CN113359836B - Smart rod-based authorization track and unmanned aerial vehicle cooperation method and system - Google Patents
Smart rod-based authorization track and unmanned aerial vehicle cooperation method and system Download PDFInfo
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Abstract
The invention relates to an authorization track and unmanned aerial vehicle cooperation method and system based on an intelligent rod, which comprises the following steps: the starting intelligent rod makes a planned route for the unmanned aerial vehicle and transmits the planned route to the unmanned aerial vehicle; the unmanned aerial vehicle flies from the starting point to the end point direction according to the planned route; the midway intelligent rod controls the unmanned aerial vehicle to continuously fly until reaching the end point; after receiving the signal of the unmanned aerial vehicle, the destination intelligent rod confirms that the unmanned aerial vehicle reaches the destination; finishing the cooperative flight; the smart-rod-based method and system for coordinating the authorization track and the unmanned aerial vehicle can better plan a flight route for the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of intelligent rods, in particular to an authorization track and unmanned aerial vehicle cooperative system based on an intelligent rod.
Background
The wisdom pole uses the illumination lamp pole as the carrier, collects the manifold control intellectuality, information acquisition diversification and information processing rapid in an organic whole, is the important component part in the wisdom city concept, and the popularization of 5G network will further accelerate the overall arrangement of wisdom pole in the wisdom city. The smart pole collects information in the city through the integrated sensor, the wireless base station and the central processing unit, and provides a data source for big data of the smart city. Simultaneously, with the continuous maturity of unmanned aerial vehicle technology, consumer-grade unmanned aerial vehicles have entered the field of vision of the general public in recent years. Traditional unmanned aerial vehicle mainly carries out remote control by the mode of operator through radio communication, has the running cost height, and the route is deviated easily or the forbidden zone scheduling problem is rushed to the mistake.
Disclosure of Invention
Based on the method, the smart-rod-based authorization track and unmanned aerial vehicle cooperation method and system capable of better controlling the flight path of the unmanned aerial vehicle are provided.
The embodiment of the invention provides an authorization track and unmanned aerial vehicle cooperation method based on an intelligent rod on the one hand, which comprises the following steps:
the starting intelligent rod makes a planned route for the unmanned aerial vehicle and transmits the planned route to the unmanned aerial vehicle;
the unmanned aerial vehicle flies from the starting point to the end point direction according to the planned route;
the midway intelligent rod controls the unmanned aerial vehicle to continuously fly until reaching the end point;
after receiving the signal of the unmanned aerial vehicle, the destination intelligent rod confirms that the unmanned aerial vehicle reaches the destination;
and finishing the coordinated flight.
As a further improvement to the above embodiment, the mid-course smart stick controls the unmanned aerial vehicle to continue flying until the end smart stick, including the following steps:
the planned route is sent to a midway smart pole in the flight process of the unmanned aerial vehicle;
the midway intelligent rod judges whether the flight path of the unmanned aerial vehicle passes through the midway intelligent rod;
if yes, controlling the unmanned aerial vehicle to fly to the next intelligent pole;
if not, the route is planned for the unmanned aerial vehicle again.
As a further improvement to the above embodiment, the starting smart bar, the midway smart bar and the ending smart bar are in signal connection with each other, when the unmanned aerial vehicle is in signal connection with the starting smart bar, the starting smart bar wakes up the midway smart bar, and when the unmanned aerial vehicle is in signal connection with the midway smart bar, the midway smart bar wakes up the ending smart bar; and when the midway intelligent rod receives the signal of the unmanned aerial vehicle, the midway intelligent rod sends a control instruction for stopping the unmanned aerial vehicle to the starting intelligent rod.
As a further improvement to the above embodiment, when the unmanned aerial vehicle passes through the midway smart bar, the midway smart bar performs high-precision positioning on the unmanned aerial vehicle; the high-precision positioning step comprises the following steps:
the unmanned aerial vehicle and the midway smart rod are positioned by a satellite;
the unmanned aerial vehicle sends self-positioning information to the midway intelligent rod;
the wisdom pole is right unmanned aerial vehicle's flight path revises.
As the further improvement to above-mentioned embodiment, during unmanned aerial vehicle and wisdom pole signal connection, also with its self electric quantity information transmission to wisdom pole, work as when unmanned aerial vehicle's electric quantity is less than the setting value, wisdom pole control unmanned aerial vehicle with the wisdom pole electricity is connected, and is right unmanned aerial vehicle charges.
The invention also provides an authorization track and unmanned aerial vehicle cooperative system based on the intelligent rods, which comprises a plurality of intelligent rods and an unmanned aerial vehicle, wherein the intelligent rods are wirelessly connected with the unmanned aerial vehicle; the intelligent rod comprises an unmanned aerial vehicle monitoring unit, the unmanned aerial vehicle monitoring unit comprises a monitoring discovery module, an intelligent rod positioning module, a flight control module, a communication module and a calculation module, and the unmanned aerial vehicle comprises an unmanned aerial vehicle positioning module, a flight execution module, an unmanned aerial vehicle storage module and a 5G communication module;
the monitoring and discovering module is used for detecting, monitoring and discovering the unmanned aerial vehicle;
the intelligent rod positioning module is used as a GNSS high-precision reference station, interacts with the unmanned aerial vehicle positioning module and is used for positioning the specific position of the unmanned aerial vehicle in the intelligent rod signal radiation cell;
the flight control module is used for generating a flight control signal of the unmanned aerial vehicle;
the flight execution module is used for receiving the flight control signal of the unmanned aerial vehicle and executing a corresponding instruction;
the unmanned aerial vehicle storage module is used for storing unmanned aerial vehicle flight destination information and unmanned aerial vehicle flight path information;
the calculation module is used for calculating and acquiring a flight path from the current position to the terminal point of the unmanned aerial vehicle;
communication module is used for transmission signal to interact between wisdom pole and the unmanned aerial vehicle.
As a further improvement to the above embodiment, the working steps of the monitoring and discovering module are as follows:
the monitoring and finding module detects and monitors and finds the unmanned aerial vehicle and then sends a signal to the calculating module;
the calculation module acquires an original flight path request signal of the unmanned aerial vehicle and judges whether the unmanned aerial vehicle passes through an intelligent pole where the unmanned aerial vehicle is located according to the original flight path of the unmanned aerial vehicle;
monitor discovery module is responsible for simultaneously and is interactive in coordination with adjacent wisdom pole, provides unmanned aerial vehicle flight path information to adjacent wisdom pole.
As a further improvement to the above embodiment, the interaction steps processed by the smart pole positioning module and the unmanned aerial vehicle positioning module are as follows:
the smart rod positioning module sends a signal for acquiring a positioning request to the unmanned aerial vehicle positioning module;
the intelligent pole positioning module receives a navigation satellite positioning signal to form intelligent pole positioning information;
the unmanned aerial vehicle positioning module receives a navigation satellite positioning signal to form unmanned aerial vehicle positioning information;
the unmanned aerial vehicle positioning module sends satellite positioning information of the unmanned aerial vehicle to the smart pole positioning module;
wisdom pole positioning module revises the unmanned aerial vehicle satellite positioning information that receives according to wisdom pole satellite positioning information.
As a further improvement to the above embodiment, the step of determining the flight path of the unmanned aerial vehicle by the calculation module is as follows:
the calculation module calculates the flight path of the unmanned aerial vehicle and requests the unmanned aerial vehicle storage module to acquire the flight destination information of the unmanned aerial vehicle;
obtaining positioning information of the unmanned aerial vehicle through the intelligent rod positioning module;
the calculation module calculates the shortest path from the current position to the destination for the unmanned aerial vehicle according to the positioning information and the flight destination information of the unmanned aerial vehicle and the map information of the smart pole in the range from the starting point to the destination of the unmanned aerial vehicle stored in the smart pole;
and the calculation module compares the original flight path of the unmanned aerial vehicle with the calculated flight path to judge whether the original flight path in the unmanned aerial vehicle storage module is covered by the calculated path.
As a further improvement to the above embodiment, each of the smart rods relies on the communication module to transmit and update the flight path of the unmanned aerial vehicle, and the functions of obstacle avoidance and path error correction are realized.
As a further improvement to the above embodiment, the interaction steps of the flight control module and the flight execution module are as follows:
the flight control module generates a flight control signal, and the signal is transmitted to the flight execution module;
and the flight execution module controls the unmanned aerial vehicle to fly according to the signal.
As a further improvement to the above embodiment, the smart stick further includes an unmanned aerial vehicle charging unit, and the unmanned aerial vehicle charging unit is connected with the computing unit;
the unmanned aerial vehicle charging unit comprises an unmanned aerial vehicle wireless charging module, an unmanned aerial vehicle docking platform unit and an unmanned aerial vehicle charging progress display unit;
the unmanned aerial vehicle parking platform unit is used for receiving the unmanned aerial vehicle parked in a charging mode;
the unmanned aerial vehicle wireless charging module is used for charging the unmanned aerial vehicle and feeding back the real-time charging progress to the unmanned aerial vehicle charging progress display unit;
the unmanned aerial vehicle charges the analog signal that progress display element received wireless charging module transmission and comes, becomes digital signal after carrying out the filtering sampling and shows.
As a further improvement to the above embodiment, the smart stick further includes an unmanned aerial vehicle monitoring unit, the unmanned aerial vehicle monitoring unit is connected with the computing unit, and the unmanned aerial vehicle monitoring unit is used for detecting surrounding unmanned aerial vehicles and dynamically monitoring various flight parameters of the unmanned aerial vehicles in real time;
the unmanned aerial vehicle monitoring unit comprises a first camera, a first controller, an unmanned aerial vehicle detection device and an unmanned aerial vehicle identification device;
the unmanned aerial vehicle detection device is used for detecting a wireless channel, if the unmanned aerial vehicle detection device successfully detects that the unmanned aerial vehicle exists around, the information is sent to the first camera, and the first camera receives the information and then shoots the unmanned aerial vehicle;
the first camera shoots towards an incoming route of a preset value of the unmanned aerial vehicle, and transmits the shot information to the unmanned aerial vehicle identification device;
the unmanned aerial vehicle identification device identifies the identity of the unmanned aerial vehicle and sends information obtained by identifying the unmanned aerial vehicle to the first controller;
the first controller is in communication connection with an external server.
