CN112150661A - Ocean harbour system of patrolling and examining based on unmanned aerial vehicle - Google Patents
Ocean harbour system of patrolling and examining based on unmanned aerial vehicle Download PDFInfo
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- CN112150661A CN112150661A CN202010838733.8A CN202010838733A CN112150661A CN 112150661 A CN112150661 A CN 112150661A CN 202010838733 A CN202010838733 A CN 202010838733A CN 112150661 A CN112150661 A CN 112150661A
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- 238000007689 inspection Methods 0.000 claims abstract description 35
- 238000012544 monitoring process Methods 0.000 claims abstract description 25
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 6
- 230000010006 flight Effects 0.000 claims description 2
- 230000002159 abnormal effect Effects 0.000 abstract description 5
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 230000005856 abnormality Effects 0.000 description 3
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- 206010000117 Abnormal behaviour Diseases 0.000 description 1
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- 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
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses an unmanned aerial vehicle-based marine port inspection system, which comprises a plurality of sets of unmanned aerial vehicle setting units, a flight trajectory positioning monitoring unit, a wireless receiving unit, a ground control unit, a wireless transmission unit, an intelligent analysis unit, an alarm unit, an unmanned aerial vehicle set and a database, wherein the ground control unit is in interactive connection with the plurality of sets of unmanned aerial vehicle setting units, and the flight trajectory positioning monitoring unit is connected with the ground control unit; carry out regional location for locating information through regional covering the positioning unit with unmanned aerial vehicle's GPS positioning unit, then carry out corresponding judgement according to regional covering the positioning information of positioning unit and whether patrolling and examining the region in the distribution, if judge its locating information and not the abnormal conditions in this coverage region appear, through the unmanned aerial vehicle location of checking in all distribution regions, and then acquire the unmanned aerial vehicle location of full harbour place distribution region within range, make the staff in time know the particular case that unmanned aerial vehicle patrolled and examined.
Description
Technical Field
The invention relates to the technical field of ocean port inspection, in particular to an ocean port inspection system based on an unmanned aerial vehicle.
Background
As is well known, with the rapid development of the economy of China and the development of the global economy integration, the dependence of the economy of China on river transportation and sea transportation is increasingly improved, so that a port becomes the core of the turnover of large freight logistics. The port is increasingly scaled up, and the safety management requirements are more strict. Modern ports comprise a ship berthing area, a cargo handling area, a cargo stacking area, a public facility area and the like, particularly large port cranes have high requirements on safety specifications, and the safe operation of equipment is related to the life line of port enterprises. In addition, each area has a complex structure, expensive equipment and diversified types, and has corresponding strict requirements on fire prevention, burglary prevention and the like. The inspection of suspicious objects is one of the indispensable works in the field of port security.
The unmanned aerial vehicle that has now patrols and examines according to the airline of oneself setting for at most to a great number of unmanned aerial vehicle sets are patrolling and examining the in-process, and the region of patrolling and examining can't be reasonable distributes, and then leads to the route of navigation comparatively disorderly, and also does not know whether unmanned aerial vehicle patrols and examines the whole cover orbit of harbour line, not only leads to gathering the incomplete face of image, and still can't in time effectual understanding when unmanned aerial vehicle takes place the abnormal problem.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a marine port inspection system based on an unmanned aerial vehicle.
(II) technical scheme
In order to achieve the aim, the invention provides an ocean port inspection system based on unmanned aerial vehicles, which comprises a plurality of sets of unmanned aerial vehicle setting units, a flight path positioning monitoring unit, a wireless receiving unit, a ground control unit, a wireless transmission unit, an intelligent analysis unit, an alarm unit, an unmanned aerial vehicle set and a database, the ground control unit is interactively connected with a plurality of sets of unmanned aerial vehicle setting units, the flight path positioning monitoring unit is connected with the ground control unit, the wireless receiving unit is connected with the ground control unit, the ground control unit is connected with the wireless transmission unit, the wireless transmission unit is connected with the unmanned aerial vehicle set, the wireless receiving unit is connected with the unmanned aerial vehicle set, the ground control unit is interactively connected with the database, the wireless receiving unit is connected with the intelligent analysis unit, and the intelligent analysis unit is connected with the ground control unit;
the ground control unit is used for controlling the setting of a plurality of sets of unmanned aerial vehicles, the flight track positioning monitoring unit and the unmanned aerial vehicle set, the track and the unmanned aerial vehicle through information transmission;
the multiple sets of unmanned aerial vehicle setting units are used for correspondingly setting the flying area, route and time of the unmanned aerial vehicle;
the flight path positioning monitoring unit is used for monitoring coverage, specific positioning and checking position information of the unmanned aerial vehicle in a plurality of groups of unmanned aerial vehicle areas.
Preferably, flight orbit location monitoring unit includes that regional cover transmission unit, regional cover judge unit, regional cover positioning unit and total regional cover traverse the unit of checking, regional cover transmission unit is used for transmitting the unmanned aerial vehicle group at the data result that covers in distribution region, regional cover positioning unit is used for fixing a position the positional information of unmanned aerial vehicle group distribution in its region, regional cover judge unit is used for judging whether whole covers of unmanned aerial vehicle group in the current distribution region, total regional cover traverse the unit of checking is used for checking its whole unmanned aerial vehicle group cover track point.
Preferably, the multiple sets of unmanned aerial vehicle setting units comprise flight area distribution units, flight route regulation units and flight time control units, the flight area distribution units are used for distributing the unmanned aerial vehicle units to the set areas to patrol the scope, the flight route regulation units are used for setting fixed routes of the unmanned aerial vehicle units when the unmanned aerial vehicle units fly to the distribution areas, and the flight time control units are used for controlling the flight patrol time of the unmanned aerial vehicle units.
Preferably, the database includes an area coverage storage unit and an area data image storage unit.
Preferably, the unmanned aerial vehicle group includes information receiving unit, GPS positioning unit, flight control unit, light lighting unit and patrols and examines the collection unit, information receiving unit is used for receiving the instruction that ground control unit sent through wireless transmission unit, GPS positioning unit is used for fixing a position all unmanned aerial vehicle solitary flights in the unmanned aerial vehicle group and patrols and examines the position, flight control unit receives the instruction that wireless transmission unit sent and carries out flight according to its settlement.
Preferably, the patrol and examine the collection element and include camera, GPS sensor and image wireless transmission unit, camera and GPS sensor are used for patrolling and examining the image in the scope, make a video recording and this image and the GPS position of making a video recording, image wireless transmission unit is used for patrolling and examining information transmission to ground control unit.
Preferably, the database is used for storing image information of area coverage track data points and area data monitoring.
Preferably, the ground control unit is connected with an alarm unit.
(III) advantageous effects
Compared with the prior art, the invention provides an ocean port inspection system based on an unmanned aerial vehicle, which has the following beneficial effects:
the ocean port inspection system based on the unmanned aerial vehicles is characterized in that a plurality of groups of inspection unmanned aerial vehicles are distributed to each distributed area for monitoring, and the inspection routes of each unmanned aerial vehicle flying in each area are planned in cooperation with a flight route regulation unit; carry out regional location for locating information through regional covering the positioning unit with unmanned aerial vehicle's GPS positioning unit, then carry out corresponding judgement according to regional covering the positioning information of positioning unit and whether patrolling and examining the region in the distribution, if judge its locating information and not the abnormal conditions in this coverage region appear, through the unmanned aerial vehicle location of checking in all distribution regions, and then acquire the unmanned aerial vehicle location of full harbour place distribution region within range, make the staff in time know the particular case that unmanned aerial vehicle patrolled and examined.
Drawings
FIG. 1 is a flow chart of the system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, 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.
Examples
Referring to fig. 1-1, the marine port inspection system based on unmanned aerial vehicles according to one embodiment of the present invention includes a plurality of sets of unmanned aerial vehicle setting units, a flight trajectory positioning monitoring unit, a wireless receiving unit, a ground control unit, a wireless transmission unit, an intelligent analysis unit, an alarm unit, an unmanned aerial vehicle set, and a database; the ground control unit is interactively connected with a plurality of sets of unmanned aerial vehicle setting units, the flight trajectory positioning monitoring unit is connected with the ground control unit, the wireless receiving unit is connected with the ground control unit, the ground control unit is connected with the wireless transmission unit, the wireless transmission unit is connected with the unmanned aerial vehicle set, the wireless receiving unit is interactively connected with the unmanned aerial vehicle set, the ground control unit is interactively connected with the database, the wireless receiving unit is connected with the intelligent analysis unit, and the intelligent analysis unit is connected with the ground control unit; the ground control unit is used for controlling the setting of the unmanned aerial vehicle setting units, the flight track positioning monitoring units and the unmanned aerial vehicle units, the setting of the tracks and the unmanned aerial vehicle through information transmission; the multiple sets of unmanned aerial vehicle setting units are used for correspondingly setting the flying area, route and time of the unmanned aerial vehicle; the flight path positioning monitoring unit is used for monitoring the coverage, specific positioning and checking the position information of the unmanned aerial vehicles in the multiple groups of unmanned aerial vehicle areas.
