CN117271111A - Unmanned platform field collaborative environment sensing method and system based on edge calculation - Google Patents
Unmanned platform field collaborative environment sensing method and system based on edge calculation Download PDFInfo
- Publication number
- CN117271111A CN117271111A CN202310794363.6A CN202310794363A CN117271111A CN 117271111 A CN117271111 A CN 117271111A CN 202310794363 A CN202310794363 A CN 202310794363A CN 117271111 A CN117271111 A CN 117271111A
- Authority
- CN
- China
- Prior art keywords
- module
- data
- calculation
- edge
- unmanned platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004364 calculation method Methods 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000008447 perception Effects 0.000 claims abstract description 23
- 230000002159 abnormal effect Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 238000007781 pre-processing Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 39
- 230000008569 process Effects 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 13
- 230000007613 environmental effect Effects 0.000 claims description 7
- 230000010365 information processing Effects 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 7
- 238000005070 sampling Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 3
- 238000009529 body temperature measurement Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
- G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals
- G06F9/5033—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals considering data affinity
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
- G06F18/243—Classification techniques relating to the number of classes
- G06F18/2433—Single-class perspective, e.g. one-against-all classification; Novelty detection; Outlier detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
- G06F9/4881—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5061—Partitioning or combining of resources
- G06F9/5072—Grid computing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2209/00—Indexing scheme relating to G06F9/00
- G06F2209/50—Indexing scheme relating to G06F9/50
- G06F2209/502—Proximity
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mathematical Physics (AREA)
- Artificial Intelligence (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned platform field collaborative environment sensing method and system based on edge calculation, and the unmanned platform field collaborative environment sensing method based on edge calculation disclosed by the invention comprises the following steps: collecting environment perception data; distributing and preprocessing the collected environment sensing data, and selecting a computing model matched with the environment sensing data to form a computing task; and dispatching and calculating a calculation task, and obtaining a target identification result or an abnormal detection result according to the calculation result. According to the invention, according to the requirements of the field environment collaborative sensing task, computing resources can be dynamically allocated, corresponding algorithms are selected for different types of data, and appropriate computing resources are matched, so that the response time of field environment wide sensing is shortened; and transmitting the obtained result to an unmanned platform in the network, and when one unmanned platform detects a target or an abnormal condition, automatically sending an instruction to the adjacent unmanned platform in the search area by the system to cooperatively observe the target or the abnormal condition.
Description
Technical Field
The invention relates to the field of autonomous unmanned platform collaborative environment sensing, in particular to an unmanned platform field collaborative environment sensing method and system based on edge calculation.
Background
The edge computing technology provides low-delay, high-mobility and customized computing services for the end user by integrating network, computing, storage, application and other technologies on the network edge side close to the data source and providing intelligent computing services on the network edge side close to the end user. The edge calculation can further extend the functions of data storage, calculation, management and the like, the transmission pressure of a network is relieved by expanding the boundary of cloud calculation, meanwhile, the data processing can be performed more timely as the boundary is closer to the source of the data, the working requirements of the response equipment are met, and the time delay is reduced; in the range of the capability of edge calculation capable of being processed, data can be directly processed at one end of a source, so that sensitive data leakage is prevented.
With the gradual development and maturity of the autonomous unmanned system technology, the autonomous unmanned platform with various sensing devices can be widely applied to disaster site monitoring, emergency personnel search and rescue and anti-terrorism action reconnaissance. The edge calculation can provide efficient processing and distributing services for various sensor data at the network edge which is closer to the user, so that the service response time delay is reduced, and the timeliness of data analysis is effectively improved. The existing unmanned platform field environment sensing method and system are low in intelligent degree, and have the following problems: 1. computing resources cannot be reasonably allocated in real time according to the priority and importance of the perception data; 2. the lack of a uniform calculation scheduling method for different sources and different types of perception data makes optimal utilization of calculation resources difficult; 3. the lack of intelligent scheduling on unmanned groups, the lack of collaboration on unmanned platforms in a search area, and the inability to update a search strategy according to environmental awareness results.
