Method and system for fog dissipation based on cooperation of hybrid wing body and rotorcraft

Abstract

The present application belongs to the technical field of group fog three-dimensional dissipation, and provides a group fog dissipation method and system based on cooperation of a hybrid wing mother machine and a rotor child machine, which first utilizes the hybrid wing mother machine to generate joint cracking of the group fog according to a coarse dissipation planning graph by using wing-down jet and rotor rotation; after the coarse dissipation is completed, the hybrid wing mother machine detects the height of the group fog after coarse dissipation and determines the residual projection area; the group fog after coarse dissipation is layered, and according to the height of the group fog after dissipation, the residual projection area, and the effective dissipation radius and vertical effective action depth of the rotor child machine, an intra-layer planning graph of the rotor child machine is constructed, and each layer is sequentially dissipated according to the corresponding intra-layer planning graph of the rotor child machine until the group fog dissipation is completed. The present application realizes rapid identification, coarse dissipation and layer-by-layer fine dissipation of the road group fog by combining three-dimensional perception, path planning and layer-by-layer dissipation, thereby improving the group fog management efficiency and capability in complex traffic environment.

Description

Technical Field

[0001] This invention belongs to the field of three-dimensional fog dissipation technology, specifically relating to a fog dissipation method and system based on the collaboration of a hybrid-wing mother aircraft and a rotorcraft. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] With the continuous advancement of urbanization and the ongoing expansion of transportation infrastructure, the road operating environment is becoming increasingly sensitive to meteorological conditions. Localized meteorological phenomena such as patchy fog and low-altitude fog frequently occur on highways, bridges spanning rivers and mountains, and urban expressways, especially at night, in the early morning, and during seasonal transitions. These phenomena can easily cause a sharp drop in visibility, seriously affecting road traffic safety. Due to the rapid formation and uneven distribution of patchy fog, its occurrence is often difficult to warn of in a timely manner, easily triggering major traffic accidents such as rear-end collisions and chain-reaction collisions, and has become a prominent risk factor in ensuring road safety.

[0004] Existing methods for addressing road fog mainly include weather warnings, traffic control and speed limits, artificial spraying, and thermal disturbance. While warning systems based on fixed weather monitoring stations or visibility sensors can reflect regional weather trends to some extent, their limited deployment locations make it difficult to cover localized phenomena like road fog, which are small in scale and randomly located. Furthermore, they primarily provide passive warnings and cannot directly intervene in already formed fog. Ground-based fog dispersal facilities such as artificial spraying, fans, or heating devices can be effective in specific scenarios, but their high construction costs and poor deployment flexibility make them unsuitable for the rapid fog dispersal needs of bridges, elevated roads, and areas with complex terrain.

[0005] In recent years, drone technology has been widely used in emergency inspection, environmental monitoring, and disaster response. Some studies have attempted to use drones to disturb or spray foggy areas to achieve aerial fog dispersal. However, existing drone fog dispersal solutions mostly adopt a single-drone operation mode, typically performing simple disturbances at a fixed altitude or in a localized area. Their dispersal effect is significantly limited by the drone's size, endurance, and operating range. A single drone cannot simultaneously achieve both large-scale rapid coverage and precise local dispersal, often only producing short-term effects on localized fog patches, making it difficult to achieve stable and controllable dispersal results. Furthermore, existing solutions often lack a systematic understanding of the three-dimensional structure of fog patches, relying solely on two-dimensional images or local sensor information. This makes it difficult to accurately identify the height distribution and residual areas of fog patches, resulting in coarse dispersal path planning and low resource utilization efficiency.

[0006] Meanwhile, in research on multi-UAV collaborative fog dispersal, existing technologies often focus on formation flight or task allocation by region, with insufficient consideration for the division of labor and cooperation between parent and child UAVs, the division of dispersal stages, and the vertical hierarchical dispersal mechanism. Although some solutions introduce multiple UAVs to operate collaboratively, they lack a unified 3D modeling and hierarchical planning method. The scheduling of child UAV tasks often relies on manual presets or simple rules, making it difficult to dynamically adjust the operation strategy according to the dispersal process, and posing safety risks in complex airspace environments. In addition, existing technologies do not pay enough attention to issues such as UAV recovery and endurance assurance, making it difficult to support long-term, multi-round continuous dispersal operations. Summary of the Invention

[0007] To address the aforementioned problems, this invention proposes a method and system for dissipating fog based on the collaboration of a hybrid-wing mother aircraft and a rotorcraft. This invention uses a hybrid-wing UAV as the mother aircraft platform and combines it with the collaborative operation of the rotorcraft. Through a combination of three-dimensional perception, path planning, and layered dissipation, it achieves rapid identification, coarse dissipation, and layer-by-layer fine dissipation of fog on roads, thereby improving the efficiency and safety assurance of fog management in complex traffic environments.

[0008] According to some embodiments, the present invention adopts the following technical solution:

[0009] A method for dissipating fog based on the collaboration between a hybrid-wing mother aircraft and a rotorcraft includes the following steps:

[0010] Acquire multi-source data collected by the hybrid wing mothership, identify fog patches based on the multi-source data, and proceed to the next step if fog patches are identified; otherwise, continue the inspection.

[0011] The hybrid-wing mothership descends to a coarse scan altitude to perform an envelope scan of the fog patch. The scanned point cloud data is then divided into grids. For each grid cell, the corresponding point cloud subset is extracted. The quantile statistics method is used to determine the three-dimensional outer envelope height surface of the fog patch, thus obtaining the three-dimensional coarse outer envelope region of the fog patch.

[0012] The three-dimensional coarse outer envelope region of the fog is discretized into a set of regular grid nodes in the horizontal plane. Directed edges are established between adjacent grid nodes to form a coarse resolution planning diagram. Based on the coarse resolution planning diagram, the hybrid wing aircraft uses underwing jets and rotor rotation to jointly break the fog.

