Unmanned aerial vehicle flight position control system and method based on ship positioning

Abstract

The invention discloses an unmanned aerial vehicle flight position control system and method based on ship positioning, and relates to the field of unmanned aerial vehicle control, and the system comprises a visualization module which is used for displaying and updating a harbor district GIS map in real time; the selection module is used for traversing the newest displayed harbor district GIS map in the visualization module, and selecting one or more position coordinates from the newest displayed harbor district GIS map as flight operation path points of the unmanned aerial vehicle; the initialization module is used for receiving the unmanned aerial vehicle flight operation path point selected by the selection module, and initializing a flight operation path based on the unmanned aerial vehicle flight operation path point; according to the method, the GIS map of the harbor district can be updated in real time, the positions of ships, cargo stacks and harbor district vehicles are covered, accurate geographic information reference is provided for operation, and a user can conveniently select a flight path point of the unmanned aerial vehicle and rapidly plan an operation path according to the actual situation of the harbor district.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) control, and specifically to a UAV flight position control system and method based on ship positioning. Background Art

[0002] A port area refers to a specific area approved for establishment, where ships can dock, cargo can be loaded and unloaded, passengers can embark and disembark, and related services can be provided. It integrates multiple functions such as port operations, logistics warehousing, and processing and manufacturing.

[0003] The invention patent application with the application number 201410057861.3 discloses a method for autonomous positioning and control of a four-rotor UAV based on lidar. First, a two-dimensional lidar is used for the preliminary positioning of the UAV in the horizontal direction, and an on-board barometer is used to obtain the preliminary position value of the UAV in the height direction; then, a complementary filtering algorithm is used, combined with an on-board accelerometer chip, to obtain higher-frequency UAV position information; finally, based on this position information, it is applied to the UAV control system without GPS signal. This application aims to solve the problem that "in China, for the environment without GPS signal, the design of a set of autonomous positioning and control system for four-rotor UAVs based on lidar is still in the initial stage of research".

[0004] However, for the cargo stack sampling and monitoring in port area safety management, in order to improve the sampling and monitoring efficiency, currently, the UAV is remotely controlled to fly in the port area for cargo stack sampling and monitoring. However, in this process, manual control of the UAV is still required, or only simple patrols can be carried out along a single fixed route.

[0005] Therefore, a UAV flight position control system and method based on ship positioning are proposed. Summary of the Invention

[0006] Aiming at the above-mentioned disadvantages of the prior art, the present invention provides a UAV flight position control system and method based on ship positioning, which can effectively solve the problems of the prior art.

[0007] To achieve the above objectives, the present invention is realized through the following technical solutions: The present invention discloses a UAV flight position control system based on ship positioning. The system is applied to the UAV information collection scenario in the port area. The UAV is equipped with information collection equipment and flies in the port area to perform information collection. The system includes: a visualization module for real-time displaying and updating the port area GIS map; a selection module for traversing the latest displayed port area GIS map in the visualization module and selecting one or more position coordinates in the latest displayed port area GIS map as the waypoints for the UAV flight operation; an initialization module for receiving the waypoints for the UAV flight operation selected by the selection module and initializing the flight operation path based on the waypoints for the UAV flight operation; an improvement module for obtaining the flight operation path initialized by the initialization module and improving the flight operation path to output an available flight operation path; a driving module for driving the UAV to execute a flight mission based on the available flight operation path and collecting information at each waypoint in the available flight operation path; an interaction module for feeding back to the system-side user the information collected by the UAV at each waypoint during the flight along the available flight operation path Furthermore, the information collection device includes: a spiral sampler, a camera, a temperature and humidity sensor, a gas composition sensor, and a fluoroscopy scanner. The system-side user decides to load the corresponding information collection device on the UAV based on the inbound cargo details information, and the system provides a flight operation path to perform information collection in the flight operation path.