As a further improvement to the above embodiment, the smart stick further includes an interaction unit, and the interaction unit is connected to the computing unit;
the interaction unit comprises a communication module, a network module and a data transceiver module;
the communication module is used for establishing connection with the unmanned aerial vehicle and surrounding intelligent rods, authenticating the identity of the unmanned aerial vehicle and transmitting various data information among the unmanned aerial vehicle and the intelligent rods;
the network policy module is connected with an external network to upload local data and download external internet data;
the data receiving and transmitting module is used for receiving data information and transmitting local information and information acquired from the external Internet.
As a further improvement to the above embodiment, the smart stick further includes a storage module, and the storage module is connected to the computing unit and is used for storing data.
Compared with the prior art, the invention has the following beneficial effects: according to the smart-rod-based authorization track and unmanned aerial vehicle cooperative system, the unmanned aerial vehicle is found through the monitoring and finding module, whether the unmanned aerial vehicle flies according to the authorization track is judged, and the unmanned aerial vehicle is prevented from deviating from the authorization track due to inelasticity, such as strong wind, strong electromagnetic interference and the like; the unmanned aerial vehicle is positioned through the intelligent rod positioning module, the position of the unmanned aerial vehicle is corrected, the position of an unmanned aerial vehicle body is obtained at one end of the intelligent rod, the flight path of the unmanned aerial vehicle is calculated and updated through the calculation module, the flight path of the unmanned aerial vehicle is limited, and the problems that the unmanned aerial vehicle flies off an authorized track and mistakenly breaks a no-fly zone are solved; the wisdom pole calculates and updates unmanned aerial vehicle flight path, provides suitable flight path for unmanned aerial vehicle, has walked around the barrier that meets on the way of the flight for unmanned aerial vehicle arrives the terminal smoothly.
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The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments of the invention, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the principles of the invention.
Fig. 1 is a block diagram of the structure of the interaction between the monitoring unit of the unmanned aerial vehicle and the unmanned aerial vehicle according to the embodiment of the present invention;
FIG. 2 is a block diagram of a smart stick according to an embodiment of the present invention;
FIG. 3 is a block diagram of a video surveillance unit in accordance with a preferred embodiment of the present invention;
FIG. 4 is a block diagram of a portion of a distributed cloud system in accordance with a preferred embodiment of the present invention;
fig. 5 is a flow chart of the operation of the present invention.
Detailed Description
The present invention will be better understood and implemented by those skilled in the art by the following detailed description of the embodiments taken in conjunction with the accompanying drawings, which are not intended to limit the scope of the present invention.
Referring to fig. 5, an embodiment of the present invention provides a method for coordinating an authorized track and an unmanned aerial vehicle based on a smart stick, including the following steps:
the starting intelligent rod makes a planned route for the unmanned aerial vehicle and transmits the planned route to the unmanned aerial vehicle;
the unmanned aerial vehicle flies from the starting point to the end point direction according to the planned route;
the midway intelligent rod controls the unmanned aerial vehicle to continuously fly until reaching the end point;
after receiving the signal of the unmanned aerial vehicle, the destination intelligent rod confirms that the unmanned aerial vehicle reaches the destination;
and finishing the coordinated flight.
It should be noted that, the starting point wisdom pole is rather than signal connection's wisdom pole when unmanned aerial vehicle takes off, and the terminal point wispole is rather than signal connection's wispole when unmanned aerial vehicle reachs the terminal point, and midway wispole is the unmanned aerial vehicle flight in-process, except starting point wispole and terminal point wispole other wispoles with unmanned aerial vehicle signal connection. The start smart bar, the mid-way smart bar, and the end smart bar are general smart bars.
As a further improvement to the above embodiment, the mid-course smart stick controls the unmanned aerial vehicle to continue flying until the end smart stick, including the following steps:
the planned route is sent to a midway smart pole in the flight process of the unmanned aerial vehicle;
the midway smart pole judges whether the flight path of the unmanned aerial vehicle passes through the midway smart pole;
if yes, controlling the unmanned aerial vehicle to fly to the next intelligent pole;
if not, the route is planned for the unmanned aerial vehicle again.
As a further improvement to the above embodiment, the starting point smart bar, the midway smart bar and the ending point smart bar are in signal connection with each other, when the unmanned aerial vehicle is in signal connection with the starting point smart bar, the starting point smart bar wakes up the midway smart bar, and when the unmanned aerial vehicle is in signal connection with the midway smart bar, the midway smart bar wakes up the ending point smart bar; in the middle of the way wisdom pole receives after unmanned aerial vehicle's signal, sends the control command that stops to unmanned aerial vehicle to starting point wisdom pole.
As a further improvement to the above embodiment, when the unmanned aerial vehicle passes through the midway wisdom pole, the midway wisdom pole performs high-precision positioning on the unmanned aerial vehicle; the high-precision positioning method comprises the following steps:
the unmanned aerial vehicle and the intelligent pole in the middle are positioned by a satellite;
the unmanned aerial vehicle sends self-positioning information to the midway intelligent rod;
the wisdom pole is revised unmanned aerial vehicle's flight path.
