CN116048121A

CN116048121A - Unmanned aerial vehicle and unmanned sub-aerial vehicle combined exploration system and method

Info

Publication number: CN116048121A
Application number: CN202310066237.9A
Authority: CN
Inventors: 高东; 韩磊; 袁菲; 沙少滨
Original assignee: Xi'an Dbs Communication Technology Co ltd
Current assignee: Xi'an Dbs Communication Technology Co ltd
Priority date: 2023-01-13
Filing date: 2023-01-13
Publication date: 2023-05-02

Abstract

The application provides an unmanned aerial vehicle and unmanned aerial vehicle combined exploration system and method, the system includes: unmanned aerial vehicle, unmanned sub-machine, mission car and flight control center; the unmanned aerial vehicle is provided with a carrier satellite antenna, a carrier load and a carrier platform control device which are in signal connection with the carrier satellite antenna; the top of the unmanned aerial vehicle is provided with a retraction device for retracting the unmanned aerial vehicle, and the unmanned aerial vehicle is also provided with a throwing device for throwing the unmanned aerial vehicle; the unmanned aerial vehicle is mounted on the unmanned aerial vehicle, the unmanned aerial vehicle is mounted with a sub-vehicle load and a sub-vehicle communication module, and a retraction rod matched with the retraction device is arranged at the bottom of the unmanned aerial vehicle; the mission vehicle is provided with a vehicle-mounted control system which is in signal connection with the carrier platform control device, the flight control center is provided with a carrier control monitoring system, and the carrier control monitoring system is in signal connection with the carrier platform control device. The application improves the exploration efficiency.

Description

Unmanned aerial vehicle and unmanned sub-aerial vehicle combined exploration system and method

Technical Field

The application relates to the technical field of unmanned aerial vehicle exploration systems, in particular to an unmanned aerial vehicle and unmanned aerial vehicle combined exploration system and method.

Background

People are in the stage of high-speed development, people enjoy economy and technological development and simultaneously face the threat brought by various sudden accidents, such as frequent natural disasters of earthquakes, forest fires, floods and the like, so that not only are lives of people influenced, but also lives and properties of people are greatly damaged, the current emergency facilities cannot arrive at the scene at the first time to rescue trapped people, and how to prevent and control the disaster at the first time to reduce casualties and property loss is the current primary task.

With the continuous development of aviation technology, unmanned aerial vehicles with various functional models are sequentially applied, play an important role in various fields and play a special role, especially play an important role under severe environmental conditions, and are particularly applied and widely used in rescue, investigation and search scenes.

At present, a search and rescue system and a reconnaissance system based on an unmanned aerial vehicle have two modes, and the first mode is a medium-sized and large-sized unmanned aerial vehicle, so that the operation advantages of long distance, high altitude, long time and the like can be realized. The second type is a small-sized rotor unmanned aerial vehicle, and the operation advantages of identifying and searching tasks in a small range, a short distance and the like can be realized.

However, many rescue searches, surveys and other task environments are severe, and the unmanned aerial vehicle has the characteristics of remote places, no internet coverage, complex terrain, ambiguous target points and the like, and the two unmanned aerial vehicles at present cannot meet long-distance, high-altitude and long-time operation requirements in a small range and in a short distance. Under such an environment, unmanned aerial vehicle cannot operate or the operation efficiency is extremely low, and higher operation requirements are provided for unmanned aerial vehicle systems, so that unmanned aerial vehicle systems with the functions and capable of overcoming environmental constraints do not appear in the current fields of various industries.

Disclosure of Invention

The application provides an unmanned aerial vehicle and unmanned aerial vehicle combined exploration system and method, which are used for solving the problems in the background technology.

In a first aspect, the present application provides an unmanned aerial vehicle and unmanned drone combined exploration system, comprising:

unmanned aerial vehicle, unmanned sub-machine, mission car and flight control center;

the unmanned aerial vehicle is provided with a carrier satellite antenna, a carrier load and a carrier platform control device, and the carrier load and the carrier platform control device are in signal connection with the carrier satellite antenna;

the top of the unmanned aerial vehicle is provided with a retraction device for retracting the unmanned aerial vehicle, and the unmanned aerial vehicle is also provided with a throwing device for throwing the unmanned aerial vehicle;

the unmanned sub-aircraft is mounted on the unmanned aircraft, the unmanned sub-aircraft is mounted with a sub-aircraft load and a sub-aircraft communication module, and a retraction rod matched with the retraction device is arranged at the bottom of the unmanned sub-aircraft;

the mission car is provided with a vehicle-mounted control system, the vehicle-mounted control system is in signal connection with the carrier platform control device, the flight control center is provided with a carrier control monitoring system, and the carrier control monitoring system is in signal connection with the carrier platform control device.