Disclosure of Invention
According to the embodiment of the invention, an unmanned platform field collaborative environment perception method based on edge calculation is provided: comprising the following steps:
collecting environment perception data;
distributing and preprocessing the collected environment sensing data, and selecting a computing model matched with the environment sensing data to form a computing task;
and dispatching and calculating a calculation task, and obtaining a target identification result or an abnormal detection result according to the calculation result.
Further, the assigning comprises: the distribution is performed according to the data type of the collected environment-aware data or according to the priority of the collected environment-aware data.
Further, the allocation comprises the steps of:
and analyzing the original environment sensing data through edge calculation from the acquired environment sensing data, extracting a data frame containing a suspicious target or abnormal condition, and forming a data set A to be detected.
Processing the data set A according to a target detection algorithm to obtain a data set K consisting of key frames of an effective target;
and intercepting adjacent data frames in a certain time before and after the key frame time sequence in the data set K to obtain a final sampling data set B.
Further, the pretreatment comprises: and extracting key data frames in the environment perception data, and carrying out unloading calculation processing on the data of the key frames.
Further, the calculation force scheduling is carried out according to the calculation force required by the calculation task and the residual calculation force of the unmanned platform.
An unmanned platform field collaborative environment perception system based on edge computing, comprising: unmanned aerial vehicle, quadruped robot and command car, in order to realize the unmanned platform field collaborative environment perception method based on edge calculation;
the unmanned aerial vehicle collects ground real-time images and transmits the collected images to the command vehicle; the four-legged robot recognizes the target and transmits the position and information of the target back to the command vehicle; and the command receives and processes information returned by the unmanned aerial vehicle and the quadruped robot.
Further, the unmanned aerial vehicle includes: the device comprises a visible light visual sensing module, an infrared sensing module, a first edge computing module and a first communication terminal;
the visible light vision sensing module acquires image data; the infrared sensing module collects temperature data; the visible light visual sensing module and the infrared sensing module are electrically connected with the first edge computing module; the first edge computing module receives and processes the image data collected by the visible light visual sensing module and the temperature data collected by the infrared sensing module; the first communication terminal is respectively in communication connection with the first edge calculation module and the command vehicle, and transmits the result processed by the first edge calculation module to the command vehicle.
Further, the four-legged robot includes: the device comprises a second communication terminal, a depth camera module, a laser radar module and a second edge calculation module;
the depth camera module is used for modeling an environmental target; the laser radar module is used for modeling an environment scene; the depth camera module and the laser radar module are electrically connected with the second edge computing module; the second edge computing module processes data collected by the depth camera module and the laser radar module; the second communication terminal is in communication connection with the command vehicle, and the second communication terminal transmits the data processed by the second edge calculation module to the command vehicle.
Further, the command car includes: the system comprises an information processing module, a network communication module and a task scheduling module;
the information processing module processes information returned by the unmanned aerial vehicle and the quadruped robot; the network communication module is used for data communication between the unmanned aerial vehicle and the four-legged robot and the command vehicle; the task scheduling module is used for performing calculation task scheduling among the unmanned aerial vehicle, the quadruped robot and the command vehicle.
According to the unmanned platform field collaborative environment sensing method and system based on edge calculation, which are disclosed by the embodiment of the invention, the computing resources can be dynamically allocated according to the field environment collaborative sensing task requirements, the corresponding algorithm is selected for different types of data, the appropriate computing resources are matched, and the response time of field large-range environment sensing is shortened; and transmitting the obtained result to an unmanned platform in the network, and when one unmanned platform detects a target or an abnormal condition, automatically sending an instruction to the adjacent unmanned platform in the search area by the system to cooperatively observe the target or the abnormal condition.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the technology claimed.