[0008] Furthermore, the port area GIS map that is real-time displayed and updated in the visualization module includes the position information of ships, cargo stacks, and internal port vehicles, where internal port vehicles are vehicles that only travel within the port area and do not leave the port area; The UAV cabin deployment positions are marked on the port area GIS map, that is, the starting point and the ending point of the UAV flight operation; Among them, when the visualization module updates the port area GIS map, it follows: update once every time goods enter or leave the port area; set an update period and continuously update the port area GIS map based on the update period; the system-side user manually updates the port area GIS map.

[0009] Furthermore, when the selection module selects position coordinates in the latest displayed port area GIS map, it uses the position information of all ships and cargo stacks in the port area as a set and selects position coordinates in this set as the waypoints for the UAV flight operation; In the initial stage of the selection module, the system-side user manually marks no-fly areas on the port area GIS map, and the position coordinates selected by the selection module during operation are not within the no-fly areas.

[0010] Furthermore, during the operation of the initialization module, it synchronously obtains the UAV cabin deployment position in the port area GIS map, uses the UAV cabin deployment position as the starting point and the ending point, and uses the waypoints for the UAV flight operation as the nodes on the flight operation path to initialize the flight operation path. The flight operation path is limited to a closed-loop path based on the same starting point and ending point positions; The initialization module obeys when initializing the flight path: The nearest UAV flight operation waypoint is captured using the UAV cabin deployment position as the starting point, so that the UAV cabin deployment position is connected to the captured UAV flight operation waypoint; Using the most recently connected UAV flight operation waypoint as a reference point, capture the UAV flight operation waypoint closest to the reference point, connect the reference point to the captured UAV flight operation waypoint, and so on, until all UAV flight operation waypoints are used for connection; Connect the last connected UAV flight operation waypoint with the UAV cabin deployment position to obtain the flight operation path; Among them, the flight operation path initialization stage is not restricted by the no-fly zone. The module operation initialization stage synchronously sets the flight speed and the straight-line distance from the obstacle directly below during the UAV flight operation.

[0011] Furthermore, after the improved module is executed to obtain the flight operation path, it identifies whether there is a local path in the flight operation path that passes through the no-fly zone. If the identification result is no, the flight operation path is recorded as an available flight operation path; When the recognition result is yes, identify the two endpoints of the local path that passes through the no-fly zone in the flight operation path, and simultaneously pick two points on the edge contour that passes through the no-fly zone and connect them with their adjacent endpoints to construct a new flight operation path. Make the new flight operation path tangent to the edge contour of the original that passes through the no-fly zone, and record it as an available flight operation path.

[0012] Furthermore, the driving module is provided with a perception unit and a coordination unit at the lower level. The perception unit is used to perceive obstacles in the forward direction of the UAV during its flight along the available flight operation path. The coordination unit is used to obtain the perception results of the perception unit in real time and coordinate the available flight operation path when an obstacle is perceived. Among them, the perception unit is integrated into the surface of the drone by a sensor that can perceive obstacles. When the perception unit does not perceive an obstacle, it maintains the available flight operation path. When the perception unit perceives an obstacle, it obtains its current distance from the obstacle, and uses the obtained distance as the radius. It uses its own position information and the distance from the obstacle to determine the obstacle position coordinates as the center of the circle, draws a circle, and uses the circle as the coordination target of the available flight operation path. The perception unit runs continuously until the perception result is that there is no obstacle, and the coordination unit follows the perception unit to run in conjunction.

[0013] Further, after obtaining the available flight operation path coordination target, the perception unit divides the available flight operation path coordination target into several sub-available flight operation path coordination targets equally, and connects the endpoints of adjacent sub-available flight operation path coordination targets adjacent to each other to obtain the available flight operation path after being coordinated by the coordination unit; The equal division of the available flight operation path coordination target follows: The smaller the radius of the available flight operation path coordination target, the more the equal division quantity of the available flight operation path coordination target, and vice versa, the less the equal division quantity of the available flight operation path coordination target; Among them, the equal division quantity of the available flight operation path coordination target is restricted within the equal division quantity interval customized by the user at the system end. When the equal division quantity is not within the equal division quantity interval, the end value of the equal division quantity interval with the smallest difference from the equal division quantity is taken as the equal division quantity.