[0013] After the initial dispersion is completed, the hybrid-wing aircraft hovers above the fog patch to detect the height of the fog patch after initial dispersion and determine the residual projection area.

[0014] The fog after coarse dissipation is divided into layers. Based on the height of the fog after dissipation, the residual projection area, and the effective dissipation radius and effective vertical depth of the rotor sub-engine, an intra-layer planning diagram of the rotor sub-engine is constructed. According to the corresponding intra-layer planning diagram of the rotor sub-engine, the fog is dissipated layer by layer until the fog dissipation is completed.

[0015] As an alternative implementation, the process of acquiring multi-source data collected by the hybrid-wing aircraft during a high-altitude patrol mission at a preset cruising altitude and identifying fog based on the multi-source data includes: the hybrid-wing aircraft performing a high-altitude patrol mission at a preset cruising altitude, acquiring visible light imaging data and infrared thermal imaging data, and identifying the presence of fog based on the brightness attenuation, image clarity reduction, and abnormal continuity of the infrared temperature field in the visible light imaging data and infrared thermal imaging data.

[0016] As an alternative implementation, the process of envelope scanning of the fog and meshing the scanned point cloud data includes: the hybrid wing aircraft descends to a coarse scanning altitude to simultaneously scan the upper and lower boundaries of the fog, circles the fog, and uses a three-dimensional airborne sensor to perform envelope scanning of the fog. The obtained point cloud data is represented as follows:

[0017] ;

[0018] in, A collection of point clouds acquired by a 3D sensor. These are the three-dimensional coordinates of the point;

[0019] Discretize the horizontal space into regular grid cells:

[0020] ;

[0021] in, For the i-th and j-th horizontal planar grids, Let the coordinates be any point on the horizontal plane. It is the resolution of the grid in the x and y directions.

[0022] As an alternative implementation method, the process of extracting the corresponding point cloud subset for each divided cell and determining the three-dimensional outer envelope height surface of the fog using quantile statistics to obtain the three-dimensional coarse outer envelope region of the fog includes: extracting the corresponding point cloud subset for each cell and determining the three-dimensional outer envelope height surface of the fog using quantile statistics.

[0023] ;

[0024] ;

[0025] in, The height of the fog top before dissipation. The height of the fog base after dissipation. For quantile operators, These are the three-dimensional coordinates of the point. For point cloud collection;

[0026] The three-dimensional coarse outer envelope region of the fog patch was obtained:

[0027] ;

[0028] in:

[0029] ;

[0030] In the formula, The set of envelope surfaces before resolution. for Horizontal projection.

[0031] As an alternative implementation, discretizing the three-dimensional coarse outer envelope region of the fog patch into a set of regular grid nodes in a horizontal plane, and establishing directed edges between adjacent grid nodes to form a coarse resolution planning graph includes: projecting the fog patch region... Discretize into a set of regular grid nodes in the horizontal plane:

[0032] ;

[0033] in, for Horizontal projection, The set of envelope surfaces before resolution. This is the set of nodes in the planning diagram of the hybrid wing mothership. Each grid is a square, and the side length of the grid is not less than the safety radius of the hybrid wing mothership.

[0034] Directed edges are established between adjacent grid nodes to form the coarse solution planning graph of the mother machine:

[0035] ;

[0036] in, Mother machine planning diagram, Let be a set of edges, where each edge is a directed edge between adjacent nodes. The dissipation benefit is defined as the ability of the hybrid wing aircraft to cover the disturbance of the fog patch at that location:

[0037] ;

[0038] in:

[0039] ;

[0040] in, Indicates that the mother machine is located at the node. The dissipation benefits and coverage contribution at that time The formula for calculating the kernel function covering the mother machine;

[0041] side The flight cost is defined as:

[0042] ;

[0043] in, Let (i, j) represent the edge cost from point (i, j) to point (p, q). Weighting coefficients representing distance, Weights representing risk The minimum distance from the flight edge to the obstacle. To prevent extremely small numbers with a denominator of 0;

[0044] The coarse solution path planning of the hybrid-wing mothership is transformed into a graph. The objective function for solving the path problem that maximizes the elimination benefit while minimizing the flight cost is:

[0045] ;

[0046] For the total dissipation benefit, To determine the total flight cost, a coarse solution path for the hybrid-wing mothership is obtained. The hybrid wing mothership performs coarse elimination along this path, and a heuristic algorithm is used to solve it.

[0047] As an alternative implementation, the process of detecting the height of the fog patch after coarse dissipation and determining the residual projection area includes: after the hybrid wing aircraft completes the coarse dissipation, it ascends and hovers above the fog patch using its rotor, detects the height of the fog patch after coarse dissipation, and the updated fog top height is:

[0048] ;

[0049] in, The area occupied by the fog after coarse dissipation. This represents the fog top height at point (x, y) after coarse digestion;

[0050] Define the change in fog top before and after coarse digestion:

[0051] ;

[0052] in, The change in fog top at point (x, y) before and after coarse elimination. The height of the fog top before dissipation;

[0053] The residual projection region is determined as follows:

[0054] .

[0055] As an alternative implementation method, the process of stratifying the coarsely digested fog includes:

[0056] Let the effective horizontal dissipation radius of the rotorcraft be... The effective vertical depth of action is The vertical layer thickness is defined as:

[0057] ;

[0058] in, This indicates the layer thickness of the digestion process performed by the submachine gun. This is the layer thickness coefficient;

[0059] The height of the residual fog at position (x, y) is:

[0060] ;

[0061] in, This represents the thickness of the fog after the point (x, y) dissolves. The initial fog base;

[0062] Then the total number of vertical layers in the world Defined as:

[0063] , The area occupied by the fog after coarse dissipation;

[0064] No. l The height range of a layer is defined as follows:

[0065] ,in, Indicates the first l Upper and lower limits of floor height.

