CN115580833B - Multifunctional monitoring and early warning multifunctional cooperative system - Google Patents
Multifunctional monitoring and early warning multifunctional cooperative system Download PDFInfo
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Abstract
The invention discloses a multifunctional monitoring and early warning multifunctional cooperative system, relates to the technical field of environmental pollution monitoring, and solves the technical problems of high cost, insufficient flexibility and low task execution efficiency in the environmental pollution monitoring and processing process in the prior art; the invention designs a control architecture combining central station scheduling and multifunctional unmanned aerial vehicle distributed control, and the central station and the multifunctional unmanned aerial vehicle are in two-way communication to balance communication symbol load and exchange data information and control information; a self-adaptive marshalling mode of the multifunctional unmanned aerial vehicle is designed to carry out identification and message interaction of the multifunctional unmanned aerial vehicle, so that the multifunctional unmanned aerial vehicle is convenient to identify and monitor; the relay equipment relying on the existing infrastructure is designed, the target unmanned aerial vehicle can be charged, communication relay can be performed, and the problem of endurance of the target unmanned aerial vehicle is solved.
Description
Technical Field
The invention belongs to the field of environmental pollution monitoring, relates to a multifunctional monitoring and early warning multifunctional cooperation technology, and particularly relates to a multifunctional monitoring and early warning multifunctional cooperation system.
Background
Along with the development of industry, the problem of environmental pollution is gradually highlighted, and meanwhile, various infectious diseases are constantly abused, which brings great harm to the health and safety of people, so that the work of sanitation and environmental protection in public places is more and more emphasized by people.
In the prior art, a large unmanned aerial vehicle is mostly used in the process of monitoring and processing environmental pollution, so that the cost is high, the influence of the volume is caused, the small-space operation is difficult to realize, and the flexibility is limited; the work task of the unmanned aerial vehicle is mainly focused on air disinfection and killing, and the functionality is single; the unmanned aerial vehicle needs to be combined with manual control, and the task execution efficiency is underground; therefore, a multifunctional monitoring and early warning multifunctional cooperative system is needed.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art; therefore, the invention provides a multifunctional monitoring and early warning cooperation system, which is used for solving the technical problems of high cost, insufficient flexibility and low task execution efficiency in the environmental pollution monitoring and processing process in the prior art.
In order to achieve the above object, a first aspect of the present invention provides a multifunctional monitoring and early warning collaboration system, which includes a central station, and an intelligent terminal, a plurality of relay devices, and a plurality of multifunctional unmanned aerial vehicles connected thereto;
sending task information to the central station through the intelligent terminal, wherein the central station extracts a task area from the task information; the intelligent terminal comprises a mobile phone and a computer;
the central station screens the plurality of multifunctional unmanned aerial vehicles according to the task area to obtain a target unmanned aerial vehicle; confirming the node identification of the target unmanned aerial vehicle to obtain an unmanned aerial vehicle dispatching table;
transmitting the unmanned aerial vehicle dispatch table in a multicast mode, and finishing task grouping after each target unmanned aerial vehicle is confirmed; sending the unmanned aerial vehicle scheduling table to the central station for data backup and information check;
the central station plans a task route for the target unmanned aerial vehicle according to the relative positions of the task area and the relay devices; and the target unmanned aerial vehicle cruises cooperatively according to the task route.
Preferably, before the central station receives the task information, the plurality of multifunctional unmanned aerial vehicles perform self-inspection after being powered on, and report a self-inspection result to the central station after being normal.
Preferably, the central station comprises a first power supply module, a wireless communication module, a first main control module, a display module, a data storage module and an alarm module, and the main control module is respectively in communication and/or electrical connection with the wireless communication module, the display module, the data storage module and the alarm module;
the relay equipment comprises a power supply module for supplying power for the work of the relay equipment, and a signal amplification module for carrying out relay amplification on the central station and the multifunctional unmanned aerial vehicle communication signal;
the multifunctional unmanned aerial vehicle comprises a second power supply module, a wireless communication module, a power module, a second main control module, an electronic spraying module, an image processing module, a positioning time service module, an air quality module, a pathogen sampling module and a data storage unit.
