CN-122018521-A - Control method and system for mobile unmanned aerial vehicle hangar

CN122018521ACN 122018521 ACN122018521 ACN 122018521ACN-122018521-A

Abstract

The invention discloses a control method and a control system for a mobile unmanned aerial vehicle hangar, wherein the hangar is fixedly arranged on a patrol car; the unmanned aerial vehicle flies to the operation area, a hangar predicted position is generated, an unmanned aerial vehicle planning path is generated, the unmanned aerial vehicle executes operation tasks along the unmanned aerial vehicle planning path, the hangar predicted position and the unmanned aerial vehicle planning path are corrected, and the unmanned aerial vehicle operation is completed and returns to the hangar. According to the control method and system for the mobile unmanned aerial vehicle hangar, the task area is decomposed into a plurality of unit areas, the hangar forecast position or the personnel input destination position is used for generating the unmanned aerial vehicle planning path, when the unmanned aerial vehicle executes the operation task, the hangar forecast position is corrected, so that the moving path of the unmanned aerial vehicle in the rest operation task is updated, compared with the existing device, the problem that the unmanned aerial vehicle endurance is influenced by the position change of the mobile hangar is avoided, and the return efficiency and the practicability are improved.

Inventors

DONG WEI
WU WEIFAN
SONG ZHE

Assignees

北京京能清洁能源电力股份有限公司华南分公司

Dates

Publication Date: 20260512
Application Date: 20260120

Claims (10)

1. A control method of a mobile unmanned aerial vehicle hangar is characterized by comprising the steps of S1, dividing a work area, moving the hangar to the vicinity of the work area, S2, taking off the unmanned aerial vehicle from the hangar and flying to the work area, S3, generating a hangar predicted position based on the movement direction and speed of the hangar and combining time required by the unmanned aerial vehicle operation, S4, generating an unmanned aerial vehicle planning path through the hangar predicted position or a person input destination position, S5, executing a work task along the unmanned aerial vehicle planning path by the unmanned aerial vehicle, S6, correcting the hangar predicted position based on the real-time movement direction and speed of the hangar and correcting the unmanned aerial vehicle planning path based on the hangar real-time predicted position, and S7, finishing the unmanned aerial vehicle operation and flying back into the hangar.
2. The method for controlling the mobile unmanned aerial vehicle hangar according to claim 1, wherein the step S1 comprises the steps of S11, wherein an operator divides a working area, S12, wherein the working area is decomposed into a plurality of unit areas C_i (i=1, 2, the..once, n) by a grid method or a convex decomposition algorithm based on the geometric shape and obstacle information of the working area, and S13, wherein the hangar is moved to the vicinity of the working area and the unit area closest to the working area is taken as a starting area C_start.
3. The method according to claim 1, wherein in S2, the unmanned aerial vehicle takes off from the unmanned aerial vehicle library and flies to the start region c_start along a straight path.
4. The method for controlling a mobile unmanned aerial vehicle hangar according to claim 1, wherein the step S3 comprises the steps of S31 of obtaining a real-time moving direction vector v_t of the hangar at a moment T, a speed scalar s_t and a predicted remaining operation time T_remaining of the unmanned aerial vehicle to jointly form a State vector state_t= (p_t, v_t, s_t, T_remaining), wherein p_t is a current position of the hangar, and S32 of predicting a predicted position P_predicted of the hangar by a linear motion prediction model based on the State vector, wherein a calculation formula is as follows: P_predicted=p_t+(v_t/||v_t||)*s_t*T_remaining the method comprises the steps of (1) outputting a model length of a direction vector, wherein (v_t) is a modular length of the direction vector for unitization, and (33) outputting a hangar predicted position P_predicted.
5. The method according to claim 1, wherein in the step S4, a sequence plan based on a is adopted, and paths path= { c_start, c_i, & gt, p_ goal } are generated, wherein all unit areas c_i are sequentially accessed from a start area c_start, and a destination position p_ goal (i.e. a library predicted position or a personnel input position) is finally reached; The path cost function f (n) is f (n) =g (n) +h (n); Where g (n) is the actual cost from the start area C_start to the unit area C_i and h (n) is the heuristic estimated cost from the unit area C_i to the destination location P_ goal.
6. The method for controlling a mobile unmanned aerial vehicle hangar according to claim 1, wherein the step S6 comprises the steps of S61, repeating the step S3 to obtain a new predicted position P_new, and updating the updated amount of the hangar predicted position DeltaP, and S62, if DeltaP is larger than a preset threshold, regenerating a moving path covering the remaining unit area by taking the current unit area of the unmanned aerial vehicle as a starting point and taking the updated hangar predicted position as an end point.
7. The method according to claim 1, wherein in the step S7, the local real-time obstacle avoidance and the track smoothing are performed on the return path of the unmanned aerial vehicle to the hangar by using a dynamic window method (DWA).
8. The method for controlling a mobile unmanned aerial vehicle hangar according to claim 1, further comprising step S8 of monitoring the electric quantity E_current of the unmanned aerial vehicle in real time during operation of the unmanned aerial vehicle, and if the electric quantity is lower than a safety threshold E_safe, immediately interrupting the operation and executing the return journey.
9. The method for controlling a mobile unmanned aerial vehicle library according to claim 8, wherein the calculation formula of the safety threshold e_safe in step S8 is: E_safe=k*(P_return/v_avg)*P_power Wherein P_return is the distance from the current position of the unmanned aerial vehicle to the real-time position of the hangar, v_avg is the average return speed of the unmanned aerial vehicle, P_power is the average power of the unmanned aerial vehicle when flying, and k is the safety factor.
10. The control system of the mobile unmanned aerial vehicle hangar is characterized by comprising an unmanned aerial vehicle, a hangar and a patrol vehicle, wherein the hangar is fixedly arranged on the patrol vehicle, the unmanned aerial vehicle is detachably connected with the hangar, the patrol vehicle comprises a processor, and the processor calls an instruction to realize the operation of the method according to any one of claims 1-9.