[0066] As an alternative implementation method, the process of constructing the in-layer planning diagram of the rotor sub-engine based on the height of the dissipated fog, the residual projection area, and the effective dissipation radius and effective vertical depth of the rotor sub-engine includes:

[0067] In the l Layer, will include the residual projection area According to the sub-machine radius Divide into planar task units, forming a set of sub-task areas. : ;

[0068] in, and The division scale for the horizontal task unit of the submachine in the x / y direction. This is the scaling factor;

[0069] In the l Layer height constraint Within this framework, each subtask region is discretized into a set of nodes:

[0070] ;

[0071] in, Let l be the set of nodes in the submachine planning graph of layer l. Set of sub-task areas The point in the middle;

[0072] Construct the sub-machine layer planning diagram:

[0073] ;

[0074] in, This is the planning diagram for the l-th layer submachine. For a set of nodes, Let it be the set of edges;

[0075] The node resolution benefit is defined as:

[0076] ;

[0077] ;

[0078] in, For the slave machine at the l-th layer node The dissipation of benefits, To cover the kernel function for the submachine, The effective digestion radius of the submachine;

[0079] Edge cost is defined as:

[0080] ;

[0081] in, This is the distance weighting coefficient. Energy consumption weighting coefficient This refers to the energy consumption of the corresponding edge;

[0082] The objective of rotorcraft path planning is:

[0083] ;

[0084] in, The path of the submachine at layer l. For the total cost;

[0085] And it meets the height constraint: ;

[0086] in, Let be the flight altitude of the submachine at discrete time n. To constrain the flight altitude at level l.

[0087] As an alternative implementation method, the process of dissolving the fog layer by layer according to the corresponding rotor sub-aircraft's layer-by-layer planning diagram until the fog is completely dissolved includes:

[0088] Complete the first l After the layered aircraft dissipates, the hybrid wing mothership updates the fog top altitude surface again. The process is considered complete and proceeds to the next layer when one of the following conditions is met:

[0089] ;

[0090] or:

[0091] ;

[0092] in, This indicates the calculation of the horizontal area of ​​the fog patch in the current layer. The threshold for residual area value, This represents the overall downward movement of the fog top. The minimum percentage coefficient required for the completion of a layer;

[0093] Once the bottom layer of fog has been cleared, the fog is considered cleared. The hybrid rotor mother aircraft guides the rotorcraft back and performs aerial recovery, generates a clearing operation record, and ends the mission.

[0094] A fog dissipation system based on the collaboration of a hybrid-wing mother aircraft and a rotorcraft includes:

[0095] The fog identification module is configured to acquire multi-source data collected by the hybrid-wing mothership during high-altitude patrol missions at preset cruising altitudes, identify fog based on the multi-source data, and proceed to the next step if fog is detected; otherwise, continue the patrol.

[0096] The envelope scanning module is configured to perform envelope scanning on the fog, divide the scanned point cloud data into grids, extract the corresponding point cloud subset for each cell after division, and determine the three-dimensional outer envelope height surface of the fog using quantile statistics to obtain the three-dimensional coarse outer envelope region of the fog.

[0097] The coarse resolution planning module is configured to discretize the three-dimensional coarse outer envelope region of the fog patch into a set of regular grid nodes in the horizontal plane, and establish directed edges between adjacent grid nodes to form a coarse resolution planning graph. Based on the coarse resolution planning graph, the hybrid wing aircraft uses underwing jets and rotor rotation to jointly break the fog patch.

[0098] The fog detection module is configured to detect the height of the fog after coarse dissipation and determine the residual projection area;

[0099] The layered planning module is configured to divide the coarsely dissolved fog into layers. Based on the dissolved fog height, residual projection area, and the effective dissipation radius and effective vertical depth of the rotor sub-engine, it constructs the in-layer planning map of the rotor sub-engine. According to the corresponding in-layer planning map of the rotor sub-engine, the fog is dissolved layer by layer until the fog is completely dissolved.

[0100] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0101] This invention addresses the characteristics of road fog, such as rapid formation and uneven distribution, and proposes a three-dimensional fog dissipation method based on a mother-daughter drone collaboration. By introducing a collaborative operation mode of a hybrid-wing mother drone and daughter drones, the mother drone's rapid coverage and coarse dissipation capabilities over a large area are combined with the daughter drones' refined dissipation capabilities in localized areas, achieving coordinated management of fog patches from overall fragmentation to layer-by-layer reduction. Compared with traditional solutions relying on ground-based fog dissipation facilities or single drone operations, this invention can respond quickly to fog patch formation over a larger area, significantly improving fog dissipation efficiency and operational coverage, while reducing reliance on fixed infrastructure.

[0102] This invention introduces a three-dimensional sensor to acquire the spatial envelope information of fog patches, constructs a three-dimensional contour model of the fog, and combines it with path planning and dissipation decision-making to achieve three-dimensional perception and precise control of the dissipation process. By dynamically updating the changes in fog top height and the residual projection area, it avoids the problem of blind dissipation based solely on two-dimensional images or local visibility information, as is common in traditional methods. This allows UAV operations to always revolve around the actual residual fog area, thereby reducing repeated dissipation and resource waste, and improving the targeting and stability of the dissipation process.

[0103] This invention introduces a layered dissipation mechanism based on operational scale in its dissipation strategy. It fully considers the limitations of the sub-machine's horizontal dissipation radius and vertical depth of action, dividing residual fog into multiple height layers and dissipating them layer by layer. This mechanism allows the dissipation task to be dynamically adjusted according to the dissipation progress, avoiding the control complexity and safety risks associated with a single full-height operation. Through the verification and feedback of the dissipation effect of each layer by the main machine, this invention forms a closed-loop control process of dissipation-detection-re-dissipation, significantly improving the controllability and reliability of the dissipation effect under complex meteorological conditions.