Optionally, the retraction device comprises a hydraulic telescopic rod, a relay is arranged at the top end of the hydraulic telescopic rod, an openable claw-type switch is fixedly arranged above the relay, and the claw-type switch is electrically connected with the relay.

Optionally, the throwing device comprises a telescopic claw and a telescopic claw controller, wherein the telescopic claw is arranged at the inner top of the unmanned aerial vehicle, and the telescopic claw controller is in signal connection with the platform control device of the unmanned aerial vehicle.

Optionally, the throwing device is a suspension bracket arranged at the outer bottom of the unmanned aerial vehicle; the unmanned aerial vehicle is characterized in that a mounting rod matched with the mounting frame and a grapple arranged at the top end of the mounting rod are arranged at the outer top of the unmanned aerial vehicle, a grapple controller for controlling the grapple is further arranged on the unmanned aerial vehicle, and the grapple controller is in signal connection with the platform control device of the carrier.

Optionally, the throwing device is a top telescopic suspension frame arranged in the unmanned aerial vehicle, and the throwing device further comprises a telescopic suspension frame controller, and the telescopic suspension frame controller is in signal connection with the platform control device of the unmanned aerial vehicle; the top of unmanned aerial vehicle is provided with scalable mounted frame assorted grapple, unmanned aerial vehicle still be provided with the grapple controller that the grapple corresponds, the grapple controller with carrier platform controlling means signal connection.

Optionally, the sub-machine communication module includes at least one of a 5G communication module and a station communication module.

In a second aspect, the present application provides an unmanned aerial vehicle and unmanned aerial vehicle combined exploration method, including:

receiving a first exploration instruction, wherein the first exploration instruction carries a first exploration range, and the unmanned aerial vehicle is provided with an unmanned aerial vehicle;

fly to the first exploration range;

executing sub-machine throwing operation;

and sending a second exploration instruction to the unmanned aerial vehicle, wherein the second exploration instruction carries a second exploration range so that the unmanned aerial vehicle searches for a target in the second exploration range.

Optionally, before the performing the sub-machine release operation, the method further includes:

and determining whether the environment where the unmanned aerial vehicle is located is consistent with the throwing condition.

Optionally, after the unmanned aerial vehicle receives the second exploration instruction, analyzing a second exploration range carried by the second exploration instruction, and performing target tracking by the following method:

when the second exploration range is the target point coordinate, planning a flight route by taking the target point coordinate as an end point;

determining the position of the obstacle through a first preset algorithm when the obstacle is detected in the flight process;

and (3) flying at the position avoiding the obstacle, and re-planning the flight route by taking the coordinates of the target point as the terminal point after flying away from the obstacle.

when the second exploration range is a first search area, dividing the first search area into a plurality of target search areas;

convolving the plurality of target search areas to obtain a second search area, wherein the second search area is smaller than the first search area;

and re-dividing the second search area into a plurality of new target search areas, and repeating the process until the target is locked.

From the above, it can be seen that, in the unmanned aerial vehicle and unmanned aerial vehicle combined exploration system provided by the embodiment of the application, by the method of carrying the unmanned aerial vehicle on the unmanned aerial vehicle, the unmanned aerial vehicle and the unmanned aerial vehicle are combined, so that the unmanned aerial vehicle can be explored for a long time at a long distance and high altitude, and the unmanned aerial vehicle can also be explored for a short distance, a small range, high precision and a slow speed. Compared with the prior art, only one type of investigation can be carried out, the large unmanned aerial vehicle and the small unmanned aerial vehicle are combined, the operation mode of collaborative detection is implemented, the advantages of collaborative detection are respectively exerted in the air, the investigation and searching of targets can be achieved through long-distance, high-altitude, long-time and high-flux communication, the investigation targets can be achieved in a short distance, in a small range and in high precision, and the efficiency of the investigation targets is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of an unmanned aerial vehicle and unmanned drone combined exploration system according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of an unmanned aerial vehicle according to another embodiment of the present disclosure;

FIG. 3 is a logic diagram of an unmanned aerial vehicle and unmanned drone combined exploration system according to an embodiment of the present application;

FIG. 4 is a flow chart of operations performed by the unmanned aerial vehicle and unmanned drone combined exploration system according to one embodiment of the present disclosure;

FIG. 5 is a flowchart of a method for combined exploration of an unmanned aerial vehicle and a drone according to an embodiment of the present disclosure;

FIG. 6 is a flowchart of a method for combined exploration of an unmanned aerial vehicle and a drone according to an embodiment of the present disclosure;

FIG. 7 is a flowchart of a target tracking method of an unmanned aerial vehicle according to another embodiment of the present disclosure;

fig. 8 is a flowchart of a target tracking method of an unmanned aerial vehicle according to still another embodiment of the present application.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, are also within the scope of the present application based on the embodiments herein. In addition, the embodiments and features in the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 is a diagram illustrating an unmanned aerial vehicle and drone combined exploration system according to an embodiment of the present application. As shown in fig. 1, and referring to fig. 2 and 3, the system includes: unmanned aerial vehicle, unmanned sub-machine, mission car and flight control center.

the unmanned aerial vehicle is mounted on the unmanned aerial vehicle, the unmanned aerial vehicle is provided with a sub-machine load and a sub-machine communication module, and a retraction rod matched with the retraction device is arranged at the bottom of the unmanned aerial vehicle.