Preferably, a plurality of the relay devices are arranged according to flight areas and infrastructures, and comprise:
acquiring the flight area; wherein the flight area does not include a no-flight area;
dividing the flight area according to the working range of the relay equipment to obtain a plurality of flight sub-areas; arranging the relay device on the infrastructure at a central location of a number of the flight sub-areas.
Preferably, the central station performs node confirmation on a plurality of target unmanned aerial vehicles to acquire the unmanned aerial vehicle schedule table, and the method includes:
each multifunctional unmanned aerial vehicle sends an information message containing respective MAC addresses to a central station in a multicast mode in a preparation stage, and the central station establishes a mapping relation according to the information message;
the central station selects a plurality of the multifunctional unmanned aerial vehicles as target unmanned aerial vehicles based on the task areas, and sends task messages to the target unmanned aerial vehicles in a multicast mode; the task message comprises a main control board MAC address and a task type code of the target unmanned aerial vehicle;
after receiving the task message, the target unmanned aerial vehicles respectively send information messages containing the MAC addresses of the main control boards to other target unmanned aerial vehicles; the target unmanned aerial vehicle compares all received MAC addresses of the main control board with the target unmanned aerial vehicle one by one;
and sequencing the bitwise comparison results from small to large, and setting a device identifier for the sequencing results through a positive integer to generate an unmanned plane scheduling table until the unmanned plane scheduling tables of all target unmanned planes are consistent with the received unmanned plane scheduling table.
Preferably, the central station is a mission route of the target drone, and includes:
dividing the task area to obtain a plurality of task sub-areas; wherein the areas of the plurality of task subregions are equal or similar;
and distributing the target unmanned aerial vehicle to a plurality of task sub-areas, and planning a task route of each target unmanned aerial vehicle.
Preferably, the task subarea is similar to a honeycomb; setting a flight track or a hovering position of the target unmanned aerial vehicle in a corresponding task sub-area according to a task type; wherein the task type comprises a scope task or a sampling task.
Preferably, when the target unmanned aerial vehicle executes a range task, the target unmanned aerial vehicle flies to the center of the area along the inner spiral curve track of the periphery of the outline corresponding to the sub-area of the task; or alternatively
When the target unmanned aerial vehicle executes the sampling task, the target unmanned aerial vehicle hovers in the center of the area and performs sampling work regularly.
Compared with the prior art, the invention has the beneficial effects that:
the invention designs a control architecture combining central station scheduling and multifunctional unmanned aerial vehicle distributed control, and the central station and the multifunctional unmanned aerial vehicle are in two-way communication to balance communication symbol load and exchange data information and control information; a self-adaptive marshalling mode of the multifunctional unmanned aerial vehicle is designed to carry out identification and message interaction of the multifunctional unmanned aerial vehicle, so that the multifunctional unmanned aerial vehicle is convenient to identify and monitor; the relay equipment relying on the existing infrastructure is designed, the target unmanned aerial vehicle can be charged, communication relay can be performed, and the problem of endurance of the target unmanned aerial vehicle is solved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a distributed architecture of the system of the present invention;
FIG. 2 is a schematic diagram of the system of the central station of the present invention;
fig. 3 is a schematic diagram of a system structure of the relay device of the present invention;
fig. 4 is a schematic diagram of a system structure of the multifunctional unmanned aerial vehicle of the present invention.
Detailed Description
The technical solutions of the present invention will be described below clearly and completely in conjunction with the embodiments, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of a first aspect of the present invention provides a multifunctional monitoring and early warning cooperation system, which includes a central station, and an intelligent terminal, a plurality of relay devices, and a plurality of multifunctional unmanned aerial vehicles connected thereto;
the method comprises the steps that task information is sent to a central station through an intelligent terminal, and the central station extracts a task area from the task information;
the central station screens a plurality of multifunctional unmanned aerial vehicles according to the task area to obtain a target unmanned aerial vehicle; confirming the node identification of the target unmanned aerial vehicle, and acquiring an unmanned aerial vehicle dispatching table;
transmitting the unmanned plane scheduling table in a multicast mode, and finishing task marshalling after each target unmanned plane is confirmed; sending the unmanned aerial vehicle scheduling table to a central station for data backup and information check;
the central station plans a task route for the target unmanned aerial vehicle according to the relative positions of the task area and the relay devices; and the target unmanned aerial vehicle cruises cooperatively according to the task route.