[0104] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0105] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0106] Figure 1 This is a schematic diagram of a fog dissipation method according to one embodiment;

[0107] Figure 2 This is a schematic diagram of a synergistic fog three-dimensional digestion process according to one embodiment. Detailed Implementation

[0108] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0109] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0110] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0111] Where there is no conflict, the embodiments and features described in this application may be combined with each other.

[0112] Example 1

[0113] As described in the background section, existing technologies for managing road fog generally suffer from limited coverage, low dissipation efficiency, and a lack of three-dimensional perception and collaborative control capabilities. A comprehensive aerial fog dissipation technology system has yet to be developed that can adapt to the rapid formation of fog, balance large-scale coarse dissipation with small-scale fine dissipation, and possess dynamic planning and closed-loop control capabilities. Therefore, there is an urgent need for a three-dimensional fog dissipation method based on mother-daughter aircraft collaboration. This method should integrate three-dimensional perception, path planning, and a layered operation mechanism to achieve efficient, safe, and sustainable dissipation of road fog, thereby enhancing operational safety in complex traffic environments.

[0114] This embodiment provides a three-dimensional fog dissipation method based on the collaboration of a hybrid-wing mother aircraft and a rotorcraft, including the following steps:

[0115] Step (1) High-altitude inspection and fog identification

[0116] The hybrid-wing mothership (hereinafter referred to as the mothership) performs high-altitude patrol missions at a preset cruising altitude, equipped with visible light imaging sensors and infrared thermal imaging sensors to continuously monitor roads and their overhead environment. Based on characteristics such as brightness attenuation, image clarity reduction, and abnormal continuity of the infrared temperature field, a method combining threshold segmentation and connected component analysis is used. If it is determined that there is fog in a certain area, the process proceeds to step (2); otherwise, the patrol continues.

[0117] Step (2) Coarse scanning of the three-dimensional outer envelope of the fog

[0118] After detecting the fog patch, the mothership descends to a coarse scanning height (which can simultaneously scan the upper and lower boundaries of the fog patch), circles it, and uses airborne 3D airborne sensors such as airborne lidar to perform an envelope scan of the fog patch. The obtained point cloud data is represented as follows:

[0119] ;

[0120] in, A collection of point clouds acquired by a 3D sensor. These are the three-dimensional coordinates of the point.

[0121] Discretize the horizontal space into regular grid cells:

[0122] ;

[0123] in, For the i-th and j-th horizontal planar grids, Let the coordinates be any point on the horizontal plane. It is the resolution of the grid in the x and y directions.

[0124] For each cell, extract the corresponding point cloud subset and use quantile statistics to determine the 3D outer envelope height surface of the fog patch:

[0125] ;

[0126] ;

[0127] in, The height of the fog top before dissipation. The height of the fog base after dissipation. This is the quantile operator.

[0128] This yields the three-dimensional coarse outer envelope region of the fog:

[0129] ;

[0130] in:

[0131] ;

[0132] in, The set of envelope surfaces before resolution. for Horizontal projection.

[0133] Step (3) Coarse solution path mapping and path planning

[0134] In the initial dissipation stage, the mother aircraft uses a combination of underwing jets and rotor rotation to provide power, which in turn breaks down the fog, thus achieving the purpose of initial dissipation.

[0135] Projecting area of ​​the fog Discretize into a set of regular grid nodes in the horizontal plane:

[0136] ;

[0137] in, This is the set of nodes in the mother machine planning diagram. Each grid should be a square. The side length of the grid needs to be determined manually according to the mother machine model. The shorter the side length, the better the coarse reduction effect, but it should not be lower than the safe radius of the mother machine.

[0138] Directed edges are established between adjacent grid nodes to form the coarse solution planning graph of the mother machine:

[0139] ;

[0140] in, Mother machine planning diagram, It is a set of edges (directed edges between adjacent nodes).

[0141] node The dissipation benefit is defined as the mother machine's ability to cover the fog patch at that location by mitigating its disturbance:

[0142] ;

[0143] in:

[0144] ;

[0145] in, Indicates that the mother machine is located at the node. The dissipation benefits and coverage contribution at that time The formula for calculating the kernel function covering the mother machine. The extent of influence on the surrounding planar location / coverage diffusion width.

[0146] side The flight cost is defined as:

[0147] ;

[0148] in, Let (i, j) represent the edge cost from point (i, j) to point (p, q). Weighting coefficients representing distance, Weights representing risk The minimum distance from the flight edge to the obstacle. To prevent extremely small numbers with a denominator of 0, This represents the weight of energy consumption.

[0149] The coarse digestion path planning of the mother machine is transformed into a graph. The objective function for solving the path problem that maximizes the elimination benefit while minimizing the flight cost is:

[0150] ;

[0151] Obtain the coarse digestion path of the mother machine The mother machine performs coarse-grained elimination along this path, which can be solved using heuristic algorithms such as ant colony optimization. The calculated edge cost.

[0152] Step (4) Fog Top Height Update after Coarse Dissipation

[0153] After the initial fog dissipation by the mother ship is complete, it needs to ascend and hover above the fog patch using its rotors to check the height of the fog patch after dissipation. The updated fog top height is:

[0154] ;

[0155] in, The area occupied by the fog after coarse dissipation. This represents the fog top height at point (x, y) after coarse digestion.

[0156] Define the change in fog top before and after coarse digestion:

[0157] ;

[0158] in, This represents the change in the fog top at (x, y) before and after coarse elimination.