For convenience of description, the following mentioned carrier is referred to as an unmanned carrier, and the sub-carrier is referred to as an unmanned sub-carrier.

The unmanned aerial vehicle can be a medium-large-sized vertical fixed wing unmanned aerial vehicle. The unmanned plane has large take-off weight, can realize high-altitude flight, and has high flight speed and long flight time. And the high-flux wide-drive medium-pass satellite is integrated, so that the communication range of the platform is not limited by regions, and the vehicle-mounted control system of the task vehicle and the vehicle-mounted control monitoring system of the flight control center which are free of obstacles are communicated in real time. But also can carry various loads and unmanned aerial vehicle.

The satellite antenna of the carrier is a high-flux mobile carrier satellite antenna, is a multi-axis small mobile satellite communication antenna supporting C, ku, ka and other multi-frequency bands, meets the requirement of always pointing to the geosynchronous orbit satellite accurately under the unmanned dynamic condition, and realizes uninterrupted two-way communication with the satellite, including services such as video return, image, double data transmission and the like. After the satellite antenna is arranged on the carrier, the high flux, stability, persistence and timeliness of the system data link are guaranteed.

The load of the carrier includes, but is not limited to, carrying a high-definition camera, an infrared camera, an orthographic camera, a tilting camera, a hyperspectral camera, a multispectral camera, an emergency communication high-altitude base station, a radar and the like, and the searching and detecting functions of the carrier are enhanced through a plurality of loads.

The carrier platform control device realizes the functions of controlling the load of the carrier, controlling the flight (take-off, cruising, landing and the like) of the carrier and communicating with the ground. The system has the advantages of controlling the throwing of the sub-machines, guiding and monitoring the sub-machines to search for flight, and providing omnibearing information support work for the sub-machines.

Wherein, unmanned aerial vehicle adopts small-size low-price many rotor unmanned aerial vehicle or folding wing. The top of the unmanned sub-machine can be provided with a mounting rod (externally hung), and the bottom of the unmanned sub-machine is provided with a retracting rod (the sub-machine with an automatic retracting function mode). The unmanned sub-machine can be provided with an artificial intelligence (English is called Artificial Intelligence; english is called AI) vision camera, radar/infrared, inertial navigation and ultrasonic sensor. A radio station communication module and a 5G communication module may also be mounted. Unmanned sub-machine has functions of autonomous cruise searching, identifying information and automatic return.

The task vehicle is a mobile command center positioned on the front line, is a comprehensive task vehicle provided with a satellite antenna, can be loaded with a medium-sized and large-sized unmanned aerial vehicle, and has a vehicle-mounted control system integrated with multiple functions, such as remote control and monitoring of the unmanned aerial vehicle and the load of the load vehicle.

The control center is arranged indoors outside the thousand miles, integrates the unmanned aerial vehicle and the control/monitoring system of the unmanned sub-aerial vehicle, and integrates the control and monitoring system of the load of the unmanned aerial vehicle and the load of the sub-aerial vehicle. The unmanned aerial vehicle and unmanned sub-aerial vehicle flight operation mission plan can be planned, patrol searching route of the unmanned sub-aerial vehicle is commanded, and suspicious target points fed back by the unmanned sub-aerial vehicle are manually analyzed. In addition, the flight control center is also provided with network switching equipment which is in signal connection with a control and monitoring system of the machine load and is used for carrying out data transmission between the control and monitoring system of the machine load and other equipment.

Referring to fig. 4, the operation process of the unmanned aerial vehicle air drop unmanned sub-system is as follows:

the flight control center receives tasks, wherein the tasks are generally search rescue or inspection exploration;

the flight control center designates an operation flight plan;

the task vehicle carries the unmanned aerial vehicle to travel to the scene, and the task vehicle and the unmanned aerial vehicle can respectively travel when the unmanned aerial vehicle travels to the scene;

after arriving at the site, checking all the unmanned aerial vehicle and all the equipment of the unmanned sub-aerial vehicle so as to ensure that all the equipment of the unmanned aerial vehicle and the unmanned sub-aerial vehicle can work normally;

the flight control center sends a target area and a take-off instruction to the unmanned aerial vehicle through the aerial vehicle control monitoring system;

after receiving the take-off instruction, the unmanned aerial vehicle executes the take-off operation to realize take-off;

the unmanned aerial vehicle flies to the target area, and naturally, if the potential safety hazard exists in the target area, the unmanned aerial vehicle can fly to a safety critical area nearby the target area;