Considering that the whole scheduling content is completely embedded in the unmanned aerial vehicle, the communication load of the unmanned aerial vehicle which is light, fast and small in range and is convenient for a main user to play is possibly too high, and the completion of an actual task is not facilitated. Therefore, the unmanned aerial vehicle system comprises two parts, namely a multifunctional unmanned aerial vehicle and a central station, and the two parts are in bidirectional communication through a central scheduling and distributed control framework so as to balance communication load and exchange data information and control information; meanwhile, point-to-point communication can be achieved between the multifunctional unmanned aerial vehicles, and information such as node searching identification is achieved. Consider communication signal decay problem, add relay equipment and play signal amplification effect, relay equipment still provides wireless power supply simultaneously to supply unmanned aerial vehicle to charge nearby wirelessly, solve the possible continuation of the journey problem of unmanned aerial vehicle.
In the application of the invention, before the central station receives the task information, the plurality of multifunctional unmanned aerial vehicles perform self-checking after the central station is powered on, and report the self-checking result to the central station after the self-checking result is normal. Guarantee that all multi-functional unmanned aerial vehicle are in full power state, and can carry out the task at any time.
Referring to fig. 2 to 4, a central station in the present application includes a first power supply module, a wireless communication module, a first main control module, a display module, a data storage module, and an alarm module;
a first power supply module: the central station is used for providing power support for each component module, and for example, the central station can be powered by commercial power, a solar cell panel, a lithium battery, a solid-state battery, wireless charging and the like, or the combination of the above modes. The first master control module: the system is used for communicating with the multifunctional unmanned aerial vehicle, planning marshalling information and route information, summarizing and processing returned air quality monitoring information and environmental pathogen monitoring information, driving an alarm module when a corresponding threshold value is reached, and issuing marshalling instructions and decompiling instructions to the unmanned aerial vehicle; a display module: the video information and other information which need to be summarized and displayed are sent back by the target unmanned aerial vehicle; a data storage module: the system is used for storing the raw data and the processing data returned by the unmanned aerial vehicle so as to be played back and analyzed; an alarm module: the alarm is used for alarming by means of sound and light and the like, such as screen pop-up windows, light and alarm sound, or in a combined mode, so as to give an alarm prompt; and the main control module in the central station is respectively communicated and/or electrically connected with the wireless communication module, the display module, the data storage module and the alarm module.
The relay equipment in the application of the invention comprises a power supply module for supplying power for the work of the relay equipment, a wireless charging module for charging the multifunctional unmanned aerial vehicle and a signal amplification module for carrying out relay amplification on communication signals of the central station and the multifunctional unmanned aerial vehicle.
The multifunctional unmanned aerial vehicle comprises a second power supply module, a wireless communication module, a power module, a second main control module, an electronic spraying module, an image processing module, a positioning time service module, an air quality module, a pathogen sampling module and a data storage unit. A second power supply module: the device is used for providing electric power support for each component module of the whole device, and can adopt a solar cell panel, a lithium battery, a solid battery, wireless charging and the like, or the combination of the above modes for supplying power; the second main control module: the system is used for communicating with all modules in the unmanned aerial vehicle, collecting air quality monitoring information and pathogen monitoring information in the air, issuing flight instructions, obstacle avoidance instructions, spraying instructions and the like, and uploading information such as monitoring data, position data, flight parameters and the like to a central station; a power module: the second main control module is used for interacting with the first main control module and providing power for the unmanned aerial vehicle to fly; a wireless communication module: the central station is used for communicating with the central station, acquiring instructions to be executed, communicating with other unmanned aerial vehicles, and performing marshalling, decompiling or other operations; an electronic spray module: used for spraying medicines and cleaning products to perform corresponding disinfection, sterilization and cleaning functions; an image processing module: the system is used for collecting and recording surrounding conditions and providing flight and obstacle avoidance information for the main control module; positioning a time service module: the device is used for receiving multi-mode satellite signals such as Beidou/GPS/GLONASS and the like, calibrating and determining the position and time point information; a quality control module: used for monitoring air quality parameters, such as concentrations of CO, SO2, NO2, inhalable particles and the like; pathogen sampling module: the sampling device is used for sampling pathogens to be sampled in aerosol for a certain time; a data storage unit: the device is used for recording and storing monitoring data, position data and flight parameters.
