted unmanned bee colony interaction control system is connected with an unmanned aerial vehicle with wireless ranging capability outside long waves through communication equipment and has the capability of measuring the distance between the vehicle-mounted unmanned bee colony interaction control system and the unmanned aerial vehicle through wireless communication; the vehicle-mounted unmanned bee colony interaction control system can interact with an operator and receive a control instruction of the operator; the vehicle-mounted unmanned bee colony interaction control system can control unmanned bee colony formation; the unmanned aerial vehicle can measure fixed and fixed structure long wave ultraviolet generator at the top of the operator driving vehicle through the long wave ultraviolet sensing system and is located the azimuth angle of unmanned aerial vehicle.
3. The unmanned aerial vehicle swarm and vehicle cooperative system based on long-wave ultraviolet and wireless ranging according to claim 1, wherein: the unmanned aerial vehicle with long wave ultraviolet sensing system and wireless ranging system includes: the device comprises a machine body, a power and posture control device, flight control and management equipment, a flight posture measurement system, an LTE communication system, an UWB machine-to-machine communication system, a visible light sensing system and a long-wave ultraviolet sensing system; the power system, the flight control and management equipment, the flight attitude measurement system, the LED communication system, the UWB inter-machine communication system, the visible light sensing system and the long-wave ultraviolet sensing system are all arranged on the machine body; the flight attitude measurement system, the LTE communication system, the UWB inter-machine communication system, the visible light sensing system and the long-wave ultraviolet sensing system are all connected with the flight control and management equipment; the flight control management equipment provides calculation support for the modules; the flight control and management equipment is connected with the power and gesture control device and controls the power and gesture control device in real time.
4. The unmanned aerial vehicle swarm and vehicle cooperative system based on long-wave ultraviolet and wireless ranging according to claim 3, wherein: the power and attitude control device comprises a battery, a motor, a propeller, a steering engine and an aileron, and is responsible for controlling the attitude of the unmanned aerial vehicle and providing power for the unmanned aerial vehicle; the flight control and management equipment is composed of a high-performance embedded computer and a matched peripheral circuit and a protective shell; the flight attitude measurement system consists of an IMU, a barometer and a gravity sensor; the LTE communication system is composed of an LTE communication module and an antenna; the LTE communication system has wireless ranging capability, and can measure the communication distance from an LTE communication module in the vehicle-mounted unmanned bee colony interaction control system; the UWB inter-machine communication system is used for communication and distance measurement between unmanned aerial vehicles.
5. The unmanned aerial vehicle bee colony and vehicle cooperative system based on long-wave ultraviolet and wireless ranging as claimed in claim 3, wherein the unmanned aerial vehicle with the long-wave ultraviolet sensing system and the wireless ranging system is characterized in that the visible light sensing system is composed of a three-axis camera holder and a visible light camera, the three-axis camera holder is arranged in front of a machine body, the visible light camera is connected with the three-axis camera holder, and the visible light camera is used for detecting and sensing targets; the visible light camera can transmit the image back to the vehicle-mounted unmanned bee colony interaction control system through the LTE communication module.
6. The unmanned aerial vehicle swarm and vehicle cooperative system based on long-wave ultraviolet and wireless ranging according to claim 3, wherein: the long-wave ultraviolet sensing system consists of a triaxial camera holder, a long-wave ultraviolet filter and a long-wave ultraviolet camera, wherein the triaxial camera holder is arranged behind the machine body, and the long-wave ultraviolet camera is connected with the triaxial camera holder; the three-axis camera tripod head is provided with a gravity sensing system and a camera attitude measurement system, so that the attitude of the tripod head and the attitude of the camera relative to the tripod head can be measured; the long-wave ultraviolet filter is used for filtering light rays except long-wave ultraviolet.
7. The unmanned aerial vehicle swarm and vehicle coordination system based on long-wave ultraviolet and wireless ranging according to claim 1, wherein said fixed-structure long-wave ultraviolet generator fixed on top of the operator-driven vehicle comprises: a long wave ultraviolet lamp, a battery and control circuit, and a fixed structure long wave ultraviolet lamp fixing frame; the installation position of the fixed structure long-wave ultraviolet generator fixed on the top of the operator driving vehicle is positioned on the top of the operator driving vehicle; the long-wave ultraviolet lamp has the capability of generating a long-wave ultraviolet light source; the battery and control circuit provides electric energy for the long-wave ultraviolet lamp and controls the on-off of the long-wave ultraviolet lamp; the structure size of the fixed-structure long-wave ultraviolet lamp fixing frame is measured in advance, and the long-wave ultraviolet lamp is arranged at the corresponding position of the long-wave ultraviolet lamp.
