An unmanned ship-based unmanned aerial vehicle information acquisition system

Abstract

The present application relates to a kind of unmanned ship-based unmanned aerial vehicle information acquisition system, it is related to information acquisition field, including shore-based platform, wave glider and quadcopter;The wave glider is used to carry the quadcopter and provides energy for the quadcopter, the wave glider is also used to travel according to the instruction of the shore-based platform;When the wave glider travels to preset task area, the shore-based platform is used to control the quadcopter by the wave glider, and real-time information acquisition is carried out to the preset task area;The quadcopter is used to return the information collected in real time to the shore-based platform in real time by the wave glider.The present application improves the sea detection range of unmanned ship.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of information collection, in particular to an unmanned aerial vehicle information collection system based on an unmanned ship. BACKGROUND

[0002] In the future intelligent water area security and protection "distributed" patrol mode, people are in the rear. The unmanned ship security patrol equipment performs specific patrol, monitoring, reconnaissance and other tasks. The key is how to let people get rid of the various tasks and links of the patrol, and realize the ability of overall command. For this, new intelligent algorithms and software are researched, and the autonomous and collaborative technology of the unmanned ship is explored. Through the human-ship link, the unmanned ship cluster can complete the discovery, identification, tracking and monitoring of the target in each link of the security patrol under the management of an operator, so that the unmanned ship can execute tasks in complex environments and reduce the interference of external environment.

[0003] At the same time, the combination of unmanned aerial vehicles and unmanned ships can make the ocean detection more integrated, automated and intelligent. At present, the unmanned ship can detect the sea surface and underwater environment, and it is still difficult to detect the sea and sky environment for the unmanned ship. SUMMARY

[0004] The purpose of the present application is to provide an unmanned aerial vehicle information collection system based on an unmanned ship, which improves the sea detection range of the unmanned ship.

[0005] To achieve the above purpose, the present application provides the following scheme:

[0006] An unmanned aerial vehicle information collection system based on an unmanned ship, comprising a shore-based platform, a wave glider and a quadcopter;

[0007] The wave glider is used to carry the quadcopter and provide energy for the quadcopter, and the wave glider is also used to travel according to the instructions of the shore-based platform. When the wave glider travels to a preset task area, the shore-based platform is used to control the quadcopter through the wave glider to collect real-time information in the preset task area. The quadcopter is used to transmit the real-time collected information to the shore-based platform through the wave glider in real time.

[0008] The wave glider is also used to collect the wind speed, wind direction and air pressure in the current area, determine the external force acting on the quadcopter when taking off according to the wind speed and wind direction, and send the external force to the quadcopter. The quadcopter adjusts the pose of the quadcopter according to the external force, and the quadcopter adjusts the take-off speed according to the air pressure.

[0009] Optionally, the wave glider is used to carry one or more than one quadcopter.

[0010] Optionally, the shore-based platform communicates with the wave glider through a communication satellite.

[0011] Optionally, the wave glider comprises a wireless power supply mode and a communication connection mode, and the quadcopter comprises a wireless charging mode and a communication connection mode.

[0012] When the wave glider establishes a communication link with the quadcopter:

[0013] The shore-based platform is used to send a connection instruction to the wave glider; when the wave glider receives the connection instruction, the wave glider exits the wireless power supply mode and starts the communication connection mode, and the quadcopter exits the wireless charging mode and starts the communication connection mode.

[0014] When the quadcopter starts the communication connection mode, the quadcopter sends a communication connection request to the wave glider, the wave glider is used to identify the serial number of the quadcopter and establish a communication connection with the quadcopter, and send confirmation communication information to the quadcopter.

[0015] After the quadcopter receives the confirmation communication information sent by the wave glider, the quadcopter starts the motor and sends various performance indicators of the quadcopter to the shore-based platform through the wave glider; after the shore-based platform receives the various performance indicators of the quadcopter, it detects whether all the performance indicators meet the preset requirements, and if all the performance indicators meet the preset requirements, it sends a take-off permission instruction to the quadcopter through the wave glider.

[0016] Optionally, the shore-based platform corrects the flight parameters of the quadcopter according to the various performance indicators of the quadcopter, and sends the corrected flight parameters to the wave glider, and the wave glider corrects the attitude of the quadcopter according to the corrected flight parameters.

