CN-122023189-A - Group fog resolving method and system based on cooperation of hybrid wing mother aircraft and rotor son aircraft

CN122023189ACN 122023189 ACN122023189 ACN 122023189ACN-122023189-A

Abstract

The invention belongs to the technical field of stereoscopic digestion of group fog, and provides a group fog digestion method and system based on cooperation of a hybrid wing master machine and a rotor wing slave machine, wherein the hybrid wing master machine is utilized to generate joint digestion for group fog according to a rough digestion planning chart and by utilizing air injection under wings and rotation of a rotor wing; and layering the coarse digested mass fog, constructing an in-layer planning chart of the rotorcraft according to the digested mass fog height, the residual projection area, the effective digestion radius and the vertical effective action depth of the rotorcraft, and carrying out layer-by-layer digestion of each layer according to the corresponding in-layer planning chart of the rotorcraft until the mass fog digestion is completed. According to the road fog collecting and processing method, the rapid identification, coarse digestion and layer-by-layer fine digestion of the road fog are realized by combining three-dimensional perception, path planning and layered digestion, so that the fog collecting and processing efficiency and capability in a complex traffic environment are improved.

Inventors

PAN XINHAO
CHEN HAO
WU JIANQING
WEI QUN
LI XIAOKUN
ZHANG BAOYONG

Assignees

山东大学
山东高速集团有限公司

Dates

Publication Date: 20260512
Application Date: 20260415

Claims (10)