8. The unmanned aerial vehicle swarm and vehicle cooperative system based on long-wave ultraviolet and wireless ranging of claim 1, wherein the vehicular unmanned swarm interactive control system comprises: the system comprises a display, a control and processing computing system, a voice broadcasting and interaction system and an LTE communication system; the display, the voice broadcasting and interaction system and the LTE communication system are connected with the control and processing computing system; the display is used for displaying visible light image information returned by the unmanned aerial vehicle, and can also be used for displaying the state information and the control command information of the bee colony of the unmanned aerial vehicle; the control and processing computing system is composed of a high-performance computer; the control and processing computing system is used for controlling the unmanned aerial vehicle bee colony; the voice broadcasting and interaction system consists of a microphone and a loudspeaker, wherein the microphone transmits a voice control command of an operator back to the control and processing computing system and is recognized by the control and processing computing system; the LTE communication system is composed of an LTE communication module and an antenna; the LTE communication system can be connected with all unmanned aerial vehicles in the unmanned aerial vehicle bee colony for communication.
9. The unmanned aerial vehicle swarm and vehicle cooperative system based on long-wave ultraviolet and wireless ranging according to claim 1, wherein: a method of bee colony-vehicle relative position control, the method comprising: s1, an unmanned aerial vehicle swarm operator gives out horizontal relative position information of a desired unmanned aerial vehicle swarm from a vehicle through a vehicle-mounted unmanned aerial vehicle swarm interaction control system, and gives out desired flight height information; s2, the vehicle-mounted unmanned aerial vehicle bee colony interaction control system calculates an ideal expected position of each unmanned aerial vehicle in the unmanned aerial vehicle bee colony formation according to a virtual structure method, and when an operator updates the horizontal relative position of the unmanned aerial vehicle bee colony from a vehicle, the vehicle-mounted unmanned aerial vehicle bee colony interaction control system updates the ideal expected position of each unmanned aerial vehicle in the unmanned aerial vehicle bee colony formation according to the virtual structure method; s3, the unmanned aerial vehicle which cannot detect the fixed-structure long-wave ultraviolet generator fixed on the top of the driving vehicle of the operator through the long-wave ultraviolet sensing system is called as an unmanned aerial vehicle in a state of being unable to be positioned directly, and the position of the unmanned aerial vehicle which is not in the state of being unable to be positioned directly in the unmanned aerial vehicle bee colony is adjusted to be consistent with the ideal position; s4, traversing unmanned aerial vehicles in the unmanned aerial vehicle bee colony, recording unmanned aerial vehicle numbers which cannot be in a direct positioning state, and calculating the proportion of the number of unmanned aerial vehicles in the direct positioning state to the total number of the unmanned aerial vehicle bee colony; s5, inquiring whether the unmanned aerial vehicle in the non-direct-positioning state is an unmanned aerial vehicle in the non-direct-positioning state at a nearby position, and selecting two unmanned aerial vehicles which are closest to the unmanned aerial vehicle in the non-direct-positioning state and are not in the non-direct-positioning state, namely a nearby target unmanned aerial vehicle and a next nearby target unmanned aerial vehicle of the unmanned aerial vehicle in the non-direct-positioning state; s5, adjusting the relative distances between all unmanned aerial vehicles in the state of being unable to be positioned directly and adjacent target unmanned aerial vehicles and next-adjacent target unmanned aerial vehicles of the unmanned aerial vehicles in the state of being unable to be positioned directly, and keeping ideal flying height to enable the positions of the unmanned aerial vehicles in the state of being unable to be positioned directly to be consistent with the positions of ideal states; s6, calculating the proportion of the number of unmanned aerial vehicles in a state of being unable to be positioned directly to the total number of unmanned aerial vehicle bee colonies, judging whether the proportion exceeds a threshold, if so, entering a step S7, and if not, entering a step S8; s7, sequentially shortening the relative distance between the unmanned aerial vehicle in the non-direct positioning state and the adjacent target unmanned aerial vehicle and the next adjacent target unmanned aerial vehicle of the unmanned aerial vehicle in the non-direct positioning state until the fixed structure long-wave ultraviolet generator fixed on the top of the driving vehicle of an operator appears in the long-wave ultraviolet sensing system of the unmanned aerial vehicle in the non-direct positioning state again, stopping shortening the relative distance, and regarding the unmanned aerial vehicle subjected to the process as a non-ideal position unmanned aerial