the unmanned aerial vehicle judges the throwing condition, if the throwing condition is met, the unmanned aerial vehicle spirals to fly, and the throwing sub-machine operation is executed;

after the sub-machine is put in successfully, the flight data and the load data of the sub-machine are obtained in real time so as to monitor the sub-machine in real time;

the sub-machine independently carries out tracking flight and carries out information interaction with the carrier in real time;

the sub-machine flies to the target point and executes the monitoring task; after the monitoring task is completed, returning monitoring information, and waiting for the carrier to send a return navigation instruction;

after the carrier receives the monitoring information returned by the sub-machine, the carrier determines that the sub-machine is required to continue monitoring, and if the monitoring information is not required, a sub-machine return instruction is sent to the sub-machine; if the sub-machine is required to continue monitoring, a continuing monitoring instruction is sent until the carrier receives monitoring information meeting the requirements, and then a sub-machine return instruction is sent to the sub-machine;

when the carrier sends a sub-aircraft return instruction, the flight mode of the carrier is changed into rotor flight, the gesture is adjusted, a top cabin door is opened, and a retraction device for receiving the sub-aircraft is prepared at the top;

after receiving the navigation instruction, the sub-machine flies to the aerial carrier to be emptied;

after the sub-aircraft reaches the pilot space of the carrier aircraft, the flight speed and the direction are adjusted to enable the sub-aircraft to fly at the same speed as the carrier aircraft, and the sub-aircraft slowly drops to strike the carrier aircraft;

after the carrier detects the collision of the sub-machine, the sub-machine is locked by a retracting device, the sub-machine stops working, the retracting device pulls the sub-machine into the carrier cabin, and the carrier closes the top cabin door;

the carrier adjusts the flight mode, the rotor flight mode enters a fixed wing flight mode, and the carrier sails back;

the carrier descends and withdraws, and the task vehicle returns;

the carrier transmits the monitoring information transmitted by the sub-machine to the vehicle-mounted control system and the carrier control monitoring system so as to process the data of the monitoring information.

In the above process, the carrier control monitoring system of the flight control center monitors and remotely controls the carrier through the broadband satellite link, and the sub-machine and the carrier transmit the monitored information, typically a video picture, back to the flight control center in real time through the broadband satellite link, so that the flight control center makes an analysis decision according to the monitored information.

The broadband satellite link used when the carrier or the sub-machine sends the monitoring information to the flight control center is: the sub-machine sends the monitoring information to the carrier platform control device; the carrier platform control device sends the monitoring information to a carrier satellite antenna of the carrier; the carrier satellite antenna of the carrier transmits the monitoring data to the broadband satellite; the broadband satellite sends the monitoring information to the gateway station, and the gateway station sends the monitoring information to the carrier control monitoring system of the flight control center.

In addition, the above-described operation process is described by taking an example in which the flight control center transmits a task to the carrier. If the flight control center sends a plurality of operation tasks to the carrier at the same time or after the completion of one operation task, another operation task is sent, the carrier can be sailed after the execution of the complete operation task, and each operation is the same as or similar to the operation process.

Optionally, the carrier control monitoring system comprises a central server and a first terminal device comprising a first input means, such as a keyboard, which is cable-connected to the central server. The staff of the flight control center inputs data, such as a working flight plan, to the center server through the first input device, wherein the working flight plan is mainly used for informing the unmanned aerial vehicle of tasks to be executed, so that the unmanned aerial vehicle can complete rescue or patrol tasks according to the working flight plan.

Further, the first terminal device further comprises a first display screen, the first display screen is connected with the central server through a cable, the first display screen is used for displaying data sent by the central server, for example, videos shot by the unmanned aerial vehicle during inspection, and therefore workers can view the videos shot by the unmanned aerial vehicle through the first display screen.

The task received by the flight control center is generally the task received by the center, and the task is displayed through the first display screen, and a worker of the flight control center views the received task through the first display screen. And formulating a working flight plan according to the received task, and inputting the working flight plan to the central server through the first input device.

Further, a second terminal device is also arranged on the task vehicle, the second terminal device comprises a second input device and a second display screen, and the second input device and the second display screen are connected with the vehicle-mounted server through cables. The second input device may also be a keyboard, and a worker on the mission vehicle inputs an operation instruction to the vehicle-mounted server through the input device, so that the vehicle-mounted server sends the operation instruction to the unmanned aerial vehicle, where the operation instruction is an instruction for controlling the unmanned aerial vehicle, for example, an instruction for controlling the unmanned aerial vehicle to turn and lift.

In addition, the second input device, the second display screen, and the in-vehicle server may be collectively referred to as an in-vehicle system. Further, the vehicle-mounted system may further include a network conversion module, and may further include software installed on a vehicle-mounted server, such as data forwarding software, data processing software, flight control software, pod control software, and the like.

