CN-121976487-A - Expressway lane cleaning system based on air-ground amphibious unmanned aerial vehicle

CN121976487ACN 121976487 ACN121976487 ACN 121976487ACN-121976487-A

Abstract

The invention provides an expressway lane cleaning system based on an air-ground amphibious unmanned aerial vehicle, the system comprises an air-ground amphibious cleaning unmanned aerial vehicle set, a detection unmanned aerial vehicle, a concomitant mobile supply vehicle and a control center. The invention designs a cooperative cleaning scheduling strategy by utilizing the characteristic that an air-ground amphibious unmanned aerial vehicle has two operation modes of ground running and air flying, wherein during normal operation, the amphibious unmanned aerial vehicle keeps a ground running mode to perform dust collection and water sprinkling so as to reduce energy consumption and maintain operation stability, and when detecting that the unmanned aerial vehicle warns an incoming vehicle behind, road dust is too large or self resources are insufficient, a control center instructs the related unmanned aerial vehicle to switch to an air flight mode in real time so as to execute air avoidance, high-altitude dust suppression or quick station returning and supplying operation. The invention effectively solves the problems that the traditional cleaning vehicle hinders traffic and the common unmanned aerial vehicle has insufficient endurance, and realizes the high efficiency and the intellectualization of the lane cleaning.

Inventors

Yu Chaoxuan
HUANG HAIPING
ZHU JIE
LI JIAWEN
WU YOU
WU PENGFEI
XU CONGYI
WU MIN

Assignees

南京邮电大学

Dates

Publication Date: 20260505
Application Date: 20260202

Claims (9)

