Unmanned aerial vehicle and unmanned vehicle cooperation system
By integrating lidar and drone information into a three-dimensional map model, the coordination problem between drone and unmanned vehicle systems is solved, integrated air-ground patrol and real-time data sharing is realized, and patrol efficiency and response speed are improved.
Patent Information
- Application Number
- CN202422553414.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-22
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2034-10-22
AI Technical Summary
The lack of a collaborative mechanism for existing drones and unmanned vehicle systems has led to the inability to achieve comprehensive patrols and data that cannot be shared and exchanged in real time, reducing patrol efficiency and response speed.
Through the navigation industrial control machine, the signals detected by the lidar and the photo information taken by the drone are integrated, and a three-dimensional map model is built and transmitted to the external terminal through the network, while collaborative navigation control of the drone and the drone is realized.
The integrated coordinated patrol of air-grounds between drones and unmanned vehicles has been realized, which has improved patrol efficiency and information sharing capabilities, and has improved response speed.
Smart Images
Figure CN223155405U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of fire patrol equipment, in particular to a collaborative system of an unmanned aerial vehicle and an unmanned vehicle. Background Technique
[0002] Unmanned aerial vehicles and unmanned vehicles are mainly applied to the field of security patrol, especially in environments such as factory areas and campuses that require efficient and safe patrol. Most of the existing unmanned aerial vehicle and unmanned vehicle systems operate independently and lack an effective collaborative mechanism.
[0003] It is mainly manifested in the following two aspects:
[0004] 1) Independent operation: Most of the existing unmanned aerial vehicle and unmanned vehicle systems operate independently, lacking an effective collaborative operation mechanism and unable to achieve an all-round patrol of air-ground integration.
[0005] 2) Data island problem: Due to the lack of collaborative operation, the data in the existing system cannot be shared and exchanged in real time, resulting in the phenomenon of information islands, reducing the overall patrol efficiency and response speed. Content of the Utility Model
[0006] The purpose of the utility model is to provide a collaborative system of an unmanned aerial vehicle and an unmanned vehicle, which can solve the problems that the unmanned aerial vehicle and unmanned vehicle systems operating independently cannot achieve an all-round patrol of air-ground integration and the data cannot be shared and exchanged in real time.
[0007] The purpose of the utility model is achieved through the following technical solutions:
[0008] A collaborative system of an unmanned aerial vehicle and an unmanned vehicle includes an unmanned vehicle, an electrical cabin, and an unmanned aerial vehicle platform. The electrical cabin is located between the unmanned vehicle and the unmanned aerial vehicle platform; it also includes an unmanned aerial vehicle, which is installed on the unmanned aerial vehicle platform; a navigation industrial computer is installed inside the electrical cabin. A lidar is installed on the unmanned vehicle, and the lidar transmits signals to the navigation industrial computer, and the navigation industrial computer constructs a map according to the signals; a router is arranged outside the electrical cabin, and the navigation industrial computer communicates with the unmanned aerial vehicle through the router and receives signals from the unmanned aerial vehicle; the navigation industrial computer transmits the signals received from the lidar and the unmanned aerial vehicle to an external terminal through the network.
[0009] Preferably, a control box, a driver, and four drive motors are installed inside the unmanned vehicle, and the four drive motors respectively control the four wheels of the unmanned vehicle; the control box controls the actions of the four drive motors through the driver.
[0010] Preferably, a battery for providing kinetic energy for the unmanned vehicle is also installed inside the unmanned vehicle. A charging module is arranged outside the unmanned vehicle, and the charging module is electrically connected to the battery, and the battery is connected to an external charger through the charging module for charging.
[0011] Preferably, an infrared receiver is also provided on the outside of the driverless vehicle for detecting the infrared emitter on the external charger; a power sensor for detecting the battery power is installed on the driverless vehicle, and the power sensor is connected to the navigation industrial computer to transmit the battery power information to the navigation industrial computer. The infrared receiver is connected to the navigation industrial computer, and the navigation industrial computer issues an instruction to the control box according to the signal of the infrared receiver, and the control box controls the driverless vehicle to move to the external charger.
[0012] Preferably, an unmanned aerial vehicle (UAV) platform industrial computer for controlling the operation of the UAV platform is also installed inside the electrical cabin.
[0013] Preferably, a wireless charging transmitting end for wirelessly charging the UAV is provided on the UAV platform.
[0014] Preferably, an IMU module for calculating the driving mileage of the driverless vehicle is also installed inside the electrical cabin. The IMU module is connected to the navigation industrial computer, and the IMU module transmits data to the navigation industrial computer.
[0015] In the present utility model, the navigation industrial computer integrates the signals detected by the lidar, the photos taken by the UAV, and information such as height to construct a three-dimensional map model, and transmits the obtained information and model to an external terminal through a network. The navigation industrial computer can also perform navigation control on the UAV and the driverless vehicle according to the three-dimensional map model. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a structural diagram of a UAV and driverless vehicle collaborative system of the present utility model.