For large unmanned aerial vehicles, the carrier can be carried in this way.

The sub-machine is grabbed from the top by a telescopic claw of the carrier, when the sub-machine is put in, the carrier opens a bottom cabin, the telescopic claw extends out of the cabin body, the carrier flies horizontally, and a telescopic claw loosening instruction is issued; the telescopic claw loosens the sub-machine, and the sub-machine falls freely; after descending for a preset time, for example, after descending for 5 seconds, starting a rotor wing or an umbrella wing of the sub-aircraft, and adjusting the posture; after the sub-machine adjusts the gesture, returning a ready command to the carrier machine; after the carrier receives the ready command, the carrier issues a searching operation command to the sub-machine; the sub-machine receives the search operation command and starts to autonomously execute the search task.

In the above process, each operation executed by the telescopic claw may be sent to the telescopic claw controller by the carrier platform control device, and the telescopic claw controller controls the telescopic claw to extend and retract.

The unmanned aerial vehicle can be mounted on a medium-sized or light unmanned aerial vehicle in the mode.

When the grapple is in a tightening state, the grapple is fixed on the suspension bracket, and the rotor wing or the unmanned aerial vehicle is fixed at the bottom of the carrier by grasping the bottom of the suspension bracket through the grapple; judging throwing conditions by the carrier; when the throwing condition is met, the carrier sends a grapple loosening instruction to the sub-machine; after receiving the instruction, the sub-machine loosens the grapple; the son machine freely falls for a preset period of time, for example, 5 seconds, a son machine rotor wing or an umbrella wing is started, and the posture is adjusted; after the sub-machine adjusts the gesture, returning a ready command to the carrier machine; after the carrier receives the ready command, the carrier issues a searching operation command to the sub-machine; the sub-machine receives the search operation command and starts to autonomously execute the search task.

In the above process, each operation executed by the grapple can be sent to the grapple controller by the carrier platform control device, and the telescopic claw is controlled by the grapple controller to carry out telescopic operation.

The throwing device is a top telescopic hanging frame arranged in the unmanned aerial vehicle and further comprises a telescopic hanging frame controller, and the telescopic hanging frame controller is in signal connection with the platform control device of the unmanned aerial vehicle; the top of unmanned aerial vehicle is provided with scalable mounted frame assorted grapple, unmanned aerial vehicle still be provided with the grapple controller that the grapple corresponds, the grapple controller with carrier platform controlling means signal connection.

The carrier machine can be mounted on a medium-sized and large-sized unmanned aerial vehicle in the mode.

The top in the carrier is provided with a telescopic hanging frame, the bottom of the carrier is provided with holes with the size of a child machine, the child machine is used for grasping the hanging frame through a grapple, and the child machine is hung on the hanging frame from the surface; judging throwing conditions by the carrier; when the throwing condition is met, the hanging frame extends downwards to enable the sub-machine to be in a hanging state; the carrier platform control device sends a grapple loosening instruction to the grapple controller; the grapple is loosened after receiving the instruction, the sub-aircraft freely falls for a preset period of time, for example, the sub-aircraft falls for 5 seconds, a rotor wing or a parachute wing of the sub-aircraft is started, and the gesture is adjusted; after the sub-machine adjusts the gesture, returning a ready command to the carrier machine; after the carrier receives the ready command, the carrier issues a searching operation command to the sub-machine; the sub-machine receives the search operation command and starts to autonomously execute the search task.

For the above mentioned carrier judgment conditions, reference may be made to related contents, and details are not repeated here.

After being put in, the sub-machine automatically runs to search the target, but in the process of searching the target, the following two conditions are met, and the automatic recovery action is executed. First, the energy used for cruising is insufficient and needs to be recovered as soon as possible, for example, the motor power is low; second, the slave unit stops searching for immediate return after receiving the command for automatic retraction sent by the carrier.

In the case that the automatic retraction command sent by the carrier needs to be returned, the carrier generally commands the sub-machine to return after receiving the exploration data sent by the sub-machine, in this case, if the flight control center or the staff of the vehicle-mounted server consider that the exploration data is insufficient, the personnel can intervene remotely to terminate the retraction command, and the sub-machine does not retract after receiving the terminal retraction command, but continues to explore.