Description

Control method and system for mobile unmanned aerial vehicle hangar Technical Field The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a control method and system of a mobile unmanned aerial vehicle hangar. Background The global market for unmanned aerial vehicles has grown substantially in recent years and has become an important tool for commercial, government and consumer applications. The system can support solutions in various fields and is widely applied to the fields of construction, petroleum, natural gas, energy, agriculture, disaster relief and the like. When the existing unmanned aerial vehicle works, the unmanned aerial vehicle takes off in the hangar first, flies to a working area and starts to work, and flies back to the hangar after the work is completed. But now along with the appearance of more and more on-vehicle portable unmanned aerial vehicle hangars, unmanned aerial vehicle can follow the inspection car and remove in the course of the work, and the change in position around the hangar removes, probably leads to unmanned aerial vehicle's position and hangar to be far away when the operation is ended, influences unmanned aerial vehicle duration and return to the journey efficiency. Therefore, we propose a control method and system for a mobile unmanned aerial vehicle hangar to solve the above problems. Disclosure of Invention The invention aims to solve the problem that in the prior art, the position change of a movable unmanned aerial vehicle base affects the endurance and return efficiency of an unmanned aerial vehicle, and provides a control method and a control system of the movable unmanned aerial vehicle base. The first aspect of the embodiment of the application provides a control method of a mobile unmanned aerial vehicle hangar, which comprises the steps of S1, dividing a work area, moving the hangar to the vicinity of the work area, S2, taking off the unmanned aerial vehicle from the hangar and flying to the work area, S3, generating a hangar predicted position based on the movement direction and speed of the hangar and combining the time required by the unmanned aerial vehicle operation, S4, generating an unmanned aerial vehicle planning path through the hangar predicted position or a personnel input destination position, S5, executing a work task by the unmanned aerial vehicle along the unmanned aerial vehicle planning path, S6, correcting the hangar predicted position based on the real-time movement direction and speed of the hangar, correcting the unmanned aerial vehicle planning path based on the hangar real-time predicted position, and S7, finishing the unmanned aerial vehicle operation and flying back into the hangar. Preferably, the step S1 comprises the steps of S11 of dividing a working area by an operator, S12 of decomposing the working area into a plurality of unit areas C_i (i=1, 2, n) by a grid method or a convex decomposition algorithm based on the geometric shape and obstacle information of the working area, and S13 of moving a machine base to the vicinity of the working area and taking the unit area closest to the machine base as a starting area C_start. Preferably, in S2, the unmanned aerial vehicle takes off from the hangar and flies to the start area c_start along a straight path. Preferably, the step S3 includes the steps of S31, obtaining a real-time moving direction vector v_t of a hangar at a moment T, a speed scalar s_t and a predicted remaining operation time T_remaining of the unmanned aerial vehicle, and forming a State vector state_t= (p_t, v_t, s_t, T_remaining), wherein p_t is the current position of the hangar, and S32, based on the State vector, calculating a predicted position P_predicted of the hangar through a linear motion prediction model, wherein the calculation formula is as follows: P_predicted=p_t+(v_t/||v_t||)*s_t*T_remaining the method comprises the steps of (1) outputting a model length of a direction vector, wherein (v_t) is a modular length of the direction vector for unitization, and (33) outputting a hangar predicted position P_predicted. Preferably, in the step S4, a sequence plan based on a is adopted, and paths path= { c_start, c_i, and p_ goal } are generated, wherein the paths sequentially access all the unit areas c_i from the start area c_start and finally reach the destination position p_ goal (i.e. the hangar predicted position or the personnel input position); The path cost function f (n) is f (n) =g (n) +h (n); Where g (n) is the actual cost from the start area C_start to the unit area C_i and h (n) is the heuristic estimated cost from the unit area C_i to the destination location P_ goal. Preferably, the step S6 includes S61 of repeating the step S3 to obtain a new predicted position P_new and updating the updated amount DeltaP of the computer library predicted position, and S62 of regenerating a moving path covering the remaining unit area by taking the current unit