As the further improvement to above-mentioned embodiment, during unmanned aerial vehicle and wisdom pole signal connection, also with the electric quantity information transmission of its self to wisdom pole, when unmanned aerial vehicle's electric quantity is less than the setting value, wisdom pole control unmanned aerial vehicle is connected with wisdom pole electricity, charges unmanned aerial vehicle.
Referring to fig. 1 to 5, the present invention further provides an authorization track and unmanned aerial vehicle cooperation system based on smart bars, including a plurality of smart bars and an unmanned aerial vehicle, wherein the smart bars are wirelessly connected with the unmanned aerial vehicle; the intelligent rod comprises an unmanned aerial vehicle monitoring unit, the unmanned aerial vehicle monitoring unit comprises a monitoring discovery module, an intelligent rod positioning module, a flight control module, a communication module and a calculation module, and the unmanned aerial vehicle comprises an unmanned aerial vehicle positioning module, a flight execution module, an unmanned aerial vehicle storage module and a communication module; specifically, the communication module is a communication module.
The monitoring and discovering module is used for detecting, monitoring and discovering the unmanned aerial vehicle;
the smart rod positioning module is interacted with the unmanned aerial vehicle positioning module and is used for positioning the specific position of the unmanned aerial vehicle in the smart rod 5G signal radiation cell;
the flight control module is used for generating a flight control signal of the unmanned aerial vehicle;
the flight execution module is used for receiving the flight control signal of the unmanned aerial vehicle and executing a corresponding instruction;
the unmanned aerial vehicle storage module is used for storing unmanned aerial vehicle flight destination information and unmanned aerial vehicle flight path information;
the calculation module is used for calculating and acquiring a flight path from the current position to the terminal point of the unmanned aerial vehicle;
5G communication module is used for transmission signal to interact between wisdom pole and the unmanned aerial vehicle.
As a further improvement to the above embodiment, the working steps of the monitoring and discovering module are as follows:
the monitoring and finding module detects and monitors and finds the unmanned aerial vehicle and then sends a signal to the calculating module;
the calculation module acquires an original flight path request signal of the unmanned aerial vehicle and judges whether the unmanned aerial vehicle passes through an intelligent pole where the unmanned aerial vehicle is located according to the original flight path of the unmanned aerial vehicle;
monitor discovery module is responsible for simultaneously and is interactive in coordination with adjacent wisdom pole, provides unmanned aerial vehicle flight path information to adjacent wisdom pole.
Specifically, monitor discovery module detection and monitor and discover unmanned aerial vehicle, monitor discovery module connection calculation module, calculation module will acquire the former flight path request signal of unmanned aerial vehicle and send to unmanned aerial vehicle storage module through 5G communication module, network connection is established with the wisdom pole after the unmanned aerial vehicle storage module response, and send the calculation module in former flight path to the wisdom pole, calculation module judges whether this unmanned aerial vehicle is through self wisdom pole that belongs according to the flight path that unmanned aerial vehicle returned, if calculation module place wisdom pole is not in unmanned aerial vehicle flight path, then let unmanned aerial vehicle return the district that last wisdom pole belongs to, there is last wisdom pole to relocate and calculate the flight path.
As a further improvement to the above embodiment, the interaction steps processed by the smart pole positioning module and the unmanned aerial vehicle positioning module are as follows:
the smart rod positioning module sends a signal for acquiring a positioning request to the unmanned aerial vehicle positioning module;
the intelligent pole positioning module receives a navigation satellite positioning signal to form intelligent pole positioning information;
the unmanned aerial vehicle positioning module receives a navigation satellite positioning signal to form unmanned aerial vehicle positioning information;
the unmanned aerial vehicle positioning module sends satellite positioning information of the unmanned aerial vehicle to the smart pole positioning module;
wisdom pole positioning module revises the unmanned aerial vehicle satellite positioning information that receives according to wisdom pole satellite positioning information. Specifically, wisdom pole orientation module revises the unmanned aerial vehicle satellite positioning signal that receives according to wisdom pole satellite positioning signal as GNSS reference station to obtain unmanned aerial vehicle's high accuracy positioning information.
As a further improvement to the above embodiment, the step of determining the flight path of the unmanned aerial vehicle by the calculation module is as follows:
the calculation module calculates the flight path of the unmanned aerial vehicle and requests the unmanned aerial vehicle storage module to acquire the flight destination information of the unmanned aerial vehicle;
obtaining positioning information of the unmanned aerial vehicle through the intelligent rod positioning module;
the calculation module calculates the shortest path from the current position to the destination for the unmanned aerial vehicle according to the positioning information and the flight destination information of the unmanned aerial vehicle and the map information of the smart pole in the range from the starting point to the destination of the unmanned aerial vehicle stored in the smart pole;
and the calculation module compares the original flight path of the unmanned aerial vehicle with the calculated flight path to judge whether the original flight path in the unmanned aerial vehicle storage module is covered by the calculated path. Wherein, whether the calculation module is the wisdom pole that unmanned aerial vehicle flight terminal point is located through judging next wisdom pole in the calculated flight path. If the next wisdom pole is not the wisdom pole that the flight terminal point is located, then unmanned aerial vehicle continues to carry out the flight task, and the wisdom pole finishes with unmanned aerial vehicle's collaborative flight until reaching the terminal point.