When the sub-machine is determined to be retracted, the carrier broadcasts the position coordinates, the roll angle, the pitch angle and the course angle to the sub-machine at the frequency of the interval time less than or equal to 100 ms; the carrier changes the flight mode, changes the fixed wing flight into the rotor flight, reduces the speed to the speed that the sub-aircraft can follow, and carries out straight horizontal flight or hovering flight; then the top of the carrier stretches out of the retraction device, and the hydraulic telescopic rod stretches out of the top of the cabin; the claw-shaped structure of the head part of the telescopic rod stretches out, the sub-machine flies to the top space of the carrier and flies at the same speed and in the same direction as the carrier, and the sub-machine slowly and vertically impacts the claw-shaped structure under the condition of keeping the horizontal direction unchanged, and after the claw-shaped structure is impacted, a sub-machine arrival signal is sent to the relay; after the relay receives the arrival signal of the sub-machine, the grabbing structure contracts, and the sub-machine retracts the rod; then the carrier sends a sleep command to the sub-machine; after receiving the dormancy command, the sub-machine stops working, the hydraulic telescopic rod of the carrier machine retracts, and the sub-machine retracts into the carrier machine; the carrier closes the top cover; the carrier changes the flight mode, changes the rotor flight into the fixed wing flight, and the back voyage finishes the operation.

The slave machine arrival signal may be an electrical signal, for example, after the grab structure is impacted, a level jump signal, a high level signal or a low level signal is sent to the relay, and the relay can consider that the slave machine arrives after receiving the level change.

Of course, the slave units may not perform the retraction operation after being released, for example, in the following two cases, i.e., the non-retraction operation. Firstly, the battery power of the secondary machine is too low to be automatically recovered; second, a command is received for the carrier to not retract.

Under a non-recovery scene, the unmanned aerial vehicle automatically forced-drops in an open place and sends the position coordinates of the unmanned aerial vehicle to the carrier at any time until the electric quantity is exhausted; the carrier sends the coordinates of the sub-machine to the vehicle-mounted control system, and a worker of the task vehicle can control the sub-machine to patrol tasks according to actual conditions, for example, an individual soldier can be dispatched to patrol the sub-machine, and the individual soldier can patrol the sub-machine according to the final coordinates sent by the sub-machine.

Or the unmanned aerial vehicle falls near the trapped personnel and sends coordinates to the carrier to wait for rescue of the rescue team to be taken away along with the trapped personnel.

In addition, under special operation environment, such as volcanic eruption, large fire and other sites, the sub-machine has green environment-friendly destruction conditions, and when the unmanned sub-machine does not have the condition of automatic return or flying to a recovery point, the sub-machine sends a message of failing to land for calling for help to the carrier machine; after the carrier receives the message, an automatic crash command is issued to the child machine; after receiving the command, the slave machine starts a crash mode to realize crash, for example, crashes in near places such as magma, fire scene and the like.

The cooperative operation link of the carrier and the sub-machine can only adopt a 5G communication module, can also only adopt a radio station communication module, can also adopt two modes of the radio station communication module and the 5G communication module at the same time, provides a double redundant link, ensures the stability and the instantaneity of the cooperative operation link, and improves the robustness of the system.

When the two modes of the radio station communication module and the 5G communication module coexist, if a 5G link is smooth, the sub-machine performs information interaction with the carrier machine through the link, otherwise, the sub-machine is switched to the radio station communication module to perform communication, and the video stream is transmitted back to the carrier machine in real time through a message queue telemetry transmission (English full name: message Queuing Telemetry Transport; english short name: MQTT) protocol and is transmitted to a ground flight control center and a task vehicle through guard by the carrier machine.

The carrier and the sub-machine use their own coordinate information to act as a heartbeat packet to inform the opposite party of being online in real time. Wherein the slave machine coordinate position data is provided by inertial navigation sensors. In addition, after the sub-machine detects the target object, the sub-machine detects the target distance through ultrasonic waves or laser radars and feeds the target distance back to the carrier.

Referring to fig. 5, an embodiment of the present application further provides a method for exploring a combination of an unmanned aerial vehicle and an unmanned aerial vehicle, which is applied to the unmanned aerial vehicle shown in fig. 1, where the method includes:

step 501, receiving a first exploration instruction, wherein the first exploration instruction carries a first exploration range, and the carrier is provided with a child machine.

Step 502, fly to the first exploration range.

Step 503, executing the sub-machine throwing operation.

Step 504, sending a second exploration instruction to the child machine, where the second exploration instruction carries a second exploration range, so that the child machine searches for a target in the second exploration range.

The first exploring instruction is sent by a vehicle-mounted control monitoring system of the flight control center or a vehicle-mounted control system of the mission vehicle.

Further, the carrier control monitoring system or the vehicle-mounted control system communicates with the carrier through a satellite communication link.

The first exploration range is formulated by a worker of the flight control center or a worker corresponding to the task vehicle according to the received task, and is a relatively large range, for example, the first task instruction is to search in an east region of the accident scene, and the first exploration range is the east region of the accident scene. The unmanned aerial vehicle performs long-distance, high-altitude and long-time investigation within the first exploration range. Further, if the carrier finds that a suspicious object exists in the first exploration range and needs to continue searching, a second exploration range is specified in the first exploration range, that is, the second exploration range is a range in which the child machine needs to further perform important searching, or when the carrier searches that a certain coordinate point exists and needs to rescue the object, for example, a child to be rescued exists in the coordinate point, the first exploration range may also be a coordinate point. After receiving the first exploration range, the child machine conducts short-distance, small-range, high-precision and low-speed exploration in the first exploration range so as to find a target.