[0014] Further, the visualization module is interactively connected with the selection module, the initialization module and the improvement module through a wireless network. The improvement module is interactively connected with a drive module through a wireless network. The lower level of the drive module is interactively connected with a perception unit and a coordination unit through a wireless network. The drive module is interactively connected with an interaction module through a wireless network.

[0015] On the other hand, a method for controlling the flight position of an unmanned aerial vehicle based on ship positioning includes the following steps: Step 1: Obtain the latest port area GIS map in real time, edit the deployment position of the unmanned aerial vehicle cabin in the port area GIS map, and select the waypoints for the unmanned aerial vehicle flight operation in the port area GIS map to initialize the flight operation path; Step 2: Mark the no-fly zone in the port area GIS map, identify whether the initialized flight operation path passes through the no-fly zone. If the identification result is no, use the flight operation path as the available flight operation path. If the identification result is yes, improve the flight operation path so that the flight operation path is tangent to the edge of the no-fly zone, and then record it as the available flight operation path; Step 3: Control the unmanned aerial vehicle to fly along the available flight operation path. During the flight, collect information at the waypoints of the flight operation, and synchronously sense whether there are obstacles in the traveling direction. When no obstacles are sensed, continue to fly along the available flight operation path. When obstacles are sensed, coordinate the available flight operation path based on the obstacle ranging result to bypass the obstacles and return to the original available flight operation path; Step 4: Transmit and feedback the information collected during the flight of the unmanned aerial vehicle along the available flight operation path to the mobile computer device held by the user end in real time based on the wireless network.

[0016] Adopting the technical solution provided by the present invention, compared with the known prior art, it has the following beneficial effects: The present invention can update the port area GIS map in real time, covering the positions of ships, cargo stacks and port area vehicles, providing accurate geographical information reference for operations. Users can conveniently select the drone flight path points according to the actual situation of the port area and quickly plan the operation path. At the same time, the system automatically avoids no-fly zones and optimizes the path to ensure flight safety. The drone is equipped with a variety of information collection devices, which can be flexibly configured according to the details of the goods, comprehensively collect data such as temperature, humidity, and gas composition, and meet the detection requirements of different goods. During the flight, it can intelligently sense and avoid obstacles to ensure stable and efficient information collection, greatly improving the accuracy and efficiency of port area information collection and assisting in the intelligent management and operation of the port area. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic structural diagram of an unmanned aerial vehicle flight position control system based on ship positioning Figure 2 It is a schematic flow diagram of an unmanned aerial vehicle flight position control method based on ship positioning; Figure 3 It is a schematic diagram of the principle example for coordinating the available left and right flight paths in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0020] The following further describes the present invention with reference to the embodiments. Embodiment