As a further improvement to the above embodiment, each smart pole relies on the 5G communication module to transmit and update the flight path of the unmanned aerial vehicle, and the functions of obstacle avoidance and path error correction are realized.
Rely on the 5G access and the distributing type cloud function of wisdom pole, carry out near real time control to unmanned aerial vehicle by wisdom pole, including the discernment and the route planning calculation to unmanned aerial vehicle, restrain unmanned aerial vehicle's flight orbit, let unmanned aerial vehicle safety arrive the flight terminal point.
The smart rod further comprises an unmanned aerial vehicle charging unit, an interaction unit and a data storage module, and the unmanned aerial vehicle charging unit, the interaction unit and the data storage module are all connected with the calculation module.
The unmanned aerial vehicle monitoring unit is used for detecting surrounding unmanned aerial vehicles and dynamically monitoring various flight parameters of the unmanned aerial vehicles in real time;
the unmanned aerial vehicle charging unit is used for charging the unmanned aerial vehicle with insufficient electric quantity, so that the unmanned aerial vehicle can maintain the sufficient electric quantity to execute tasks;
the interaction unit is used for communicating with the outside and transmitting data;
the data storage module is used for storing data.
Specifically, this wisdom pole still includes the pole body, and foretell unmanned aerial vehicle monitor cell, unmanned aerial vehicle charging unit, mutual unit and data storage module etc. are all direct or indirect to be fixed on the pole body.
Rely on the 5G access and the distributing type cloud function of wisdom pole, carry out near real time control to unmanned aerial vehicle by wisdom pole, including the discernment and the route planning calculation to unmanned aerial vehicle, restrain unmanned aerial vehicle's flight orbit, let unmanned aerial vehicle safety arrive the flight terminal point.
The utility model provides a wisdom pole has more function, can establish and use wisdom pole as the data processing system of center with thing networking as the basis. Through the detection and monitoring of the unmanned aerial vehicle, connection between the unmanned aerial vehicle and the unmanned aerial vehicle is established, and services such as wireless charging and path planning are provided for the unmanned aerial vehicle.
As a further improvement to the above embodiment, the interaction unit includes a 5G communication module, a network module, and a data transceiver module;
the 5G communication module is used for establishing connection with the unmanned aerial vehicle and surrounding intelligent rods, authenticating the identity of the unmanned aerial vehicle and transmitting various data information among the unmanned aerial vehicle and the intelligent rods;
the network policy module is connected with an external 5G network to upload local data and download external Internet data;
the data receiving and transmitting module is used for receiving data information and transmitting local information and information acquired from the external Internet.
As a further improvement to the above embodiment, the system further comprises a positioning module, and the positioning module is used for positioning the geographical positions of the unmanned aerial vehicle and the pedestrians on the road.
As a further improvement to the above embodiment, the system further comprises a calculation module, wherein the unmanned aerial vehicle monitoring unit, the unmanned aerial vehicle charging unit, the interaction unit and the data storage module are all connected with the calculation module, and the calculation module is used for processing data.
As a further improvement to the above embodiment, the unmanned aerial vehicle monitoring unit includes a first camera, a first controller, an unmanned aerial vehicle detection device, and an unmanned aerial vehicle identification device.
Unmanned aerial vehicle detection device is used for carrying out wireless channel's detection, if it successfully detects there is unmanned aerial vehicle to exist on every side, sends this information for first camera, lets first camera carry out unmanned aerial vehicle's shooting. Specifically, unmanned aerial vehicle detecting element carries out real-time dynamic's detection, after having detected the signal that the near relevant unmanned aerial vehicle of wisdom pole launches, sends corresponding signal for first camera at once, starts the shooting procedure of first camera, and first camera starts its process according to preset's procedure this moment.
The first camera shoots towards the route of coming and going of unmanned aerial vehicle default to shoot information transfer to unmanned aerial vehicle recognition device. First camera is installed in the pole body by the place at top as the hardware of peripheral hardware, and its route direction of shooting direction orientation unmanned aerial vehicle flight, its effect is used for shooting the unmanned aerial vehicle that is flying around the discernment wisdom pole to the image information who will shoot carries out the analysis and draws, and sends image information to unmanned aerial vehicle's recognition device.
The unmanned aerial vehicle identification device identifies the identity of the unmanned aerial vehicle and sends information obtained by identifying the unmanned aerial vehicle to the first controller;
the first controller is communicatively connected to an external server.
The first camera cuts out complete image information of the unmanned aerial vehicle, and sends the image information to the unmanned aerial vehicle identification device. The unmanned aerial vehicle recognition device firstly carries out comparison through an image and a data base of a data center to confirm in the first step, in the second step, connection between the unmanned aerial vehicle and the unmanned aerial vehicle is established through a 5G communication module and a wireless channel, after communication is established between the unmanned aerial vehicle and the unmanned aerial vehicle through protocol handshaking, the unmanned aerial vehicle is received to send related identity information, the information is compared with information of the unmanned aerial vehicle stored in advance in a data storage module (such as a distributed cloud data storage module), so that the unmanned aerial vehicle recognition device of the smart pole can identify the unmanned aerial vehicle, the identity information of the unmanned aerial vehicle is finally determined, and the obtained data are sent to the first controller.