Optionally, referring to fig. 6, before the performing the sub-machine delivery operation, the method further includes:

step 505, determining whether the environment of the carrier is consistent with the release condition.

And if the operation is consistent, executing the sub-machine throwing operation.

The input conditions can include the height of the carrier, the temperature and humidity of the environment, the wind power, the wind direction and the like.

The carrier carries out cruising flight according to a route sent by the flight control center or the mission vehicle, and carries the three-light pod, so that the ground environment can be searched remotely through infrared, radar and image recognition, and the searching range is locked by combining the assistance of the ground control center; then the carrier puts in the sub-machine; the carrier transmits the patrol flight range to the sub-machine, and the sub-machine approaches to the flight search in a self-autonomous tracking mode.

Optionally, referring to fig. 7, after the drone receives the second exploration instruction, the second exploration range carried by the second exploration instruction is parsed, and the target tracking is performed by the following method:

and step 701, when the second exploration range is the target point coordinate, planning a flight route by taking the target point coordinate as an end point.

In step 702, the position of an obstacle is determined by a first predetermined algorithm when the obstacle is detected during the flight.

Step 703, avoiding the position flight of the obstacle, and re-planning the flight path by taking the coordinates of the target point as the end point after flying away from the obstacle.

In the flight process, the threat objects along the way are analyzed, the flight route is corrected at any time, and accurate and safe arrival at the target point is ensured.

The first predetermined algorithm is an algorithm combining target detection and calculation (English full name: you Only Look Once, english short name: YOLO) and a fuzzy control algorithm.

The sub-machine adopts obstacle avoidance control based on intelligent obstacle avoidance YOLO algorithm and combined with multi-sensor fusion of a fuzzy control algorithm. The process of the YOLO and fuzzy control algorithm is as follows:

dividing a camera video image into S x S grids;

carrying out sharpening treatment on each grid of the image by using a fuzzy control algorithm;

the YOLO algorithm firstly judges candidate areas possibly with targets, and the modified areas are areas formed by a plurality of grids possibly with targets;

and predicting whether each grid has a target object falling into the grid by utilizing a YOLO algorithm, and if so, determining the grid as the position where the obstacle exists. Since a plurality of grids are generally occupied by even one obstacle, all grids where the obstacle exists are calculated, that is, the actual positions of the obstacle are calculated, so that the obstacle is avoided correctly.

And when the second detection range is the target point coordinate, determining target tracking, and after the carrier puts the sub-machine, sending the target point coordinate to the sub-machine, and automatically planning a route to fly to a coordinate point by the sub-machine.

Of course, in the process of automatic tracking of the sub-machine, obstacles may be encountered along the way, and attention is paid to obstacle avoidance along the way, in the application, the sub-machine fuses the data of a plurality of sensors of the AI camera, the radar and the ultrasonic wave, processes the obstacles based on the YOLO algorithm and the fuzzy control algorithm, re-plans the nearest flight route by combining the Dikkstra algorithm (Dijkstra name) after crossing one obstacle every time, flies towards the target point, and repeatedly executes the algorithm until reaching the target point.

In addition, the relevant content may be referred to for the YOLO algorithm, the fuzzy control algorithm and the Dijkstra algorithm, and will not be described herein.

Further, the course of the tracking operation is expressed as:

S＝(G，D，Z)

wherein G is G in the route with right ₀ ，g ₁ ，…，g _n A set of all route nodes; d is D in the route ₀ ，d ₁ ，…，d _n A set of all boundaries; z is Z in the roadmap ₀ ，z ₁ ，…，z _n A set of all route nodes. The route rights mathematical expression is matrix a:

wherein a is _ij For node n _i And n _j Length of the space. And gradually expanding outwards from the starting point by using a priority idea until all nodes are searched, recording the front node closest to the node in the tracking process, and then generating a trace-back vector, and finding a feasible route from the starting point to the shortest distance of the target point by using the trace-back vector.

Further, referring to fig. 8, after the unmanned aerial vehicle receives the second exploration command, the second exploration range carried by the second exploration command is analyzed, and the target tracking is performed by the following method:

step 801, dividing the first search area into a plurality of target search areas when the second search range is the first search area;

step 802, convolving the plurality of target search areas to obtain a second search area, wherein the second search area is smaller than the first search area;

step 803, re-dividing the second search area into a plurality of new target search areas, and repeating the above process until the target is locked.

The second search range is the first search area, i.e. the target point is uncertain, in which case the loader sends a search operation area to the sub-loader, the sub-loader convolves the multi-target search area by co-evolution genetic algorithm, gradually reduces the search range, and returns the finally locked target point coordinates to the loader, waiting for whether the loader commands return.