[0017] Figure 2 is Figure 1 a side view of
[0018] Figure 3 is Figure 1 a top view of
[0019] Figure 4 is Figure 1 a top view of the driverless vehicle in
[0020] Figure 5 is Figure 1 a top view of the electrical cabin in
[0021] The description of the reference numerals is as follows:
[0022] 1: Unmanned vehicle, 2: Electrical equipment compartment, 3: UAV platform, 4: UAV, 5: LiDAR, 6: Router, 7: Industrial control computer of UAV platform, 8: Navigation industrial control computer, 11: Control box, 12: Driver, 13: Drive motor, 14: Battery, 15: Recharge module, 16: Infrared receiver, 17: Battery level sensor, 18: IMU module, 31: Wireless charging transmitter. Detailed implementation manners
[0023] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.
[0024] The following specific examples illustrate the implementation manners of the present disclosure. Those skilled in the art can easily understand the advantages and effects of the present disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The present disclosure can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts fall within the scope of protection of the present disclosure. Embodiment 1
[0025] The utility model integrates the signals detected by the LiDAR 5, the photos taken by the UAV 4, and information such as altitude through the navigation industrial control computer 8 to construct a three-dimensional map model, and transmits the obtained information and model to an external terminal through the network. The navigation industrial control computer 8 can also navigate and control the UAV 4 and the unmanned vehicle 1 according to the three-dimensional map model.
[0026] As Figure 1-2 shown, a UAV and unmanned vehicle collaborative system includes an unmanned vehicle 1, an electrical equipment compartment 2, and a UAV platform 3. The electrical equipment compartment 2 is located between the unmanned vehicle 1 and the UAV platform 3; it further includes a UAV 4, and the UAV 4 is installed on the UAV platform 3; a navigation industrial control computer 8 is installed inside the electrical equipment compartment 2. A LiDAR 5 is installed on the unmanned vehicle 1, and the LiDAR 5 transmits signals to the navigation industrial control computer 8. The navigation industrial control computer 8 constructs a map according to the signals; a router 6 is arranged outside the electrical equipment compartment 2. The navigation industrial control computer 8 communicates with the UAV 4 through the router 6 and receives signals from the UAV 4; the navigation industrial control computer 8 transmits the signals received from the LiDAR 5 and the UAV 4 to an external terminal through the network.
[0027] The UAV 4 communicates with the navigation industrial control computer 8 through the router 6. The navigation industrial control computer 8 sends signals to the UAV 4 and navigates the UAV 4 to patrol.
[0028] AsFigure 4 As shown in the figure, further, a control box 11, a driver 12 and four drive motors 13 are installed inside the driverless vehicle 1. The four drive motors 13 respectively control the four wheels of the driverless vehicle 1; the control box 11 controls the actions of the four drive motors 13 through the driver 12.
[0029] The navigation industrial control computer 8 issues start and control signals to the control box 11. The control box 11 then sends the start and control signals to the driver 12. The driver 12 receives the signals and controls the start of the four drive motors 13, thereby controlling the movement of the driverless vehicle 1.
[0030] Further, a battery 14 that provides kinetic energy for the driverless vehicle 1 is also installed inside the driverless vehicle 1. A recharge module 15 is provided on the outside of the driverless vehicle 1. The recharge module 15 is electrically connected to the battery 14, and the battery 14 is connected to an external charger through the recharge module 15 for charging.
[0031] Further, an infrared receiver 16 is also provided on the outside of the driverless vehicle 1 for detecting an infrared emitter on the external charger; a power sensor 17 for detecting the battery power of the battery 14 is installed on the driverless vehicle 1. The power sensor 17 is connected to the navigation industrial control computer 8 and transmits the battery power information to the navigation industrial control computer 8. The infrared receiver 16 is connected to the navigation industrial control computer 8. The navigation industrial control computer 8 issues an instruction to the control box 11 according to the signal of the infrared receiver 16, and the control box 11 controls the driverless vehicle 1 to move to the external charger.
[0032] Further, an unmanned aerial vehicle platform industrial control computer 7 for controlling the operation of the unmanned aerial vehicle platform 3 is also installed inside the electrical cabin 2. The unmanned aerial vehicle platform industrial control computer 7 is connected to the navigation industrial control computer 8 and receives signals from the navigation industrial control computer 8, thereby controlling the start of the devices on the unmanned aerial vehicle platform 3, such as the opening and closing of the hatch or the locking and unlocking of the unmanned aerial vehicle by the fixing frame.
[0033] As Figure 3 shown, further, a wireless charging transmitter 31 for wirelessly charging the unmanned aerial vehicle 4 is provided on the unmanned aerial vehicle platform 3.
