CN111781951A - Industrial park monitoring and data visualization system based on cluster unmanned aerial vehicle - Google Patents
Industrial park monitoring and data visualization system based on cluster unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses an industrial park monitoring and data visualization system based on a cluster unmanned aerial vehicle, which comprises a cluster unmanned aerial vehicle system, a cloud server system, a cluster unmanned aerial vehicle ground station system and a multi-source data fusion visualization system, wherein the cluster unmanned aerial vehicle system consists of N unmanned aerial vehicles and is used for monitoring the environmental information of the area where the unmanned aerial vehicles are located in real time; the cloud server system is used for storing and processing the industrial park environment information data acquired by the N unmanned aerial vehicles; the cluster unmanned aerial vehicle ground station system is used for displaying flight data of the N unmanned aerial vehicles in real time and realizing mission planning and emergency control of the N unmanned aerial vehicles; the multi-source data fusion visualization system is used for fusing N unmanned aerial vehicle flight data, ground station task data and industrial park environment information data to realize dynamic display of the multi-source data. The invention realizes high-efficiency and intuitive industrial park monitoring and data display by using the cluster unmanned aerial vehicle, and is convenient for comprehensive supervision and auxiliary decision making of the industrial park.
Description
Technical Field
The invention relates to the technical field of area monitoring and data visualization, in particular to an industrial park monitoring and data visualization system based on a cluster unmanned aerial vehicle.
Background
With the rapid development of social economy, the industrial park becomes one of the main bearing platforms of economic development in various places. In recent years, the scale of various industrial parks is continuously enlarged, the structure of the park is gradually complex, environmental elements are gradually diversified, and higher requirements are put forward for comprehensive supervision of the industrial park. The existing monitoring system is mostly realized by laying fixed monitoring points and assisting in manual inspection. For a large-scale complex industrial park, a large number of monitoring points are usually required to be distributed and controlled by the system, so that on one hand, the system is expensive in construction cost and difficult to overhaul and maintain, and on the other hand, comprehensive dynamic monitoring of the industrial park cannot be realized. Although the manual inspection makes up the monitoring blind area of the fixed monitoring point to a certain extent, the environmental monitoring of a dangerous area or an area which is difficult to reach cannot be realized. In addition, various monitoring data such as videos, images, infrared rays, gases and the like have large information quantity and high management and fusion use difficulty, and are more difficult to comprehensively and completely present. Therefore, it is necessary to realize comprehensive dynamic monitoring of the industrial park based on an efficient dynamic monitoring platform, integrate and fuse various kinds of monitoring data, and realize visual and fresh monitoring data visualization presentation.
Unmanned aerial vehicle cluster technique is absorbed in many unmanned aerial vehicle cooperative operation, and this technique is through many unmanned aerial vehicle's interaction and cooperation for unmanned aerial vehicle cluster system demonstrates the simple performance that does not possess that adds of single unmanned aerial vehicle, thereby improves the operating efficiency. The unmanned aerial vehicle cluster technology represents the development direction of the autonomous ability of the unmanned aerial vehicle, reflects higher group intelligence level and has great application value. However, when a plurality of unmanned aerial vehicles are operated in a cluster mode, problems such as fast time change of environmental information, unstable dynamic networking, easy conflict between task planning and re-planning exist. Moreover, local monitoring information that many unmanned aerial vehicle terminals obtained, the quantity is huge and the type is various, and the high-efficient integration of global information can't be realized to single machine carries platform. Therefore, based on the cluster unmanned aerial vehicle system, complete, clear and accurate industrial park monitoring is realized, unified data visualization presentation is performed, and a plurality of technical barriers still face.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an industrial park monitoring and data visualization system based on a cluster unmanned aerial vehicle, which realizes complete monitoring and panoramic presentation of buildings, maneuvering targets, gas, temperature and the like in the industrial park.
The technical scheme adopted by the invention is as follows: the utility model provides an industrial park monitoring and data visualization system based on cluster unmanned aerial vehicle, includes cluster unmanned aerial vehicle system, cloud server system, cluster unmanned aerial vehicle ground station system and multisource data fusion visualization system. The cluster unmanned aerial vehicle system consists of N unmanned aerial vehicles and is used for monitoring environmental information of an area where the unmanned aerial vehicles are located in real time; the cloud server system is used for storing and processing the industrial park environment information data acquired by the N unmanned aerial vehicles; the cluster unmanned aerial vehicle ground station system is used for displaying flight data of the N unmanned aerial vehicles in real time and realizing mission planning and emergency control of the N unmanned aerial vehicles; the multi-source data fusion visualization system is used for fusing N unmanned aerial vehicle flight data, ground station task data and industrial park environment information data to realize dynamic display of the multi-source data.
The cluster unmanned aerial vehicle system comprises N unmanned aerial vehicles, wherein each unmanned aerial vehicle further comprises a flight platform device, an automatic pilot module, a coprocessor module, a task load module and an airborne communication module; the flight platform device is a quad-rotor unmanned aerial vehicle and is used for providing a carrying platform for other components of the unmanned aerial vehicle; the automatic pilot module further comprises a microprocessor, an altimeter, a gyroscope, an accelerometer, a magnetic sensor and a GPS (global positioning system) system, and is used for executing the flight instruction generated by the coprocessor module to realize automatic flight control of the unmanned aerial vehicle; the coprocessor module comprises a raspberry group 3 suite, receives a task instruction of the cluster unmanned aerial vehicle ground station system through an airborne communication module, and is used for realizing the ad hoc network of N unmanned aerial vehicles and generating a flight instruction of a single unmanned aerial vehicle; the task load module further comprises a video information, image information, infrared information and gas information acquisition module, and is used for acquiring video, image, infrared and atmospheric data with geographical position information; the airborne communication module further comprises a data transmission module, an image transmission module and a 4G module, and is used for receiving task instructions and emergency control instructions of the cluster unmanned aerial vehicle ground station system, sending video, images, infrared data and atmospheric data collected by the task load module to the cloud server system, and sending state information of the unmanned aerial vehicle to the cluster unmanned aerial vehicle ground station system.
The cloud server system is used for storing and processing the industrial park environment information data acquired by the N unmanned aerial vehicles; the environmental information data comprises video, image, infrared and atmospheric data with geographical location information; the cloud server system generates an unmanned aerial vehicle video data table and an image data table based on N unmanned aerial vehicle IDs, and storage and query of video data and image data are achieved; the cloud server system generates a temperature, gas composition and concentration data table of key monitoring points of the industrial park based on infrared and atmospheric data with geographical position information; the cloud server system carries out real-time anomaly monitoring based on video, image, infrared and atmospheric data with geographical position information, generates a real-time environment information data stream by comparing with a standard value of the environment information data, and can automatically generate anomaly alarm information when anomaly occurs; the abnormal alarm information comprises an abnormal point position, an abnormal type, an abnormal grade and an abnormal point picture.
The cluster unmanned aerial vehicle ground station system is used for displaying flight data of N unmanned aerial vehicles in real time and realizing mission planning and emergency control of the N unmanned aerial vehicles. The cluster unmanned aerial vehicle ground station system comprises a flight monitoring module, a mission planning module, an emergency control module and a terminal communication assembly; the flight monitoring module is used for displaying the position, the speed, the attitude angle and the control parameters of the N unmanned aerial vehicles in real time; the task planning module completes monitoring area division and single unmanned aerial vehicle flight task generation based on the geographic information of the industrial park and the number of the clustered unmanned aerial vehicles, and can automatically re-plan when the number of the monitoring areas or the clustered unmanned aerial vehicles changes; the unmanned aerial vehicle flight mission planning comprises the setting of the flight speed, the height, the flight route and the monitoring key point of the unmanned aerial vehicle; the emergency control module is used for finishing control over the cluster unmanned aerial vehicle under emergency or manual intervention scheduling, and comprises a one-key return function, a hovering function and a first visual angle control function; the terminal communication assembly comprises N terminal communication modules, and the N terminal communication modules are respectively used for sending a task instruction generated by the task planning module and an emergency control instruction generated by the emergency control module to the N unmanned aerial vehicles and receiving flight states and flight parameters of the N unmanned aerial vehicles.
The multi-source data fusion visualization system is used for realizing dynamic display of multi-source data information; the multi-source data information comprises N unmanned aerial vehicle flight data, ground station task data and industrial park environment information data; the unmanned aerial vehicle flight data comprises the position, the height, the speed, the attitude angle and control parameters of the unmanned aerial vehicle; the ground station task data comprises monitoring area division and single unmanned aerial vehicle flight instructions; the industrial park environment information data comprise videos, images, infrared data and atmospheric data which are acquired by N unmanned aerial vehicles and have geographic position information.
Compared with the prior art, the invention has the beneficial effects that:
the industrial park monitoring and data visualization system based on the cluster unmanned aerial vehicle can completely and real-timely monitor environmental factors such as plants, equipment, maneuvering targets, gas and temperature, integrate and fuse various monitoring data, support the visual presentation of the normal state of industrial park information, facilitate the comprehensive analysis and evaluation of the state of the industrial park in a comprehensive big data form, realize the integrated control of park supervision, prevention and emergency, and promote the improvement of the comprehensive management level of the industrial park.
The industrial park monitoring and data visualization system based on the cluster unmanned aerial vehicle adopts the cluster unmanned aerial vehicle technology, wherein a ground station system of the cluster unmanned aerial vehicle can automatically complete task planning and re-planning, and the cluster unmanned aerial vehicle system is formed by a plurality of low-cost individual distributed networking which are cooperatively matched with one another, so that a high-function system can be formed. Based on the cluster unmanned aerial vehicle platform and the task load module carried by the cluster unmanned aerial vehicle platform, the invention can realize comprehensive, real-time and dynamic monitoring of environmental information of the industrial park, and has high operation efficiency and high intelligent level.
Drawings
FIG. 1 is a general block diagram of an industrial park monitoring and data visualization system based on clustered drones of the present invention;
FIG. 2 is a flow chart of the industrial park monitoring and data visualization system based on clustered drones of the present invention;
FIG. 3 is a cluster drone ground station system interface for an industrial park monitoring and data visualization system based on cluster drones in a particular embodiment;
fig. 4 is a multi-source data fusion visualization system interface of the cluster-based unmanned aerial vehicle industrial park monitoring and data visualization system in the specific embodiment.
Detailed Description
As shown in fig. 1, the industrial park monitoring and data visualization system based on the cluster unmanned aerial vehicle provided by the invention comprises a cluster unmanned aerial vehicle system, a cloud server system, a cluster unmanned aerial vehicle ground station system and a multi-source data fusion visualization system. Wherein:
the cluster unmanned aerial vehicle system consists of N unmanned aerial vehicles and is used for monitoring environmental information of an area where the unmanned aerial vehicle is located in real time, and the unmanned aerial vehicle further comprises a flight platform device, an automatic pilot module, a coprocessor module, a task load module and an airborne communication module; the cloud server system is used for storing and processing industrial park environment information data acquired by the N unmanned aerial vehicles, and the environment information data comprises video, image, infrared and atmospheric data which are generated based on the IDs of the N unmanned aerial vehicles and have geographical position information; the cluster unmanned aerial vehicle ground station system is used for displaying flight data of N unmanned aerial vehicles in real time, realizing mission planning and emergency control of the N unmanned aerial vehicles, and further comprises a flight monitoring module, a mission planning module, an emergency control module and a terminal communication assembly; the multi-source data fusion visualization system is used for fusing N unmanned aerial vehicle flight data, ground station task data and industrial park environment information data, and dynamic display of the multi-source data is achieved.
The execution flow of the industrial park monitoring and data visualization system based on the cluster unmanned aerial vehicle is shown in fig. 2: the method comprises the steps of firstly initializing a cluster unmanned aerial vehicle system and a cluster unmanned aerial vehicle ground station system, then selecting an industrial park area to be monitored, rasterizing the area, planning tasks based on rasterized industrial park geographic information, generating a flight task instruction and a load task instruction of each unmanned aerial vehicle, uploading the flight task instruction and the load task instruction to corresponding individual unmanned aerial vehicles, and during the task execution process of each individual unmanned aerial vehicle, if an emergency happens, re-planning the tasks, otherwise, continuing executing the tasks until the tasks are completed.
The specific implementation steps are as follows:
step S1, system initialization: the method comprises the steps of initializing a cluster unmanned aerial vehicle system and a cluster unmanned aerial vehicle ground station system, establishing communication contact between individuals in a cluster unmanned aerial vehicle system group and the cluster unmanned aerial vehicle ground station system based on an airborne communication module and a terminal communication component, and then loading geographic map information of an industrial park area to be monitored by the cluster unmanned aerial vehicle ground station system;
step S2, setting an industrial park area to be monitored, and rasterizing the area: firstly, setting a to-be-monitored range, an isolation area range and an approaching monitoring point position based on the actual situation of an industrial park, in one embodiment of the invention, two modes are provided for setting the to-be-monitored industrial park area: one is to scribe and select the area to be monitored, the isolation area range and the position of the approaching monitoring point on a map window of a cluster unmanned aerial vehicle ground station system, and the other is to manually input the boundary GPS coordinate information of the area to be monitored, the boundary GPS coordinate information of the isolation area and the GPS coordinate information of the approaching monitoring point; then, the cluster unmanned aerial vehicle ground station system determines the size of a grid area based on the minimum monitoring range of the unmanned aerial vehicle task load module, the area of the industrial park to be monitored is divided into a plurality of uniform and continuous square grid blocks, and then the geographical position information of the center point of each square grid block is used as the serial number attribute of the grid block;
step S3, cluster unmanned aerial vehicle system task planning: the cluster unmanned aerial vehicle ground station system divides the monitoring area of N unmanned aerial vehicles based on the number N of unmanned aerial vehicles of the cluster unmanned aerial vehicle system and the number of grid areas formed by dividing the industrial park to be monitored; the monitoring area of each unmanned aerial vehicle consists of a plurality of adjacent grid areas, the central points of the adjacent grid areas in the monitoring area of the single unmanned aerial vehicle are sequentially connected to form an initial flight track of the unmanned aerial vehicle, then, based on the information of the isolation area and the approaching monitoring point, the flight track points are manually adjusted and deleted to form a desired flight track which is in compliance, and then, the desired flight height and speed are set to form a flight mission instruction of the single unmanned aerial vehicle; meanwhile, based on the monitoring requirements of different areas of the industrial park to be monitored, task load modules of the single unmanned aerial vehicle at different flight stages are arranged to form a load task instruction of the single unmanned aerial vehicle in the cluster unmanned aerial vehicle system group; the task load module comprises a video information, image information, infrared information and gas information acquisition module and is used for acquiring video, image, infrared and atmospheric data with geographical position information;
step S4, executing the cluster unmanned aerial vehicle system task: each unmanned aerial vehicle in the cluster unmanned aerial vehicle system group receives a flight task instruction and a load task instruction formed by a cluster unmanned aerial vehicle ground station system through an airborne communication module, and completes the task instruction based on an automatic pilot module and a coprocessor module;
step S5, performing real-time monitoring on the flight data of the cluster unmanned aerial vehicle system and fusing and visualizing the multi-source environment information data: the cluster unmanned aerial vehicle ground station system receives flight states and flight parameters of N unmanned aerial vehicles in a cluster unmanned aerial vehicle system based on the terminal communication assembly, and displays the positions, speeds, attitude angles and control parameters of the N unmanned aerial vehicles in real time through the flight monitoring module, wherein the interface of the cluster unmanned aerial vehicle ground station system is shown in figure 3; the multi-source data fusion visualization system receives information of a cloud server system and a cluster unmanned aerial vehicle ground station system based on network communication, dynamic display of flight data, ground station task data and industrial park environment information data of N unmanned aerial vehicles in the cluster unmanned aerial vehicle system is achieved, and the interface of the multi-source data fusion visualization system is shown in figure 4;
step S6, real-time processing of emergency situations: in the task execution process of the cluster unmanned aerial vehicle system, if a certain unmanned aerial vehicle fails or the electric quantity is insufficient, the failed unmanned aerial vehicle executes a return flight instruction, the cluster unmanned aerial vehicle ground station system performs task re-planning, and the remaining unmanned aerial vehicles in the cluster unmanned aerial vehicle system receive new flight task instructions and load task instructions again;
step S7, evaluating whether the current monitoring task is completed: if the task is completed, performing step S8, otherwise, performing task S4;
and S8, returning and landing the N unmanned aerial vehicles in the cluster unmanned aerial vehicle system.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (5)
1. The utility model provides an industrial park monitoring and data visualization system based on cluster unmanned aerial vehicle which characterized in that includes: the system comprises a cluster unmanned aerial vehicle system, a cloud server system, a cluster unmanned aerial vehicle ground station system and a multi-source data fusion visualization system, wherein the cluster unmanned aerial vehicle system consists of N unmanned aerial vehicles and is used for monitoring environmental information of an area where the unmanned aerial vehicles are located in real time;
the cloud server system is used for storing and processing the industrial park environment information data acquired by the N unmanned aerial vehicles;
the cluster unmanned aerial vehicle ground station system is used for displaying flight data of the N unmanned aerial vehicles in real time and realizing mission planning and emergency control of the N unmanned aerial vehicles;
the multi-source data fusion visualization system is used for fusing N unmanned aerial vehicle flight data, ground station task data and industrial park environment information data to realize dynamic display of the multi-source data.
2. The cluster drone system of claim 1, comprising N drones, the drones including a flight platform device, an autopilot module, a co-processor module, a mission load module, and an onboard communication module;
the flight platform device is a quad-rotor unmanned aerial vehicle and is used for providing a carrying platform for other components of the unmanned aerial vehicle;
the automatic pilot module comprises a microprocessor, an altimeter, a gyroscope, an accelerometer, a magnetic sensor and a GPS (global positioning system) and is used for executing the flight instruction generated by the coprocessor module to realize automatic flight control of the unmanned aerial vehicle;
the coprocessor module comprises a raspberry group 3 suite, receives a task instruction of the cluster unmanned aerial vehicle ground station system through an airborne communication module, and is used for realizing the ad hoc network of N unmanned aerial vehicles and generating a flight instruction of a single unmanned aerial vehicle;
the task load module comprises a video information, image information, infrared information and gas information acquisition module and is used for acquiring video, image, infrared and atmospheric data with geographical position information;
the airborne communication module comprises a data transmission module, an image transmission module and a 4G module and is used for receiving task instructions and emergency control instructions of the cluster unmanned aerial vehicle ground station system, sending video, images, infrared data and atmospheric data collected by the task load module to the cloud server system and sending state information of the unmanned aerial vehicle to the cluster unmanned aerial vehicle ground station system.
3. The cloud server system of claim 1, configured to store and process industrial park environment information data acquired by N drones;
the environmental information data comprises video, image, infrared and atmospheric data with geographical location information;
the cloud server system generates an unmanned aerial vehicle video data table and an image data table based on N unmanned aerial vehicle IDs, and storage and query of video data and image data are achieved;
the cloud server system generates a temperature, gas composition and concentration data table of key monitoring points of the industrial park based on infrared and atmospheric data with geographical position information;
the cloud server system carries out real-time anomaly monitoring based on video, image, infrared and atmospheric data with geographical position information, generates a real-time environment information data stream by comparing with a standard value of the environment information data, and can automatically generate anomaly alarm information when anomaly occurs;
the abnormal alarm information comprises an abnormal point position, an abnormal type, an abnormal grade and an abnormal point picture.
4. The clustered unmanned aerial vehicle ground station system of claim 1, comprising a flight monitoring module, a mission planning module, an emergency control module, and a terminal communication component;
the flight monitoring module is used for displaying the position, the speed, the attitude angle and the control parameters of the N unmanned aerial vehicles in real time;
the task planning module completes monitoring area division and single unmanned aerial vehicle flight task generation based on the geographic information of the industrial park and the number of the clustered unmanned aerial vehicles, and can automatically re-plan when the number of the monitoring areas or the clustered unmanned aerial vehicles changes;
the unmanned aerial vehicle flight mission planning comprises the setting of the flight speed, the height, the flight route and the monitoring key point of the unmanned aerial vehicle;
the emergency control module is used for finishing control over the cluster unmanned aerial vehicle under emergency or manual intervention scheduling, and comprises a one-key return function, a hovering function and a first visual angle control function;
the terminal communication assembly comprises N terminal communication modules, and the N terminal communication modules are respectively used for sending a task instruction generated by the task planning module and an emergency control instruction generated by the emergency control module to the N unmanned aerial vehicles and receiving flight states and flight parameters of the N unmanned aerial vehicles.
5. The multi-source data fusion visualization system of claim 1, for enabling dynamic display of multi-source data information;
the multi-source data information comprises N unmanned aerial vehicle flight data, ground station task data and industrial park environment information data;
the unmanned aerial vehicle flight data comprises the position, the height, the speed, the attitude angle and control parameters of the unmanned aerial vehicle;
the ground station task data comprises monitoring area division and single unmanned aerial vehicle flight instructions;
the industrial park environment information data comprise videos, images, infrared data and atmospheric data which are acquired by N unmanned aerial vehicles and have geographic position information.
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