阅读说明：本技术 一种无人机及其智慧路灯系统 (Unmanned aerial vehicle and wisdom street lamp system thereof ) 是由 何斌 李丰 朱忠攀 李刚 王志鹏 周艳敏 徐寿林 于 2020-06-19 设计创作，主要内容包括：本发明涉及一种无人机及其智慧路灯系统,包括多个智慧路灯和多个无人机,所述智慧路灯包括灯杆,以及设于灯杆上的微基站、第一定位模块、边缘计算模块和无人机起降台,所述无人机为球型无人机,且其上设有通信模块、第二定位模块和机载摄像头,以及LED灯带,所述LED灯带设于无人机的外表面,所述无人机起降台的表面设有用于指引无人机降落的视觉标靶,内部设有用于为无人机供电的无线充电装置；所述无人机与待降落依靠第一定位模块和第二定位模块,以及视觉标靶进行降落定位。与现有技术相比,本发明具有扩展无人机功能并提高无人机降落效率等优点。(The invention relates to an unmanned aerial vehicle and a smart street lamp system thereof, which comprise a plurality of smart street lamps and a plurality of unmanned aerial vehicles, wherein each smart street lamp comprises a lamp post, a micro base station, a first positioning module, an edge calculation module and an unmanned aerial vehicle take-off and landing platform, which are arranged on the lamp post; unmanned aerial vehicle relies on first locating module and second locating module with waiting to descend to and the vision target is descended the location. Compared with the prior art, the unmanned aerial vehicle landing system has the advantages of expanding the functions of the unmanned aerial vehicle, improving the landing efficiency of the unmanned aerial vehicle and the like.)

1. An unmanned aerial vehicle and an intelligent street lamp system thereof are characterized by comprising a plurality of intelligent street lamps and a plurality of unmanned aerial vehicles,

the intelligent street lamp comprises a lamp post, a micro base station, a first positioning module, an edge calculation module and an unmanned aerial vehicle take-off and landing platform, wherein the micro base station, the first positioning module, the edge calculation module and the unmanned aerial vehicle take-off and landing platform are arranged on the lamp post;

the unmanned aerial vehicle is a spherical unmanned aerial vehicle, a communication module, a second positioning module, an airborne camera and an LED lamp band are arranged on the unmanned aerial vehicle, the LED lamp band is arranged on the outer surface of the unmanned aerial vehicle, a visual target for guiding the unmanned aerial vehicle to land is arranged on the surface of the unmanned aerial vehicle landing platform, and a wireless charging device for supplying power to the unmanned aerial vehicle is arranged in the unmanned aerial vehicle landing platform;

Unmanned aerial vehicle and the wisdom street lamp of treating the descending establish the communication and send the descending request, reply wisdom street lamp at wisdom street lamp after, rely on first orientation module and second orientation module, unmanned aerial vehicle is from navigation control flight to the lamp pole neighborhood, through machine carries camera search vision mark target, and unmanned aerial vehicle descending control algorithm based on visual feedback takes effect, and control unmanned aerial vehicle descends at the lamp pole air park, after descending, by wireless charging device charges for unmanned aerial vehicle to after receiving first instruction, light LED lamp area.

2. The unmanned aerial vehicle and intelligent street lamp system thereof of claim 1, wherein the micro base station is a 5G micro base station, and the communication module is a 5G communication module.

3. The unmanned aerial vehicle and intelligent street lamp system thereof as claimed in claim 1, wherein the intelligent street lamp further comprises a WiFi/LoRa/NB-IOT module, and the WiFi/LoRa/NB-IOT modules, the micro base station and the first positioning module of the plurality of intelligent street lamps form a wireless ad hoc network in a coverage area, so as to provide positioning navigation and network services.

4. The unmanned aerial vehicle and intelligent street lamp system thereof as claimed in claim 1, wherein the intelligent street lamp is further provided with a surveillance camera, and the unmanned aerial vehicle receives image information collected by the surveillance camera of each intelligent street lamp and performs data fusion.

5. The unmanned aerial vehicle and the smart street lamp system thereof as claimed in claim 1, wherein the smart street lamp is further provided with an LED side-hung display screen, a smart sound post and an emergency alarm device, the display screen displays information such as the model, charging duration and remaining power of the unmanned aerial vehicle, and the working and fault states of the unmanned aerial vehicle; the intelligent sound post has natural voice processing capacity, and natural people start the unmanned aerial vehicle through pronunciation through pressing down emergency alarm device to assign the job task.

6. The unmanned aerial vehicle and intelligent street lamp system thereof as claimed in claim 1, wherein the housing of the unmanned aerial vehicle is a net-shaped hexagonal spherical structure, the bottom of the housing is provided with a landing gear, the LED strip is rotated under the control of the display motor, and the LED rotating display screen is effectively realized by using the persistence of vision effect.