In the application of the invention, a plurality of relay devices are arranged according to a flight area and an infrastructure, and the method comprises the following steps:
acquiring a flight area; dividing a flight area according to the working range of the relay equipment to obtain a plurality of flight sub-areas; arranging relay equipment on infrastructure at the central positions of a plurality of flight subregions; the infrastructure includes street lights, utility poles, and the like.
The flight area is the area that all multi-functional unmanned aerial vehicles or whole central station are responsible for, does not contain the no flight zone of unmanned aerial vehicle in the flight area. The flight area is divided according to the effective working range of the relay device to obtain a plurality of flight sub-areas, and each flight sub-area can be covered by the corresponding relay device.
In the application, the central station confirms the nodes of a plurality of target unmanned aerial vehicles and acquires the unmanned aerial vehicle scheduling table, and the method comprises the following steps:
the multifunctional unmanned aerial vehicles send information messages containing respective MAC addresses to the central station in a multicast mode in a preparation stage, and the central station establishes a mapping relation according to the information messages; the central station selects a plurality of multifunctional unmanned aerial vehicles as target unmanned aerial vehicles based on the task area, and sends the task message to the target unmanned aerial vehicles in a multicast mode; the task message comprises a main control board MAC address and a task type code of the target unmanned aerial vehicle; after receiving the task message, the target unmanned aerial vehicles respectively send information messages containing the MAC addresses of the main control boards to other target unmanned aerial vehicles; the target unmanned aerial vehicle compares all received MAC addresses of the main control board with the target unmanned aerial vehicle one by one; and sequencing the bitwise comparison results from small to large, and setting a device identifier for the sequencing results through a positive integer to generate an unmanned plane scheduling table until the unmanned plane scheduling tables of all target unmanned planes are consistent with the received unmanned plane scheduling table.
It should be noted that the task message may also be sent to all the drones in a multicast manner, because the task message includes the MAC address of the target drone, each drone may determine whether it is the target drone by itself, and if so, respond, otherwise, do not respond.
It should be noted that, the target unmanned aerial vehicle with the device identifier of 1 is used as a pilot, the speed and the acceleration are calculated in real time through the positioning and time service module, the information is synchronized in the marshalling, and each target unmanned aerial vehicle can properly adjust the speed and the acceleration according to the information and the actual situation of the flight, can be selectively arranged into a linear or V-shaped flight queue and the like, and can keep the marshalling to normally operate; the equipment identifier of 2 serves as a spare pilot, and the pilot is prevented from offline to influence the grouping operation. The target unmanned aerial vehicles carry out online detection with each other, a detection message is issued, information such as a life signal is contained, and if the life signal of a certain target unmanned aerial vehicle is not updated after a certain time, offline is judged; when the offline exceeds a certain time, the pilot initiates the processes of sequencing and updating the equipment identifier again, and the processes are the same as the above; and if the off-line unmanned aerial vehicle is the pilot, the standby pilot is lifted to be the pilot.
And triggering and sending a task message containing the MAC address of the main control board and the task type code by the target unmanned aerial vehicle, wherein the task message can be received by the target unmanned aerial vehicle only. And the target unmanned aerial vehicle sorts the MAC in the received task message (compares the MAC from the highest bit), the device identifier of the minimum MAC is 1, the device identifier and the MAC address of the master control board are sequentially increased, and the unmanned aerial vehicle dispatching table of the device identifier and the MAC address of the master control board is generated. And waiting for a certain time, observing whether a task message which is not in the unmanned aerial vehicle scheduling table is received (communication delay influence is eliminated), and if so, updating the unmanned aerial vehicle scheduling table. Of course, the responses may be identified and sorted by IP address, SN code, or the like, in addition to the MAC address.