The first controller sends a result formed after the data information is summarized to the calculation module. The calculation module starts a preset program, obtains the specific position of the unmanned aerial vehicle through the positioning module, and receives information transmitted by the unmanned aerial vehicle through the interaction unit, wherein the information comprises but is not limited to the residual electric quantity of the unmanned aerial vehicle, the task traveling route of the unmanned aerial vehicle and the like. The calculation module firstly analyzes whether the unmanned aerial vehicle has enough electric quantity, and when the electric quantity is lower than a certain percentage, a signal is sent to the unmanned aerial vehicle to inform the unmanned aerial vehicle of parking.
After unmanned aerial vehicle had fallen unmanned aerial vehicle on the wisdom pole and berthhed the platform, the wireless unit that charges of unmanned aerial vehicle worked this moment, starts its wireless charging procedure to jointly charge display module and show the current electric quantity of charging.
When the unmanned aerial vehicle electric quantity charges and accomplishes or the unmanned aerial vehicle electric quantity is sufficient, the wisdom pole passes through the data information such as current real-time aerial information of interactive unit receipt, and the route of joint calculation module in order to plan unmanned aerial vehicle's latest path. After all data information is collected, the data information is sent to the unmanned aerial vehicle through the interaction unit.
As a further improvement to the above embodiment, the unmanned aerial vehicle charging unit includes an unmanned aerial vehicle wireless charging module, an unmanned aerial vehicle docking platform unit, and an unmanned aerial vehicle charging progress display unit;
the unmanned aerial vehicle parking platform unit is used for receiving the unmanned aerial vehicle parked in a charging mode;
the unmanned aerial vehicle wireless charging module is used for charging the unmanned aerial vehicle and feeding back the real-time charging progress to the unmanned aerial vehicle charging progress display unit;
the unmanned aerial vehicle charges the analog signal that progress display element received wireless charging module transmission and comes, becomes digital signal and shows after carrying out the filtering sampling.
As a further improvement to the above embodiment, the system further comprises a display unit, the display unit is connected with the data storage module, and the display unit downloads the latest information through the interaction unit so as to play the most visible information to pedestrians on the road.
The display element is as external hardware equipment, fixes on the pole body of wisdom pole, and it is direct to be connected with the network module, through the network module from the network after downloading newest real-time information and epidemic situation information, in gathering the display element of demonstration, can provide newest news information and epidemic situation information for the pedestrian who passes by. And it can also play the latest advertisement information downloaded through the network module, and connect with the advertisement operator to broadcast the advertisement information.
The central cloud server data interaction unit of the smart pole can timely receive huge data volume which cannot be processed and is sent from the distributed cloud, and after the huge data volume is received, the information is processed in the main cloud server and the result is fed back to the distributed cloud after the information is processed. And the distributed cloud carries out the next processing according to the received feedback result.
As a further improvement to the above embodiment, the video monitoring unit includes a second camera, a first face recognition device, a pedestrian motion analysis processing module, and a second controller, and the second camera and the first face recognition device are connected to the second controller. The system can specifically realize the following functions, such as monitoring and identifying the abnormal behaviors of the pedestrians on the road, sending information to a server at a background if necessary, and enabling workers to timely receive the information and handle dangers, so that the safety of the pedestrians on the road is guaranteed.
The lens of the second camera shoots towards the direction of the pedestrian road, the shot content comprises the facial features of the pedestrian and the action of the pedestrian, the face picture data is sent to the first face recognition device, and the action picture of the pedestrian is sent to the pedestrian action recognition analysis processing module;
the first face recognition device is used for recognizing the shooting information of the second camera, extracting the characteristics, and transmitting the obtained face information to the second controller after extraction and analysis;
the pedestrian action recognition and analysis module is used for recognizing the shot information of the second camera, recognizing and analyzing the action characteristic state of the corresponding pedestrian, and transmitting the obtained information to the second controller after extracting the action state characteristic so as to judge whether the pedestrian is dangerous or not;
the second controller is connected with an external server, specifically, the server is a central cloud server.
And the second camera is used for shooting the pedestrians on the road, the face information of the shot pedestrians is transmitted to the first face recognition device, and the action information of the pedestrians is transmitted to the pedestrian action analysis and processing module.
And the first face recognition device extracts and analyzes the characteristics of the obtained face information, compares the face recognition information with the face information in the distributed cloud data storage module, and directly sends a confirmation signal to the second controller if the face information in the database is determined to be the face.
The distributed cloud data storage module has the characteristic of classified storage, can classify each data according to the characteristics of the data set, and can quickly access similar data according to the characteristic information of the obtained data when the data in the distributed cloud data storage module needs to be extracted, so that the effect of quickly searching the data is achieved, and the performance of data processing is improved.
The second controller sends a signal for confirming the analysis of the pedestrian action to the pedestrian action analysis processing module, and at the moment, a preset program is started to start to receive and analyze the photo of the pedestrian action shot by the second camera.