[0017] Optionally, the shore-based platform is used to send the coordinates of the preset task area to the quadcopter through the wave glider, and the quadcopter is used to fly to the preset task area according to the coordinates of the preset task area.

[0018] When the quadcopter flies to the preset task area, the quadcopter lowers to a set height, turns on the on-board CCD camera, takes multi-angle photos of the sea waves, and obtains the sea wave information; after the quadcopter obtains the sea wave information, the quadcopter flies back to the wave glider and sends the sea wave information to the wave glider.

[0019] Optionally, when the quadcopter flies back to the wave glider:

[0020] When the quadcopter flies above the wave glider, the CCD camera is turned on to identify the marker on the parking platform of the wave glider and determine the center point; the quadcopter adjusts the flight attitude to position the body center directly opposite to the center point until the quadcopter lands on the designated position of the wave glider; after the quadcopter lands on the designated position of the wave glider, the pressure sensor on the parking platform is triggered, the wave glider issues a hibernation instruction to the quadcopter according to the signal of the pressure sensor and starts the wireless charging mode of the quadcopter.

[0021] According to the specific embodiments of the present application, the following technical effects are disclosed:

[0022] The application discloses an unmanned aerial vehicle information collection system based on an unmanned ship, and has the advantages of global positioning, long-range communication, autonomous navigation and position keeping, and can realize long-term and large-range sea-air navigation. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0024] Figure 1 The application discloses an unmanned aerial vehicle information collection system based on an unmanned ship, and has the advantages of global positioning, long-range communication, autonomous navigation and position keeping, and can realize long-term and large-range sea-air navigation.

[0025] Figure 2 The application discloses an unmanned aerial vehicle information collection system based on an unmanned ship, and has the advantages of global positioning, long-range communication, autonomous navigation and position keeping, and can realize long-term and large-range sea-air navigation. DETAILED DESCRIPTION

[0026] Clearly, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0027] The purpose of the present application is to provide an unmanned ship-based unmanned aerial vehicle information acquisition system, which improves the offshore detection range of the unmanned ship.

[0028] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below in combination with the drawings and specific embodiments.

[0029] Figure 1 The present application is a structure diagram of an unmanned ship-based unmanned aerial vehicle information acquisition system, Figure 2 The present application is a working process diagram of an unmanned ship-based unmanned aerial vehicle information acquisition system, as Figures 1-2 The present application is an unmanned ship-based unmanned aerial vehicle information acquisition system, which includes a shore-based platform, a wave glider and a quadcopter. Figure 2 The unmanned ship on the water surface is the wave glider.

[0030] The wave glider is used to carry the quadcopter and provide energy for the quadcopter, and is also used to travel according to the instructions of the shore-based platform; when the wave glider travels to a preset task area, the shore-based platform is used to control the quadcopter to collect real-time information in the preset task area through the wave glider; the quadcopter is used to return the collected real-time information to the shore-based platform through the wave glider.

[0031] After the wave glider reaches the preset task area, the quadcopter is started, first enters a low-altitude self-stabilization state, and then adjusts the attitude to prepare for the subsequent information acquisition.

[0032] The quadcopter collects real-time image information in the preset task area, and then returns the real-time image information to the shore-based platform through the wave glider, so as to realize the inspection of the equipment, the collection of the sea surface information and the low-altitude close-in reconnaissance, etc.

[0033] The wave glider is used to carry one or more quadcopters.

[0034] The shore-based platform and the wave glider communicate through a communication satellite.

[0035] The wave glider comprises a wireless power supply mode and a communication connection mode, and the quadrotor aircraft comprises a wireless charging mode and a communication connection mode.

[0036] The wave glider provides sufficient energy for the quadrotor through wireless charging technology, solves the problem of insufficient endurance of the quadrotor aircraft, greatly reduces the cost of sea surface equipment inspection and information collection, and simultaneously serves as a data relay of the quadrotor aircraft to return the collected information to the shore-based platform in real time.

[0037] The implementation process of the present application is as follows:

[0038] Firstly, the wave glider and the quadrotor aircraft are used to correct the attitude through the sensors carried by the wave glider and the sensors of the quadrotor aircraft, and then the wave glider and the quadrotor aircraft establish data communication, the quadrotor aircraft returns the collected low-altitude water surface information to the wave glider in real time, and the wave glider returns the real-time information to the shore-based platform through the communication satellite, so as to realize equipment inspection information return, sea surface data collection and low-altitude close-in reconnaissance.