[0034] As Figure 5 shown, further, an IMU module 18 for calculating the driving mileage of the driverless vehicle 1 is also installed inside the electrical cabin 2. The IMU module 18 is connected to the navigation industrial control computer 8, and the IMU module 18 transmits data to the navigation industrial control computer.
[0035] Working principle:
[0036] When conducting fire patrols in known sites, such as in a factory campus or park, during the patrol, an operator can input map information into the navigation industrial control computer 8 through an external terminal before the fire patrol. The navigation industrial control computer 8 controls the navigation unmanned aerial vehicle 4 and the unmanned vehicle 1 to perform the fire patrol task in a loop according to the map information.
[0037] When conducting fire patrols in unknown sites, the lidar 5 on the unmanned vehicle 1 first detects the terrain and transmits the detected signal to the navigation industrial control computer 8. The navigation industrial control computer 8 converts and integrates the signal to construct a local map. Then, the navigation industrial control computer 8 controls the unmanned vehicle 1 and the unmanned aerial vehicle 4 to start and perform the patrol task according to the local map. During the patrol, terrain information, aerial photos, and terrain height differences are continuously obtained, and the obtained signals are transmitted to the navigation industrial control computer 8. The navigation industrial control computer 8 continuously updates and constructs the map of the patrol site according to the signals, and transmits the map of the site and the patrol information to the external terminal through the router 6.
[0038] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "middle", "length", "upper", "lower", "front", "rear", "vertical", "horizontal", "inner", "outer", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.
[0039] In the present invention, unless otherwise clearly specified and limited, the first feature being "on" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. The meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically limited.
[0040] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium. It may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0041] The above is only to illustrate the implementation manners of the present utility model and is not intended to limit the present utility model. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc. made without creative efforts within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.
Claims
1. A collaborative system for an unmanned aerial vehicle and an unmanned vehicle, comprising an unmanned vehicle (1), an electrical cabin (2) and an unmanned aerial vehicle platform (3), wherein the electrical cabin (2) is located between the unmanned vehicle (1) and the unmanned aerial vehicle platform (3); characterized in that, It also includes a drone (4) which is installed on a drone platform (3); a navigation industrial computer (8) is installed inside the electrical cabin (2); a lidar (5) is installed on the driverless vehicle (1), and the lidar (5) transmits signals to the navigation industrial computer (8), and the navigation industrial computer (8) constructs a map based on the signals; a router (6) is arranged outside the electrical cabin (2), and the navigation industrial computer (8) communicates with the drone (4) through the router (6) and receives signals from the drone (4); the navigation industrial computer (8) transmits the signals received from the lidar (5) and the drone (4) to an external terminal through the network.
2. The drone and unmanned vehicle cooperation system according to claim 1, characterized in that, A control box (11), a driver (12) and four drive motors (13) are installed inside the driverless vehicle (1), and the four drive motors (13) respectively control the four wheels of the driverless vehicle (1); the control box (11) controls the actions of the four drive motors (13) through the driver (12).
3. The drone and unmanned vehicle cooperation system according to claim 2, wherein, A battery (14) for providing kinetic energy for the driverless vehicle (1) is also installed inside the driverless vehicle (1); a charging module (15) is arranged outside the driverless vehicle (1), and the charging module (15) is electrically connected to the battery (14), and the battery (14) is connected to an external charger through the charging module (15) for charging.
4. The drone and unmanned vehicle collaborative system according to claim 3, wherein, An infrared receiver (16) is also arranged outside the driverless vehicle (1) for detecting an infrared transmitter on an external charger; a power sensor (17) for detecting the power of the battery (14) is installed on the driverless vehicle (1), and the power sensor (17) is connected to the navigation industrial computer (8) and transmits the battery (14) power information to the navigation industrial computer (8); the infrared receiver (16) is connected to the navigation industrial computer (8), and the navigation industrial computer (8) issues an instruction to the control box (11) according to the signal of the infrared receiver (16), and the control box (11) controls the driverless vehicle (1) to move to the external charger.
5. The drone and unmanned vehicle collaborative system according to any one of claims 1-4, characterized in that An industrial computer (7) for controlling the operation of the drone platform (3) is also installed inside the electrical cabin (2).
6. The drone and unmanned vehicle cooperation system according to any one of claims 1-4, characterized in that, A wireless charging transmitter (31) for wirelessly charging the drone (4) is arranged on the drone platform (3).
7. The drone and unmanned vehicle collaborative system according to any one of claims 1-4, characterized in that An IMU module (18) for calculating the driving mileage of the driverless vehicle (1) is also installed inside the electrical cabin (2), and the IMU module (18) is connected to the navigation industrial computer (8), and the IMU module (18) transmits data to the navigation industrial computer (8).