[0159] And determine the residual projection area:

[0160] ;

[0161] Step (5) Layer-by-layer digestion planning based on the digestion radius of the submachine

[0162] Let the effective horizontal dissipation radius of the rotor sub-engine (hereinafter referred to as the sub-engine) be... The effective vertical depth of action is Define the vertical layer thickness:

[0163] ;

[0164] in, This indicates the layer thickness of the digestion process performed by the submachine gun. This is the layer thickness coefficient (determined manually based on the actual performance of the machine).

[0165] The height of the residual fog at position (x, y) is:

[0166] ;

[0167] in, This represents the thickness of the fog after the point (x, y) dissolves. This is the initial fog base.

[0168] The global vertical layer number is defined as:

[0169] ;

[0170] in, This represents the total number of global layers.

[0171] The height range of the l-th layer is defined as follows:

[0172] ;

[0173] in, This indicates the upper and lower bounds of the height of the l-th layer.

[0174] Step (6) Sub-machine digestion path planning:

[0175] In the l-th layer, the residual projection area According to the sub-machine radius Divide into planar task units, forming a set of sub-task areas. :

[0176] ;

[0177] in, and The division scale for the horizontal task unit of the submachine in the x / y direction. This is the scaling factor (determined based on the actual performance of the machine).

[0178] Height constraint at layer l Within this framework, each subtask region is discretized into a set of nodes:

[0179] ;

[0180] in, This is the set of nodes in the submachine planning graph of layer l.

[0181] Construct the sub-machine layer planning diagram:

[0182] ;

[0183] in, This is the planning diagram for the l-th layer submachine. For a set of nodes, It is a set of edges (adjacency relationships).

[0184] The node resolution benefit is defined as:

[0185] ;

[0186] ;

[0187] in, For the slave machine at the l-th layer node The dissipation of benefits, To cover the kernel function for the submachine, For the effective digestion radius of the submachine, For a plane point, For slave nodes, It is the square of the Euclidean distance between the two points.

[0188] Edge cost is defined as:

[0189] ;

[0190] in, This is the distance weighting coefficient. Energy consumption weighting coefficient This refers to the energy consumption of the corresponding edge (calculated based on aircraft characteristics). The coordinates of the candidate node are in the plane.

[0191] The goal of the submachine path planning is:

[0192] ;

[0193] in, This is the path of the submachine at layer l.

[0194] And satisfy the height constraint:

[0195] ;

[0196] in, Let be the flight altitude of the submachine at discrete time n. To constrain the flight altitude at level l.

[0197] The submachine completes the layer l digestion task along the planned path.

[0198] Step (7) Layer-by-layer review and inter-layer advancement

[0199] Complete the first l After the layer machine digests the material, the mother machine updates the fog top height surface again. The process is considered complete and proceeds to the next layer when one of the following conditions is met:

[0200] ;

[0201] or

[0202] ;

[0203] in, This indicates the calculation of the horizontal area of ​​the fog patch in the current layer. The threshold for residual area value, This represents the overall downward movement of the fog top. This is the minimum percentage coefficient required for a layer to be completed.

[0204] Step (8) Termination and Recycling

[0205] Once the bottom layer of fog has been dissolved, the fog patch is deemed dissolved. The mother aircraft guides the daughter aircraft back and performs aerial recovery, generates a dissolution operation record, and ends the mission.

[0206] The mother-daughter unit collaborative fog dissipation method proposed in the above embodiments has good engineering adaptability and scalability. This method does not rely on large-scale ground equipment or fixed fog dissipation facilities and can be flexibly deployed in various complex traffic scenarios such as highways, bridges, and mountain roads. At the same time, by adjusting the dissipation path, layering parameters, and weighting coefficients, it can adapt to different models and different fog scales, and has strong versatility and continuous optimization capabilities, providing an efficient, flexible, and sustainable fog control technology solution for road traffic safety.

[0207] This embodiment uses a hybrid-wing UAV as the mother platform, combined with the collaborative operation of the daughter aircraft, to achieve rapid identification, coarse dissipation, and layered fine dissipation of road fog through a combination of three-dimensional perception, path planning, and layered dissipation, thereby improving the efficiency and safety of fog control in complex traffic environments.

[0208] This embodiment first utilizes a hybrid-wing aircraft to continuously inspect the road and its overhead environment during high-altitude cruise, identifying the formation and distribution of fog patches using visible light and infrared imaging. Upon detecting fog patches, the aircraft descends to a preset altitude and uses onboard LiDAR and other 3D sensors to perform an envelope scan of the fog patches, acquiring their 3D contour information in space and constructing a horizontal projection area and altitude distribution model of the fog patches. Based on this, the fog patch projection area is discretized and mapped. By introducing constraints on mitigation benefits and flight costs, a coarse mitigation path is planned for the aircraft. Utilizing the airflow generated by the hybrid-wing UAV during forward flight, hovering, and rotor disturbances, a large-scale, holistic coarse mitigation of the fog patches is achieved.

[0209] After the initial fog dissipation by the mother aircraft, this embodiment verifies the dissipation effect by increasing the mother aircraft's flight altitude, updates the upper surface distribution of the fog patches, and identifies residual fog areas that still exist after the initial dissipation. Furthermore, combining the effective dissipation radius and vertical depth of the slave aircraft, the residual fog patches are vertically layered and modeled, with each layer divided into planar task areas according to the slave aircraft's operational scale. By mapping and planning the slave aircraft's operational areas, the slave aircraft can achieve layer-by-layer and area-by-area fine dissipation of the residual fog patches within a controlled altitude range. After each layer is dissipated, the mother aircraft verifies and judges the results, dynamically advancing the dissipation levels until the fog patches are completely dissipated.