And after receiving the pedestrian action pictures transmitted by the second camera, the pedestrian action analysis and processing module extracts and analyzes information. And comparing the extracted information with a database of abnormal behaviors in a local distributed cloud data storage module, and if the comparison is successful, sending a behavior abnormity confirmation signal to the second controller after determining that the action behavior information of the pedestrian is abnormal.
And the second controller collects the data information and then sends the result to the distributed cloud data analysis processing module. At the moment, the distributed cloud data processing and analyzing module schedules the positioning module, determines the geographic position of the pedestrian, sends information such as abnormal action behaviors and the geographic position of the pedestrian to a background of the cloud server through the network module, and waits for a background feedback processing result to perform corresponding processing. And at the moment, the safety of the pedestrian is ensured by combining the processing result of the cloud server.
Unmanned aerial vehicle relies on the 5G access and the distributing type cloud function of wisdom pole, carries out near real time control to unmanned aerial vehicle by wisdom pole, includes to unmanned aerial vehicle's discernment and path planning calculation, retrains unmanned aerial vehicle's flight orbit, lets unmanned aerial vehicle arrive the flight terminal point safely.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. An authorized track and unmanned aerial vehicle cooperation method based on a smart rod is characterized by comprising the following steps:
the starting intelligent rod makes a planned route for the unmanned aerial vehicle and transmits the planned route to the unmanned aerial vehicle;
the unmanned aerial vehicle flies from the starting point to the end point direction according to the planned route;
the midway intelligent rod controls the unmanned aerial vehicle to continuously fly until reaching the end point;
after receiving the signal of the unmanned aerial vehicle, the destination intelligent rod confirms that the unmanned aerial vehicle reaches the destination;
finishing the cooperative flight;
the starting point intelligent rod, the midway intelligent rod and the end point intelligent rod are in signal connection with each other, when the unmanned aerial vehicle is in signal connection with the starting point intelligent rod, the starting point intelligent rod wakes up the midway intelligent rod, and when the unmanned aerial vehicle is in signal connection with the midway intelligent rod, the midway intelligent rod wakes up the end point intelligent rod; and when the midway intelligent rod receives the signal of the unmanned aerial vehicle, the midway intelligent rod sends a control instruction for stopping the unmanned aerial vehicle to the starting intelligent rod.
2. The method of claim 1, wherein the mid-course smart stick controls the drone to continue flying until the end-point smart stick, comprising the steps of:
the planned route is sent to a midway smart pole in the flight process of the unmanned aerial vehicle;
the midway intelligent rod judges whether the flight path of the unmanned aerial vehicle passes through the midway intelligent rod;
if yes, controlling the unmanned aerial vehicle to fly to the next intelligent pole;
if not, the route is planned for the unmanned aerial vehicle again.
3. The smart-stick-based authorization track and unmanned aerial vehicle cooperation method according to claim 1, wherein the midway smart stick positions the unmanned aerial vehicle with high precision when the unmanned aerial vehicle passes through the midway smart stick; the high-precision positioning step comprises the following steps:
the unmanned aerial vehicle and the midway smart rod are positioned by a satellite;
the unmanned aerial vehicle sends self-positioning information to the midway intelligent rod;
the wisdom pole is right unmanned aerial vehicle's flight path revises.
4. The method as claimed in claim 1, wherein the smart stick-based authorization track and the unmanned aerial vehicle cooperate with each other to transmit its own power information to the smart stick when the unmanned aerial vehicle is in signal connection with the smart stick, and when the power of the unmanned aerial vehicle is less than a set value, the smart stick controls the unmanned aerial vehicle to be electrically connected to the smart stick to charge the unmanned aerial vehicle.
5. An authorization track and unmanned aerial vehicle cooperative system based on smart rods is characterized by comprising a plurality of smart rods and an unmanned aerial vehicle, wherein the smart rods are wirelessly connected with the unmanned aerial vehicle; the intelligent rod comprises an unmanned aerial vehicle monitoring unit and a video monitoring unit, the unmanned aerial vehicle monitoring unit comprises a monitoring finding module, an intelligent rod positioning module, a flight control module, a communication module and a calculation module, and the unmanned aerial vehicle comprises an unmanned aerial vehicle positioning module, a flight execution module, an unmanned aerial vehicle storage module and a communication module;
the monitoring and discovering module is used for detecting, monitoring and discovering the unmanned aerial vehicle;
the smart rod positioning module is interacted with the unmanned aerial vehicle positioning module and is used for positioning the specific position of the unmanned aerial vehicle in the smart rod signal radiation cell;
the flight control module is used for generating a flight control signal of the unmanned aerial vehicle;
the flight execution module is used for receiving the flight control signal of the unmanned aerial vehicle and executing a corresponding instruction;
the unmanned aerial vehicle storage module is used for storing unmanned aerial vehicle flight destination information and unmanned aerial vehicle flight path information;
the calculation module is used for calculating and acquiring a flight path from the current position to the terminal point of the unmanned aerial vehicle;
the communication module is used for transmitting signals between the intelligent rod and the unmanned aerial vehicle for interaction;
the video monitoring unit comprises a second camera, a first face recognition device, a pedestrian action analysis processing module and a second controller, and the second camera and the first face recognition device are connected with the second controller;
the lens of the second camera shoots towards the direction of the pedestrian road, the shot content comprises the facial features of the pedestrian and the action of the pedestrian, the face picture data is sent to the first face recognition device, and the action picture of the pedestrian is sent to the pedestrian action recognition analysis processing module;
the first face recognition device is used for recognizing the shooting information of the second camera, extracting the characteristics, and transmitting the obtained face information to the second controller after extraction and analysis;
the pedestrian action recognition and analysis module is used for recognizing the shooting information of the second camera, recognizing and analyzing the action characteristic state of the corresponding pedestrian, and after the action state characteristic is extracted, transmitting the obtained information to the second controller so as to judge whether the pedestrian is dangerous.