In this embodiment, specifically: the flight path positioning monitoring unit comprises an area coverage transmission unit, an area coverage judgment unit, an area coverage positioning unit and a total area coverage traversal check unit, wherein the area coverage transmission unit is used for transmitting a coverage data result of the unmanned aerial vehicle set in a distribution area, the area coverage positioning unit is used for positioning position information of the unmanned aerial vehicle set distributed in the area, the area coverage judgment unit is used for judging whether the unmanned aerial vehicle set in the current distribution area is completely covered, the total area coverage traversal check unit is used for checking the coverage track points of all the unmanned aerial vehicle sets, the area coverage positioning unit is used for carrying out area positioning by taking a GPS (global positioning system) positioning unit of the unmanned aerial vehicle set as positioning information, the Beidou positioning system can also be used for carrying out positioning, and then the area coverage judgment unit is used for correspondingly judging whether the unmanned aerial vehicle is in a specified patrol area according to the coverage positioning information of the area coverage positioning unit, if the positioning information is lacked and the unmanned aerial vehicle is not in the coverage area, the positioning information of the unmanned aerial vehicle in all distribution areas is inquired through the total area coverage traversal checking unit, then the positioning information is transmitted to the ground control unit through the area coverage transmission unit, for example, the positioning information is transmitted through a wireless network such as Wi-Fi, a mobile network and Bluetooth, and then the ground control unit sends the information to the alarm unit when the abnormality occurs, so that a worker can timely know the specific condition of the unmanned aerial vehicle inspection.
In this embodiment, specifically: the multi-group unmanned aerial vehicle setting unit comprises a flight area distribution unit, a flight route setting unit and a flight time control unit, wherein the flight area distribution unit is used for distributing the unmanned aerial vehicle units into each set area inspection range, the flight route setting unit is used for setting fixed routes when the unmanned aerial vehicle units fly to the distribution areas, the flight time control unit is used for controlling the flight inspection time of the unmanned aerial vehicle units, the unmanned aerial vehicles which are divided into multiple groups of inspection areas in the unmanned aerial vehicle units are set through the flight area distribution unit, the unmanned aerial vehicles respectively inspect the distributed areas, the inspection routes of each unmanned aerial vehicle are planned through the flight route setting unit in a matched mode, and the inspection time and the return time of the unmanned aerial vehicle are controlled through the flight time control unit.
In this embodiment, specifically: the database comprises an area coverage storage unit and an area data image storage unit, videos shot and photographed by the unmanned aerial vehicle are transmitted to the wireless receiving unit through the image wireless transmission unit, whether abnormal image problems occur or not is analyzed through the intelligent analysis unit, the ground control unit sends the abnormal behaviors to the alarm unit and stores all information in the area data image storage unit, monitored unmanned aerial vehicle coverage positioning track points are stored in the area coverage storage unit, and the area coverage and the area data images can be called out for retrieval through the ground control unit.
In this embodiment, specifically: unmanned aerial vehicle group includes the information receiving unit, GPS positioning unit, the flight control unit, light lighting unit and patrol and examine the collection unit, the information receiving unit is used for receiving the instruction that ground control unit sent through wireless transmission unit, GPS positioning unit is used for fixing a position all unmanned aerial vehicle solitary flight in the unmanned aerial vehicle group and patrols and examines the position, flight control unit receives the instruction that wireless transmission unit sent and carries out and sets for the flight according to it, fix a position every unmanned aerial vehicle through GPS positioning unit and patrol and examine real-time position, provide unmanned aerial vehicle's illumination night through light lighting unit.