[0210] This embodiment comprehensively considers the three-dimensional spatial distribution characteristics of fog patches, the dynamic changes in fog top height during dissipation, and the differences in operational capabilities and scale between the mother and daughter drones. Through a collaborative mechanism of "mother drone coarse dissipation—height verification—daughter drone layered fine dissipation," a fog patch dissipation method with three-dimensional perception, dynamic planning, and closed-loop control capabilities is constructed. This method does not rely on large-scale ground-based fog dissipation facilities and has advantages such as flexible deployment, wide coverage, and high dissipation efficiency. It is applicable to various complex traffic scenarios such as highways, bridges, and mountain roads, providing a safe, efficient, and sustainably optimized aerial dissipation solution for road fog control.

[0211] Example 2

[0212] This embodiment provides a three-dimensional fog dissipation method based on the collaboration of a hybrid-wing mother aircraft and a rotorcraft, including the following steps:

[0213] Fog Spatial Modeling and Mother Machine Coarse Dissipation Path Planning Based on 3D Envelope Scanning

[0214] This embodiment illustrates how, in the method of the present invention, a hybrid-wing mothership performs a three-dimensional outer envelope scan of road fog and completes the construction and execution of the mothership's coarse dissipation path.

[0215] The test was conducted on a section of a highway bridge (approximately 1.5 km long). The hybrid-wing mothership performed a high-altitude inspection mission at a cruising altitude of 200 m, equipped with visible light and infrared thermal imaging sensors. When a significant decrease in visibility and an abnormal continuity of the infrared temperature field were detected in a localized area, the system determined the presence of fog and triggered a defogging process.

[0216] The mothership descends to a coarse scan altitude of 80 m, flies around the fog region once, and acquires fog point cloud data using its onboard lidar, denoted as P = {(x p , y p , z p A total of approximately 2.6 × 10⁻⁶ point clouds were collected. 6 indivual.

[0217] The horizontal projection area of ​​the fog is divided into square grids with sides of 20 m, resulting in a grid cell set {G(i,j)}. For a subset of point clouds P(i,j) within each grid, the heights of the fog top and bottom are calculated using quantile statistics, where the quantile coefficient q for the fog top is used. t =0.95, Fog Bottom Quantile =0.05. Therefore, the three-dimensional coarse outer envelope region Ω0 of the fog and its horizontal projection are constructed. .

[0218] exist A coarse elimination planning diagram for the mother machine is established, with a node spacing of 30 m, constrained by the mother machine's safety radius. The node elimination benefit is calculated using a Gaussian coverage kernel, with the coverage scale parameter σ... m =40 m. The edge cost consists of flight distance, energy consumption, and obstacle risk, with distance weighting. =0.6, risk weight =0.4.

[0219] The ant colony algorithm was used to solve the planning graph, with 80 iterations, to obtain the coarse solution path Π for the mother machine. m The total path length is approximately 1.8 km. The mothership performs alternating forward and hovering flights along the planned path, using rotor downwash and jet disturbance to coarsely disperse the fog. After dispersion, the maximum height of the fog decreased from approximately 65 m initially to approximately 38 m, and the overall density significantly decreased.

[0220] Layer-by-layer refined solution based on high-level verification and submachine hierarchical planning

[0221] After the mother machine completes the initial digestion, it is raised to a height of 120m and hovers to perform a re-scan of the digestion area and update the fog top height distribution. Based on the verification results, the height of the residual fog was calculated.

[0222] ;

[0223] The maximum height of the residual fog was approximately 35 m.

[0224] Effective horizontal digestion radius of the submachine =12 m, effective vertical depth of action =10 m. Taking the layer thickness coefficient κ_h=0.8, the layer thickness Δz_c=8 m is obtained, and the global layer number L=5 is determined.

[0225] The height range of the first layer is [30m, 38m]. Within this layer, the residual projection area will be... according to = The area is divided into planar task units of 10 m, forming 42 sub-task regions. A sub-machine planning diagram is established for each sub-task region, and the node resolution benefits are determined using... The coverage kernel function is of scale , and the edge cost consists of distance and energy consumption. =0.6, =0.4. Plan and execute the path for the sub-machine.

[0226] After the first layer of fog dissipation was completed, the main unit's verification showed that the fog top of that layer had moved down by approximately 7.2 meters, meeting the layer completion criterion. The system then automatically moved to the next layer. The second through fifth layers were dissipated in the same manner.

[0227] The final verification results showed that the horizontal area of ​​the residual fog was below the threshold. Visibility has recovered to over 100m, meeting the requirements for road traffic safety.

[0228] Closed-loop progression and operation termination based on layer-by-layer verification.

[0229] During the above implementation process, after each layer of fog top dissipation is completed, the system calculates the ratio of the overall downward movement of the fog top to the remaining area. When a certain layer experiences insufficient downward movement of the fog top or a large amount of residual fog in a local area, the system automatically adjusts the path density of the submachines and performs supplementary dissipation on the remaining area to avoid blind spots caused by a one-time advancement.

[0230] After completing the digestion of the bottom layer (layer 5), the verification results showed... If the area of ​​the fog patch is less than 5% of the initial projected area, and no obvious fog top structure is detected in two consecutive checks, the system determines that the fog patch dissipation is complete. The mother aircraft then guides the daughter aircraft back and performs aerial recovery, generates a complete dissipation operation record, and terminates the mission.

[0231] This embodiment demonstrates that the present invention, through a collaborative mechanism of coarse digestion by the mother machine, layered fine digestion by the daughter machine, and progressive review and verification, can achieve stable, efficient, and controllable digestion of fog in complex road environments, and has good engineering feasibility.

[0232] Example 3

[0233] A fog dissipation system based on the collaboration of a hybrid-wing mother aircraft and a rotorcraft includes:

[0234] The fog identification module is configured to acquire multi-source data collected by the hybrid-wing mothership during high-altitude patrol missions at preset cruising altitudes, identify fog based on the multi-source data, and proceed to the next step if fog is detected; otherwise, continue the patrol.