[0021] The unmanned aerial vehicle flight position control system based on ship positioning in this embodiment, as Figure 1 shown, the system is applied to the port area unmanned aerial vehicle information collection scenario, and the unmanned aerial vehicle is equipped with information collection devices and flies in the port area to perform information collection; The system includes: a visualization module for real-time displaying and updating the port area GIS map; The information collection device includes: a spiral sampler, a camera, a temperature and humidity sensor, a gas composition sensor, and a fluoroscopic scanner. The system-side user decides to load the corresponding information collection device on the drone based on the information in the inbound cargo details form. The system provides a flight operation path, and information collection is performed along the flight operation path. The port area GIS map that is displayed and updated in real time in the visualization module includes the position information of ships, cargo stacks, and internal port vehicles. Internal port vehicles are vehicles that only drive within the port area and do not leave the port area. The drone cabin deployment positions are marked on the port area GIS map, which are the starting and ending points of the drone's flight operation. Among them, when the visualization module updates the port area GIS map, it follows: update once every time goods enter or leave the port area; set an update period and continuously update the port area GIS map based on the update period; the system-side user manually updates the port area GIS map. The selection module is used to traverse the port area GIS map that is newly displayed in the visualization module and select one or more position coordinates in the newly displayed port area GIS map as the waypoints for the drone's flight operation. When the selection module selects position coordinates in the newly displayed port area GIS map, taking the position information of all ships and cargo stacks in the port area as a set, select position coordinates from this set as the waypoints for the drone's flight operation. In the initial stage of the selection module, the system-side user manually marks no-fly zones on the port area GIS map, and the position coordinates selected by the selection module during operation are not within the no-fly zones. The initialization module is used to receive the waypoints for the drone's flight operation selected by the selection module during operation and initialize the flight operation path based on the waypoints for the drone's flight operation. During the operation stage of the initialization module, synchronously obtain the drone cabin deployment position in the port area GIS map. Taking the drone cabin deployment position as the starting and ending points, and taking the waypoints for the drone's flight operation as the nodes on the flight operation path, initialize the flight operation path. The flight operation path is limited to a closed-loop path due to the same starting and ending point positions. When the initialization module initializes the flight path, it follows: Take the drone cabin deployment position as the starting point to capture the nearest waypoint for the drone's flight operation, and connect the drone cabin deployment position to the captured waypoint for the drone's flight operation. Take the newly connected waypoint for the drone's flight operation as a reference point, capture the nearest waypoint for the drone's flight operation to the reference point, and connect the reference point to the captured waypoint for the drone's flight operation, and so on, until all waypoints for the drone's flight operation are used for connection. Connect the last connected waypoint of the UAV flight operation with the UAV cabin deployment position to obtain the flight operation path; Among them, in the stage of initializing the flight operation path, it is not restricted by no-fly zones. During the operation of the initialization module, the flight speed of the UAV during the flight operation and the straight-line distance from the obstacle directly below are set synchronously; An improvement module is used to obtain the flight operation path initialized by the operation of the initialization module, improve the flight operation path, and output an available flight operation path; After the improvement module runs to obtain the flight operation path, it identifies whether there is a local path passing through the no-fly zone in the flight operation path. When the identification result is no, the flight operation path is recorded as the available flight operation path; When the identification result is yes, the two endpoints of the local path passing through the no-fly zone in the flight operation path are identified. Synchronously, two points are picked on the edge contour of the no-fly zone and connected to their adjacent endpoints to construct a new flight operation path, so that the new flight operation path is tangent to the edge contour of the original no-fly zone, and is recorded as the available flight operation path; A driving module is used to drive the UAV to perform flight tasks based on the available flight operation path and collect information at each waypoint in the available flight operation path; After the improvement module runs to obtain the flight operation path, it identifies whether there is a local path passing through the no-fly zone in the flight operation path. When the identification result is no, the flight operation path is recorded as the available flight operation path; When the identification result is yes, the two endpoints of the local path passing through the no-fly zone in the flight operation path are identified. Synchronously, two points are picked on the edge contour of the no-fly zone and connected to their adjacent endpoints to construct a new flight operation path, so that the new flight operation path is tangent to the edge contour of the original no-fly zone, and is recorded as the available flight operation path; After the sensing unit obtains the available flight operation path coordination target, it equally divides the available flight operation path coordination target into several sub-available flight operation path coordination targets, and connects the endpoints of each adjacent sub-available flight operation path coordination target adjacent to each other to obtain the available flight operation path after being coordinated by the coordination unit; When equally dividing the available flight operation path coordination target, it obeys: The smaller the radius of the available flight operation path coordination target, the more the number of equal divisions of the available flight operation path coordination target. Conversely, the fewer the number of equal divisions of the available flight operation path coordination target; Among them, the number of equal divisions of the available flight operation path coordination target is restricted within the equal division number interval defined by the system-side user. When the number of equal divisions is not within the equal division number interval, the end value of the equal division number interval with the smallest difference from the number of equal divisions is taken as the number of equal divisions; An interaction module, configured to feedback to the system-side user the information collected at each passing point during the flight of the UAV along the available flight operation path; The visualization module is interconnected with the selection module, the initialization module, and the improvement module through a wireless network. The improvement module is interconnected with a driving module through a wireless network. The lower level of the driving module is interconnected with a sensing unit and a coordination unit through a wireless network. The driving module is interconnected with the interaction module through a wireless network.