[0039] The principle of the low-altitude unmanned information collection of the quadrotor aircraft and the unmanned aircraft attitude correction method of the present application is as follows:

[0040] The shore-based platform determines whether the take-off condition is met according to the weather information returned by the wave glider; if the condition is met, the wave glider and the quadrotor aircraft establish communication connection, the shore-based platform sends take-off instructions to the quadrotor aircraft through the wave glider, the quadrotor aircraft returns the flight attitude data to the shore-based platform in real time through the wave glider, and the shore-based platform corrects the attitude of the quadrotor aircraft in real time according to the returned data; the shore-based platform sends task instructions to the quadrotor aircraft through the wave glider, the quadrotor aircraft starts video monitoring, and the image information is returned to the wave glider in real time, and then is sent to the shore-based platform through the wave glider for equipment inspection and information collection.

[0041] When the wave glider and the quadrotor aircraft establish communication link:

[0042] The shore-based platform is used to send a connection instruction to the wave glider; when the wave glider receives the connection instruction, the wave glider exits the wireless power supply mode and starts the communication connection mode, and simultaneously the quadrotor aircraft exits the wireless charging mode and starts the communication connection mode.

[0043] When the quadcopter opens the communication connection mode, the quadcopter sends a communication connection request to the wave glider, the wave glider identifies the serial number of the quadcopter and establishes a communication connection with the quadcopter, and sends confirmation communication information to the quadcopter.

[0044] After the quadcopter receives the confirmation communication information sent by the wave glider, the quadcopter starts the motor and sends various performance indicators of the quadcopter to the shore-based platform through the wave glider; after the shore-based platform receives the various performance indicators of the quadcopter, it detects whether all the performance indicators meet the preset requirements, if all the performance indicators meet the preset requirements, it sends a take-off permission instruction to the quadcopter through the wave glider, otherwise it performs fault diagnosis.

[0045] After determining that the wave glider and the quadcopter establish a communication connection, the method for correcting the attitude of the quadcopter is as follows:

[0046] The weather monitoring station of the wave glider is also used to collect weather information in the current area using a water temperature sensor, a barometric temperature sensor, and a wind speed sensor. The weather information includes wind speed, wind direction, and air pressure. The external force experienced by the quadcopter during take-off is determined based on the wind speed and wind direction, and the external force is sent to the central control system of the quadcopter through the Bluetooth system. The quadcopter adjusts the pose of the quadcopter according to the external force, and adjusts the take-off speed according to the air pressure.

[0047] The quadcopter considers the wind speed in the single-sided force problem during straight flight based on the obtained external force, adjusts the Euler angle to offset the force caused by the wind speed, and adjusts the take-off speed based on the air pressure to achieve more stable take-off. Finally, the residual network is used to correct the brushless motor parameters for vertical take-off.

[0048] The attitude adjustment of the quadcopter is adjusted by the three-axis accelerometer, digital compass and gyroscope. Since the gyroscope will produce error accumulation, a three-axis accelerometer is needed to compare and compensate the gravity in the horizontal plane to correct the vertical error of the gyroscope. However, for rotation on the vertical axis, the accelerometer is powerless, and the electronic compass is used at this time. The electronic compass can also measure the geomagnetic direction in the horizontal plane to correct the horizontal error of the gyroscope. Through the correction and compensation of the three-axis accelerometer and digital compass, the gyroscope works more stably and reliably.

[0049] The linear acceleration, angular velocity and magnetic force data collected by the quadcopter are coupled and calculated using the quaternion method, and finally the correct attitude and orientation information is calculated. In the quaternion method, there is a virtual part unit i ,j and k and each imaginary part is -1, the quaternion is expressed as:

[0050] Q = q 0+ q 1 i + q 2 j + q 3 k (1)

[0051] where q 0, q 1, q 2 and q 3 are real numbers, i , j and k have geometric meaning of rotation, where i is rotation in the XY plane of the coordinate system about the positive X axis to the positive Y axis, j is rotation in the ZX plane of the coordinate system about the positive Z axis to the positive X axis, k is rotation in the YZ plane of the coordinate system about the positive Y axis to the positive Z axis, and i , j and k are inverse rotations of i , j and k .

[0052] Suppose the inertial coordinate system rotates around a known vector R about the rotation axis n by an angle f to the position where the carrier coordinate system is located, then the following set of quaternions can be obtained:

[0053] (2)

[0054] where N x , N y and N z represent the direction cosine values between the rotation axis n and the axes of the inertial coordinate system, since Q belongs to the characteristic quaternion, its norm is 1, then Q |is expressed as:

[0055] (3)

[0056] Next, the attitude update and calculation of the flight control system of the quad-rotor aircraft are carried out by solving the quaternion differential equation, which is shown as follows:

[0057] (4)

[0058] in w =0+ w x i + w y j + w z k ,and w x , w y and w z These are the angular velocities along the X, Y, and Z axes, respectively, collected by the attitude sensor in the carrier coordinate system. The quaternion differential equations are then written in matrix form as follows:

[0059] (5)

[0060] Because solving this differential equation involves a certain amount of computation, the first-order Runge-Kutta method can be used to update the quaternions. The formula for the first-order Runge-Kutta method is shown below:

[0061] (6)

[0062] in T Let q(t) be the quaternion update period, q(t) be the quaternion at time t, and q(t+T) be the quaternion for the next period. Substituting the quaternion differential equation into the above equation yields the following system of quaternion update equations:

[0063] (7)

[0064] After the quaternion update calculation in equation (7), the newly obtained quaternion needs to be normalized. The normalization formula is as follows:

[0065] (8)

[0066] Stable and effective quaternion data can be obtained after normalization using equation (8). However, Euler angles, which are more intuitive, were used in the previous chapters when designing the control law for the quadcopter. Therefore, it is necessary to convert the updated quaternion data into Euler angles. The conversion formula is as follows:

[0067] (9)

[0068] in θ , Ψ and γThe pitch angle, the heading angle and the roll angle are represented in sequence, and the attitude information of the quad-rotor aircraft is correctly calculated by using the quaternion method.

[0069] The flight attitude information of the quad-rotor aircraft is transmitted to the wave glider in real time, and then transmitted to the shore-based platform via a communication satellite.

[0070] The shore-based platform corrects the flight parameters of the quad-rotor aircraft according to the performance indicators of the quad-rotor aircraft, and sends the corrected flight parameters to the wave glider, and the wave glider corrects the attitude of the quad-rotor aircraft according to the corrected flight parameters.

[0071] The real-time information acquisition method is as follows:

[0072] The shore-based platform is used to send the coordinates of the preset task area to the quad-rotor aircraft through the wave glider, and the quad-rotor aircraft is used to fly to the preset task area according to the coordinates of the preset task area, specifically, the quad-rotor aircraft adjusts the brushless motor according to the coordinates to adjust the angle and stably flies to the coordinates of the preset task area.

[0073] When the quad-rotor aircraft flies to the preset task area, the quad-rotor aircraft lowers to a set height, turns on the on-board CCD camera, takes multi-angle photos of the sea waves, and obtains sea wave information; after the quad-rotor aircraft obtains the sea wave information, the quad-rotor aircraft flies back to the wave glider and sends the sea wave information to the wave glider, and the wave glider transmits the image information to the shore-based platform in real time through a relay satellite.

[0074] The recycling method of the quad-rotor aircraft is as follows:

[0075] When the quad-rotor aircraft flies back to the wave glider:

[0076] When the quad-rotor aircraft flies above the wave glider, the CCD camera is turned on to identify the marker on the parking platform of the wave glider and determine the center point.

[0077] The quad-rotor aircraft adjusts the flight attitude to position the center of the body directly opposite the center point and corrects the real-time attitude to ensure that the quad-rotor aircraft is always directly above the target point.

[0078] The quadcopter lands on the designated position of the wave glider, and after the quadcopter lands on the designated position of the wave glider, a pressure sensor on the parking platform is triggered, the wave glider issues a hibernation instruction to the quadcopter according to the signal of the pressure sensor and starts the wireless charging mode of the quadcopter.

[0079] The wave glider closes the parking platform cabin and goes to the next task area to complete the recovery work of the quadcopter.

[0080] The present application overcomes the defects that the quadcopter cannot realize long-distance detection and information return, and the difficulty that the attitude correction of the aircraft is caused by the swing of the unmanned ship. The present application fully utilizes the unlimited navigation of the wave glider and the flexible characteristics of the quadcopter to realize the complementary advantages, uses the wave glider to provide backup power and data transmission relay for the quadcopter, and realizes the detection of multiple functions by carrying different detection modules on the quadcopter.