[0235] The envelope scanning module is configured to perform envelope scanning on the fog, divide the scanned point cloud data into grids, extract the corresponding point cloud subset for each cell after division, and determine the three-dimensional outer envelope height surface of the fog using quantile statistics to obtain the three-dimensional coarse outer envelope region of the fog.

[0236] The coarse resolution planning module is configured to discretize the three-dimensional coarse outer envelope region of the fog patch into a set of regular grid nodes in the horizontal plane, and establish directed edges between adjacent grid nodes to form a coarse resolution planning graph. Based on the coarse resolution planning graph, the hybrid wing aircraft uses underwing jets and rotor rotation to jointly break the fog patch.

[0237] The fog detection module is configured to detect the height of the fog after coarse dissipation and determine the residual projection area;

[0238] The layered planning module is configured to divide the coarsely dissolved fog into layers. Based on the dissolved fog height, residual projection area, and the effective dissipation radius and effective vertical depth of the rotor sub-engine, it constructs the in-layer planning map of the rotor sub-engine. According to the corresponding in-layer planning map of the rotor sub-engine, the fog is dissolved layer by layer until the fog is completely dissolved.

[0239] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of one or more computer-usable storage media (including, but not limited to, disk storage, etc.) containing computer-usable program code. CD - ROM It takes the form of a computer program product implemented on (such as optical memory, etc.).

[0240] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0241] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0242] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0243] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made by those skilled in the art without creative effort within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for dissipating fog based on the collaboration of a hybrid-wing mother aircraft and a rotorcraft, characterized in that, Includes the following steps: Acquire multi-source data collected by the hybrid wing mothership, identify fog patches based on the multi-source data, and proceed to the next step if fog patches are identified; otherwise, continue the inspection. The hybrid-wing mothership descends to a coarse scan altitude to perform an envelope scan of the fog patch. The scanned point cloud data is then divided into grids. For each grid cell, the corresponding point cloud subset is extracted. The quantile statistics method is used to determine the three-dimensional outer envelope height surface of the fog patch, thus obtaining the three-dimensional coarse outer envelope region of the fog patch. The three-dimensional coarse outer envelope region of the fog is discretized into a set of regular grid nodes in the horizontal plane. Directed edges are established between adjacent grid nodes to form a coarse resolution planning diagram. Based on the coarse resolution planning diagram, the hybrid wing aircraft uses underwing jets and rotor rotation to jointly break the fog. After the initial dispersion is completed, the hybrid-wing aircraft hovers above the fog patch to detect the height of the fog patch after initial dispersion and determine the residual projection area. The fog after coarse dissipation is divided into layers. Based on the height of the fog after dissipation, the residual projection area, and the effective dissipation radius and effective vertical depth of the rotor sub-engine, an intra-layer planning diagram of the rotor sub-engine is constructed. According to the corresponding intra-layer planning diagram of the rotor sub-engine, each layer is dissipated layer by layer until the fog is completely dissipated. The process of stratifying the fog after coarse digestion include: Let the effective horizontal dissipation radius of the rotorcraft be... The effective vertical depth of action is The vertical layer thickness is defined as: ； in, This indicates the layer thickness of the digestion process performed by the submachine gun. This is the layer thickness coefficient; The height of the residual fog at position (x, y) is: ； in, This represents the thickness of the fog after the point (x, y) dissolves. The initial fog base; Then the total number of vertical layers in the world Defined as: , The area occupied by the fog after coarse dissipation; No. l The height range of a layer is defined as follows: ,in, Indicates the first l Upper and lower limits of floor height; The process of constructing the in-layer planning diagram of the rotor sub-engine based on the height of the dissipated fog, the residual projected area, and the effective dissipation radius and effective vertical depth of the fog sub-engine includes: In the l Layer, will include the residual projection area According to the sub-machine radius Divide into planar task units, forming a set of sub-task areas. : ; in, and The division scale for the horizontal task unit of the submachine in the x / y direction. This is the scaling factor; In the l Layer height constraint Within this framework, each subtask region is discretized into a set of nodes: ； in, Let l be the set of nodes in the submachine planning graph of layer l. Set of sub-task areas The point in the middle; Construct the sub-machine layer planning diagram: ； in, This is the planning diagram for the l-th layer submachine. For a set of nodes, Let it be the set of edges; The node resolution benefit is defined as: ； ； in, For the slave machine at the l-th layer node The dissipation of benefits, To cover the kernel function for the submachine, The effective digestion radius of the submachine; Edge cost is defined as: ； in, This is the distance weighting coefficient. Energy consumption weighting coefficient This refers to the energy consumption of the corresponding edge; The objective of rotorcraft path planning is: ； in, The path of the submachine at layer l. For the total cost; And it meets the height constraint: ; in, Let be the flight altitude of the submachine at discrete time n. To constrain the flight altitude at level l.

2. The fog dissipation method based on the synergy of a hybrid-wing mother aircraft and a rotorcraft as described in claim 1, characterized in that, The process of acquiring multi-source data collected by the hybrid wing aircraft and identifying fog based on the multi-source data includes: the hybrid wing aircraft performing a high-altitude patrol mission at a preset cruising altitude to acquire visible light imaging data and infrared thermal imaging data; and identifying the presence of fog based on the brightness attenuation, image clarity reduction, and abnormal continuity of the infrared temperature field in the visible light imaging data and infrared thermal imaging data.

3. The fog dissipation method based on the synergy of a hybrid-wing mother aircraft and a rotorcraft as described in claim 1, characterized in that, The process of envelope scanning of the fog patch and meshing the scanned point cloud data includes: the hybrid wing aircraft descends to a coarse scanning altitude to simultaneously scan the upper and lower boundaries of the fog patch, circles the fog patch, and uses a 3D airborne sensor to perform an envelope scan of the fog patch. The obtained point cloud data is represented as follows: ； in, A collection of point clouds acquired by a 3D sensor. These are the three-dimensional coordinates of the point; Discretize the horizontal space into regular grid cells: ； in, For the i-th and j-th horizontal planar grids, Let the coordinates be any point on the horizontal plane. It is the resolution of the grid in the x and y directions.

