Material conveying system for guaranteeing vehicle and application method

Abstract

The invention relates to the technical field of comprehensive guarantee transportation, discloses a material conveying system for a guarantee vehicle and an application method, and aims at solving the problem that when an existing material conveying system is limited by terrains or needs to guarantee multiple objects at the same time, material conveying cannot be safely and efficiently achieved. The method comprises the following steps: acquiring position latitude and longitude information of a current material conveying system and a material receiving point, and acquiring obstacle information corresponding to a material conveying route sent by a ground control terminal; the ground control terminal generates a material transportation route according to the collected information, adjusts the route in combination with obstacle information, and generates one-key return flight information after receiving a feedback signal of the unmanned aerial vehicle; the unmanned aerial vehicle conveys the to-be-conveyed materials and then returns to the material conveying system; the one-key return button receives the one-key return information and commands the unmanned aerial vehicle to return. According to the invention, the problem of material transportation when a guarantee vehicle is limited by terrains or a plurality of objects need to be guaranteed at the same time is solved, and the material transportation efficiency and safety are improved.

Description

Technical Field

[0001] The present invention relates to the field of comprehensive support transportation technology, and in particular to a material transportation system for supporting vehicles and an application method thereof. Background Art

[0002] In the field of equipment vehicle formation, support vehicles are important support equipment, mainly responsible for carrying and transporting various tools, spare parts and other support materials. In actual applications, the ratio of support vehicles to supported objects is usually not 1:1, that is, one support vehicle often needs to provide support services for multiple equipment at the same time. In addition, in complex outdoor environments, support vehicles may not be able to directly reach the location of the supported object due to terrain restrictions (such as river barriers, roadbed collapse) or vehicle failures, which seriously affects the timeliness and effectiveness of material support work.

[0003] Traditional support vehicle material transportation methods rely on ground traffic conditions. When encountering terrain obstacles or poor road conditions, materials cannot be delivered to the target location in time; the existing support vehicles lack real-time location monitoring and environmental perception capabilities during material transportation, making it difficult to ensure the safety and reliability of the transportation process; traditional material transportation methods are inefficient when serving multiple support objects at the same time, and cannot achieve rapid material delivery over long distances and across obstacles.

[0004] Therefore, it is necessary to provide a material transportation system for securing vehicles, so as to achieve safe and efficient material transportation when there are terrain restrictions or when multiple objects need to be secured at the same time. Summary of the invention

[0005] This specification provides a material transportation system and application method for a support vehicle, which is used to solve the following technical problems: first, the problem of material transportation when the support vehicle cannot reach the target location due to terrain restrictions; second, the efficiency problem when a support vehicle needs to provide services to multiple support objects at the same time; third, the safety and reliability problem during the material transportation process. The present invention realizes the intelligent and automated material transportation by integrating positioning navigation, environmental perception, remote control and other technologies.

[0006] In a first aspect of the present invention, a material transport system for a support vehicle is provided, which is applied to a scenario where a support vehicle corresponds to multiple support objects, or the terrain between the support vehicle and the support objects is complex. The material transport system includes:

[0007] The location information collection module is configured on the support vehicle side and is used to collect the location longitude and latitude information of the current material delivery system and the material receiving point respectively;

[0008] The ground control terminal is configured on the support vehicle side, and is used to receive the location longitude and latitude information of the current material transportation system and the material receiving point, generate a material transportation route, and limit the flight altitude of the UAV in combination with the terrain and environment corresponding to the material transportation route; the UAV flight altitude is a pre-set altitude that satisfies the safety of the UAV flight;

[0009] The drone is configured to place the materials to be transported in the material storage and transportation box at a limited flight altitude to transport the materials to be transported, and to avoid obstacles and adjust the flight altitude to the ground in real time according to the obstacle avoidance radar and the ground ranging radar, and to adjust the landing point in real time according to the gimbal camera;

[0010] A one-key return button is configured on the drone. After the transported materials are taken down, a one-key return message is manually generated to command the drone to return.

[0011] Furthermore, the drone is equipped with an audible and visual alarm light;

[0012] The sound and light alarm light is configured to light up green after the drone lands at the material receiving point, prompting the material receiving point to take the materials to be transported;

[0013] When the materials to be transported are taken down and the drone is ready to return, the sound and light alarm light flashes red at a low frequency to remind the surrounding personnel to stay away from the drone, and the drone enters a self-check state;

[0014] After the drone status self-check passes, the sound and light alarm light will light up with a high-frequency flashing red light, and the drone will return after the set countdown ends.

[0015] A second aspect of the present invention provides an application method of a material delivery system for securing a vehicle. Based on the above-mentioned material delivery system for securing a vehicle, the application method includes:

[0016] Step S01, material receiving point coordinate collection: the location longitude and latitude information of the current material delivery system and the material receiving point are collected respectively through the location information collection module;

[0017] Step S02, material transportation route planning: the ground control terminal generates a material transportation route according to the longitude and latitude information of the current material transportation system and the material receiving point;

[0018] Step S03, flight altitude regulation: the terrain and environment corresponding to the material transportation route are collected through the location information collection module, the flight altitude of the drone is limited, and the material transportation route is adjusted; the flight altitude of the drone is a pre-set altitude that satisfies the safety of the drone flight;

[0019] Step S04, flying according to the route: the UAV flies according to the material transportation route, and avoids obstacles and adjusts the altitude above the ground in real time according to the obstacle avoidance radar and the ground ranging radar;

[0020] Step S05, landing at the target point: the UAV navigates to the top of the material receiving point, determines whether there is a splashdown and collision risk around the current material receiving point through the real-time video collected by the gimbal camera, and adjusts its position until it lands safely;

[0021] Step S06, return and recovery: When the drone lands, the sound and light alarm light turns green, and the staff takes the materials to be transported and presses the one-key return button to generate a one-key return message to command the drone to return.

[0022] Furthermore, the collecting of the location longitude and latitude information of the current material delivery system and the material receiving point respectively includes:

[0023] The location longitude and latitude information of the current material delivery system and the material receiving point is obtained through satellite or other communication methods. The material receiving point is in an open area without obstacles.

[0024] Furthermore, the location longitude and latitude information of the current material delivery system is stored in the drone. When the drone completes the delivery of the materials to be delivered, it returns according to the location longitude and latitude information of the current material delivery system.

[0025] Furthermore, limiting the flight altitude of the drone includes:

[0026] Obtain the terrain and environment corresponding to the material transportation route;

[0027] The highest point of the height is obtained, and based on the highest point, a set safety threshold is added to obtain a restricted flight altitude of the UAV.

[0028] Furthermore, the real-time obstacle avoidance includes:

[0029] The drone flies along the material transport route and collects real-time information about the drone's surrounding environment through obstacle avoidance radar;

[0030] If there are obstacles or are about to be obstacles in the drone's surrounding environment information, the drone's flight route will be adjusted in real time to avoid the obstacles, and after avoiding the obstacles, the drone will return to the material transportation route and continue flying.

[0031] Furthermore, the real-time video collected by the gimbal camera is used to determine whether there is a risk of splashdown and collision around the current material receiving point, and the position is adjusted until a safe landing, including:

[0032] The drone flies to the top of the material receiving point and hovers. It uses the gimbal camera to collect environmental information of the current material receiving point and determines whether there is a risk of splashing and collision around the current material receiving point:

[0033] If it exists, the gimbal camera will transmit the information to the current material delivery system in real time to adjust the landing point of the drone;

[0034] If it does not exist, the drone will land at the material receiving point and stop its propellers to wait. The sound and light alarm lights will turn green, waiting for the staff to take out the materials to be delivered.

[0035] Furthermore, the drone return process includes:

[0036] The staff presses the one-touch return button, and the sound and light alarm lights up and flashes red at a low frequency, prompting people around to stay away from the drone, and the drone performs a status self-check;

[0037] After the drone passes the self-check, the sound and light alarm light flashes red at a high frequency. After the set countdown ends, the drone executes the autonomous return procedure.

[0038] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0039] (1) The present invention realizes the precise positioning of the material receiving point and the automatic route planning by cooperating with the unmanned aerial vehicle and the satellite communication mobile phone. Combined with the real-time monitoring of the obstacle avoidance radar and the ground ranging radar, it effectively overcomes the influence of terrain restrictions on material transportation, so that even if the support vehicle cannot directly reach the target location, it can still achieve accurate delivery of materials, significantly improving the coverage and arrival rate of material transportation.

[0040] (2) The present invention adopts a control method of a gimbal camera combined with a ground control terminal to achieve real-time observation of the landing environment and precise adjustment of the UAV's position. Combined with the status indication of the sound and light alarm lights and the one-key return function, the entire material delivery process has a visual operation interface and a safety guarantee mechanism, which greatly improves the safety and reliability of material transportation.

[0041] (3) The present invention can realize rapid material distribution to multiple points with one vehicle. Through automatic route planning and intelligent return function, one support vehicle can complete the task of delivering materials to multiple support objects in a short time, which greatly improves the efficiency of material transportation, reduces labor costs, and solves the problem of limited service capacity of traditional support vehicles.

[0042] (4) In a special application scenario of the present invention, after the materials are delivered, the UAV needs to land and complete the mission. It can only return after the materials are collected at the landing point. The material collection status and time need to be confirmed by the landing point according to the actual situation, resulting in the UAV being unable to return automatically. The present invention sets a one-key return. After the materials are collected at the landing point, the staff can generate the one-key return information of the UAV through the one-key return set by the UAV, and generate different alarm messages to prompt the staff, which effectively ensures the safety of the staff and avoids the drone returning directly until it is in the targetless flight state during the launch and communication connection with the ground control terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0044] Figure 1 A schematic diagram of a material transport system for supporting a vehicle provided in an embodiment of this specification;

[0045] Figure 2 A flowchart of an application method for a material delivery system for a vehicle provided in an embodiment of this specification;

[0046] Figure 3 A schematic diagram of a scenario where the landing point of a drone needs to be adjusted according to an embodiment of this specification;

[0047] Figure 4 A schematic diagram of a scenario in which the landing point of a drone does not need to be adjusted, provided in an embodiment of this specification.

[0048] Explanation of the reference numerals: 1-UAV, 2-barrier radar, 3-PTZ camera, 4-ground ranging radar, 5-material storage and transportation box, 6-one-key return button, 7-sound and light alarm light, 8-ground control terminal. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0050] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0051] Figure 1This is a schematic diagram of a material transport system for supporting vehicles provided in an embodiment of this specification, see Figure 1 , which is applied to scenarios where one support vehicle corresponds to multiple support objects, or the terrain between the support vehicle and the support objects is complex. The material transportation system includes:

[0052] The location information collection module is configured on the support vehicle side and is used to collect the location longitude and latitude information of the current material delivery system and the material receiving point respectively;

[0053] The ground control terminal 8 is configured at the support vehicle end, and is used to receive the location longitude and latitude information of the current material transportation system and the material receiving point, generate a material transportation route, and limit the flight altitude of the UAV in combination with the terrain and environment corresponding to the material transportation route; the UAV flight altitude is a pre-set altitude that satisfies the safety of the UAV flight;

[0054] The drone 1 is configured to place the materials to be transported in the material storage and transportation box 5 at a limited flight altitude to transport the materials to be transported, and to avoid obstacles and adjust the flight height relative to the ground in real time according to the obstacle avoidance radar 2 and the ground ranging radar 4, and to adjust the landing point in real time according to the gimbal camera 3;

[0055] The one-key return button 6 is configured on the drone 1. After the transported materials are taken down, a one-key return message is manually generated to command the drone to return.

[0056] The drone 1 is equipped with an audible and visual alarm light 7;

[0057] The sound and light alarm light 7 is configured to light up a green light after the drone 1 lands at the material receiving point, prompting the material receiving point to take the materials to be transported;

[0058] When the materials to be transported are taken down and the drone 1 is ready to return, the sound and light alarm light 7 lights up with a low-frequency flashing red light to remind the surrounding personnel to stay away from the drone 1, and the drone 1 enters the state self-check;

[0059] After the drone 1 passes the self-check, the sound and light alarm lamp 7 lights up with a high-frequency flashing red light, and the drone 1 returns after the set countdown ends.

[0060] Figure 2 This is a flow chart of an application method for a material delivery system for a vehicle provided in an embodiment of this specification, see Figure 2 , the application method comprises:

[0061] Step S01, material receiving point coordinate collection: the location longitude and latitude information of the current material transportation system and the material receiving point are collected respectively through the location information collection module.

[0062] The collecting of the location longitude and latitude information of the current material delivery system and the material receiving point respectively includes:

[0063] The location longitude and latitude information of the current material delivery system and the material receiving point is obtained through satellite or other communication methods. The material receiving point is in an open area without obstacles to ensure the safety of the drone landing.

[0064] Step S02, material transportation route planning: the ground control terminal generates a material transportation route according to the location longitude and latitude information of the current material transportation system and the material receiving point.

[0065] The location and longitude information of the current material delivery system are stored in the drone. When the drone completes the delivery of the materials to be delivered, it returns according to the location and longitude information of the current material delivery system.

[0066] For the material transportation route, generally only two points are needed to determine a route, take off from the take-off point with one click, and drop at the transportation target point. Before taking off, the drone measures and obtains the current position point and records it in its own storage device. When the drone completes the material transportation, it returns according to the longitude and latitude information of this position coordinate. Then it flies to the transportation target point according to the planned route. The telemetry information during the flight will be transmitted back to the ground control terminal 8 in real time for display.

[0067] Step S03, regulation of flight altitude: the terrain and environment corresponding to the material transportation route are collected through the location information collection module, the flight altitude of the UAV is limited, and the material transportation route is adjusted; the flight altitude of the UAV is a pre-set altitude that satisfies the safety of the UAV flight.

[0068] The restrictions on drone flight altitude include:

[0069] Obtain the terrain and environment corresponding to the material transportation route;

[0070] The highest point of the height is obtained, and based on the highest point, a set safety threshold is added to obtain a restricted flight altitude of the UAV.

[0071] The flight altitude of the drone is the key to the safety of the transport flight project. The flight altitude must be higher than the terrain below the route and out of the safe height to ensure the safety of the drone flight. Users can obtain the undulations of the route terrain in the software and use it as a basis to determine the flight altitude this time.

[0072] Step S04, flying according to the route: the UAV flies according to the material transportation route, and avoids obstacles and adjusts the flight altitude in real time according to the obstacle avoidance radar and the ground ranging radar.

[0073] The real-time obstacle avoidance includes:

[0074] The drone flies along the material transport route and collects real-time information about the drone's surrounding environment through obstacle avoidance radar;

[0075] If there are obstacles or are about to be obstacles in the drone's surrounding environment information, the drone's flight route will be adjusted in real time to avoid the obstacles, and after avoiding the obstacles, the drone will return to the material transportation route and continue flying.

[0076] Step S05, landing at the target point: the UAV navigates above the material receiving point, determines whether there is a splashdown and collision risk around the current material receiving point through the real-time video collected by the gimbal camera, and adjusts its position until it lands safely.

[0077] The real-time video collected by the gimbal camera determines whether there is a risk of splashdown and collision around the current material receiving point, and adjusts the position until it lands safely, including:

[0078] The drone flies to the top of the material receiving point and hovers. It uses the gimbal camera to collect environmental information of the current material receiving point and determines whether there is a risk of splashing and collision around the current material receiving point:

[0079] If it exists, refer to Figure 3 The schematic diagram of a scenario in which the landing point of a drone needs to be adjusted according to an embodiment of the present specification is shown, and the gimbal camera transmits information back to the current material delivery system in real time to adjust the landing point of the drone;

[0080] If it does not exist, refer to Figure 4 The schematic diagram of a scenario in which the landing point of the drone does not need to be adjusted is provided in an embodiment of the present specification. The drone lands at the material receiving point and stops its propellers to wait. The sound and light alarm lights up green, waiting for the staff to take out the materials to be transported.

[0081] Step S06, return and recovery: When the drone lands, the sound and light alarm light turns green, and the staff takes the materials to be transported and presses the one-key return button to generate a one-key return message to command the drone to return.

[0082] The drone return process includes:

[0083] The staff presses the one-touch return button, and the sound and light alarm lights up and flashes red at a low frequency, prompting people around to stay away from the drone, and the drone performs a status self-check;

[0084] After the drone passes the self-check, the sound and light alarm light flashes red at a high frequency. After the set countdown ends, the drone executes the autonomous return procedure.

[0085] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A material transport system for a support vehicle, which is applied to a scenario where one support vehicle corresponds to multiple support objects, or the terrain between the support vehicle and the support objects is complex, characterized in that: The material delivery system includes: The location information collection module is configured on the support vehicle side and is used to collect the location longitude and latitude information of the current material delivery system and the material receiving point respectively; The ground control terminal is configured on the support vehicle side, and is used to receive the location longitude and latitude information of the current material transportation system and the material receiving point, generate a material transportation route, and limit the flight altitude of the UAV in combination with the terrain and environment corresponding to the material transportation route; the UAV flight altitude is a pre-set altitude that satisfies the safety of the UAV flight; The drone is configured to place the materials to be transported in the material storage and transportation box at a limited flight altitude to transport the materials to be transported, and to avoid obstacles and adjust the flight altitude to the ground in real time according to the obstacle avoidance radar and the ground ranging radar, and to adjust the landing point in real time according to the gimbal camera; A one-key return button is configured on the drone. After the transported materials are taken down, a one-key return message is manually generated to command the drone to return.

2. The material transport system for supporting vehicles according to claim 1, characterized in that: The drone is equipped with an audible and visual alarm light; The sound and light alarm light is configured to light up green after the drone lands at the material receiving point, prompting the material receiving point to take the materials to be transported; When the materials to be transported are taken down and the drone is ready to return, the sound and light alarm light flashes red at a low frequency to remind the surrounding personnel to stay away from the drone, and the drone enters a state self-check; After the drone status self-check passes, the sound and light alarm light will light up and flash red at a high frequency, and the drone will return after the set countdown ends.

3. An application method for a material delivery system for a vehicle, characterized in that: Based on the material delivery system for securing vehicles according to claim 2, the application method comprises: Step S01, material receiving point coordinate collection: the location longitude and latitude information of the current material transportation system and the material receiving point are collected respectively through the location information collection module; Step S02, material transportation route planning: the ground control terminal generates a material transportation route according to the location longitude and latitude information of the current material transportation system and the material receiving point; Step S03, flight altitude regulation: the terrain and environment corresponding to the material transportation route are collected through the location information collection module, the flight altitude of the drone is limited, and the material transportation route is adjusted; the flight altitude of the drone is a pre-set altitude that satisfies the safety of the drone flight; Step S04, flying according to the route: the UAV flies according to the material transportation route, and avoids obstacles and adjusts the altitude above the ground in real time according to the obstacle avoidance radar and the ground ranging radar; Step S05, landing at the target point: the UAV navigates to the top of the material receiving point, determines whether there is a splashdown and collision risk around the current material receiving point through the real-time video collected by the gimbal camera, and adjusts its position until it lands safely; Step S06, return and recovery: When the drone lands, the sound and light alarm light turns green, and the staff takes the materials to be transported and presses the one-key return button to generate a one-key return message to command the drone to return.

4. The application method of the material delivery system for supporting vehicles according to claim 3, characterized in that: The collecting of the location longitude and latitude information of the current material delivery system and the material receiving point respectively includes: The location longitude and latitude information of the current material delivery system and the material receiving point is obtained through satellite or other communication methods. The material receiving point is in an open area without obstacles.

5. The application method of the material delivery system for supporting vehicles according to claim 4, characterized in that: The location longitude and latitude information of the current material delivery system is stored in the drone. When the drone completes the delivery of the materials to be delivered, it returns according to the location longitude and latitude information of the current material delivery system.

6. The application method of the material delivery system for supporting vehicles according to claim 3, characterized in that: The restrictions on drone flight altitude include: Obtain the terrain and environment corresponding to the material transportation route; The highest point of the height is obtained, and based on the highest point, a set safety threshold is added to obtain a restricted flight altitude of the UAV.

7. The application method of the material delivery system for supporting vehicles according to claim 6, characterized in that: The real-time obstacle avoidance includes: The drone flies along the material transport route and collects real-time information about the drone's surrounding environment through obstacle avoidance radar; If there are obstacles or are about to be obstacles in the drone's surrounding environment information, the drone's flight route will be adjusted in real time to avoid the obstacles, and after avoiding the obstacles, the drone will return to the material transportation route and continue flying.

8. The application method of the material delivery system for supporting vehicles according to claim 3, characterized in that: The real-time video collected by the gimbal camera determines whether there is a risk of splashdown and collision around the current material receiving point, and adjusts the position until it lands safely, including: The drone flies to the top of the material receiving point and hovers. It uses the gimbal camera to collect environmental information of the current material receiving point and determines whether there is a risk of splashing and collision around the current material receiving point: If it exists, the gimbal camera will transmit the information to the current material delivery system in real time to adjust the landing point of the drone; If it does not exist, the drone will land at the material receiving point and stop its propellers to wait. The sound and light alarm lights will turn green, waiting for the staff to take out the materials to be delivered.

9. The application method of the material delivery system for supporting vehicles according to claim 8, characterized in that: The drone return process includes: The staff presses the one-touch return button, and the sound and light alarm lights up and flashes red at a low frequency, prompting people around to stay away from the drone, and the drone performs a status self-check; After the drone passes the self-check, the sound and light alarm light flashes red at a high frequency. After the set countdown ends, the drone executes the autonomous return procedure.

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