7. The unmanned aerial vehicle and smart street lamp system thereof as claimed in claim 1, wherein the unmanned aerial vehicle landing stage further comprises a power-off permanent magnetic chuck for fixing the unmanned aerial vehicle, the power-off permanent magnetic chuck is activated and fixes the unmanned aerial vehicle after the unmanned aerial vehicle lands, and the power-off permanent magnetic chuck is turned off when the unmanned aerial vehicle needs to take off.

8. The system of claim 6, wherein the intelligent street lamp is further provided with an environment monitoring module for monitoring environmental data including environmental wind direction, wind speed, temperature, humidity, air pressure, noise, PM2.5, and PM10, and the monitoring information provides environmental parameters for the flying of the unmanned aerial vehicle and noise decibels generated by the unmanned aerial vehicle.

Technical Field

The invention relates to the field of smart cities, in particular to a spherical unmanned aerial vehicle and a smart street lamp system thereof.

Background

The intelligent street lamp is a product under the concept of a smart city. The smart city system is complex in construction platform, and the city has a large number of street lamps, which is dense city infrastructure and is convenient for information acquisition and release, so the smart street lamps are a better foothold.

The system collects city information through an integrated sensor, and various big data required by the smart city can be generated in the future. And uploading the data to a cloud end, and forming big data at the cloud end. The data can interact with a traffic system, a police affair management system, a financial management system and a purchasing management system in the government, and various data supports are provided for big data application of the smart city.

The intelligent street lamp is a novel intelligent device which integrates audio and video monitoring equipment, a wireless base station, a WIFI/LORA/NB-IOT hotspot, a multimedia screen, a charging pile, various sensors such as weather sensors and environment sensors and the like by taking a lighting lamp pole as a carrier.

For example, chinese patent CN110887026A discloses an intelligent street lamp, a system and a tracking system and method applied thereto. Wisdom street lamp includes: a communication module; the communication module is used for establishing communication connection with at least one aircraft to send a tracking signal to the at least one aircraft, so that the at least one aircraft tracks at least one specified target according to the tracking signal, the intelligent street lamp is combined with the aircraft, the intelligent street lamp can be widely applied to various fields of traffic management, public security management, natural disaster management and the like, the intelligent street lamp is used for sending the tracking signal, the aircraft tracks the specified target, and the tracking range of the intelligent street lamp on the specified target is expanded to the greatest extent. But there are some defects in ordinary rotor unmanned aerial vehicle when using, mainly focus on: 1. the parking speed is slow, 2, because the flying height and the environment of the place are relatively complicated, the rotor wing can collide, and the damage is easily caused.

Disclosure of Invention

The invention aims to provide an unmanned aerial vehicle and an intelligent street lamp system thereof in order to overcome the defects in the prior art.

The purpose of the invention can be realized by the following technical scheme:

an unmanned aerial vehicle and an intelligent street lamp system thereof, which comprises a plurality of intelligent street lamps and a plurality of unmanned aerial vehicles,

the intelligent street lamp comprises a lamp post, a micro base station, a first positioning module, an edge calculating module and an unmanned aerial vehicle take-off and landing platform,

the unmanned aerial vehicle is a spherical unmanned aerial vehicle, a communication module, a second positioning module, an airborne camera and an LED lamp band are arranged on the unmanned aerial vehicle, the LED lamp band is arranged on the outer surface of the unmanned aerial vehicle, a visual target for guiding the unmanned aerial vehicle to land is arranged on the surface of the unmanned aerial vehicle landing platform, and a wireless charging device for supplying power to the unmanned aerial vehicle is arranged in the unmanned aerial vehicle landing platform;

unmanned aerial vehicle and the wisdom street lamp of treating the descending establish the communication and send the descending request, reply wisdom street lamp at wisdom street lamp after, rely on first orientation module and second orientation module, unmanned aerial vehicle is from navigation control flight to the lamp pole neighborhood, through machine carries camera search vision mark target, and unmanned aerial vehicle descending control algorithm based on visual feedback takes effect, and control unmanned aerial vehicle descends at the lamp pole air park, after descending, by wireless charging device charges for unmanned aerial vehicle to after receiving first instruction, light LED lamp area.

The micro base station is a 5G micro base station, and the communication module is a 5G communication module.

The intelligent street lamp further comprises a WiFi/LoRa/NB-IOT module, and the WiFi/LoRa/NB-IOT modules, the micro base stations and the first positioning modules of the intelligent street lamps form a wireless self-organizing network in a coverage area to provide positioning navigation and network service.