In this embodiment, specifically: the inspection acquisition unit comprises a camera, a video camera, a GPS sensor and an image wireless transmission unit, wherein the camera, the video camera and the GPS sensor are used for inspecting images in an inspection range, video and GPS positions of the images and the video, the image wireless transmission unit is used for transmitting inspection information to the ground control unit, the GPS sensor is used for positioning the images shot and positioning the video, the image and the video can be specifically positioned, and the workers can conveniently perform corresponding operations.
In this embodiment, specifically: the database is used for storing image information of area coverage track data points and area data monitoring.
In this embodiment, specifically: the ground control unit is connected with the alarm unit and is connected with the alarm unit through the ground control unit, so that the problems of track coverage and image abnormity of the unmanned aerial vehicle are all sent to the alarm unit through the ground control unit to give an alarm, and the abnormal conditions of workers are reminded conveniently.
In summary, the working principle and working process of the marine port inspection system based on the unmanned aerial vehicle are that when the system is used, the unmanned aerial vehicle which is divided into a plurality of groups of inspection areas in the unmanned aerial vehicle set is set through the flight area distribution unit, the unmanned aerial vehicle respectively inspects the areas which are distributed, the flight route specifying unit is matched with and plans the inspection route of each unmanned aerial vehicle, the inspection time and the return time of the unmanned aerial vehicle are controlled through the flight duration control unit, the area is positioned through the area coverage positioning unit by taking the GPS positioning unit of the unmanned aerial vehicle set as the positioning information, then the area coverage judging unit is used for correspondingly judging whether the unmanned aerial vehicle is in the specified inspection area according to the coverage positioning information of the area coverage positioning unit, if the positioning information is judged to be lack and the abnormality which is not in the coverage area is caused, the positioning information of the unmanned aerial vehicle in all the distribution areas is inquired through the total area coverage traversal inspection unit, then the positioning information is transmitted to a ground control unit by a region coverage transmission unit, and further the ground control unit sends information to an alarm unit when abnormality occurs, so that a worker can know the specific condition of unmanned aerial vehicle polling in time, the GPS positioning unit is used for positioning the independent flying polling positions of all unmanned aerial vehicles in the unmanned aerial vehicle set, the flying control unit receives an instruction sent by the wireless transmission unit to fly according to the setting of the wireless transmission unit, the GPS positioning unit is used for positioning the real-time polling position of each unmanned aerial vehicle, the lighting unit is used for providing lighting of the unmanned aerial vehicle at night, the wireless transmission unit, the camera, the video camera and the GPS sensor are used for positioning the shot image and the shot video, and the GPS sensor is used for positioning the shot image and the shot video to ensure that the shot image and the video can be specifically positioned, be convenient for the staff to carry out corresponding operation, the video of shooing and making a video recording that unmanned aerial vehicle shot transmits wireless receiving unit through image wireless transmission unit, and whether take place unusual image problem through the analysis of intelligent analysis unit, send alarm unit and with unusual action with all information storage in regional data image memory cell through ground control unit, and the unmanned aerial vehicle of monitoring covers in the location track point is saved regional covering memory cell, and can call out regional coverage and regional data image through ground control unit and look for.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a system of patrolling and examining at ocean harbour based on unmanned aerial vehicle which characterized in that: the system comprises a plurality of sets of unmanned aerial vehicle setting units, a flight trajectory positioning monitoring unit, a wireless receiving unit, a ground control unit, a wireless transmission unit, an intelligent analysis unit, an alarm unit, an unmanned aerial vehicle set and a database, wherein the ground control unit is interactively connected with the sets of unmanned aerial vehicles, the flight trajectory positioning monitoring unit is connected with the ground control unit, the wireless receiving unit is connected with the ground control unit, the ground control unit is connected with the wireless transmission unit, the wireless transmission unit is connected with the unmanned aerial vehicle set, the wireless receiving unit is interactively connected with the unmanned aerial vehicle set, the ground control unit is interactively connected with the database, the wireless receiving unit is connected with the intelligent analysis unit, and the intelligent analysis unit is connected with the ground control unit;
the ground control unit is used for controlling the setting of a plurality of sets of unmanned aerial vehicles, a flight track positioning monitoring unit and an unmanned aerial vehicle set, the setting of tracks and the unmanned aerial vehicle by information transmission;
the multiple sets of unmanned aerial vehicle setting units are used for correspondingly setting the flying area, route and time of the unmanned aerial vehicle;
the flight path positioning monitoring unit is used for monitoring coverage, specific positioning and checking position information of the unmanned aerial vehicle in a plurality of groups of unmanned aerial vehicle areas.
2. The marine port inspection system based on unmanned aerial vehicle of claim 1, wherein: flight orbit location monitoring unit includes that regional cover transmission unit, regional cover judge unit, regional cover positioning unit and total regional cover traverse the unit of checking, regional cover transmission unit is used for transmitting the unmanned aerial vehicle group in the data result that covers in distribution region, regional cover positioning unit is used for fixing a position the positional information of unmanned aerial vehicle group distribution in its region, regional cover judge unit is used for judging whether whole covers of unmanned aerial vehicle group in the current distribution region, total regional cover traverse the unit of checking is used for checking its whole unmanned aerial vehicle group cover track point.
3. The marine port inspection system based on unmanned aerial vehicle of claim 1, wherein: the multi-group unmanned aerial vehicle setting unit comprises a flight area distribution unit, a flight route setting unit and a flight time control unit, wherein the flight area distribution unit is used for distributing the unmanned aerial vehicle units into each set area inspection range, the flight route setting unit is used for setting fixed routes of the unmanned aerial vehicle units when the unmanned aerial vehicle units fly to the distribution areas, and the flight time control unit is used for controlling the flight inspection time of the unmanned aerial vehicle units.
4. The marine port inspection system based on unmanned aerial vehicle of claim 1, wherein: the database includes an area coverage storage unit and an area data image storage unit.
5. The marine port inspection system based on unmanned aerial vehicle of claim 1, wherein: unmanned aerial vehicle group includes information receiving unit, GPS positioning unit, flight control unit, light lighting unit and patrols and examines the collection unit, information receiving unit is used for receiving the instruction that ground control unit sent through wireless transmission unit, GPS positioning unit is used for fixing a position all unmanned aerial vehicle solitary flights in the unmanned aerial vehicle group and patrols and examines the position, flight control unit receives the instruction that wireless transmission unit sent and carries out and fly according to its settlement.
6. The marine port inspection system based on unmanned aerial vehicle of claim 5, wherein: patrol and examine the collection element and include camera, GPS sensor and image wireless transmission unit, camera and GPS sensor are used for patrolling and examining the image of within range, make a video recording and this image and the GPS position of making a video recording, image wireless transmission unit is used for patrolling and examining information transmission to ground control unit.
7. The marine port inspection system based on unmanned aerial vehicle of claim 4, wherein: the database is used for storing the image information of the area coverage track data points and the area data monitoring.
8. The marine port inspection system based on unmanned aerial vehicle of claim 1, wherein: the ground control unit is connected with the alarm unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010838733.8A CN112150661A (en) | 2020-08-19 | 2020-08-19 | Ocean harbour system of patrolling and examining based on unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010838733.8A CN112150661A (en) | 2020-08-19 | 2020-08-19 | Ocean harbour system of patrolling and examining based on unmanned aerial vehicle |
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| CN112150661A true CN112150661A (en) | 2020-12-29 |
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| CN202010838733.8A Withdrawn CN112150661A (en) | 2020-08-19 | 2020-08-19 | Ocean harbour system of patrolling and examining based on unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114840015A (en) * | 2022-03-30 | 2022-08-02 | 广州港股份有限公司 | System and method for automatic patrol of unmanned aerial vehicle of smart port |
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| CN209570170U (en) * | 2019-03-29 | 2019-11-01 | 大连理工大学 | A kind of offshore fan tower column state inspection device based on unmanned plane |
| CN111268104A (en) * | 2020-02-18 | 2020-06-12 | 南京工业职业技术学院 | Unmanned aerial vehicle's air crash protection positioner is patrolled and examined to ocean |
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2020
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| CN106970639A (en) * | 2017-03-15 | 2017-07-21 | 武汉理工大学 | A kind of harbour outdoor scene monitoring system and method based on unmanned aerial vehicle platform |
| CN106774427A (en) * | 2017-03-16 | 2017-05-31 | 山东大学 | Waters automatic tour inspection system and method based on unmanned plane |
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Application publication date: 20201229 |