[0022] In this embodiment, the visualization module runs to display and update the port GIS map in real time. The selection module runs later to traverse the port GIS map newly displayed in the visualization module, and selects one or more position coordinates in the newly displayed port GIS map as the passing points for the UAV flight operation. The initialization module further receives the passing points for the UAV flight operation selected by the selection module, initializes the flight operation path based on the passing points for the UAV flight operation, and then the improvement module obtains the flight operation path initialized by the initialization module, improves the flight operation path to output an available flight operation path, and drives the UAV to execute a flight mission based on the available flight operation path through the driving module, and collects information at each passing point in the available flight operation path. The sensing unit synchronously senses the obstacles in the forward direction during the flight of the UAV along the available flight operation path. The coordination unit obtains the sensing results of the sensing unit in real time. When an obstacle is sensed, it coordinates the available flight operation path, and finally feedbacks to the system-side user the information collected at each passing point during the flight of the UAV along the available flight operation path through the interaction module.

[0023] See Figure 3 As shown, based on the large arrow indication, it represents the local path where the UAV bypasses the obstacle and returns to the available flight operation path after being finally processed by the coordination unit. The small arrow represents the traveling direction of the UAV. On the left side of the large arrow, there is a circle drawn based on the continuous operation of the sensing unit and the coordination unit to determine the coordination target of the available flight operation path. The black dots in the figure represent the positions where obstacles are sensed, and the rectangles in the figure represent the obstacles; Based on this figure, it can be known that for the circles drawn by the continuous operation of the sensing unit and the coordination unit, at most starting from the second circle, the diameter gradually decreases, so as to fit the contour of the obstacle and reduce the length of the detour path generated by bypassing the obstacle. Embodiment

[0024] At the specific implementation level, on the basis of Embodiment 1, this embodiment further specifically describes the UAV flight position control system based on ship positioning in Embodiment 1 with reference to Figure 2 : The UAV flight position control method based on ship positioning includes the following steps: Step 1: Obtain the latest port area GIS map in real time, edit the deployment location of the drone cabin in the port area GIS map, and select the waypoints for the drone flight operation in the port area GIS map to initialize the flight operation path; Step 2: Mark the no-fly zone in the port area GIS map, identify whether the initialized flight operation path passes through the no-fly zone. If the identification result is no, take the flight operation path as the available flight operation path. If the identification result is yes, improve the flight operation path so that the flight operation path is tangent to the edge of the no-fly zone, and then record it as the available flight operation path; Step 3: Control the drone to fly along the available flight operation path. During the flight, collect information at the waypoints of the flight operation, and simultaneously sense whether there are obstacles in the traveling direction. When no obstacles are sensed, continue to fly along the available flight operation path. When obstacles are sensed, coordinate the available flight operation path based on the obstacle ranging result to bypass the obstacles and return to the original available flight operation path; Step 4: Transmit and feedback the information collected during the flight of the drone along the available flight operation path to the mobile computer device held by the user terminal in real time via a wireless network In summary, the system in the above embodiments can update the port area GIS map in real time, covering the positions of ships, cargo stacks and port area vehicles, providing accurate geographical information reference for the operation. Users can conveniently select the drone flight waypoints according to the actual situation of the port area and quickly plan the operation path. At the same time, the system automatically avoids the no-fly zone, optimizes the path, and ensures flight safety. The drone is equipped with a variety of information collection devices, which can be flexibly configured according to the cargo details, comprehensively collect data such as temperature and humidity, gas composition, etc., to meet the detection needs of different goods. During the flight, it can intelligently sense and avoid obstacles, ensure stable and efficient information collection, greatly improve the accuracy and efficiency of port area information collection, and assist in the intelligent management and operation of the port area.