Drawings
FIG. 1 is a flow chart of an unmanned platform field collaborative environment awareness method based on edge computing according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of an unmanned platform field collaborative environment awareness system based on edge computation according to an embodiment of the invention;
fig. 3 is a schematic structural diagram of an unmanned aerial vehicle of an unmanned platform field collaborative environment perception system based on edge computation according to an embodiment of the present invention;
FIG. 4 is a structural schematic diagram of a four-legged robot based on an unmanned platform field collaborative environment awareness system based on edge computing according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a command vehicle of an unmanned platform field collaborative environment perception system based on edge calculation according to an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the attached drawings, which further illustrate the present invention.
First, an unmanned platform field collaborative environment sensing method and system based on edge computation according to an embodiment of the present invention will be described with reference to fig. 1 to 5, where the unmanned platform in this embodiment includes: the unmanned aerial vehicle platform, the four-legged robot platform and the command car platform have wide application scenes.
As shown in fig. 1, the unmanned platform field collaborative environment perception method based on edge calculation in the embodiment of the invention comprises the following steps:
s1: environmental awareness data is collected. According to the requirements of environment detection tasks, a certain number of unmanned aerial vehicles and quadruped robots are distributed in an area to be explored to perform environment sensing and target searching, and environment searching planning is performed under the constraint that the unmanned aerial vehicles and quadruped robots keep communication distances with command vehicles.
S2: distributing and preprocessing the collected environment sensing data, and selecting a computing model matched with the environment sensing data to form a computing task. The calculation task planning is performed according to the property and task priority of the data acquired by the unmanned aerial vehicle and the quadruped robot and the residual calculation power of different platforms at the current moment, and the acquired data are preprocessed according to different data types, such as: and carrying out sparse processing on the data to reduce the data processing amount, selecting a proper calculation model according to different data types to form the matching of the calculation data and the calculation model, and forming a calculation task according to the matching result.
S3: and dispatching and calculating a calculation task, and obtaining a target identification result or an abnormal detection result according to the calculation result. The calculation tasks are scheduled according to the residual calculation resources of the unmanned aerial vehicle platform or the quadruped robot platform, when the calculation resources of the unmanned aerial vehicle platform or the quadruped robot platform are exhausted and still can not meet the calculation requirements, the calculation tasks are preferentially distributed to adjacent calculation nodes for calculation, data processing results are obtained according to the calculation, and target identification and abnormal detection results are distributed to the command vehicle, the adjacent unmanned aerial vehicle platform and the quadruped robot platform.
S4: and when no platform in the area senses a suspicious target, automatically scheduling adjacent platforms to track and monitor, and realizing uninterrupted monitoring sensing of the dynamic target. When the unmanned aerial vehicle finds a suspicious target, the system automatically distributes the adjacent quadruped robots to confirm the target, searches and tracks the target, and in the process that the quadruped robots approach the suspicious target, the unmanned aerial vehicle keeps uninterrupted monitoring on the suspicious target until the robot reaches the vicinity of the target, and when the ground robot successfully detects the target, the searching is finished; and if the target is confirmed to be a real target, reporting the target identification result to the command vehicle for information processing.
Further, the assigning comprises: the distribution is carried out according to the data type of the collected environment sensing data or the priority of the collected environment sensing data, so that the response time of the field large-range environment sensing is shortened.
Further, the allocation comprises the steps of:
and analyzing the original environment sensing data from the acquired environment sensing data through edge calculation, and extracting a data frame containing a suspicious target or abnormal condition by adopting methods such as self-adaptive threshold segmentation, inter-frame difference and the like to form a data set A to be detected.
According to the fast-RCNN target detection algorithm, processing a data set A, further finely judging the target, and eliminating the data frames which do not contain the target or abnormal conditions in the set to obtain a data set K consisting of key frames of the effective target;
and intercepting adjacent data frames in a certain time before and after the key frame time sequence in the data set K to obtain a final sampling data set B.