1. The mass fog resolving method based on the cooperation of the hybrid wing master and the rotor wing slave is characterized by comprising the following steps of: Acquiring multi-source data acquired by the hybrid wing master, carrying out group fog identification according to the multi-source data, if the group fog is identified, entering the next step, otherwise, continuing to patrol; the hybrid wing mother machine descends to a coarse scanning height, envelope scanning is carried out on the cluster fog, grid division is carried out on scanned point cloud data, a corresponding point cloud subset is extracted from each divided cell, a three-dimensional external envelope height surface of the cluster fog is determined in a split-position statistical mode, and a three-dimensional coarse external envelope area of the cluster fog is obtained; dispersing the three-dimensional coarse outer envelope area of the cluster fog into a regular grid node set in a horizontal plane, establishing a directional edge between adjacent grid nodes to form a coarse digestion planning chart, and generating joint cracking on the cluster fog by using under-wing jet and rotor rotation by a hybrid wing parent aircraft according to the coarse digestion planning chart; After the rough digestion is finished, the hybrid wing mother machine hovers above the mass fog, detects the height of the mass fog after the rough digestion and determines a residual projection area; Layering the coarse digested mass fog, constructing an in-layer planning chart of the gyroplane according to the digested mass fog height, the residual projection area, the effective digestion radius and the vertical effective action depth of the gyroplane, and carrying out layer-by-layer digestion of each layer according to the corresponding in-layer planning chart of the gyroplane until the mass fog digestion is completed.
2. The method for eliminating the fog of the hybrid wing master and the rotor sub-aircraft based on the cooperation of the hybrid wing master and the rotor sub-aircraft is characterized in that the multi-source data acquired by the hybrid wing master for executing the high-altitude inspection task at the preset navigation altitude are acquired, the process of identifying the fog of the hybrid wing master according to the multi-source data comprises the steps of executing the high-altitude inspection task at the preset navigation altitude by the hybrid wing master, acquiring visible light imaging data and infrared thermal imaging data, and identifying whether the fog of the hybrid wing master exists according to brightness attenuation, image definition reduction and infrared temperature field continuity abnormal characteristics in the visible light imaging data and the infrared thermal imaging data.
3. The method for resolving the cluster fog based on the cooperation of the hybrid wing master and the rotor sub-aircraft according to claim 1, wherein the process of carrying out envelope scanning on the cluster fog and carrying out grid division on scanned point cloud data comprises the steps of lowering the hybrid wing master to a rough scanning height so as to scan the upper boundary and the lower boundary of the cluster fog simultaneously, carrying out envelope scanning on the cluster fog by using a three-dimensional airborne sensor around the cluster fog for one circle, and obtaining the point cloud data expressed as: ; Wherein, the A set of point clouds acquired for a three-dimensional sensor, Three-dimensional coordinates of the points respectively; the horizontal space is discretized into regular grid cells: ; Wherein, the For the i and j-th plane horizontal grids, Is the coordinates of any point of the horizontal plane, Is the resolution of the grid in the x, y directions.
4. The method for eliminating the cluster fog based on the cooperation of the hybrid wing mother aircraft and the rotor son aircraft, which is disclosed in claim 1, is characterized in that the process of extracting the corresponding point cloud subset from each divided cell and determining the cluster fog three-dimensional outer envelope height surface by adopting a split statistics mode to obtain the cluster fog three-dimensional coarse outer envelope region comprises the steps of extracting the corresponding point cloud subset from each cell and determining the cluster fog three-dimensional outer envelope height surface by adopting a split statistics mode: ; ; Wherein, the In order to resolve the height of the fog top prior to digestion, In order to solve the fog bottom height after the fog is resolved, In order to be a quantile operator, Respectively the three-dimensional coordinates of the points, Is a point cloud set; Obtaining a three-dimensional coarse outer envelope region of the mass fog: ; Wherein: ; In the formula, In order to resolve the set of envelope surfaces prior to digestion, Is that Is a horizontal projection of (2).
5. The method for resolving the cluster fog based on the cooperation of the hybrid wing mother aircraft and the rotor son aircraft according to claim 1, wherein the cluster fog three-dimensional rough outer envelope area is discretized into a regular grid node set in a horizontal plane, a directed edge is established between adjacent grid nodes, and the process of constructing a rough resolving plan graph comprises the following steps of Discretizing into a regular grid node set in a horizontal plane: ; Wherein, the Is that Is arranged in the plane of the horizontal projection of (a), In order to resolve the set of envelope surfaces prior to digestion, For the node set of the hybrid wing master planning chart, each grid is square, and the side length of the grid is not lower than the safety radius of the hybrid wing master; Establishing directed edges between adjacent grid nodes to form a master machine rough digestion planning chart: ; Wherein, the A master machine planning chart is provided with a plurality of machine tools, The edge is a directed edge between adjacent nodes, and the nodes are Is defined as the disturbance coverage capability of the hybrid wing master to the mass fog at that location: ; Wherein: ; Wherein, the Indicating that the master is located at a node The digested revenue and the coverage contribution at the time, A kernel function computing formula is covered for the master; Edge(s) The flight cost of (2) is defined as: ; Wherein, the Representing the edge cost from point (i, j) to point (p, q), The weight coefficient representing the distance is used to determine, A weight representing the risk is given to the person, For a minimum distance of the flight edge to the obstacle, To prevent denominators from being 0 minimum; Conversion of hybrid wing parent machine coarse digestion path planning into in-picture Solving the objective function of the path problem that maximizes the digestion yield while minimizing the flight cost: ; in order to eliminate the revenue in total, Obtaining a coarse digestion path of the hybrid wing parent aircraft for the total flight cost And performing coarse digestion along the path by the hybrid wing matrix machine, and solving by adopting a heuristic algorithm.
6. The method for resolving the mass fog based on the cooperation of the hybrid wing master and the rotor son aircraft, according to claim 1, is characterized in that the process of detecting the mass fog height after the rough resolution and determining the residual projection area comprises the steps of rising the height after the rough resolution of the hybrid wing master is finished and hovering above the mass fog by using a rotor wing, detecting the mass fog height after the rough resolution, wherein the updated fog top height is: ; Wherein, the To occupy the area for the coarsely digested mass fog, Representing the fog top height at the point (x, y) after the coarse digestion; Defining the change amount of fog tops before and after coarse digestion: ; Wherein, the Representing the variation of the fog tops before and after coarse digestion at the points (x, y), The fog top height before digestion; The residual projection area is determined as follows: 。
7. The method for resolving the mass fog based on the cooperation of the hybrid wing master and the rotor sub-aircraft as claimed in claim 1, wherein the layering process of the mass fog after the coarse resolution comprises the following steps: let the horizontal effective digestion radius of the gyroplane be The vertical effective action depth is Defining the vertical layering thickness as follows: ; Wherein, the Indicating the layer thickness of the sub-machine digested layer by layer, Is the layer thickness coefficient; The height of the residual mass fog at location (x, y) is: ; Wherein, the Represents the thickness of the mass fog after digestion of the points (x, y), Is an initial fog bottom; then the global vertical total layer number The definition is as follows: , occupying an area for the coarse digested mass fog; the height interval of the first layer is defined as: , wherein, Representing the upper and lower bounds of the level of the first layer.
8. The method for resolving the cluster fog based on the cooperation of the hybrid wing master and the gyroplane as claimed in claim 1, wherein the process for constructing the in-layer planning map of the gyroplane according to the resolved cluster fog height, the residual projection area, the effective resolving radius and the vertical effective action depth of the gyroplane comprises the following steps: at the first layer, the residual projection area Radius of sub-pressing machine Dividing into plane task units to form a subtask region set : ; Wherein, the And For the division scale of the horizontal task units of the sub-machines in the x/y direction, Is a scale factor; At layer I height constraint In this, each subtask region is discretized into a set of nodes: ; Wherein, the A set of nodes for a child machine layout of the first layer, For subtask zone sets Is a dot in (2); constructing a sub-intra-machine layer planning chart: ; Wherein, the Is a layer-I sub-machine planning chart, For a set of nodes, Is an edge set; Node digestion benefits are defined as: ; ; Wherein, the Node at layer I for slave machine Is a result of the digestion of the benefits, The kernel function is covered for the child machine, The radius is effectively resolved for the sub-machines; The edge cost is defined as: ; Wherein, the As the distance weight coefficient, As the weight coefficient of the energy consumption, Refers to the energy consumption of the corresponding edge; the path planning target of the gyroplane is as follows: ; Wherein, the For the path of the slave machine at the first layer, At the cost of the sum; and satisfies the height constraint: ; Wherein, the For the flying height of the slave machine at the discrete time n, Is a fly-height constraint at the first level.
9. The method for resolving the cluster fog based on the cooperation of the hybrid wing master and the rotor sub-aircraft as claimed in claim 1, wherein the process for resolving each layer by layer according to the layer planning diagram of the corresponding rotor sub-aircraft until the cluster fog is resolved comprises the following steps: after the first layer of sub-machines are digested, the hybrid wing master machine updates the fog top height surface again Determining that the layer digestion is complete and advancing to the next layer when one of the following conditions is satisfied: ; Or: ; Wherein, the Represents the calculation of the horizontal area of the haze of the current layer, As a threshold value for the value of the residual area, For the overall amount of downward movement of the fog top, The lowest scaling factor for layer completion; and after the bottom layer digestion is finished, judging that the mass fog digestion is finished, guiding the rotor sub-aircraft to return by the hybrid wing main aircraft, carrying out aerial recovery, generating a digestion operation record and ending the task.
10. Group fog digestion system based on hybrid wing parent-rotor aircraft and rotor wing child-rotor aircraft are synergistic, characterized by comprising: the group fog identification module is configured to acquire multi-source data acquired by the hybrid wing master machine for executing the high-altitude patrol task at a preset patrol altitude, and carry out group fog identification according to the multi-source data, if the group fog is identified, entering the next step, otherwise, continuing the patrol; the envelope scanning module is configured to carry out envelope scanning on the mist, carry out grid division on scanned point cloud data, extract a corresponding point cloud subset for each divided cell, and determine a three-dimensional envelope height plane of the mist by adopting a split-position statistics mode to obtain a three-dimensional coarse envelope region of the mist; The coarse digestion planning module is configured to disperse the three-dimensional coarse outer envelope area of the cluster fog into a regular grid node set in a horizontal plane, and directional edges are established between adjacent grid nodes to form a coarse digestion planning chart, and the hybrid wing mother aircraft utilizes the under-wing jet and the rotation of the rotor wing to generate joint cracking on the cluster fog according to the coarse digestion planning chart; A cluster fog detection module configured to detect a cluster fog height after the coarse digestion and determine a residual projection area; The layering planning module is configured to layer the coarsely digested mass fog, construct an in-layer planning chart of the gyroplane according to the digested mass fog height, the residual projection area, the effective digestion radius and the vertical effective action depth of the gyroplane, and perform layer-by-layer digestion of each layer according to the corresponding in-layer planning chart of the gyroplane until the mass fog digestion is completed.

Description

Group fog resolving method and system based on cooperation of hybrid wing mother aircraft and rotor son aircraft Technical Field The invention belongs to the technical field of stereoscopic digestion of mist, and particularly relates to a mist digestion method and system based on cooperation of a hybrid wing master and a rotor son machine. Background The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. With the continuous advancement of the urbanization process and the continuous expansion of the scale of traffic infrastructure, the sensitivity of the road running environment to meteorological conditions is increasingly enhanced. Local weather phenomena such as cluster fog, low-altitude fog and the like frequently occur in areas such as highways, river-crossing bridges, mountain roads, urban express ways and the like, particularly in alternate periods of night, early morning and season, visibility suddenly drops easily, and road traffic safety is seriously affected. Because the mist is characterized by quick generation, uneven distribution and the like, the mist is difficult to early warn in time, and serious traffic accidents such as rear-end collision, interlinked collision and the like are extremely easy to be induced, so that the mist becomes an outstanding risk factor in the safety guarantee of road operation. Aiming at the road fog problem, the existing treatment means mainly comprise modes of weather early warning prompt, traffic control speed limit, manual spraying or thermal disturbance and the like. The early warning system based on the fixed weather monitoring station or the visibility sensor can reflect regional weather variation trend to a certain extent, but has limited layout points, is difficult to cover local phenomena of small spatial scale and random position of the cluster fog, and mainly uses passive prompt, so that direct intervention on the formed cluster fog cannot be carried out. Although ground defogging facilities such as manual spraying, fans or heating devices can play a role in specific scenes, the construction cost is high, the deployment flexibility is poor, and the rapid defogging requirements of bridges, overhead and complex terrain areas are difficult to adapt. In recent years, unmanned aerial vehicle technology is widely applied in fields such as emergency inspection, environment monitoring and disaster handling, and part of research attempts to utilize unmanned aerial vehicles to carry out disturbance or spraying operation to a fog area so as to realize aerial defogging. However, the existing unmanned aerial vehicle defogging scheme mostly adopts a single-machine operation mode, and is generally subjected to simple disturbance at a fixed height or a local area, and the digestion effect is obviously limited by the scale, the cruising ability and the operation range of the unmanned aerial vehicle. A single unmanned aerial vehicle is difficult to realize large-scale quick coverage and local fine digestion, and often only can locally generate short-time influence on mist, so that stable and controllable digestion effect is difficult to form. In addition, the existing scheme is lack of system perception of a three-dimensional structure of the mist, operation is carried out only according to two-dimensional images or local sensing information, and the height distribution and residual area of the mist are difficult to accurately identify, so that clear-up path planning is extensive, and resource utilization efficiency is low. Meanwhile, in the collaborative defogging research of multiple unmanned aerial vehicles, the prior art is often focused on formation flight or task partition distribution, and the consideration of the master-slave machine division work collaboration, digestion stage division and vertical hierarchy digestion mechanism is insufficient. Although a part of schemes introduce a plurality of unmanned aerial vehicles to cooperatively operate, a unified three-dimensional modeling and layering planning method is lacked, the task scheduling of the sub-machines is dependent on manual presetting or simple rules, the operation strategy is difficult to dynamically adjust according to the digestion process, and safety risks exist in a complex airspace environment. In addition, the problems of unmanned aerial vehicle recovery, endurance guarantee and the like in the prior art are not focused enough, and long-time and multi-turn continuous digestion operation is difficult to support. Disclosure of Invention In order to solve the problems, the invention provides a group fog resolving method and a system based on the cooperation of a hybrid wing mother aircraft and a rotor son aircraft, the invention takes the hybrid wing unmanned aircraft as a mother aircraft platform and combines the son aircraft to cooperatively work, the method has the advantages that the road mist is rapidly i