It should be noted that when the central station issues the task packet, the determined target unmanned aerial vehicles are not directly sorted according to the MAC addresses, but are sorted by themselves by the target unmanned aerial vehicles, so as to avoid a drop of a certain target unmanned aerial vehicle, and if the central station finishes sorting, the dropped target unmanned aerial vehicle cannot respond, which affects the proceeding of the following task.
The invention discloses a task route with a central station as a target unmanned aerial vehicle, which comprises the following steps:
dividing the task area to obtain a plurality of task sub-areas; and distributing the target unmanned aerial vehicles to a plurality of task sub-areas, and planning the task route of each target unmanned aerial vehicle.
The areas of the task sub-areas are equal or similar, that is, the area difference between the task sub-areas is within a required range. After the task sub-area is determined, the target unmanned aerial vehicle can be distributed according to the relay equipment, and a task route is planned for the target unmanned aerial vehicle.
Considering the practical flying condition of the multifunctional unmanned aerial vehicle, each working area is similar to a honeycomb shape, if a disinfection and purification task is executed, the target unmanned aerial vehicle carries out internal spiral curve track along the periphery of the honeycomb outline until the center point of the honeycomb area, and disinfection and purification are carried out in sequence; if environment sampling and pathogen sampling are executed, the unmanned aerial vehicle hovers in a cellular center, uninterrupted sampling is carried out within given time, the situation that the early warning value of the sample is exceeded in the period is reported to a central station, and meanwhile task completion state information is transmitted to the central station and other target unmanned aerial vehicles.
In the task execution process, if the electric quantity of the target unmanned aerial vehicle is reduced to an electric quantity threshold value, namely the target unmanned aerial vehicle is only used for reaching a person close to the nearby relay equipment or the central station, sending emergency charging information, informing the central station and other target unmanned aerial vehicles, seeking a nearest wireless charging point, and returning to marshalling after charging is finished; and returning to the central station after the marshalling task is finished, canceling the marshalling instruction after the central station detects that the target unmanned aerial vehicle arrives, and executing the charging operation after the unmanned aerial vehicle passes the self-checking.
Although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present invention.
Claims (6)
1. The utility model provides a multi-functional cooperative system of multi-functional monitoring early warning, includes central station to and the intelligent terminal, a plurality of relay equipment and a plurality of multi-functional unmanned aerial vehicle that are connected with it, its characterized in that:
sending task information to the central station through the intelligent terminal, wherein the central station extracts a task area from the task information; the intelligent terminal comprises a mobile phone and a computer;
the central station screens the plurality of multifunctional unmanned aerial vehicles according to the task area to obtain a target unmanned aerial vehicle; confirming the node identification of the target unmanned aerial vehicle to obtain an unmanned aerial vehicle dispatching table;
transmitting the unmanned aerial vehicle dispatch table in a multicast mode, and finishing task grouping after each target unmanned aerial vehicle is confirmed; sending the unmanned aerial vehicle scheduling table to the central station for data backup and information check;
the central station plans a task route for the target unmanned aerial vehicle according to the relative positions of the task area and the relay devices; the relay equipment also provides a wireless power supply for the unmanned aerial vehicle to wirelessly charge;
dividing the task area to obtain a plurality of task sub-areas; wherein the areas of the plurality of task sub-areas are equal;
distributing the target unmanned aerial vehicles to a plurality of task sub-areas, and planning task routes of the target unmanned aerial vehicles;
the target unmanned aerial vehicle cruises cooperatively according to the task route;
the central station carries out node confirmation on a plurality of target unmanned aerial vehicles and acquires the unmanned aerial vehicle dispatching table, and the method comprises the following steps:
each multifunctional unmanned aerial vehicle sends an information message containing respective MAC addresses to a central station in a multicast mode in a preparation stage, and the central station establishes a mapping relation according to the information message;
the central station selects a plurality of the multifunctional unmanned aerial vehicles as target unmanned aerial vehicles based on the task areas, and sends task messages to the target unmanned aerial vehicles in a multicast mode; the task message comprises a main control board MAC address and a task type code of the target unmanned aerial vehicle;
after receiving the task message, the target unmanned aerial vehicles respectively send information messages containing the MAC addresses of the main control boards to other target unmanned aerial vehicles; the target unmanned aerial vehicle compares all received MAC addresses of the main control board with the target unmanned aerial vehicle one by one;
and sequencing the bitwise comparison results from small to large, and setting a device identifier for the sequencing results through a positive integer to generate an unmanned plane scheduling table until the unmanned plane scheduling tables of all target unmanned planes are consistent with the received unmanned plane scheduling table.
2. The multifunctional cooperative system for monitoring and warning as claimed in claim 1, wherein before the central station receives the task information, the plurality of multifunctional drones perform self-checking after the central station is powered on, and report a self-checking result to the central station after the self-checking result is normal.
3. The multifunctional monitoring and early warning collaboration system as claimed in claim 1, wherein the central station comprises a first power supply module, a wireless communication module, a first main control module, a display module, a data storage module and a warning module, and the main control module is respectively connected with the wireless communication module, the display module, the data storage module and the warning module;
the relay equipment comprises a power supply module for supplying power for the work of the relay equipment, and a signal amplification module for carrying out relay amplification on the central station and the multifunctional unmanned aerial vehicle communication signal;
the multifunctional unmanned aerial vehicle comprises a second power supply module, a wireless communication module, a power module, a second main control module, an electronic spraying module, an image processing module, a positioning time service module, an air quality module, a pathogen sampling module and a data storage unit;
a second power supply module: the device is used for providing electric support for each component module of the whole device;
the second main control module: the system is used for communicating with all modules in the unmanned aerial vehicle, collecting air quality monitoring information and pathogen monitoring information in the air, issuing flight instructions, obstacle avoidance instructions and spraying instructions, and uploading monitoring data, position data and flight parameter information to a central station;
a power module: the second main control module is used for interacting with the second main control module and providing power for the unmanned aerial vehicle to fly;
a wireless communication module: the central station is used for communicating with the central station, acquiring a command to be executed, communicating with other unmanned aerial vehicles, and performing marshalling or decompiling;
an electronic spray module: used for spraying medicines and cleaning products to perform corresponding disinfection, sterilization and cleaning functions;
an image processing module: the system is used for collecting and recording surrounding conditions and providing flight and obstacle avoidance information for the main control module;
positioning a time service module: the system is used for receiving multimode satellite signals, calibrating and determining the position and time point information;
a quality control module: the system is used for monitoring air quality parameters, wherein the air quality parameters comprise CO, SO2, NO2 and inhalable particle concentration;
pathogen sampling module: the sampling device is used for sampling pathogens to be sampled in aerosol for a certain time;
a data storage unit: the device is used for recording and storing monitoring data, position data and flight parameters.
4. The multifunctional cooperative system for monitoring and warning as claimed in claim 3, wherein a plurality of relay devices are arranged according to flight areas and infrastructures, and comprises:
acquiring the flight area; wherein the flight area does not include a no-flight area;
dividing the flight area according to the working range of the relay equipment to obtain a plurality of flight sub-areas; arranging the relay device on the infrastructure at a central location of a number of the flight sub-areas.
5. The multifunctional cooperative system for monitoring and warning as recited in claim 1, wherein the task subarea is honeycomb-like; setting a flight track or a hovering position of the target unmanned aerial vehicle in a corresponding task sub-area according to a task type; wherein the task type comprises a scope task or a sampling task.
6. The multifunctional monitoring and early-warning collaboration system as claimed in claim 5, wherein when the target unmanned aerial vehicle executes a range task, the target unmanned aerial vehicle flies along an inner spiral curve track along the periphery of the contour corresponding to the task sub-area to the center of the area; or alternatively
When the target unmanned aerial vehicle executes the sampling task, the target unmanned aerial vehicle hovers in the center of the area and performs sampling work regularly.
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