A system and method for cooperative remote sensing measurement of a UAV swarm

Abstract

The application relates to a UAV group cooperative remote sensing measurement system and method, which comprises a plurality of extension devices corresponding to fixedly arranged on a UAV, the extension device comprises a master control module, the master control module is detachably connected with a storage module and a power supply module, the master control module comprises a controller, the controller is electrically connected with a positioning unit, a first communication unit and a second communication unit, the first communication unit is in communication connection with the UAV, and the second communication unit is used for being in communication connection with adjacent sensing devices. On the basis of the UAV, the extension device can be used for carrying out real-time backup on the measurement data obtained in the UAV remote sensing measurement process, so that the data loss can be avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of remote sensing measurement, in particular to a UAV group cooperative remote sensing measurement system and method thereof. BACKGROUND

[0002] Remote sensing refers to non-contact and long-distance detection technology. Generally refers to the use of sensors / remote sensors to detect the electromagnetic wave radiation and reflection characteristics of an object. Remote sensing is the detection of target objects by remote sensors, which are instruments sensitive to electromagnetic waves, under the condition of being far away from the target and non-contact with the target object. With the rapid development of unmanned aerial vehicles, the related technology of using unmanned aerial vehicles for remote sensing measurement has gradually matured. Due to its strong versatility and high flexibility, it has been more and more widely used. In the prior art, when using unmanned aerial vehicles for remote sensing measurement, it is mostly dependent on the unmanned aerial vehicles themselves to transmit data. Because remote sensing measurement is mostly applied in wild areas, the communication quality is poor, which can easily cause the loss of measurement data, resulting in the need for re-measurement. SUMMARY

[0003] In order to solve the problems in the prior art, the purpose of the present application is to provide a UAV group cooperative remote sensing measurement system and method thereof, which can use an extension device to backup the measurement data obtained during the remote sensing measurement process of the unmanned aerial vehicle in real time on the basis of the unmanned aerial vehicle, thereby avoiding the loss of data.

[0004] In order to achieve the above-mentioned purpose, the specific scheme adopted by the present application is as follows:

[0005] A UAV group cooperative remote sensing measurement system comprises a plurality of extension devices corresponding to and fixedly arranged on unmanned aerial vehicles, wherein the extension device comprises a main control module, the main control module is detachably connected with a storage module and a power supply module, the main control module comprises a controller, the controller is electrically connected with a positioning unit, a first communication unit and a second communication unit, the first communication unit is in communication connection with the unmanned aerial vehicle, and the second communication unit is used to communicate with the adjacent sensing device.

[0006] Preferably, the extension device comprises two mutually parallel mounting strips, the mounting strips are fixedly connected with the unmanned aerial vehicle, the main control module is fixedly connected between the two mounting strips, the storage module and the power supply module are located on the two sides of the main control module respectively, a sliding groove for accommodating the storage module or the power supply module is formed on the mounting strip, the sliding groove extends along the length direction of the mounting strip, and the sliding grooves on the two mounting strips are oppositely arranged.

[0007] Preferably, the mounting strip is fixedly connected with the unmanned aerial vehicle through an adhesive sheet.

[0008] Preferably, two recesses are formed on the main control module, and magnetic attraction contacts for connecting the storage module or the power supply module are arranged in the recesses.

[0009] Preferably, the mounting strip is connected with a pressing assembly for pressing the storage module or the power supply module on the main control module, and the pressing assembly comprises a damping rotating shaft fixedly connected with the mounting strip, and the damping rotating shaft is rotationally connected with a limiting rod.

[0010] Preferably, the storage module and the power supply module are both connected with a heat dissipation assembly, the heat dissipation assembly is located between the two mounting strips, and the heat dissipation assembly comprises a plurality of parallel heat dissipation fins.

[0011] The application also provides a UAV group cooperative remote sensing measurement method based on the UAV group cooperative remote sensing measurement system.

[0012] S1, the extension device is fixedly arranged on the UAV;

[0013] S2, the main control module is connected with the UAV through the first communication unit;

[0014] S3, the extension devices of all UAVs construct an extension network through the second communication unit;

[0015] S4, measurement data are obtained by remote sensing measurement of the UAV, and the measurement data are sent to the controller of the main control module;

[0016] S5, the controller sends the measurement data to the extension network.

[0017] Preferably, the specific method of step S3 is as follows:

[0018] S31, after the UAV takes off, the controller generates a network construction instruction and broadcasts it;

[0019] S32, after the controller of the remaining UAV receives the network construction instruction, the controller returns a determination message to the UAV corresponding to the first network construction instruction;

[0020] S33, the controller of the UAV receiving the determination message broadcasts the information of all UAVs corresponding to the determination messages to the extension network.

[0021] Preferably, in step S31, the network construction instruction comprises an absolute time scale, after receiving the network construction instruction, the unmanned aerial vehicle arranges the network construction instruction according to the absolute time scale, and compares the absolute time scale in the network construction instruction generated by itself with the first absolute time scale, if the absolute time scale in the network construction instruction generated by itself is smaller than the first absolute time scale, the unmanned aerial vehicle broadcasts the determination message to all the other unmanned aerial vehicles.

[0022] Preferably, in step S5, when the data amount of the measurement data reaches a set threshold, the controller broadcasts the measurement data to the extended network.

[0023] The application can realize real-time backup of measurement data obtained in the unmanned aerial vehicle remote sensing measurement process by using the extension device based on the unmanned aerial vehicle, thereby avoiding the data loss. BRIEF DESCRIPTION OF DRAWINGS

[0024] 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 to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0025] Fig. 1 is the overall structure diagram of the extension device;

[0026] Fig. 2 is the structure diagram of the mounting strip;

[0027] Fig. 3 is the structure diagram of the storage module.

[0028] Reference signs: 1-mounting strip, 2-main control module, 3-limiting rod, 4-storage module, 5-power supply module, 6-radiation fin, 7-damping shaft, 8-adhesive sheet, 9-groove, 10-magnetic attraction contact, 11-rubber gasket, 12-storage card, 13-storage slot. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0030] Please refer to Figs. 1 to 3 , Fig. 1 is the overall structure diagram of the extension device,Fig. 2 is a structural diagram of the installation strip, Fig. 3 is a structural diagram of the storage module.

[0031] The unmanned aerial vehicle group cooperative remote sensing measurement system comprises a plurality of extension devices corresponding to being fixedly arranged on unmanned aerial vehicles, the extension device comprises a master control module 2, the master control module 2 is detachably connected with a storage module 4 and a power supply module 5, the master control module 2 comprises a controller, the controller is electrically connected with a positioning unit, a first communication unit and a second communication unit, the first communication unit is in communication connection with the unmanned aerial vehicle, and the second communication unit is used for being in communication connection with adjacent sensing devices.

[0032] In use, the extension device is fixedly arranged on the unmanned aerial vehicle in correspondence, the master control module 2 and the flight control of the unmanned aerial vehicle are communicated and connected through the first communication unit, then all the extension devices construct an extension network by utilizing the second communication unit, after that, the unmanned aerial vehicle starts remote sensing measurement, measurement data is sent to the ground host computer on one hand and broadcasted to the extension network on the other hand, all the extension devices are backed up mutually, so that the safety of the measurement data is effectively improved, and the condition of data loss is avoided.

[0033] The application can realize real-time backup of measurement data obtained in the remote sensing measurement process of the unmanned aerial vehicle by utilizing the extension device on the basis of the unmanned aerial vehicle, so that the condition of data loss is avoided.

[0034] The specific structure of the extension device is that: the extension device comprises two mutually parallel installation strips 1, the installation strip 1 is fixedly connected with the unmanned aerial vehicle, the master control module 2 is fixedly connected between the two installation strips 1, the storage module 4 and the power supply module 5 are located on the two sides of the master control module 2 respectively, a sliding groove for accommodating the storage module 4 or the power supply module 5 is formed in the installation strip 1, the sliding groove extends along the length direction of the installation strip 1, and the sliding grooves on the two installation strips 1 are oppositely arranged. When the extension device is installed, first, the installation strip 1 is fixed to the unmanned aerial vehicle, then the storage module 4 and the power supply module 5 are connected with the master control module 2 from the two sides of the master control module 2, and the sliding groove can guide the storage module 4 or the power supply module 5 during the connection process, so that the storage module 4 and the power supply module 5 can be stably and accurately connected with the master control module 2.

[0035] The specific connection mode of the installation strip 1 and the unmanned aerial vehicle is that: the installation strip 1 is fixedly connected with the unmanned aerial vehicle through an adhesive piece 8. The installation strip 1 is fixed to the unmanned aerial vehicle in the adhesive mode, which is simple, fast and good in universality and suitable for various unmanned aerial vehicles.

[0036] The specific connection mode of the master control module 2 and the storage module 4 and the power supply module 5 is that two recesses 9 are formed on the master control module 2, and magnetic attraction contacts 10 for connecting the storage module 4 or the power supply module 5 are arranged in the recesses 9. Correspondingly, the storage module 4 and the power supply module 5 are also provided with inductive contacts corresponding to the magnetic attraction contacts 10, which belong to the mature prior art in the field, and will not be described here. The magnetic attraction connection mode is more simple and fast.

[0037] In order to ensure that the inductive contacts and the magnetic attraction contacts 10 can be stably contacted, the mounting strip 1 is connected with a pressing assembly for pressing the storage module 4 or the power supply module 5 on the master control module 2, and the pressing assembly comprises a damping rotating shaft 7 fixedly connected with the mounting strip 1, and the damping rotating shaft 7 is rotationally connected with a limiting rod 3. The limiting rod 3 can prevent the storage module 4 or the power supply module 5 from falling off, so as to ensure that it can be stably connected with the master control module 2, and the damping rotating shaft 7 can prevent the limiting rod 3 from rotating, so as to ensure that the limiting rod 3 can limit the storage module 4 or the power supply module 5.

[0038] In order to ensure that the storage module 4 and the power supply module 5 can continuously and stably operate, the storage module 4 and the power supply module 5 are both connected with a heat dissipation assembly, and the heat dissipation assembly is located between the two mounting strips 1 and comprises a plurality of parallel heat dissipation fins 6.

[0039] The storage module 4 and the power supply module 5 both comprise a shell, wherein a storage slot 13 is formed on the shell of the storage module 4, and a storage card 12 is detachably arranged in the storage slot 13, the storage card 12 is used as a storage device for measuring data, has strong universality, is convenient to read and replace, and the shell of the power supply module 5 is provided with a battery, and the battery is a lithium battery.

[0040] In order to ensure the limiting effect of the limiting rod 3, two rubber pads 11 are arranged on the shell of the storage module 4 and the shell of the power supply module 5, the rubber pads 11 are used for contacting the limiting rod 3, further avoiding the rotation of the limiting rod 3, so as to realize the effect of ensuring the stability of the storage module 3 and the power supply module 5.

[0041] In the application, the first communication unit adopts a wired communication mode and is connected with a data interface of the unmanned aerial vehicle through a data line, and the second communication unit adopts a wireless communication mode, which can be 2.4G wireless communication or Zigbee wireless communication.

[0042] In one specific embodiment of the present application, a UAV swarm cooperative remote sensing measurement system comprises a plurality of extension devices corresponding to fixedly arranged on the UAV, the extension device comprises a master module 2, the master module 2 is detachably connected with a storage module 4 and a power supply module 5, the master module 2 comprises a controller, the controller is electrically connected with a positioning unit, a first communication unit and a second communication unit, the first communication unit is in communication connection with the UAV, the second communication unit is used for communication connection with the adjacent sensing device, the extension device comprises two mutually parallel mounting strips 1, the mounting strip 1 is fixedly connected with the UAV through the adhesive sheet 8, the mounting strip 1 is fixed to the UAV in the form of adhesion, which is simple and fast to operate, and has good versatility and is suitable for various different models of UAVs, the mounting strip 1 is fixedly connected with the UAV, the master module 2 is fixedly connected between the two mounting strips 1, the storage module 4 and the power supply module 5 are located on the two sides of the master module 2 respectively, a sliding groove for accommodating the storage module 4 or the power supply module 5 is formed on the mounting strip 1, the sliding groove extends along the length direction of the mounting strip 1, and the sliding grooves on the two mounting strips 1 are oppositely arranged, when the extension device is installed, the mounting strip 1 is first fixed to the UAV, and then the storage module 4 and the power supply module 5 are connected with the master module 2 from the two sides of the master module 2 respectively, the sliding groove can guide the storage module 4 or the power supply module 5 during the connection process, so that the storage module 4 and the power supply module 5 can be stably and accurately connected with the master module 2, two grooves 9 are formed on the master module 2, magnetic attraction contacts 10 for connecting the storage module 4 or the power supply module 5 are arranged in the grooves 9, the storage module 4 and the power supply module 5 are also provided with sensing contacts corresponding to the magnetic attraction contacts 10, the magnetic attraction connection mode is more simple and fast, the mounting strip 1 is connected with a pressing assembly for pressing the storage module 4 or the power supply module 5 on the master module 2, the pressing assembly comprises a damping shaft 7 fixedly connected with the mounting strip 1, the damping shaft 7 is rotatably connected with a limiting rod 3, the limiting rod 3 can prevent the storage module 4 or the power supply module 5 from falling off, so as to ensure that the storage module 4 or the power supply module 5 can be stably connected with the master module 2, the damping shaft 7 can prevent the limiting rod 3 from rotating, so as to ensure that the limiting rod 3 can limit the storage module 4 or the power supply module 5, the storage module 4 and the power supply module 5 are both connected with a heat dissipation assembly, the heat dissipation assembly is located between the two mounting strips 1, the heat dissipation assembly comprises a plurality of mutually parallel heat dissipation fins 6, two rubber pads 11 are arranged on the storage module 4 and the shell and the shell of the power supply module 5, the rubber pads 11 are used to contact with the limiting rod 3, further preventing the limiting rod 3 from rotating, thereby realizing the effect of ensuring the stability of the storage module 3 and the power supply module 5.

[0043] A UAV swarm cooperative remote sensing measurement method based on the above-mentioned UAV swarm cooperative remote sensing measurement system, the method comprising steps S1 to S5.

[0044] S1, the extension device is fixedly arranged on the UAV.

[0045] S2, the master module 2 is communicatively connected with the UAVs through the first communication unit.

[0046] S3, the extension devices of all the UAVs construct an extension network through the second communication unit. The specific method of step S3 is S31-S33.

[0047] S31, after the UAVs take off, the controllers generate network construction instructions and broadcast. In step S31, the network construction instructions include absolute time marks. After receiving the network construction instructions, the UAVs arrange the network construction instructions according to the absolute time marks, and compare the absolute time mark of the first network construction instruction with the absolute time mark in the network construction instruction generated by itself. If the absolute time mark of the first network construction instruction is smaller than the absolute time mark of the network construction instruction generated by itself, the UAV broadcasts a confirmation message to the rest of the UAVs.

[0048] S32, after the controllers of the rest of the UAVs receive the network construction instructions, the controllers return a confirmation message to the UAV corresponding to the first network construction instruction.

[0049] S33, the controller of the UAV receiving the confirmation message broadcasts the information of the UAV corresponding to all the confirmation messages to the extension network.

[0050] S4, the UAVs are used to obtain measurement data by remote sensing measurement, and the measurement data is sent to the controller of the master module 2.

[0051] S5, the controller sends the measurement data to the extension network. In step S5, when the data volume of the measurement data reaches a set threshold, the controller broadcasts the measurement data to the extension network.

[0052] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0053] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A collaborative remote sensing measurement system for unmanned aerial vehicle (UAV) swarms, characterized in that: It includes multiple corresponding fixed extension devices on the UAV. The extension device includes a main control module (2). The main control module (2) is detachably connected to a storage module (4) and a power supply module (5). The main control module (2) includes a controller. The controller is electrically connected to a positioning unit, a first communication unit and a second communication unit. The first communication unit is connected to the UAV for communication, and the second communication unit is used to connect to an adjacent sensing device for communication. The expansion device includes two parallel mounting strips (1), which are fixedly connected to the UAV. The main control module (2) is fixedly connected between the two mounting strips (1). The storage module (4) and the power supply module (5) are located on both sides of the main control module (2). The mounting strips (1) are provided with grooves for accommodating the storage module (4) or the power supply module (5). The grooves extend along the length of the mounting strips (1), and the grooves on the two mounting strips (1) are arranged opposite to each other. The mounting strip (1) is fixedly connected to the UAV by the adhesive piece (8); The main control module (2) has two grooves (9), and magnetic contacts (10) for connecting the storage module (4) or the power supply module (5) are provided in the grooves (9). The mounting strip (1) is connected to a clamping assembly for pressing the storage module (4) or the power supply module (5) onto the main control module (2). The clamping assembly includes a damping shaft (7) fixedly connected to the mounting strip (1), and the damping shaft (7) is rotatably connected to a limit rod (3).

2. The UAV swarm collaborative remote sensing measurement system as described in claim 1, characterized in that: Both the storage module (4) and the power supply module (5) are connected to a heat dissipation component, which is located between the two mounting strips (1) and includes multiple parallel heat dissipation fins (6).

3. A method for collaborative remote sensing measurement using a swarm of unmanned aerial vehicles (UAVs), characterized in that: Based on the UAV swarm collaborative remote sensing measurement system as described in claim 1, the method includes the following steps: S1. Fix the extension device on the drone accordingly; S2. The main control module (2) is connected to the UAV through the first communication unit; S3. All the extended devices of the UAVs construct an extended network through the second communication unit; S4. Use a drone to perform remote sensing measurements to obtain measurement data, and send the measurement data to the controller of the main control module (2); S5. The controller sends the measurement data to the extended network.

4. The method as described in claim 3, characterized in that: The specific method for step S3 is as follows: S31. After the drone takes off, the controller generates and broadcasts a network construction command. S32. After receiving the network construction instruction, the controllers of the other drones return a confirmation message to the drone corresponding to the first network construction instruction. S33. The controller of the UAV that receives the confirmation message broadcasts the information of all UAVs corresponding to the confirmation message to the extended network.

5. The method as described in claim 4, characterized in that: In step S31, the network construction instruction includes an absolute time stamp. After receiving the network construction instruction, the UAV arranges the network construction instructions according to the absolute time stamp and compares the first absolute time stamp with the absolute time stamp in its own generated network construction instruction. If its own absolute time stamp is less than the first absolute time stamp, it broadcasts the confirmation message to all other UAVs.

6. The method as described in claim 5, characterized in that: In step S5, when the amount of measurement data reaches a set threshold, the controller broadcasts the measurement data to the extended network.

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