Further, the pretreatment comprises: and extracting key data frames in the environment perception data, and unloading calculation processing is carried out on the data of the key frames, namely, the calculation tasks on the unmanned plane platform or the robot platform are scheduled to a server on the command vehicle platform for calculation.
Further, the calculation force scheduling is carried out according to the calculation force required by the calculation task and the residual calculation force of the unmanned platform. The method comprises the steps of estimating the calculation force required by each calculation task according to the types and the data quantity of calculation data and calculation models, estimating the residual calculation force of an edge calculation module deployed on an unmanned plane platform, a four-legged robot platform and a command vehicle based on a Roofline model algorithm, and performing calculation force scheduling.
As shown in fig. 2, an unmanned platform field collaborative environment perception system based on edge computing includes: the unmanned aerial vehicle 1, the quadruped robot 2 and the command vehicle 3 are used for realizing an unmanned platform field collaborative environment perception method based on edge calculation; the unmanned aerial vehicle 1 collects ground real-time images and transmits the collected images to the command vehicle 3; the quadruped robot 2 has the maneuvering capability of complex terrain, is used for sensing and identifying the target in a close range environment, and transmits the position and information of the target back to the command vehicle 3; and commanding to receive and process information returned by the unmanned aerial vehicle 1 and the quadruped robot, and plotting on an electronic map in real time according to the acquired information.
Further, as shown in fig. 3, the unmanned aerial vehicle 1 includes: a visible light vision sensing module 11, an infrared sensing module 12, a first edge calculating module 13, and a first communication terminal 14; the visible light vision sensing module 11 collects image data and can shoot the front, back, lower and lower directions; the infrared sensing module 12 collects temperature data, and the infrared sensing module 12 supports thermal imaging, so that single-point temperature measurement and regional temperature measurement can be realized rapidly; the visible light visual sense sensing module 11 and the infrared sensing module 12 are electrically connected with the first edge calculation module 13; the first edge calculation module 13 receives and processes the image data collected by the visible light vision sensing module 11 and the temperature data collected by the infrared sensing module 12; the first communication terminal 14 is respectively connected with the first edge calculation module 13 and the command vehicle 3 in a communication manner, the first communication terminal 14 transmits the result processed by the first edge calculation module 13 to the command vehicle 3, the first communication terminal 14 in the embodiment is preferably a 5G communication terminal, supports a 3.5GHz communication frequency band, and can establish a high-speed wireless data link with the command vehicle 3.
Further, as shown in fig. 4, the four-legged robot 2 includes: a second communication terminal 21, a depth camera module 22, a lidar module 23, and a second edge calculation module 24; the depth camera module 22 is used for environmental target modeling; the laser radar module 23 is used for modeling an environmental scene; the depth camera module 22 and the laser radar module 23 are electrically connected with the second edge calculation module 24; the second edge calculation module 24 processes the data collected by the depth camera module 22 and the lidar module 23; the second communication terminal 21 is in communication connection with the command vehicle 3, the second communication terminal 21 transmits the data processed by the second edge calculation module 24 to the command vehicle 3, and the second communication terminal 21 in the embodiment is preferably a 5G communication terminal, supports a 3.5GHz communication frequency band, and can establish a high-speed wireless data link with the command vehicle 3.
Further, as shown in fig. 5, the command car 3 includes: an information processing module 31, a network communication module 32, and a task scheduling module 33; the information processing module 31 is used for processing information returned by the unmanned aerial vehicle 1 and the quadruped robot 2, and comprises a portable server and a portable computer, wherein the portable server is mainly used for processing calculation tasks, and the portable computer is mainly used for presenting calculation results; the network communication module 32 comprises a 5G core network and a base station, and is used for data communication between the unmanned aerial vehicle 1 and the quadruped robot 2 and the command vehicle 3; the task scheduling module 33 is used for performing calculation task scheduling among the unmanned aerial vehicle 1, the quadruped robot 2 and the command vehicle 3.
In the above, the unmanned platform field collaborative environment sensing method and system based on edge computing according to the embodiments of the present invention are described with reference to fig. 1 to 5, which can dynamically allocate computing resources according to the requirements of field environment collaborative sensing tasks, select corresponding algorithms for different types of data, match appropriate computing resources, and shorten response time of field wide range environment sensing; and transmitting the obtained result to an unmanned platform in the network, and when one unmanned platform detects a target or an abnormal condition, automatically sending an instruction to the adjacent unmanned platform in the search area by the system to cooperatively observe the target or the abnormal condition.
It should be noted that in this specification the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of additional identical elements in a process, method, article, or apparatus that comprises an element.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (9)
1. An unmanned platform field collaborative environment perception method based on edge calculation is characterized in that: comprising the following steps:
collecting environment perception data;
distributing and preprocessing the collected environment perception data, and selecting a computing model matched with the environment perception data to form a computing task;
and dispatching and calculating the calculation task, and obtaining a target identification result or an abnormal detection result according to the calculation result.
2. The unmanned platform field collaborative environment awareness method based on edge computing of claim 1, wherein the assigning comprises: and distributing according to the data type of the acquired environment-aware data or distributing according to the priority of the acquired environment-aware data.
3. The unmanned platform field collaborative environment awareness method based on edge computing of claim 2, wherein the assigning comprises the steps of:
analyzing the original environment perception data through the edge calculation from the acquired environment perception data, extracting a data frame containing suspicious targets or abnormal conditions, and forming a data set A to be detected;
processing the data set A according to a target detection algorithm to obtain a data set K consisting of key frames of an effective target;
and intercepting adjacent data frames in a certain time before and after the key frame time sequence in the data set K to obtain a final sampling data set B.
4. The unmanned platform field collaborative environment awareness method of edge computing-based according to claim 3, wherein the preprocessing comprises: and extracting the key data frame in the environment perception data, and carrying out unloading calculation processing on the data of the key frame.
5. The unmanned platform field collaborative environment awareness method based on edge computing of claim 1, wherein computing power scheduling is performed according to computing power required for the computing task and remaining computing power of the unmanned platform.
6. An unmanned platform field collaborative environment perception system based on edge computing, comprising: unmanned aerial vehicle, quadruped robot and command vehicle to realize the unmanned platform field collaborative environment perception method based on edge calculation according to any one of claims 1-5;
the unmanned aerial vehicle collects ground real-time images and transmits the collected images to the command vehicle; the quadruped robot recognizes a target and returns the position and information of the target to the command vehicle; and the command receives and processes the information returned by the unmanned aerial vehicle and the quadruped robot.
7. The edge computing-based unmanned platform outdoor collaborative environment awareness system of claim 6, wherein the unmanned aerial vehicle comprises: the device comprises a visible light visual sensing module, an infrared sensing module, a first edge computing module and a first communication terminal;
the visible light vision sensing module acquires image data; the infrared sensing module collects temperature data; the visible light visual sensing module and the infrared sensing module are electrically connected with the first edge computing module; the first edge computing module receives and processes the image data acquired by the visible light visual sensing module and the temperature data acquired by the infrared sensing module; the first communication terminal is respectively in communication connection with the first edge calculation module and the command vehicle, and the first communication terminal transmits the result processed by the first edge calculation module to the command vehicle.
8. The edge you compute-based system of unmanned platform field collaborative environment awareness method of claim 6, wherein the quadruped robot comprises: the device comprises a second communication terminal, a depth camera module, a laser radar module and a second edge calculation module;
the depth camera module is used for modeling an environmental target; the laser radar module is used for modeling an environmental scene; the depth camera module and the laser radar module are electrically connected with the second edge computing module; the second edge computing module processes data acquired by the depth camera module and the laser radar module; the second communication terminal is in communication connection with the command vehicle, and the second communication terminal transmits the data processed by the second edge computing module to the command vehicle.