vehicle, after each shortening process, calculating the proportion of the number of unmanned aerial vehicles in the non-direct positioning state to the total number of unmanned aerial vehicle bee colonies, judging whether the proportion exceeds a threshold value, returning to the step S2 if the proportion is smaller than the threshold value, and continuously executing the step S7 if the proportion is still larger than the threshold value; s8, calculating the proportion of the number of unmanned aerial vehicles in a state of being unable to be positioned directly to the total number of the unmanned aerial vehicle bee colony, judging whether the proportion is smaller than or equal to one third of a threshold value (rounding upwards), returning to the step S2 if the proportion is not smaller than one third of the threshold value (rounding upwards), and entering the step S9 if the proportion is smaller than or equal to one third of the threshold value (rounding upwards); and S9, adjusting the unmanned aerial vehicle at the non-ideal position to an ideal position in sequence, calculating the proportion of the number of unmanned aerial vehicles which are in a state of being unable to be positioned directly after the adjustment is completed to the total number of the unmanned aerial vehicle bee colony after each adjustment process, judging whether the proportion is less than or equal to one third of a threshold value (rounding upwards), repeating the step S9 if the proportion is less than or equal to one third of the threshold value (rounding upwards), and returning to the step S2 if the proportion is greater than one third of the threshold value (rounding upwards).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211330911.1A CN118012112A (en) | 2022-10-28 | 2022-10-28 | Unmanned aerial vehicle bee colony and vehicle cooperative system based on long-wave ultraviolet and wireless ranging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211330911.1A CN118012112A (en) | 2022-10-28 | 2022-10-28 | Unmanned aerial vehicle bee colony and vehicle cooperative system based on long-wave ultraviolet and wireless ranging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118012112A true CN118012112A (en) | 2024-05-10 |
Family
ID=90941586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211330911.1A Pending CN118012112A (en) | 2022-10-28 | 2022-10-28 | Unmanned aerial vehicle bee colony and vehicle cooperative system based on long-wave ultraviolet and wireless ranging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118012112A (en) |
-
2022
- 2022-10-28 CN CN202211330911.1A patent/CN118012112A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200191556A1 (en) | Distance mesurement method by an unmanned aerial vehicle (uav) and uav | |
| CN106873627B (en) | A multi-rotor unmanned aerial vehicle and method for automatic inspection of transmission lines | |
| EP3123260B1 (en) | Selective processing of sensor data | |
| US20180032042A1 (en) | System And Method Of Dynamically Controlling Parameters For Processing Sensor Output Data | |
| CN105182992A (en) | Unmanned aerial vehicle control method and device | |
| US20190243376A1 (en) | Actively Complementing Exposure Settings for Autonomous Navigation | |
| CN109737981B (en) | Device and method for unmanned vehicle target search based on multi-sensor | |
| CN110333735B (en) | A system and method for realizing secondary positioning of unmanned aerial vehicle in water and land | |
| CN105245846A (en) | Multi-unmanned aerial vehicle cooperative tracking type shooting system and shooting method | |
| CN204822097U (en) | Anti -jamming unmanned aerial vehicle system | |
| CN106444843A (en) | Unmanned aerial vehicle relative azimuth control method and device | |
| CN108762291A (en) | A kind of method and system finding and track black winged unmanned aerial vehicle remote controller | |
| CN105138002A (en) | Unmanned plane danger-avoiding detection system and method based on lasers and binocular vision | |
| WO2021243696A1 (en) | Vehicle navigation positioning method and apparatus, and base station, system and readable storage medium | |
| CN204895881U (en) | Unmanned aerial vehicle system with thermal imaging system | |
| CN113820709B (en) | Through-wall radar detection system and detection method based on unmanned aerial vehicle | |
| CN113516708A (en) | A precise positioning system and method for transmission line inspection UAV based on image recognition and UWB positioning fusion | |
| CN107942348B (en) | Road law enforcement system based on unmanned aerial vehicle and robot technique | |
| CN106970649A (en) | A kind of unmanned plane wireless charging automatic control platform and control method | |
| CN109976327A (en) | A kind of patrol robot | |
| CN210554241U (en) | Unmanned aerial vehicle wireless charging device | |
| CN109945861A (en) | Small drone is directed at tracking device and method with ground surface end uni-directional wireless optic communication | |
| WO2019167210A1 (en) | Control device, mobile body, and program | |
| CN114697554A (en) | Unmanned aerial vehicle shooting method and system, terminal device and storage medium | |
| CN204846371U (en) | Can keep away unmanned aerial vehicle system of barrier |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Sun Ruimin Document name: Notification of Qualified Preliminary Examination of Invention Patent Application |
|
| PB01 | Publication | ||
| PB01 | Publication |