[0081] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0082] The principles and implementation modes of the present application are described by applying specific examples in this specification, and the above description of the embodiments is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In view of the above, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A drone information collection system based on an unmanned surface vessel, characterized in that, This includes shore-based platforms, wave gliders, and quadcopter aircraft; The wave glider is used to carry the quadcopter and provide power to it. The wave glider also travels according to instructions from the shore-based platform. When the wave glider reaches a preset mission area, the shore-based platform controls the quadcopter via the wave glider to collect real-time information about the mission area. The quadcopter then transmits the collected information back to the shore-based platform via the wave glider. The wave glider is also used to collect wind speed, wind direction and air pressure in the current area, determine the external force on the quadcopter when it takes off based on the wind speed and wind direction, and send the external force to the quadcopter; the quadcopter adjusts its attitude based on the external force and adjusts its takeoff speed based on the air pressure. The attitude adjustment of a quadcopter is jointly adjusted by a three-axis accelerometer, a digital compass, and a gyroscope. The three-axis accelerometer compares and compensates for gravity in the horizontal plane to correct the vertical error of the gyroscope. The electronic compass also measures the geomagnetic direction in the horizontal plane to correct the horizontal error of the gyroscope. The linear acceleration, angular velocity and magnetic force data collected by the quadrotor aircraft are coupled and calculated using the quaternion method to obtain the correct attitude and orientation information; The wave glider includes a wireless power supply mode and a communication connection mode, and the quadcopter includes a wireless charging mode and a communication connection mode. When the wave glider establishes a communication link with the quadcopter: The shore-based platform is used to send a connection command to the wave glider. When the wave glider receives the connection command, it exits the wireless power supply mode and starts the communication connection mode. At the same time, the quadcopter exits the wireless charging mode and starts the communication connection mode. When the quadcopter activates the communication connection mode, the quadcopter sends a communication connection request to the wave glider. The wave glider is used to establish a communication connection with the quadcopter by identifying the quadcopter's serial number and to send confirmation communication information to the quadcopter. After receiving the confirmation communication information sent by the wave glider, the quadcopter starts its motors and sends its various performance indicators to the shore-based platform via the wave glider. After receiving the various performance indicators of the quadcopter, the shore-based platform checks whether each performance indicator meets the preset requirements. If the preset requirements are met, the shore-based platform sends a takeoff permission command to the quadcopter via the wave glider. The shore-based platform corrects the flight parameters of the quadcopter based on its various performance indicators, and sends the corrected flight parameters to the wave glider. The wave glider then corrects the attitude of the quadcopter based on the corrected flight parameters.

2. The unmanned aerial vehicle (UAV) information collection system based on an unmanned vessel according to claim 1, characterized in that, The wave glider is used to carry one or more of the aforementioned quadcopter aircraft.

3. The unmanned aerial vehicle (UAV) information collection system based on an unmanned vessel according to claim 1, characterized in that, The shore-based platform communicates with the wave glider via a communication satellite.

4. The unmanned aerial vehicle (UAV) information collection system based on an unmanned vessel according to claim 1, characterized in that, The shore-based platform is used to send the coordinates of the preset mission area to the quadcopter via the wave glider, and the quadcopter is used to fly to the preset mission area according to the coordinates of the preset mission area. After the quadcopter flies to the preset mission area, it descends to a set altitude, activates its onboard CCD camera, and takes pictures of the waves from multiple angles to obtain wave information. After obtaining the wave information, the quadcopter flies back to the wave glider and sends the wave information to the wave glider.

5. The unmanned aerial vehicle (UAV) information collection system based on an unmanned vessel according to claim 4, characterized in that, When the quadcopter returns to the wave glider: When the quadcopter flies above the wave glider, it activates its CCD camera to identify the marker on the wave glider's landing platform and determine its center point. The quadcopter adjusts its flight attitude so that its body positioning center is aligned with the center point until it lands on the wave glider at a designated position. After landing on the wave glider, the quadcopter triggers the pressure sensor on the landing platform. Based on the signal from the pressure sensor, the wave glider issues a hibernation command to the quadcopter and initiates the quadcopter's wireless charging mode.

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