UAV-UGV Sensing Coordination for Stable Fine Area Inspection
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Solution Overview
Problem
Conventional flying object sensing systems face challenges in finely sensing narrow areas due to instability and high energy consumption when flying low, and vibration issues with high-magnification sensors during flight, making it difficult to achieve both comprehensive and fine sensing effectively.
Innovation Solution
A sensing system comprising a flying object (UAV) for comprehensive sensing and a ground vehicle (UGV) for fine sensing, where the UAV acquires initial data, the system extracts target areas, and the UGV moves to acquire detailed data, allowing for efficient targeting and investigation of potential abnormalities with reduced energy consumption and stability issues.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a flying object flies at low altitude to perform fine sensing close to the ground, then sensing precision is improved, but stability deteriorates due to ground effect
Solution Approach 1:
The sensing task is segmented into two phases: comprehensive sensing by the flying object at higher altitude, and fine sensing by the ground vehicle at the target location. This segmentation allows each platform to operate in its optimal stability condition while achieving both comprehensive and fine sensing objectives.
Solution Approach 2:
The ground vehicle acts as an intermediary that transfers the fine sensing task from the flying object to the ground level. The flying object identifies target areas and directs the ground vehicle to those locations for detailed sensing, eliminating the need for the flying object to operate unstably at low altitude.
2Measurement precision
If a flying object flies at low altitude for fine sensing, then sensing precision is improved, but energy consumption increases
Solution Approach 1:
The sensing mission is divided into aerial comprehensive surveying and ground-based detailed inspection. The flying object performs efficient wide-area scanning at higher altitude, while the ground vehicle handles energy-intensive fine sensing operations, optimizing overall energy consumption.
Solution Approach 2:
The ground vehicle autonomously navigates to target areas identified by the flying object and performs fine sensing independently. This self-service capability eliminates the need for the flying object to repeatedly descend to the same locations, reducing energy consumption.
3Measurement precision
If a high magnification sensor is used on a flying object for fine sensing, then sensing precision is improved, but vibration sensitivity increases
Solution Approach 1:
The ground vehicle serves as an intermediary platform that carries the high magnification sensor at ground level, isolating it from the vibrations experienced during aerial flight. This allows the use of high magnification sensors without the harmful vibration effects that would occur if mounted on a flying object.
4Area of stationary object
If comprehensive sensing of a wide area is performed, then coverage area is improved, but sensing precision for narrow areas deteriorates
Solution Approach 1:
The sensing operation is segmented into wide-area comprehensive surveying by the flying object and narrow-area fine sensing by the ground vehicle. This segmentation enables the system to achieve both wide coverage and high precision by assigning appropriate tasks to each platform based on its capabilities.
Data Source
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AI summary
The sensing system S extracts a target area to be subjected to short-distance sensing by the UGV 2 on the basis of the long-distance sensing data obtained by the UAV 1 in the air performing long-distance sensing on a lower place, perform movement control for moving the UGV 2 toward the target area. And then, the sensing system S acquires short-distance sensing data obtained by performing short-distance sensing on the whole or a part of the target area by the UGV 2 that has moved according to the movement control.