Still be equipped with the surveillance camera head on the wisdom street lamp, unmanned aerial vehicle receives the image information that the surveillance camera head of each wisdom street lamp gathered to carry out data fusion.

The intelligent street lamp is also provided with an LED side-hung display screen, an intelligent sound post and an emergency alarm device, and further the display screen displays information such as the model, charging time, residual electric quantity and the like of the unmanned aerial vehicle, and the working and fault states of the unmanned aerial vehicle; the intelligent sound post has natural voice processing capacity, and natural people start the unmanned aerial vehicle through pronunciation through pressing down emergency alarm device to assign the job task.

Unmanned aerial vehicle's shell is netted hexagon spherical structure, and the bottom sets up the undercarriage, LED lamp area is rotatory under the control that shows the motor, utilizes the effect of persistence of vision, reaches the utility of the rotatory display screen of LED.

Unmanned aerial vehicle take-off and landing platform is still including the type of losing electricity permanent magnetism sucking disc that is used for fixed unmanned aerial vehicle, after unmanned aerial vehicle descends, the type of losing electricity permanent magnetism sucking disc starts and fixed unmanned aerial vehicle, when unmanned aerial vehicle need take off, the type of losing electricity permanent magnetism sucking disc is closed.

Still be equipped with the environmental data's including monitoring environment wind direction, wind speed, temperature, humidity, atmospheric pressure, noise, PM2.5, PM10 environment monitoring module on the wisdom street lamp, above-mentioned monitoring information provides environmental parameter for unmanned aerial vehicle flight to and the noise decibel that unmanned aerial vehicle produced.

Compared with the prior art, the invention has the following beneficial effects:

1) realize the degree of depth fusion when combining unmanned aerial vehicle and wisdom street lamp, the wisdom street lamp can charge for unmanned aerial vehicle, and unmanned aerial vehicle can assist the wisdom street lamp to realize that the environment is rendered as a view, has improved unmanned aerial vehicle's take off and land performance simultaneously.

2) A self-organizing communication positioning network is constructed through the lamp post cluster, navigation positioning information is provided for the unmanned aerial vehicle, and tasks are issued; the lamp pole body designs the air park, and built-in type permanent magnetism of losing power magnetic attraction dish covers the vision target on the surface, realizes that unmanned aerial vehicle is accurate firm to be berthhed.

3) Built-in wireless module of charging of lamp pole air park solves the unmanned aerial vehicle continuation of the journey difficult problem, and the accurate delivery of the last kilometer of express delivery is solved to cooperation freight transportation unmanned aerial vehicle.

4) Design spherical LED POV and show unmanned aerial vehicle, satisfy the unmanned aerial vehicle formation light performance demand of individual character customization.

Drawings

FIG. 1 is a schematic structural diagram of an intelligent street lamp according to the present invention;

Fig. 2 is a schematic structural diagram of a spherical unmanned aerial vehicle;

FIG. 3 is a schematic view of an unmanned aerial vehicle landing stage;

fig. 4 is a schematic diagram of the system.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

An unmanned aerial vehicle and an intelligent street lamp system thereof, which comprises a plurality of intelligent street lamps and a plurality of unmanned aerial vehicles,

as shown in FIG. 1, the intelligent street lamp comprises a lamp post, a micro base station, a first positioning module, an edge calculating module and an unmanned aerial vehicle landing platform,

as shown in fig. 2, the unmanned aerial vehicle is a spherical unmanned aerial vehicle, and a communication module, a second positioning module, an airborne camera and an LED lamp strip are arranged on the unmanned aerial vehicle, the LED lamp strip is arranged on the outer surface of the unmanned aerial vehicle, a visual target for guiding the unmanned aerial vehicle to land is arranged on the surface of the unmanned aerial vehicle landing platform, and a wireless charging device for supplying power to the unmanned aerial vehicle is arranged inside the unmanned aerial vehicle;

unmanned aerial vehicle and the wisdom street lamp of treating the descending establish the communication and send the descending request, reply the wisdom street lamp at the wisdom street lamp after, rely on first orientation module and second orientation module, unmanned aerial vehicle is the adjacent region of lamp pole from the navigation control flight, search the vision mark target through the onboard camera, unmanned aerial vehicle descending control algorithm based on visual feedback takes effect, control unmanned aerial vehicle descends at the lamp pole air park, after descending, charge for unmanned aerial vehicle by wireless charging device, and after receiving first instruction, light LED lamp area. In the unmanned aerial vehicle landing process, the unmanned aerial vehicle recognizes the visual target through the airborne camera, calculates the relative position of the unmanned aerial vehicle relative to the landing platform, feeds back the relative position to the airborne computer of the unmanned aerial vehicle in real time, and controls the unmanned aerial vehicle to land accurately.