Of course, the intervention route can be planned manually and remotely during the search, and the monitoring of the infrared sensor is needed for the feedback-free living body target.

Of course, in the process of automatic tracking of the slave machine, the obstacle may be encountered along the way, and attention should be paid to the obstacle avoidance along the way, and the obstacle recognition during the process is passed through the process of identifying the target tracking obstacle, which is not described herein.

Other relevant matters related to the method embodiment may be referred to the system embodiment, and are not described herein.

As can be seen from the foregoing, in the method for combining an unmanned aerial vehicle and an unmanned aerial vehicle according to the embodiments of the present application, the unmanned aerial vehicle and the unmanned aerial vehicle are combined by the method for carrying the unmanned aerial vehicle on the unmanned aerial vehicle, the unmanned aerial vehicle searches in a larger suspicious range, that is, in a first search range, and then in the first search range, a second search range is determined, and the unmanned aerial vehicle further searches in the second search range. Namely, the unmanned aerial vehicle long-distance, high-altitude and long-time investigation and the unmanned aerial vehicle short-distance, small-range, high-precision and low-speed investigation are combined. Compared with the prior art, only one type of investigation can be carried out, the large unmanned aerial vehicle and the small unmanned aerial vehicle are combined, the operation mode of collaborative detection is implemented, the advantages of collaborative detection are respectively exerted in the air, the investigation and searching of targets can be achieved through long-distance, high-altitude, long-time and high-flux communication, the investigation targets can be achieved in a short distance, in a small range and in high precision, and the efficiency of the investigation targets is improved.

Finally, it should be noted that what is not described in the technical solutions of the present application may be implemented using the prior art. In addition, the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand; the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An unmanned aerial vehicle and unmanned aerial vehicle combined exploration system, comprising: unmanned aerial vehicle, unmanned sub-machine, mission car and flight control center;

the unmanned aerial vehicle is mounted on the unmanned aerial vehicle, the unmanned aerial vehicle is mounted with an unmanned aerial vehicle load and a sub-machine communication module, and a retraction rod matched with the retraction device is arranged at the bottom of the unmanned aerial vehicle;

2. The unmanned aerial vehicle and unmanned aerial vehicle combined exploration system according to claim 1, wherein the retraction device comprises a hydraulic telescopic rod, a relay is arranged at the top end of the hydraulic telescopic rod, an openable claw-type switch is fixedly arranged above the relay, and the claw-type switch is electrically connected with the relay.

3. The unmanned aerial vehicle and unmanned aerial vehicle combined exploration system of claim 2, wherein the throwing device comprises a telescopic claw and a telescopic claw controller, the telescopic claw is arranged at the inner top of the unmanned aerial vehicle, and the telescopic claw controller is in signal connection with the platform control device of the unmanned aerial vehicle.

4. The unmanned aerial vehicle and unmanned aerial vehicle combined exploration system of claim 2, wherein the throwing device is a suspension bracket arranged at the outer bottom of the unmanned aerial vehicle; the unmanned aerial vehicle is characterized in that a mounting rod matched with the mounting frame and a grapple arranged at the top end of the mounting rod are arranged at the outer top of the unmanned aerial vehicle, a grapple controller for controlling the grapple is further arranged on the unmanned aerial vehicle, and the grapple controller is in signal connection with the platform control device of the carrier.

5. The unmanned aerial vehicle and unmanned aerial vehicle combined exploration system of claim 2, wherein the launch device is a top telescopic suspension frame arranged in the unmanned aerial vehicle, the launch device further comprises a telescopic suspension frame controller, and the telescopic suspension frame controller is in signal connection with the carrier platform control device; the top of unmanned aerial vehicle is provided with scalable mounted frame assorted grapple, unmanned aerial vehicle still be provided with the grapple controller that the grapple corresponds, the grapple controller with carrier platform controlling means signal connection.

6. The unmanned aerial vehicle and unmanned aerial vehicle combined exploration system of any of claims 1-5, wherein said sub-aircraft communication module comprises at least one of a 5G communication module and a station communication module.

7. An unmanned aerial vehicle and unmanned aerial vehicle combined exploration method, characterized in that the method comprises the following steps:

fly to the first exploration range;

executing unmanned sub-aircraft throwing operation;

8. The drone and drone combination exploration method of claim 7, wherein prior to said performing drone launch operation, said method further comprises:

9. The unmanned aerial vehicle and unmanned aerial vehicle combined exploration method of claim 8, wherein after the unmanned aerial vehicle receives the second exploration instruction, analyzing a second exploration range carried by the second exploration instruction, and performing target tracking by the following method:

10. The unmanned aerial vehicle and unmanned aerial vehicle combined exploration method of claim 8, wherein after the unmanned aerial vehicle receives the second exploration instruction, analyzing a second exploration range carried by the second exploration instruction, and performing target tracking by the following method: