CN108983810A - A kind of warehouse patrol UAV system and its inspection method - Google Patents
A kind of warehouse patrol UAV system and its inspection method Download PDFInfo
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- CN108983810A CN108983810A CN201810799004.9A CN201810799004A CN108983810A CN 108983810 A CN108983810 A CN 108983810A CN 201810799004 A CN201810799004 A CN 201810799004A CN 108983810 A CN108983810 A CN 108983810A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000007689 inspection Methods 0.000 title abstract description 8
- 239000003381 stabilizer Substances 0.000 claims abstract description 12
- 230000005611 electricity Effects 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims description 9
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 239000002699 waste material Substances 0.000 abstract description 3
- 230000005670 electromagnetic radiation Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of warehouse patrol UAV system and its inspection methods, it is related to storehouse management field, including infrared obstacle avoidance module, shooting module, charging module, camera cradle head, altimeter, stabilizer, server, fly control module and processor, the inspection method carries out successively around line walking shelf by unmanned plane, line walking can be carried out to all cargos on shelf, it ensure that each cargo can be photographed, and server being capable of the area size line walking region that arranges unmanned plane specified, the waste of electricity is effectively reduced by specific patrolling method, every unmanned plane, which is equipped with the spare unmanned plane of a frame, prevents midway low battery to be unable to complete line walking task.
Description
Technical field
The present invention relates to storehouse management fields, and in particular to a kind of warehouse patrol UAV system and its inspection method.
Background technique:
In logistics warehouse, when needing to check state of the cargo in storage, mainly cloth is more in warehouse in the prior art
A Still camera realizes (grid-shaped arrangement) that the program is on the one hand more because of arrangement camera quantity, thus cost compared with
Height, in addition there is also certain observation dead angles for the program, therefore in order to solve this drawback, are carried out using unmanned plane to warehouse
Line walking.
Such as application No. is CN201510866222.6 disclose it is a kind of with power carrier radiate determine safe distance nobody
Machine patrolling method, including line walking terrestrial reference and unmanned plane；Line walking terrestrial reference uniform intervals are set in line walking terrestrial reference at being set to by power main
There is power line carrier module, power line carrier module exports signal to power main with preset transmission power, makes power main
Electromagnetic radiation is issued to route side；It is equipped with electro-magnetic radiation detection modules in unmanned plane and flies control module, electromagnet radiation detection mould
Block is connected with control module is flown, be stored in electro-magnetic radiation detection modules the clipping room of line walking terrestrial reference away from and transmission power, electromagnetism spoke
Detection module is penetrated by the electromagnetic radiation intensity value on detection power main to determine unmanned plane and power main spacing, when nobody
When machine is along power main flight, electro-magnetic radiation detection modules, which monitor the spacing between unmanned plane and power main and send to, flies control mould
Block.But this kind of method is it is not disclosed how carry out effective line walking to warehouse.
Such as application No. is CN201721493617.7 to disclose a kind of six rotor wing unmanned aerial vehicle electric power communication optical cable of autonomous flight
Inspection system, including six rotor wing unmanned aerial vehicle subsystems and ground subsystem, six rotor wing unmanned aerial vehicle subsystems include flight controller
And image transmission module；Flight controller include microprocessor, GPS module, main WIFI module, barometertic altimeter, IMU module,
Obstacle avoidance sensor, camera cradle head, Gyroscopic stabilization device, six motor-drive circuits and six brushless motors；Image transmitting mould
Block includes that dsp processor, the video camera being mounted on camera cradle head and image send WIFI module；Ground subsystem includes flying
It controls remote controler, terminal handler, terminal display, image and receives WIFI module and from WIFI module.The communications optical cable line walking
System has high efficiency, and low cost, low risk, high reliability is not easily susceptible to geographical, meteorological condition limitation, easy to operate, fast
The advantages that degree is fast, and intelligence degree is high, but this kind of method is it is not disclosed how carry out effective line walking to warehouse.
Summary of the invention
The purpose of the present invention is to provide a kind of warehouse patrol UAV system and its inspection methods, to solve the prior art
In caused above-mentioned defects.
A kind of warehouse patrol UAV system, including infrared obstacle avoidance module, shooting module, charging module, camera cradle head, height
It spends meter, stabilizer, server, fly control module and processor, the infrared obstacle avoidance module: for detecting road automatically in line walking
Realize auto-steering and evacuation；The shooting module: for carrying out shooting video or photo to cargo on camera cradle head；
The camera cradle head: shooting module is driven to carry out multi-angle rotation；The server: the fortune for backstage command and control unmanned plane
Row sends corresponding instruction to unmanned plane；The altimeter: for calculating the flying height of unmanned plane；The stabilizer: it is used for
Guarantee that unmanned plane is capable of the flight of safety and steady；The winged control module: realize unmanned plane flight control include advance, retreat,
Lifting and steering；The processor: controlling unmanned plane operating according to the instruction of server, store the information of upload, logging machine without
The position of man-machine flight path and shelf, the planning of realizing route and the drafting of map, the patrol unmanned plane patrol
Line method has following steps:
S1: when first time line walking, unmanned plane is advanced by infrared facility automatic running on transmisson line, draws line map in systems,
First in peripheral line walking, the size in line walking region is determined；
S2: line walking is carried out to shelf, its length, width and height is measured around shelf, and shelf are marked, records it in map
In position；
S3: being marked the channel between passageway, shelf and records its position in map；
S4: the size in line walking region, carousel data and track data excessively are uploaded to server, calculated by algorithm
Area size then distributes corresponding unmanned plane according to the line walking situation of unmanned plane and carries out line walking to specified region；
S5: when starting line walking, server will preferably go out best line walking route and be sent to unmanned plane, and unmanned plane is arrived according to route
Start the low-latitude flying after completing from top to bottom successively around line walking up to first shelf, to second shelf from the bottom up by
Layer surround line walking, and so on, until line walking task is completed；
S6: line walking is completed, and the result of shooting is uploaded to server and is stored.
Preferably, the line walking situation is that unmanned plane can be safe when opening photographic device progress line walking under full power state
The maximum region or line walking shelf maximum quantity of return.
Preferably, the charging module includes the charging platform set on each corner of store interior, for carrying nobody
Machine simultaneously charges to unmanned plane, and charging modes can be contact charging, is also possible to wireless charging.
Preferably, the safety, which returns, refers to that unmanned plane possesses the ability that charging platform charges that returns to.
Preferably, the stabilizer includes three-axis gyroscope, three axis accelerometer and three axis magnetic compasses.
Preferably, the spare unmanned plane an of Full Charge Capacity is equipped on the charging platform.
Preferably, the carousel data includes size, occupied area, the number of plies and the number of shelf, is existed convenient for unmanned plane
Information is read when line walking, at any time to guarantee that extra electricity will not be wasted.
The present invention has the advantages that the inspection method carries out successively around line walking shelf by unmanned plane, it can be to goods
All cargos on frame carry out line walking, ensure that each cargo can be photographed, and server being capable of area size peace
The specified line walking region of unmanned plane is arranged, the waste of electricity is effectively reduced by specific patrolling method, every unmanned plane is all matched
Having the spare unmanned plane of a frame prevents midway low battery to be unable to complete line walking task.
Detailed description of the invention
Fig. 1 is flow diagram of the invention.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Embodiment 1
As shown in Figure 1, a kind of warehouse goes on patrol UAV system, including infrared obstacle avoidance module, shooting module, charging module,
Camera cradle head, stabilizer, server, flies control module and processor at altimeter, the infrared obstacle avoidance module: in line walking
Automatic detection road realizes auto-steering and evacuation；The shooting module: for being shot to cargo on camera cradle head
Video or photo；The camera cradle head: shooting module is driven to carry out multi-angle rotation；The server: for commanding from the background
The operation of unmanned plane is controlled, sends corresponding instruction to unmanned plane；The altimeter: for calculating the flying height of unmanned plane；
The stabilizer: for guaranteeing that unmanned plane is capable of the flight of safety and steady；The winged control module: the flight control of unmanned plane is realized
Including advance, retrogressing, lifting and steering；The processor: unmanned plane operating is controlled according to the instruction of server, stores upload
Information, the flight path of logging machine unmanned plane and the position of shelf, the planning of realizing route and the drafting of map, it is described to patrol
The patrolling method for patrolling unmanned plane has following steps:
S1: when first time line walking, unmanned plane is advanced by infrared facility automatic running on transmisson line, draws line map in systems,
First in peripheral line walking, the size in line walking region is determined；
S2: line walking is carried out to shelf, its length, width and height is measured around shelf, and shelf are marked, records it in map
In position；
S3: being marked the channel between passageway, shelf and records its position in map；
S4: the size in line walking region, carousel data and track data excessively are uploaded to server, calculated by algorithm
Area size then distributes corresponding unmanned plane according to the line walking situation of unmanned plane and carries out line walking to specified region；
S5: when starting line walking, server will preferably go out best line walking route and be sent to unmanned plane, and unmanned plane is arrived according to route
Start the low-latitude flying after completing from top to bottom successively around line walking up to first shelf, to second shelf from the bottom up by
Layer surround line walking, and so on, until line walking task is completed；
S6: line walking is completed, and the result of shooting is uploaded to server and is stored.
It is worth noting that, the line walking situation is energy when unmanned plane opens photographic device progress line walking under full power state
Enough maximum regions returned safely or line walking shelf maximum quantity.
In the present embodiment, the charging module includes the charging platform set on each corner of store interior, for holding
It carries unmanned plane and charges to unmanned plane, charging modes can be contact charging, be also possible to wireless charging.
In the present embodiment, the safety, which returns, refers to that unmanned plane possesses the ability that charging platform charges that returns to.
In addition, the carousel data includes size, occupied area, the number of plies and the number of shelf, patrolled convenient for unmanned plane
Information is read when line, at any time to guarantee that extra electricity will not be wasted.
Embodiment 2
As shown in Figure 1, a kind of warehouse goes on patrol UAV system, including infrared obstacle avoidance module, shooting module, charging module,
Camera cradle head, stabilizer, server, flies control module and processor at altimeter, the infrared obstacle avoidance module: in line walking
Automatic detection road realizes auto-steering and evacuation；The shooting module: for being shot to cargo on camera cradle head
Video or photo；The camera cradle head: shooting module is driven to carry out multi-angle rotation；The server: for commanding from the background
The operation of unmanned plane is controlled, sends corresponding instruction to unmanned plane；The altimeter: for calculating the flying height of unmanned plane；
The stabilizer: for guaranteeing that unmanned plane is capable of the flight of safety and steady；The winged control module: the flight control of unmanned plane is realized
Including advance, retrogressing, lifting and steering；The processor: unmanned plane operating is controlled according to the instruction of server, stores upload
Information, the flight path of logging machine unmanned plane and the position of shelf, the planning of realizing route and the drafting of map, it is described to patrol
The patrolling method for patrolling unmanned plane has following steps:
S1: when first time line walking, unmanned plane is advanced by infrared facility automatic running on transmisson line, draws line map in systems,
First in peripheral line walking, the size in line walking region is determined；
S2: line walking is carried out to shelf, its length, width and height is measured around shelf, and shelf are marked, records it in map
In position；
S3: being marked the channel between passageway, shelf and records its position in map；
S4: the size in line walking region, carousel data and track data excessively are uploaded to server, calculated by algorithm
Area size then distributes corresponding unmanned plane according to the line walking situation of unmanned plane and carries out line walking to specified region；
S5: when starting line walking, server will preferably go out best line walking route and be sent to unmanned plane, and unmanned plane is arrived according to route
Start the low-latitude flying after completing from top to bottom successively around line walking up to first shelf, to second shelf from the bottom up by
Layer surround line walking, and so on, until line walking task is completed；
S6: line walking is completed, and the result of shooting is uploaded to server and is stored.
It is worth noting that, the line walking situation is energy when unmanned plane opens photographic device progress line walking under full power state
Enough maximum regions returned safely or line walking shelf maximum quantity.
In the present embodiment, the charging module includes the charging platform set on each corner of store interior, for holding
It carries unmanned plane and charges to unmanned plane, charging modes can be contact charging, be also possible to wireless charging.
In the present embodiment, the safety, which returns, refers to that unmanned plane possesses the ability that charging platform charges that returns to.
In the present embodiment, the stabilizer includes three-axis gyroscope, three axis accelerometer and three axis magnetic compasses.
In the present embodiment, the spare unmanned plane an of Full Charge Capacity is equipped on the charging platform.
In addition, the carousel data includes size, occupied area, the number of plies and the number of shelf, patrolled convenient for unmanned plane
Information is read when line, at any time to guarantee that extra electricity will not be wasted.
Based on above-mentioned, which carries out successively around line walking shelf by unmanned plane, can be to the institute on shelf
There is cargo to carry out line walking, ensure that each cargo can be photographed, and server being capable of area size arrangement unmanned plane
Specified line walking region, the waste of electricity is effectively reduced by specific patrolling method, and every unmanned plane is equipped with a frame
Spare unmanned plane prevents midway low battery to be unable to complete line walking task.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, in all respects are merely illustrative, not the only.Institute
Have within the scope of the present invention or is included in the invention in the change being equal in the scope of the present invention.
Claims (7)
1. a kind of warehouse goes on patrol UAV system, including infrared obstacle avoidance module, shooting module, charging module, camera cradle head, height
Meter, server, flies control module and processor at stabilizer, which is characterized in that the infrared obstacle avoidance module: is used in line walking certainly
Dynamic detection road realizes auto-steering and evacuation；The shooting module: for carrying out shooting view to cargo on camera cradle head
Frequency or photo；The camera cradle head: shooting module is driven to carry out multi-angle rotation；The server: control is commanded for backstage
The operation of unmanned plane processed sends corresponding instruction to unmanned plane；The altimeter: for calculating the flying height of unmanned plane；Institute
State stabilizer: for guaranteeing that unmanned plane is capable of the flight of safety and steady；The winged control module: the flight control packet of unmanned plane is realized
Include advance, retrogressing, lifting and steering；The processor: unmanned plane operating is controlled according to the instruction of server, stores the letter of upload
Breath, the flight path of logging machine unmanned plane and the position of shelf, the planning of realizing route and the drafting of map, the patrol
The patrolling method of unmanned plane has following steps:
S1: when first time line walking, unmanned plane is advanced by infrared facility automatic running on transmisson line, is drawn line map in systems, is first existed
Peripheral line walking determines the size in line walking region；
S2: line walking is carried out to shelf, its length, width and height is measured around shelf, and shelf are marked, records it in map
Position；
S3: being marked the channel between passageway, shelf and records its position in map；
S4: the size in line walking region, carousel data and track data excessively are uploaded to server, region is calculated by algorithm
Size then distributes corresponding unmanned plane according to the line walking situation of unmanned plane and carries out line walking to specified region；
S5: when starting line walking, server will preferably go out best line walking route and be sent to unmanned plane, and unmanned plane reaches the according to route
One shelf starts the low-latitude flying after completing from top to bottom successively around line walking, to second shelf layer-by-layer ring from the bottom up
Around line walking, and so on, until line walking task is completed；
S6: line walking is completed, and the result of shooting is uploaded to server and is stored.
2. a kind of warehouse according to claim 1 goes on patrol UAV system, it is characterised in that: the line walking situation is for nobody
Machine opens photographic device under full power state and carries out the maximum region that can be returned safely when line walking or line walking shelf maximum number
Amount.
3. a kind of warehouse according to claim 2 goes on patrol UAV system, it is characterised in that: the charging module includes setting
Charging platform in each corner of store interior, for carrying unmanned plane and charging to unmanned plane, charging modes can be with
It is contact charging, is also possible to wireless charging.
4. a kind of warehouse according to claim 2 goes on patrol UAV system, it is characterised in that: the safety, which returns, refers to nobody
Machine possesses the ability that charging platform charges that returns to.
5. a kind of warehouse according to claim 1 goes on patrol UAV system, it is characterised in that: the stabilizer includes three axis
Gyroscope, three axis accelerometer and three axis magnetic compasses.
6. a kind of warehouse according to claim 4 goes on patrol UAV system, it is characterised in that: be all provided on the charging platform
There is the spare unmanned plane an of Full Charge Capacity.
7. a kind of warehouse according to claim 1 goes on patrol UAV system, it is characterised in that: the carousel data includes goods
Size, occupied area, the number of plies and the number of frame read information in line walking convenient for unmanned plane at any time, so as to guarantee will not wave
Take extra electricity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810799004.9A CN108983810A (en) | 2018-07-19 | 2018-07-19 | A kind of warehouse patrol UAV system and its inspection method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810799004.9A CN108983810A (en) | 2018-07-19 | 2018-07-19 | A kind of warehouse patrol UAV system and its inspection method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757476A (en) * | 2019-10-22 | 2020-02-07 | 北京深醒科技有限公司 | Workshop safety protection patrol robot system and patrol method thereof |
| CN111413999A (en) * | 2019-01-07 | 2020-07-14 | 上海博泰悦臻电子设备制造有限公司 | Safety inspection method based on unmanned aerial vehicle |
| CN112650296A (en) * | 2020-12-31 | 2021-04-13 | 广州极飞科技有限公司 | Method for patrolling based on unmanned aerial vehicle, patrolling system and processor |
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Application publication date: 20181211 |