1. The expressway lane cleaning system based on the air-ground amphibious unmanned aerial vehicle is characterized by comprising an air-ground amphibious cleaning unmanned aerial vehicle group, a detection unmanned aerial vehicle, a companion mobile supply vehicle and a control center, wherein the air-ground amphibious cleaning unmanned aerial vehicle group comprises two functional machine types of dust collection and sprinkling, is provided with two operation modes of ground running and air flying, and is provided with a mechanical deformation mechanism for performing physical form conversion between the two modes, the detection unmanned aerial vehicle is used for high-altitude environment perception, the companion mobile supply vehicle is driven in an emergency lane, and keeps the same-speed companion running with the unmanned aerial vehicle group to provide a mobile take-off and landing and resource supply platform, and the control center executes the following scheduling logic: The air-ground amphibious cleaning unmanned aerial vehicle unit is instructed to keep a ground running mode during normal cleaning operation, and is switched to an air flight mode only when avoiding obstacles, suppressing dust emission or rapidly replenishing; When any one of the cleaning unmanned aerial vehicles is monitored to be subjected to the flying mode dequeuing and replenishment due to resource exhaustion, the control center calculates the coverage gap width of the remaining formation and the actual running speed of the remaining unmanned aerial vehicle, and instructs the remaining unmanned aerial vehicle to execute a ground Z-shaped reciprocating path at the actual running speed so as to fill the pavement coverage gap.
2. The expressway lane cleaning system based on the air-ground amphibious unmanned aerial vehicle, which is disclosed by claim 1, is characterized by comprising a flight-ground travel switching control subsystem, a dust collection and water sprinkling cleaning subsystem and a formation path planning subsystem, wherein the flight-ground travel switching control subsystem is used for switching between a ground travel state with reduced energy consumption and an air flight state with high maneuverability according to a control center instruction, the replenishment vehicle comprises a route planning system and a replenishment subsystem, the replenishment subsystem is provided with an unmanned aerial vehicle recovery platform, a flexible docking interface based on visual servo, a water tank and a garbage recovery bin, and the replenishment subsystem is used for dynamically replenishing the received unmanned aerial vehicle through visual recognition and mechanical arm vibration compensation under the condition that the replenishment vehicle and the unmanned aerial vehicle keep relatively stationary in the same-speed travel.
3. The expressway lane cleaning system based on an air-ground amphibious unmanned aerial vehicle according to claim 1, wherein the control center is configured to control the vehicle in accordance with the total width of the lane in the task initialization stage Effective operation width of single dust collection unmanned aerial vehicle Safety interval According to the formula Calculating the number of unmanned dust collection machines In an initial formation scheme generated by the control center, the dust collection unmanned aerial vehicle formation is arranged in a straight line shape to operate in a ground running mode, the sprinkling unmanned aerial vehicle formation is operated in the ground running mode immediately afterwards, and the unmanned aerial vehicle is detected to maintain an air flight mode to be positioned at the tail of the unmanned aerial vehicle and return road condition data in real time; when any one of the clean unmanned aerial vehicles is switched to the flying mode for dequeuing and replenishing due to resource exhaustion, the control center calculates the actual running speed of the rest unmanned aerial vehicles according to the following formula : ; Wherein the method comprises the steps of For the overall forward speed of the formation, For the coverage void width of the remaining formation, Is the longitudinal step length of the reciprocating scanning.
4. The expressway lane cleaning system based on an air-ground amphibious unmanned aerial vehicle according to claim 3, wherein the control center scheduling method further comprises an air-ground mode switching avoidance strategy based on a dynamic threshold value, wherein the strategy requires the control center to calculate the speed of a rear coming vehicle returned by the unmanned aerial vehicle in real time And calculates a safety reaction distance threshold according to the following formula : ; Wherein the method comprises the steps of For the current speed of the unmanned aerial vehicle, In order to detect the delay it is possible to detect, The mechanical deformation time required to perform the mode switching for the drone, For the vertical ascent time, Is a safe buffer distance; When monitoring the distance between vehicles When the vehicle comes, the control center controls the vehicle according to the number of vehicles And presetting a vehicle threshold Responding to the number of vehicles coming Instructing the cleaning unmanned aerial vehicle to switch the flight mode and vertically ascend to hover and avoid if And commanding the cleaning unmanned aerial vehicle to switch the flying mode to fly to the movable replenishment roof end for recovery and waiting.
5. The expressway traffic lane cleaning system of an air-ground amphibious unmanned aerial vehicle as recited in claim 3, wherein said control center scheduling method further comprises an adaptive flight dust suppression strategy based on flying dust height, when said unmanned aerial vehicle is detected to monitor the width of flying dust on the road surface When the preset threshold value is exceeded, the control center adjusts the cone angle of the unmanned sprinkler nozzle Covering redundancy coefficients Calculating the target flying dust suppression height : ; The control center instructs the unmanned water spraying plane to switch from the ground running mode to the flight mode and to rise to the calculated height And (5) performing wide area coverage spraying until the dust raising height is recovered to be normal.
6. The expressway lane cleaning system based on air-ground amphibious unmanned aerial vehicle as claimed in claim 3, wherein the control center scheduling method further comprises fusing response strategy based on formation physical coverage capacity, wherein the control center counts the number of unmanned aerial vehicles with electricity or resource exhaustion in real time And with a preset formation failure threshold Comparing; If it is Judging that formation can not maintain effective coverage through speed compensation, controlling the central command of all unmanned aerial vehicles to switch from running mode to flying mode, and making flying to mobile supplementing vehicle to make centralized supplementing and maintenance And executing formation coverage dynamic compensation logic, only instructing the energy-source-depleted unmanned aerial vehicle to leave the queue, and executing a Z-shaped reciprocating path by the rest unmanned aerial vehicles.
7. The expressway lane cleaning system of claim 3, wherein the control center dispatching method further comprises a dynamic formation reset strategy, wherein the control center instructs the unmanned aerial vehicle to take off and return to the queue after the unmanned aerial vehicle is completely charged, filled with water or dumped with garbage on the mobile supply vehicle, and instructs all unmanned aerial vehicles to switch back to a ground driving mode after the full queue is confirmed and returned to the normal operation speed and the initial in-line queue 。
8. The expressway lane cleaning system based on the air-ground amphibious unmanned aerial vehicle according to claim 3, wherein the control center dispatching method further comprises a relative navigation strategy under a GPS refusing environment, wherein an ultra-wideband UWB positioning base station array is configured on the surface of the accompanying mobile replenishment vehicle, when the unmanned aerial vehicle is detected to monitor that formation enters a tunnel or a satellite signal loss area, the control center instructs the air-ground amphibious cleaning unmanned aerial vehicle to switch from a satellite positioning mode to a relative navigation mode, in the relative navigation mode, the unmanned aerial vehicle utilizes an airborne UWB label to conduct ranging communication with a replenishment vehicle base station, relative coordinates relative to the mobile replenishment vehicle are resolved in real time, and lateral drift is corrected by combining visual inertial odometer data of an airborne down-looking camera to maintain formation accuracy in a satellite signal environment.
9. The expressway lane cleaning system based on the air-ground amphibious unmanned aerial vehicle according to claim 1, wherein the control center is provided with a road surface foreign matter classification and differentiation treatment module based on a convolutional neural network CNN, the control center receives road surface images collected by the unmanned aerial vehicle, and recognizes the road surface foreign matter into three types of light garbage, heavy obstacle and dangerous fluid by using a light CNN model, and if the road surface foreign matter is recognized as light garbage, instructs the dust collection unmanned aerial vehicle to keep a normal speed The method comprises the steps of carrying out adsorption, if the unmanned aerial vehicle is identified as a heavy obstacle, instructing the unmanned aerial vehicle corresponding to a lane to execute a flight avoidance strategy, skipping over the area and marking coordinates, if the unmanned aerial vehicle is identified as dangerous fluid, instructing the dust collection unmanned aerial vehicle to avoid, and instructing the rear water spraying unmanned aerial vehicle to switch a high-pressure cleaning mode to carry out fixed-point cleaning.

Description

Expressway lane cleaning system based on air-ground amphibious unmanned aerial vehicle Technical Field The invention relates to the technical field of intelligent lane cleaning and unmanned aerial vehicles, in particular to an expressway lane cleaning system based on an air-ground amphibious unmanned aerial vehicle. Background The expressway is used as a large artery for national transportation, and the road surface cleanliness of the expressway is directly related to traffic safety and road service life. At present, daily cleaning and maintenance of highways mainly depend on large-scale manned sweeper or manual auxiliary operation. However, the traditional operation mode has obvious disadvantages, namely slow running and huge volume of a large-sized operation vehicle, easy traffic jam and even rear-end collision accident caused during operation, extremely high-speed traffic safety risk faced by manual operation in an emergency lane or a specific area, poor flexibility of traditional equipment and difficult rapid and fine cleaning of an emergency or a specific road section. With the development of unmanned system technology, unmanned aerial vehicles and unmanned vehicles are gradually applied to the field of road inspection and cleaning. Although the existing single floor cleaning robot can save manpower, when facing to complex dynamic road conditions of expressways, the conventional single floor cleaning robot has weak obstacle avoidance capability, and is difficult to safely operate on the premise of not interfering with normal driving. On the other hand, the pure aerial cleaning unmanned aerial vehicle is limited by battery endurance and loading capacity, and is difficult to perform long-time and high-strength physical cleaning tasks. In addition, the existing multi-unmanned aerial vehicle system often lacks an efficient collaborative scheduling mechanism, and can not realize autonomous replenishment and strategy adjustment when energy is insufficient, materials are exhausted or extremely dusty weather is encountered. Disclosure of Invention In order to solve the problems of normal traffic flow interference of a cleaning operation vehicle, high safety risk of manual and ground equipment operation, discontinuous operation of single-mode cleaning equipment and the like in the conventional expressway lane cleaning technology, the invention provides an expressway lane cleaning system based on an air-ground amphibious unmanned aerial vehicle, which cooperatively controls an unmanned aerial vehicle unit with driving and flying dual-mode switching capability and an accompanying type mobile supply vehicle through a control center, the method has the advantages that the air-ground amphibious characteristic is utilized, the ground operation with low energy consumption is guaranteed, meanwhile, the rapid air avoidance facing the rear vehicle is realized, and the problems of endurance and resource limitation are solved through the dynamic formation reorganization, candidate replacement and accompanying replenishment mechanism, so that the safety, the continuity and the environment adaptation efficiency of the highway cleaning operation are obviously improved on the premise of guaranteeing the smoothness of a road. The technical scheme provided by the invention is as follows: the system comprises an air-ground amphibious cleaning unmanned aerial vehicle, a detection unmanned aerial vehicle, a companion mobile supply vehicle and a control center, wherein the air-ground amphibious cleaning unmanned aerial vehicle comprises two functional types of dust collection and water sprinkling, is provided with two operation modes of ground running and air flying, is provided with a mechanical deformation mechanism for performing physical form conversion between the two modes, the detection unmanned aerial vehicle is used for high-altitude environment sensing, the companion mobile supply vehicle runs on an emergency lane and keeps the same-speed companion running with the unmanned aerial vehicle to provide a mobile lifting and resource supply platform, and the control center executes the following scheduling logic: The air-ground amphibious cleaning unmanned aerial vehicle unit is instructed to keep a ground running mode during normal cleaning operation, and is switched to an air flight mode only when avoiding obstacles, suppressing dust emission or rapidly replenishing; When any one of the cleaning unmanned aerial vehicles is monitored to be subjected to the flying mode dequeuing and replenishment due to resource exhaustion, the control center calculates the coverage gap width of the remaining formation and the actual running speed of the remaining unmanned aerial vehicle, and instructs the remaining unmanned aerial vehicle to execute a ground Z-shaped reciprocating path at the actual running speed so as to fill the pavement coverage gap. The air-ground amphibious unmanned aerial vehicle comprises a flight-ground running switchi