6. The smart-stick-based authorization track and drone coordination system according to claim 5, wherein said listen and discover module works as follows:
the monitoring and finding module detects and monitors and finds the unmanned aerial vehicle and then sends a signal to the calculating module;
the calculation module acquires an original flight path request signal of the unmanned aerial vehicle and judges whether the unmanned aerial vehicle passes through an intelligent pole where the unmanned aerial vehicle is located according to the original flight path of the unmanned aerial vehicle;
monitor discovery module is responsible for simultaneously and is interactive in coordination with adjacent wisdom pole, provides unmanned aerial vehicle flight path information to adjacent wisdom pole.
7. The smart-stick-based authorization track and drone coordination system according to claim 5, wherein the interaction steps processed by the smart-stick location module and the drone location module are as follows:
the smart rod positioning module sends a signal for acquiring a positioning request to the unmanned aerial vehicle positioning module;
the intelligent pole positioning module receives a navigation satellite positioning signal to form intelligent pole positioning information;
the unmanned aerial vehicle positioning module receives a navigation satellite positioning signal to form unmanned aerial vehicle positioning information;
the unmanned aerial vehicle positioning module sends satellite positioning information of the unmanned aerial vehicle to the smart pole positioning module;
wisdom pole positioning module revises the unmanned aerial vehicle satellite positioning information that receives according to wisdom pole satellite positioning information.
8. The smart-stick-based authorization track and drone coordination system according to claim 5, wherein said calculation module determines the drone flight path by:
the calculation module calculates the flight path of the unmanned aerial vehicle and requests the unmanned aerial vehicle storage module to acquire the flight destination information of the unmanned aerial vehicle;
obtaining positioning information of the unmanned aerial vehicle through the intelligent rod positioning module;
the calculation module calculates the shortest path from the current position to the destination for the unmanned aerial vehicle according to the positioning information and the flight destination information of the unmanned aerial vehicle and the map information of the smart pole in the range from the starting point to the destination of the unmanned aerial vehicle stored in the smart pole;
and the calculation module compares the original flight path of the unmanned aerial vehicle with the calculated flight path to judge whether the original flight path in the unmanned aerial vehicle storage module is covered by the calculated path.
9. The smart-stick-based authorization track and unmanned aerial vehicle coordination system according to claim 5, wherein said smart stick further comprises an unmanned aerial vehicle charging unit, said unmanned aerial vehicle charging unit being connected to said computing unit;
the unmanned aerial vehicle charging unit comprises an unmanned aerial vehicle wireless charging module, an unmanned aerial vehicle docking platform unit and an unmanned aerial vehicle charging progress display unit;
the unmanned aerial vehicle parking platform unit is used for receiving the unmanned aerial vehicle parked in a charging mode;
the unmanned aerial vehicle wireless charging module is used for charging the unmanned aerial vehicle and feeding back the real-time charging progress to the unmanned aerial vehicle charging progress display unit;
the unmanned aerial vehicle charging progress display unit receives the analog signal transmitted by the wireless charging module, and the analog signal is filtered and sampled to become a digital signal for display;
the unmanned aerial vehicle monitoring unit also comprises a first camera, a first controller, an unmanned aerial vehicle detection device and an unmanned aerial vehicle identification device;
the unmanned aerial vehicle detection device is used for detecting a wireless channel, if the unmanned aerial vehicle detection device successfully detects that the unmanned aerial vehicle exists around, the information is sent to the first camera, and the first camera receives the information and then shoots the unmanned aerial vehicle;
the first camera shoots towards an incoming route of a preset value of the unmanned aerial vehicle, and transmits the shot information to the unmanned aerial vehicle identification device;
the unmanned aerial vehicle identification device identifies the identity of the unmanned aerial vehicle and sends information obtained by identifying the unmanned aerial vehicle to the first controller;
the first controller is in communication connection with an external server;
the intelligent rod further comprises an interaction unit, and the interaction unit is connected with the computing unit;
the interaction unit comprises a communication module, a network module and a data transceiver module;
the communication module is used for establishing connection with the unmanned aerial vehicle and surrounding intelligent rods, authenticating the identity of the unmanned aerial vehicle and transmitting various data information among the unmanned aerial vehicle and the intelligent rods;
the network policy module is connected with an external network to upload local data and download external internet data;
the data receiving and transmitting module is used for receiving data information and transmitting local information and information acquired from the external Internet.
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