[0025] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned aerial vehicle flight position control system based on ship positioning, characterized in that, The system is applied to the scenario of information collection by drones in the port area. The drone is equipped with information collection equipment and flies in the port area to perform information collection; The system includes: a visualization module for real-time displaying and updating the port area GIS map; A selection module for traversing the latest displayed port area GIS map in the visualization module and selecting one or more position coordinates in the latest displayed port area GIS map as the waypoints for the drone flight operation; An initialization module for receiving the waypoints for the drone flight operation selected by the selection module and initializing the flight operation path based on the waypoints for the drone flight operation; An improvement module for obtaining the flight operation path initialized by the initialization module and improving the flight operation path to output an available flight operation path; A driving module for driving the drone to perform a flight task based on the available flight operation path and collecting information at each waypoint in the available flight operation path; An interaction module for feeding back to the system-side user the information collected by the drone at each waypoint during the flight according to the available flight operation path.

2. The unmanned aerial vehicle flight position control system based on ship positioning according to claim 1, characterized in that, The information collection equipment includes: a spiral sampler, a camera, a temperature and humidity sensor, a gas composition sensor, and a perspective scanner. The system-side user decides the loading of the corresponding information collection equipment on the drone based on the information in the inbound cargo details list, and the system provides the flight operation path and performs information collection in the flight operation path.

3. The unmanned aerial vehicle flight position control system based on ship positioning according to claim 1, wherein The port area GIS map that is real-time displayed and updated in the visualization module includes the position information of ships, cargo stacks, and internal port vehicles. The internal port vehicles are vehicles that only drive within the port area and do not leave the port area; The drone cabin deployment positions, i.e., the starting point and the ending point of the drone flight operation, are marked on the port area GIS map; Among them, when the visualization module updates the port area GIS map, it follows: update once every time a cargo enters or leaves the port area; set an update period and continuously update the port area GIS map based on the update period; the system-side user manually updates the port area GIS map.

4. The unmanned aerial vehicle flight position control system based on ship positioning according to claim 1, characterized in that, When the selection module selects position coordinates in the latest displayed port area GIS map, it takes the position information of all ships and cargo stacks in the port area as a set and selects position coordinates in this set as the waypoints for the drone flight operation; In the initial stage of the selection module, the system-side user manually marks the no-fly zone on the port area GIS map, and the position coordinates selected by the selection module during operation are not within the no-fly zone.

5. The unmanned aerial vehicle flight position control system based on ship positioning according to claim 1, characterized in that, During the operation stage of the initialization module, the drone cabin deployment position is obtained synchronously in the port area GIS map. Taking the drone cabin deployment position as the starting point and the ending point, and taking the waypoints for the drone flight operation as the nodes on the flight operation path, the flight operation path is initialized. The flight operation path is limited to a closed-loop path due to the same starting point and ending point positions; When the initialization module initializes the flight path, it follows: Taking the drone cabin deployment position as the starting point to capture the nearest waypoint for the drone flight operation and connecting the drone cabin deployment position with the captured waypoint for the drone flight operation; Using the most recently connected UAV flight operation waypoint as a reference point, capture the UAV flight operation waypoint closest to the reference point, connect the reference point to the captured UAV flight operation waypoint, and so on, until all UAV flight operation waypoints are used for connection; Connect the last connected UAV flight operation waypoint with the UAV cabin deployment position to obtain the flight operation path; Among them, the flight operation path initialization stage is not restricted by the no-fly zone. The module operation initialization stage synchronously sets the flight speed and the straight-line distance from the obstacle directly below during the UAV flight operation.