9. The system of edge computing-based unmanned platform outdoor collaborative environment awareness method according to claim 6, wherein the command vehicle comprises: the system comprises an information processing module, a network communication module and a task scheduling module;
the information processing module processes information returned by the unmanned aerial vehicle and the quadruped robot; the network communication module is used for data communication between the unmanned aerial vehicle and the quadruped robot and the command vehicle; the task scheduling module is used for performing calculation task scheduling among the unmanned aerial vehicle, the quadruped robot and the command vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310794363.6A CN117271111A (en) | 2023-06-30 | 2023-06-30 | Unmanned platform field collaborative environment sensing method and system based on edge calculation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310794363.6A CN117271111A (en) | 2023-06-30 | 2023-06-30 | Unmanned platform field collaborative environment sensing method and system based on edge calculation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117271111A true CN117271111A (en) | 2023-12-22 |
Family
ID=89216703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310794363.6A Pending CN117271111A (en) | 2023-06-30 | 2023-06-30 | Unmanned platform field collaborative environment sensing method and system based on edge calculation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117271111A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117742973A (en) * | 2024-02-19 | 2024-03-22 | 中国电子科技集团公司第十五研究所 | Unmanned intelligent perception system and implementation method thereof |
-
2023
- 2023-06-30 CN CN202310794363.6A patent/CN117271111A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117742973A (en) * | 2024-02-19 | 2024-03-22 | 中国电子科技集团公司第十五研究所 | Unmanned intelligent perception system and implementation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Shakhatreh et al. | Unmanned aerial vehicles (UAVs): A survey on civil applications and key research challenges | |
| Geraldes et al. | UAV-based situational awareness system using deep learning | |
| CN111444014A (en) | Ocean observation network system and method based on EC-REST system structure | |
| CN111765924A (en) | Atmospheric environment monitoring method and system based on multiple unmanned aerial vehicles | |
| CN114362367A (en) | Cloud edge cooperation-oriented power transmission line monitoring system and method, and cloud edge cooperation-oriented power transmission line identification system and method | |
| DE102020113417A1 (en) | SYSTEMS AND PROCEDURES FOR AUTOMATED MULTIMODAL DELIVERY | |
| CN117271111A (en) | Unmanned platform field collaborative environment sensing method and system based on edge calculation | |
| CN111339893A (en) | Pipeline detection system and method based on deep learning and unmanned aerial vehicle | |
| CN105788280A (en) | Automatic vehicle tracking system of smart city based on Internet of vehicles | |
| CN111835403A (en) | Space-air cooperative remote sensing system and information transmission method thereof | |
| KR20180039436A (en) | Cleaning robot for airport and method thereof | |
| CN112764427A (en) | Relay unmanned aerial vehicle inspection system | |
| CN114362357A (en) | Monitoring method of transformer substation | |
| CN113128529A (en) | Livestock identity recognition model training method, recognition method, system and device | |
| CN117519944A (en) | Unmanned vehicle based on cooperation of computing power perception and edge cloud computing and cooperation method thereof | |
| CN112016380B (en) | Wild animal monitoring method and system | |
| CN115649501B (en) | Unmanned aerial vehicle night lighting system and method | |
| CN111683112A (en) | Global Internet of things system | |
| CN114550107B (en) | Bridge linkage intelligent inspection method and system based on unmanned aerial vehicle cluster and cloud platform | |
| CN114979214A (en) | Intelligent cooperative alarm system, method and device for power transmission line | |
| US20240103537A1 (en) | Methods, systems, and devices for inspecting structures and objects | |
| CN115329378A (en) | Unmanned aerial vehicle air patrol platform with encryption function | |
| CN115454121A (en) | System and method for servicing drone landing zone operations | |
| CN114679702A (en) | Deployment of multiple access edge computing cellular networks in unmanned environments | |
| CN113887953A (en) | Intelligent scheduling management method and device, computer equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication |