Method for supervising and patrolling park based on unmanned aerial vehicle farm cluster

Abstract

The invention discloses a method for supervising and patrolling a park based on an unmanned aerial vehicle field cluster, and belongs to the technical field of unmanned aerial vehicle clusters. The problem that the patrol efficiency of an existing park is low is solved, multiple monitors are established for the park, multiple unmanned aerial vehicle fields and multi-rotor unmanned aerial vehicles are configured, and the multiple unmanned aerial vehicle fields are wirelessly connected with the control platform, so that a grid unmanned aerial vehicle cluster mode is formed for the park; the unmanned aerial vehicle field and the multi-rotor unmanned aerial vehicle to which the unmanned aerial vehicle field belongs fly to a specified inspection position according to a specified time and path through the control platform to perform infrared image acquisition, and the client observes the actual condition of the field in real time according to a display screen of the control platform. If yes, using the unmanned aerial vehicle field to control a remote megaphone carried on the multi-rotor unmanned aerial vehicle to carry out voice warning so as to ensure safe operation of the park; through mutual cooperation of the control platform and the unmanned aerial vehicle field, unmanned control of the unmanned aerial vehicle is realized, the organic unmanned phenomenon is avoided, and the patrol efficiency of the park is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of UAV clusters, and specifically to a method for supervising and inspecting a park based on an unmanned airport cluster. Background Technique

[0002] An unmanned airport has the characteristics of being ready to use out of the box, autonomous and controllable, stable and reliable, data localization, software and hardware integration, high environmental adaptability, multi-weather adaptability, etc. It can directly deploy UAVs to the operation site, solve the problem of manual commuting with UAVs, not only enhance the emergency operation ability of UAVs, but also greatly improve the operation efficiency; through highly automated operations, the UAV airport not only improves the task execution efficiency, but also saves time, manpower and material costs, and at the same time ensures the standardization and unity of the task execution process. Therefore, unmanned airports are applied in all walks of life.

[0003] In existing large parks, large transport vehicles and engineering vehicles enter and park. Therefore, the safety supervision work in the park is extremely important; however, the existing park supervision often relies on manual inspections or UAV inspections. Manual inspections are inefficient and require a certain amount of human resources, increasing the labor cost of the park; while UAV inspections often require a UAV flight license, which often leads to the phenomenon of having UAVs but being unable to fly, and the UAV response time is long, lacking professional pilots, and the use scenarios are single. Therefore, the inspection efficiency of the park is reduced.

[0004] Therefore, it does not meet the existing needs, and for this reason, we propose a method for supervising and inspecting a park based on an unmanned airport cluster. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for supervising and inspecting a park based on an unmanned airport cluster. By establishing multiple monitors in the park and configuring multiple unmanned airports and multi-rotor UAVs, wirelessly connecting the multiple unmanned airports to a control platform, a grid UAV cluster mode is formed for the park; the control platform is used to control the unmanned airports and the affiliated multi-rotor UAVs to fly to the designated inspection positions at the specified time and along the specified path for infrared image acquisition. The client can observe the actual situation of the park in real time according to the display screen of the control platform. If an abnormal situation occurs, the remote loudspeaker carried on the multi-rotor UAV is used to give a voice warning through the unmanned airport to ensure the safe operation of the park; through the mutual cooperation of the control platform and the unmanned airport, the unmanned control of the UAV is realized, avoiding the phenomenon of having an aircraft without a pilot, improving the inspection efficiency of the park, and solving the problems raised in the above background technique.

[0006] To achieve the above object, the present invention provides the following technical solution: A method for supervising and inspecting a park based on an unmanned airport cluster, including the following steps:

[0007] S1. Use a drone to obtain the global image data of the park, and establish a 3D real-scene model of the park based on the obtained global image data of the park;

[0008] S2. Based on the 3D real-scene model of the park as the reference for the park environment, plan multiple monitoring points, and configure the affiliated drone airport and multi-rotor drones at each monitoring point to form a grid of drone cluster monitoring points;

[0009] S3. Obtain the business attributes of the park, formulate the required inspection time points for the park, and set single or multiple specified inspection paths and target inspection locations within the park;

[0010] S4. The control platform sends a switch command to the drone airport through wireless communication technology, and uses the drone airport to control the multi-rotor drone to collect data at the target inspection location within the park according to the specified inspection time and inspection path, and obtain the infrared image data within the target inspection path;

[0011] S5. After the multi-rotor drone finishes collecting the infrared image data, the multi-rotor drone returns to the drone airport according to the specified inspection path, and uploads the collected infrared image data to the control platform for storage based on wireless communication technology;

[0012] S6. The client observes the infrared image data within the specified inspection path and target inspection location in the park in real time through the control platform. If an abnormal situation occurs, an alarm command is sent to the drone airport through the control platform, and the remote loudspeaker carried on the multi-rotor drone is used for voice warning by using the drone airport to control it.

[0013] Further, after planning multiple drone monitoring points in S2, it is also necessary to number each monitoring point, the affiliated drone airport and the multi-rotor drones in sequence, so that the numbers of the drone airport and the multi-rotor drones respectively match the numbers of each monitoring point, and upload the number information of the drone airport and the multi-rotor drones and the number information of the monitoring points to the control platform for storage.

[0014] Further, in S4, using the drone airport to control the multi-rotor drone to collect data at the target inspection location within the park according to the specified inspection time and inspection path is specifically as follows:

[0015] During operation, the hatch of the drone airport opens, the lifting platform rises to the top, the multi-rotor drone automatically flies out, and enters the specified inspection area according to the target inspection path for infrared collection; after the task is completed, the multi-rotor drone returns to the location of the drone airport along the original path, and autonomously lands in the center of the area of the drone airport through positioning and navigation for position correction, and automatically returns to its place in the hangar of the drone airport by using ultra-wideband technology; when not in operation, the multi-rotor drone stands by in the drone airport.

[0016] Further, when using the unmanned airport to control the multi-rotor UAV to collect data at the target inspection positions in the park according to the specified inspection time and inspection path, if it is necessary to conduct a separate inspection at any inspection position, the number information of the unmanned airport and the multi-rotor UAV at that place is obtained through the number information of the inspection position, and then a switch command is sent to the unmanned airport with that number through the control platform to control the multi-rotor UAV to collect data at a single target inspection position according to the specified inspection time and inspection path.

[0017] Further, before the client observes the park in real time through the control platform in S6, different types of users need to be created through the control platform. The client logs in to the account through the registration control platform and sets a dedicated password to obtain the login permission of the control platform, so as to edit, save and view the current and historical infrared image data in the control platform.

[0018] Further, in S5, the collected infrared image data is uploaded to the control platform for storage, specifically as follows:

[0019] After the control platform receives the infrared image data, it performs grayscale processing on the infrared image data, and then performs enhancement processing and filtering processing on the grayscale image to overcome image interference; creates a storage folder, saves the processed infrared image data in the folder, and marks the collection timestamp of the day in the folder.

[0020] Further, after uploading the collected infrared image data to the control platform for storage, it is also necessary to create a retrieval keyword for the infrared image data through the control platform. The keywords include: collection date, inspection time point, inspection path name, and inspection position name.

[0021] Further, after creating the retrieval keyword for the infrared image data, the client inputs the retrieval keyword through the retrieval channel in the control platform to obtain the historical infrared image data of the park at a specified time, specified inspection path or specified inspection position in the past.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. In the present invention, through three-dimensional real-scene simulation of the park environment, multiple monitoring points are established, and multiple unmanned airports and multi-rotor drones are configured. The multiple unmanned airports are wirelessly connected to a control platform, thereby forming a grid-type drone cluster mode for the park. The control platform is used to control the unmanned airports and their affiliated multi-rotor drones to fly to designated inspection positions at specified times and along specified paths for infrared image acquisition. The client can observe the real-time situation of the park on the display screen of the control platform. If an abnormal situation occurs, the remote loudspeaker carried by the multi-rotor drone is used for voice warning through the unmanned airport to ensure the safe operation of the park. Through the mutual cooperation of the control platform and the unmanned airports, the inspection of the park realizes the mode of cluster supervision of the unmanned airports, and at the same time realizes the unmanned control of the drones, avoiding the phenomenon of having drones without operators, and improving the inspection efficiency of the park.

[0024] 2. In the present invention, after uploading the infrared image data to the control platform, the data is subjected to grayscale conversion, enhancement, and filtering processing, and then the infrared image data is saved in a folder with the time stamp of the current day. Retrieval keywords are created, including: acquisition date, inspection time point, inspection path name, and inspection position name. The client inputs the retrieval keywords through the retrieval channel in the control platform to obtain the historical infrared image data of the designated time, designated inspection path, or designated inspection position in the park in the past, thereby ensuring that the park data can be played back in real time for the client to view at any time. Specific embodiments

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] To solve the technical problems that the safety supervision work of existing large parks is often carried out by means of manual inspections or drone inspections. Manual inspections are inefficient and require a certain amount of human resources, increasing the labor cost of the park. Drone inspections often require a drone flight license, which often leads to the phenomenon of having drones but being unable to fly. Moreover, the response time of drones is long, there is a lack of professional drone pilots, and the usage scenarios are single, thus reducing the inspection efficiency of the park. The present embodiment provides the following technical solutions:

[0027] In the present embodiment, for example, a certain park is selected as the target inspection park to check whether there is any phenomenon of engineering vehicles parked randomly in the target park to ensure the normal passage of fire lanes and main roads.

[0028] A method for supervising and inspecting a park based on an unmanned airport cluster includes the following steps:

[0029] S1. Use a drone to obtain the global image data of the park, and establish a 3D real-scene model of the park based on the obtained global image data of the park. Specifically, obtain the real scene in the target park through the camera and thermal imaging infrared lens carried by the drone, and construct the corresponding 3D real-scene model in combination with the map data of the target park, so that the client can understand in detail the distribution of each factory building, fire passage and main road in the target park.

[0030] S2. Based on the 3D real-scene model of the park as the reference for the park environment, plan multiple monitoring points, and configure the corresponding drone airport and multi-rotor drones in each monitoring point to form a grid of drone clusters for monitoring points. After planning multiple drone monitoring points, it is also necessary to number each monitoring point, the corresponding drone airport and multi-rotor drones in sequence, so that the numbers of the drone airport and multi-rotor drones match the numbers of each monitoring point respectively, and upload the number information of the drone airport and multi-rotor drones and the number information of the monitoring points to the control platform for storage. Specifically, set eight groups of monitoring points in sequence in the area of each main road and fire passage in the 3D real-scene model, with a distance of no less than 1500 meters between every two groups of monitoring points. Each group of monitoring points is equipped with a drone airport and the multi-rotor drones loaded inside, so that multiple main roads and fire passages in the target park form a grid of inspection points to ensure that illegally parked engineering vehicles can be inspected in the first time. Then number each main road or fire passage.

[0031] Continuing from the above embodiment, for example, if the target park contains four main roads and two fire passages, they are marked as: Z1, Z2, Z3, Z4 and X1, X2 in sequence. Then number the ten groups of monitoring points set on each main road and fire passage. For example, for main road Z1: Z1 / 1, Z1 / 2, Z1 / 3,..., Z1 / 8, and so on, number the equipment on the remaining main roads and fire passages to ensure that the number of each group of equipment matches the corresponding passage.

[0032] S3. Obtain the business attributes of the park, formulate the required inspection time points for the park, and set single or multiple specified inspection paths and target inspection positions in the park.

[0033] Continuing from the above embodiment, for example, if the target park contains four main roads and two fire passages, and they are marked as: Z1, Z2, Z3, Z4 and X1, X2 in sequence; set Z1, Z2, Z3, Z4 main roads and X1, X2 fire passages as the target inspection positions in the target park, and set three inspections per day, that is, 9:00 am, 1:00 pm and 21:00 pm as the daily inspection time points. The control platform automatically controls the drone airport to inspect the six passages in the park for illegally parked engineering vehicles according to these three time points.

[0034] S4. The control platform sends a switch command to the unmanned airport through wireless communication technology, and uses the unmanned airport to control the multi-rotor UAV to collect data at the target inspection positions in the park according to the specified inspection time and inspection path, and obtains infrared image data within the target inspection path. Specifically, when working, the hatch of the unmanned airport opens, the lifting platform rises to the top, the multi-rotor UAV automatically flies out, and enters the specified inspection area according to the target inspection path for infrared collection. After the task is completed, the multi-rotor UAV returns to the unmanned airport along the original path, and autonomously lands in the center of the area of the unmanned airport through positioning and navigation correction, and automatically returns to its position in the hangar of the unmanned airport using ultra-wideband technology. When not working, the multi-rotor UAV stands by in the unmanned airport. When using the unmanned airport to control the multi-rotor UAV to collect data at the target inspection positions in the park according to the specified inspection time and inspection path, if it is necessary to conduct a separate inspection at any inspection position, the number information of the unmanned airport and the multi-rotor UAV at that place is obtained through the number information of the inspection position, and then a switch command is sent to the unmanned airport with that number through the control platform to control the multi-rotor UAV to collect data at a single target inspection position according to the specified inspection time and inspection path.

[0035] Continuing from the above embodiment, for example, when it reaches 9:00 am, the control platform sends a switch command to the unmanned airport. The unmanned airport opens the hatch to control the multi-rotor UAV to fly out of the cabin, and flies towards the previous monitoring point along the path of its affiliated passageway. For example, in Z1, it flies from Z1 / 2 to Z1 / 1, and Z1 / 1 flies towards the starting point of the Z1 passageway, and so on. The infrared image data of the target position is obtained through the equipped thermal imaging infrared lens, and the data is transmitted to the control platform in real time through the wireless network for the client to review. Another example, when it is necessary to cooperate with the fire department for inspection and only the X1 and X2 fire passageways need to be inspected at present, the control platform controls the X1 / 1, X1 / 2, X1 / 3,..., X1 / 8 and X2 / 1, X2 / 2, X2 / 3,..., X2 / 8 unmanned airports in X1 and X2 to perform flight inspection tasks. At this time, the monitoring points on the main road do not work, and so on. By distinguishing the monitoring points and their affiliated unmanned airports according to the numbers in the first time, the diversity and flexibility of the park inspection are optimized.

[0036] S5. After the multi-rotor UAV has collected the infrared image data, the multi-rotor UAV returns to the UAV airport according to the specified inspection path, and uploads the collected infrared image data to the control platform for storage based on wireless communication technology. Specifically, after the control platform receives the infrared image data, it performs grayscale processing on the infrared image data, and then performs enhancement processing and filtering processing on the grayscale image to overcome image interference. A storage folder is created, and the processed infrared image data is stored in the folder, and the collection timestamp of the current day is marked in the folder. After uploading the collected infrared image data to the control platform for storage, it is also necessary to create a retrieval keyword for the infrared image data through the control platform. The keyword includes: collection date, inspection time point, inspection path name, and inspection location name. After creating the retrieval keyword for the infrared image data, the client inputs the retrieval keyword through the retrieval channel in the control platform to obtain the historical infrared image data of the specified time, specified inspection path, or specified inspection location in the park in the past. Specifically, after uploading the infrared image data to the control platform, the data is subjected to grayscale, enhancement, and filtering processing, and then the infrared image data is stored in the folder with the timestamp of the current day. A retrieval keyword is created, and the keyword includes: collection date, inspection time point, inspection path name, and inspection location name. The client inputs the retrieval keyword through the retrieval channel in the control platform to obtain the historical infrared image data of the specified time, specified inspection path, or specified inspection location in the park in the past, thereby ensuring that the park data can be played back in real time for the client to view at any time.

[0037] The beneficial effects achieved by the above content: After preprocessing the obtained infrared image data, the clarity of the obtained infrared image data is higher, so as to further distinguish whether there is an illegally parked engineering vehicle in the current channel area. At the same time, the infrared image data collected every day is stored in chronological order and the timestamp is indicated, so that the client can retrieve according to the required viewing date later. Secondly, by setting the retrieval keyword, the diversity of the retrieval of the infrared image data is optimized, which further facilitates the client to view and playback the park image data at any time.

[0038] S6. The client creates different types of users through the control platform, logs in to the account using the registered control platform, and sets a dedicated password to obtain the login permission of the control platform to edit, save, and view the current and historical infrared image data in the control platform. Secondly, the client observes the infrared image data in the specified inspection path and the target inspection location in the park in real time through the control platform. If an abnormal situation occurs, an alarm instruction is sent to the UAV airport through the control platform, and the remote loudspeaker carried on the multi-rotor UAV is used for voice warning.

[0039] Continuing from the above embodiments, for example, during the inspection at 1:00 pm, it is found through Z2 / 2 and Z2 / 7 that there are two engineering vehicles parked illegally on the main road Z2, and the parking positions of both vehicles affect the normal passage of the main road. Then, the control platform sends an alarm instruction to the unmanned airports to which Z2 / 2 and Z2 / 7 belong. The Z2 / 2 unmanned airport and the Z2 / 7 unmanned airport then respectively activate the remote loudspeakers carried on two multi-rotor unmanned aerial vehicles for voice warnings to remind the two illegally parked vehicle owners to move their vehicles as soon as possible to ensure the normal passage of the main road, thereby improving the efficiency of park inspection and the safety of park operation.

[0040] The beneficial effects achieved by the above content: Through the mutual cooperation of the control platform and the unmanned airports, a mode of cluster supervision of unmanned airports for park inspection is realized, and at the same time, unmanned control of unmanned aerial vehicles is achieved, avoiding the phenomenon of having an unmanned aerial vehicle without a person in charge, and improving the inspection efficiency of the park.

[0041] Working principle: Through three-dimensional real-scene simulation of the park environment, multiple monitoring points are established and multiple unmanned airports and multi-rotor unmanned aerial vehicles are configured. The multiple unmanned airports are wirelessly connected to the control platform to form a grid unmanned aerial vehicle cluster mode for the park; set inspection time points, single or multiple specified inspection paths, and target inspection positions for the park. Through the control platform, the unmanned airports and the affiliated multi-rotor unmanned aerial vehicles are controlled to fly to the specified inspection positions according to the specified time and path for infrared image acquisition, and the images are transmitted to the control platform for storage. The client can observe the actual situation of the park in real time according to the display screen of the control platform. If an abnormal situation occurs, the remote loudspeaker carried on the multi-rotor unmanned aerial vehicle is used for voice warning through the unmanned airport to ensure the safe operation of the park.

[0042] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0043] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for monitoring and inspecting a park based on a cluster of drone airports, characterized in that: The following steps are involved: S1. Using a drone to obtain global image data of the park, and establishing a three-dimensional real scene model of the park based on the obtained global image data of the park; S2. Based on the 3D real-life model of the park as a reference for the park environment, multiple monitoring points are planned, and each monitoring point is equipped with a drone field and multi-rotor drones to form a drone cluster grid monitoring point; S3. Obtain the park's operating attributes, set the required inspection time points for the park, and set a single or multiple designated inspection paths and target inspection locations within the park; S4. The control platform sends a switch command to the drone field through wireless communication technology, and uses the drone field to control the multi-rotor drone to collect data on the target inspection location in the park according to the specified inspection time and inspection path, and obtain infrared image data within the target inspection path; S5. After the multi-rotor drone has collected the infrared image data, the multi-rotor drone returns to the drone field according to the designated inspection route, and uploads the collected infrared image data to the control platform for storage based on wireless communication technology; S6. The client observes the infrared image data of the designated inspection path and the target inspection position in the park in real time through the control platform. If an abnormal situation occurs, an alarm command is sent to the drone field through the control platform, and the drone field controls the remote loudspeaker carried by the multi-rotor drone to issue a voice warning.

2. The method for monitoring and inspecting a park based on a drone airport cluster according to claim 1 is characterized in that: After planning multiple drone monitoring points in S2, each monitoring point and its corresponding drone airport and multi-rotor drone are numbered in turn, so that the numbers of the drone airport and the multi-rotor drone match the numbers of each monitoring point respectively, and the numbering information of the drone airport and the multi-rotor drone and the numbering information of the monitoring points are uploaded to the control platform for storage.

3. The method for monitoring and inspecting a park based on a cluster of unmanned aerial vehicles according to claim 1 is characterized in that: In S4, the multi-rotor drone is controlled by the drone field to collect data on the target inspection position in the park according to the specified inspection time and inspection path, specifically: When working, the hatch of the drone airport opens, the lifting platform rises to the top, the multi-rotor drone automatically flies out, and enters the designated inspection area according to the target inspection path to conduct infrared collection; after the task is completed, the multi-rotor drone returns to the drone airport along the original path, and uses positioning and navigation to correct its position and autonomously land in the center of the drone airport, and uses ultra-wideband technology to automatically return to the hangar of the drone airport; when not working, the multi-rotor drone stands by in the drone airport.

4. The method for monitoring and inspecting a park based on a cluster of unmanned aerial vehicles according to claim 3 is characterized in that: When using the drone airport to control the multi-rotor drone to collect data from target inspection locations within the park according to designated inspection times and inspection routes, if a separate inspection is required at any inspection location, the numbering information of the drone airport and the multi-rotor drone is obtained through the numbering information of the inspection location, and then a switch command is sent to the drone airport with the number through the control platform to control the multi-rotor drone to collect data from a single target inspection location according to the designated inspection time and inspection route.

5. The method for monitoring and inspecting a park based on a cluster of unmanned aerial vehicles according to claim 1 is characterized in that: Before the client in S6 observes the park in real time through the control platform, it is necessary to create different types of users through the control platform. The client registers a control platform login account and sets a unique password to obtain control platform login permissions, which are used to edit, save and view current and historical infrared image data in the control platform.

6. The method for monitoring and inspecting a park based on a drone airport cluster according to claim 1 is characterized in that: In S5, the collected infrared image data is uploaded to the control platform for storage, specifically: After receiving the infrared image data, the control platform performs grayscale processing on the infrared image data, and then performs enhancement and filtering processing on the grayscale image to overcome image interference; creates a save folder, saves the processed infrared image data in the folder, and marks the acquisition timestamp of the day in the folder.

7. The method for monitoring and inspecting a park based on a cluster of unmanned aerial vehicles according to claim 6 is characterized in that: After uploading the collected infrared image data to the control platform for storage, it is also necessary to create infrared image data retrieval keywords through the control platform. The keywords include: collection date, inspection time point, inspection path name and inspection location name.

8. The method for monitoring and inspecting a park based on a cluster of unmanned aerial vehicles according to claim 7 is characterized in that: After creating the infrared image data search keyword, the client inputs the search keyword through the search channel in the control platform to obtain the infrared image historical data of the specified time, specified inspection path or specified inspection location in the park.