4. The fog dissipation method based on the synergy of a hybrid-wing mother aircraft and a rotorcraft as described in claim 1, characterized in that, The process of extracting the corresponding point cloud subset for each divided cell and determining the 3D outer envelope height surface of the fog using quantile statistics to obtain the 3D coarse outer envelope region of the fog includes: extracting the corresponding point cloud subset for each cell and determining the 3D outer envelope height surface of the fog using quantile statistics. ； ； in, The height of the fog top before dissipation. The height of the fog base after dissipation. For quantile operators, These are the three-dimensional coordinates of the point. For point cloud collection; The three-dimensional coarse outer envelope region of the fog patch was obtained: ； in: ； In the formula, The set of envelope surfaces before resolution. for Horizontal projection.

5. The fog dissipation method based on the synergy of a hybrid-wing mother aircraft and a rotorcraft as described in claim 1, characterized in that, Discretizing the three-dimensional coarse outer envelope region of the fog patch into a set of regular grid nodes in the horizontal plane, and establishing directed edges between adjacent grid nodes to form a coarse resolution planning graph, includes: projecting the fog patch region... Discretize into a set of regular grid nodes in the horizontal plane: ； in, for Horizontal projection, The set of envelope surfaces before resolution. This is the set of nodes in the planning diagram of the hybrid wing mothership. Each grid is a square, and the side length of the grid is not less than the safety radius of the hybrid wing mothership. Directed edges are established between adjacent grid nodes to form the coarse solution planning graph of the mother machine: ； in, Mother machine planning diagram, Let be a set of edges, where each edge is a directed edge between adjacent nodes. The dissipation benefit is defined as the ability of the hybrid wing aircraft to cover the disturbance of the fog patch at that location: ； in: ； in, Indicates that the mother machine is located at the node. The dissipation benefits and coverage contribution at that time The formula for calculating the kernel function covering the mother machine; side The flight cost is defined as: ； in, Let (i, j) represent the edge cost from point (i, j) to point (p, q). Weighting coefficients representing distance, Weights representing risk The minimum distance from the flight edge to the obstacle. To prevent extremely small numbers with a denominator of 0, Represents energy consumption weight. This refers to the energy consumption of the corresponding edge; The coarse solution path planning of the hybrid-wing mothership is transformed into a graph. The objective function for solving the path problem that maximizes the elimination benefit while minimizing the flight cost is: ； For the total dissipation benefit, To determine the total flight cost, a coarse solution path for the hybrid-wing mothership is obtained. The hybrid wing mothership performs coarse elimination along this path, and a heuristic algorithm is used to solve it.

6. The fog dissipation method based on the synergy of a hybrid-wing mother aircraft and a rotorcraft as described in claim 1, characterized in that, The process of detecting the height of the fog patch after coarse dissipation and determining the residual projected area includes: After the mixed-wing aircraft completes the coarse dissipation, it ascends and hovers above the fog patch using its rotors, detects the height of the fog patch after coarse dissipation, and the updated fog top height is: ； in, The area occupied by the fog after coarse dissipation. This represents the fog top height at point (x, y) after coarse digestion; Define the change in fog top before and after coarse digestion: ； in, The change in fog top at point (x, y) before and after coarse elimination. The height of the fog top before dissipation; The residual projection region is determined as follows: 。 7. The fog dissipation method based on the synergy of a hybrid-wing mother aircraft and a rotorcraft as described in claim 1, characterized in that, According to the corresponding rotorcraft's internal planning diagram, the process of dissolving the fog layer by layer until the fog is completely dissipated includes: Complete the first l After the layered aircraft dissipates, the hybrid wing mothership updates the fog top altitude surface again. The process is considered complete and proceeds to the next layer when one of the following conditions is met: ； or: ； in, This indicates the calculation of the horizontal area of ​​the fog patch in the current layer. The threshold for residual area value, This represents the overall downward movement of the fog top. The minimum percentage coefficient required for the completion of a layer; Once the bottom layer of fog has been cleared, the fog is considered cleared. The hybrid rotor mother aircraft guides the rotorcraft back and performs aerial recovery, generates a clearing operation record, and ends the mission.

8. A fog dissipation system based on the collaboration of a hybrid-wing mother aircraft and a rotorcraft, employing the method described in any one of claims 1-7, characterized in that it comprises: The fog identification module is configured to acquire multi-source data collected by the hybrid-wing mothership during high-altitude patrol missions at preset cruising altitudes, identify fog based on the multi-source data, and proceed to the next step if fog is detected; otherwise, continue the patrol. The envelope scanning module is configured to perform envelope scanning on the fog, divide the scanned point cloud data into grids, extract the corresponding point cloud subset for each cell after division, and determine the three-dimensional outer envelope height surface of the fog using quantile statistics to obtain the three-dimensional coarse outer envelope region of the fog. The coarse resolution planning module is configured to discretize the three-dimensional coarse outer envelope region of the fog patch into a set of regular grid nodes in the horizontal plane, and establish directed edges between adjacent grid nodes to form a coarse resolution planning graph. Based on the coarse resolution planning graph, the hybrid wing aircraft uses underwing jets and rotor rotation to jointly break the fog patch. The fog detection module is configured to detect the height of the fog after coarse dissipation and determine the residual projection area; The layered planning module is configured to divide the coarsely dissolved fog into layers. Based on the dissolved fog height, residual projection area, and the effective dissipation radius and effective vertical depth of the rotor sub-engine, it constructs the in-layer planning map of the rotor sub-engine. According to the corresponding in-layer planning map of the rotor sub-engine, the fog is dissolved layer by layer until the fog is completely dissolved.

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