6. The UAV flight position control system based on ship positioning according to claim 1, characterized in that, After the improved module is executed to obtain the flight operation path, it identifies whether there is a local path that passes through the no-fly zone in the flight operation path. If the identification result is no, the flight operation path is recorded as an available flight operation path; When the recognition result is yes, identify the two endpoints of the local path that passes through the no-fly zone in the flight operation path, and simultaneously pick two points on the edge contour that passes through the no-fly zone and connect them with their adjacent endpoints to construct a new flight operation path. Make the new flight operation path tangent to the edge contour of the original that passes through the no-fly zone, and record it as an available flight operation path.

7. The unmanned aerial vehicle flight position control system based on ship positioning according to claim 1, wherein The driving module is provided with a perception unit and a coordination unit at the lower level. The perception unit is used to perceive obstacles in the forward direction of the UAV during its flight along the available flight operation path. The coordination unit is used to obtain the perception results of the perception unit in real time and coordinate the available flight operation path when an obstacle is perceived. Among them, the perception unit is integrated into the surface of the drone by a sensor that can perceive obstacles. When the perception unit does not perceive an obstacle, it maintains the available flight operation path. When the perception unit perceives an obstacle, it obtains its current distance from the obstacle, and uses the obtained distance as the radius. It uses its own position information and the distance from the obstacle to determine the obstacle position coordinates as the center of the circle, draws a circle, and uses the circle as the coordination target of the available flight operation path. The perception unit runs continuously until the perception result is that there is no obstacle, and the coordination unit follows the perception unit to run in conjunction.

8. The unmanned aerial vehicle flight position control system based on ship positioning according to claim 7, characterized in that, After obtaining the available flight operation path coordination target, the perception unit equally divides the available flight operation path coordination target into a plurality of sub-available flight operation path coordination targets, and connects the endpoints of adjacent sub-available flight operation path coordination targets to obtain an available flight operation path after coordination processing by the coordination unit; The said equal division of available flight operation path coordination targets is subject to: The smaller the radius of the available flight operation path coordination target, the more equal divisions of the available flight operation path coordination target are; conversely, the smaller the radius of the available flight operation path coordination target, the smaller the equal divisions of the available flight operation path coordination target are. Among them, the available flight operation path coordination target equal division quantity constraint is within the equal division quantity interval customized by the system end user. When the equal division quantity is not within the equal division quantity interval, the end value of the equal division quantity interval with the smallest difference from the equal division quantity is taken as the equal division quantity.

9. The drone flight position control system based on ship positioning according to claim 1, wherein The visualization module is interconnected with the selection module, the initialization module, and the improvement module through a wireless network. The improvement module is interconnected with a driving module through a wireless network. The lower level of the driving module is interconnected with a sensing unit and a coordination unit through a wireless network. The driving module is interconnected with an interaction module through a wireless network.

10. A method for controlling the flight position of an unmanned aerial vehicle based on ship positioning, which is an implementation method of the unmanned aerial vehicle flight position control system based on ship positioning according to any one of claims 1-9, characterized in that, It includes the following steps: Step 1: Obtain the latest port area GIS map in real time, edit the deployment position of the UAV cabin in the port area GIS map, and select the UAV flight operation passing points in the port area GIS map to initialize the flight operation path; Step 2: Mark the no-fly zone in the port area GIS map, identify whether the initialized flight operation path passes through the no-fly zone. If the identification result is no, use the flight operation path as the available flight operation path. If the identification result is yes, improve the flight operation path so that the flight operation path is tangent to the edge of the no-fly zone, and then record it as the available flight operation path; Step 3: Control the UAV to fly along the available flight operation path. During the flight, collect information at the flight operation passing points, and simultaneously sense whether there are obstacles in the traveling direction. When no obstacles are sensed, continue to fly along the available flight operation path. When obstacles are sensed, coordinate the available flight operation path based on the obstacle ranging result to bypass the obstacles and return to the original available flight operation path; Step 4: Transmit and feedback the information collected during the flight of the UAV along the available flight operation path to the mobile computer device held by the user terminal in real time based on the wireless network.

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