The micro base station is a 5G micro base station, and the communication module is a 5G communication module. Unmanned aerial vehicle take-off and land platform passes through 5G with spherical unmanned aerial vehicle's perception system and control system and is connected, acquires unmanned aerial vehicle operating condition, builds cartesian coordinate system based on wisdom street lamp original point simultaneously, tracks in real time the unmanned aerial vehicle position.

Wireless charging device is to stopping the unmanned aerial vehicle on, through 5G and unmanned aerial vehicle communication, and unmanned aerial vehicle power electric quantity information transmits the total accuse on the lamp pole through the little basic station of 5G, lights the decision at present and whether starts wireless charging device and charge for unmanned aerial vehicle.

The intelligent street lamp further comprises a WiFi/LoRa/NB-IOT module, and the WiFi/LoRa/NB-IOT modules, the micro base stations and the first positioning module of the intelligent street lamps form a wireless self-organizing network in a coverage area to provide positioning navigation and network service. The unmanned aerial vehicle and the lamp pole to be landed establish a real-time communication link through WiFi/LoRa/NB-IOT, transmit the relative position and posture of the unmanned aerial vehicle and the lamp pole in real time, and issue task information

Still be equipped with the surveillance camera head on the wisdom street lamp, the image information that the surveillance camera head of each wisdom street lamp was gathered is received to unmanned aerial vehicle to carry out data fusion.

The intelligent street lamp is also provided with an LED side-hung display screen, an intelligent sound post and an emergency alarm device, can be used for intelligent security, intelligent communities, accurate advertisement putting and the like, and further, the display screen displays information such as the model, charging time, residual electric quantity and the like of the unmanned aerial vehicle, and the unmanned aerial vehicle works and has a fault state; the intelligent sound post has natural voice processing capacity, and natural people start the unmanned aerial vehicle through pronunciation through pressing down emergency alarm device to assign the job task.

The unmanned aerial vehicle's shell is netted hexagon spherical structure, and the bottom sets up the undercarriage, and unmanned aerial vehicle adopts two perpendicular paddles to provide lift, and the rotatory moment Of torsion is offset to two side-to-side paddles, control unmanned aerial vehicle orientation, and circular LED lamp area rotates under the control Of POV (persistence Of vision) display motor, utilizes the persistence Of vision effect, reaches the utility Of the rotatory display screen Of LED.

Unmanned aerial vehicle take-off and land platform is still including the type of losing electricity permanent magnetism sucking disc that is used for fixed unmanned aerial vehicle, and after unmanned aerial vehicle fell, the type of losing electricity permanent magnetism sucking disc started and fixed unmanned aerial vehicle, when unmanned aerial vehicle need take off, and the type of losing electricity permanent magnetism sucking disc was closed.

Still be equipped with the environmental data's including monitoring environment wind direction, wind speed, temperature, humidity, atmospheric pressure, noise, PM2.5, PM10 environment monitoring module on the wisdom street lamp, above-mentioned monitoring information provides environmental parameter for unmanned aerial vehicle flight to and the noise decibel that unmanned aerial vehicle produced.

Wisdom street lamp accessible intelligence sound post utilizes wiFi/loRa/NB-IOT communication to release the task to spherical unmanned aerial vehicle platform, and single or cluster unmanned aerial vehicle of control carries out the regulation task.

The spherical unmanned aerial vehicle of design ties as shown in fig. 2, and the unmanned aerial vehicle main part is fixed on the bearing that spanes spherical structure, and the bearing can show the drive of motor at POV and rotate down, and the motor that two perpendicular placements on the unmanned aerial vehicle drive the paddle and provide the required lift of spherical unmanned aerial vehicle, and the auxiliary motor drives the side direction paddle to offset the rotatory moment of torsion that unmanned aerial vehicle rising paddle arouses. The outer frame is a spherical net structure formed by hexagons, the inner side of the net structure is provided with a round LED lamp belt by taking a rotating bearing as a fixed point, and an onboard computer controls a POV display motor, so that the lamp belt can controllably rotate around the rotating bearing, and meanwhile, the LED units of the lamp belt realize dynamic controllable color under the control of an onboard computer coding sequence.

As shown in fig. 3, the unmanned aerial vehicle landing platform is formed in such a way that the left side is the visual target on the surface of the apron, the visual target is in a regular hexagon shape, and the ground color is red; the center of the hexagon is a white circle with a smaller diameter, the outer side of the hexagon is a white circular ring, and the hexagon is provided with two symmetrical and parallel rectangular white strips which are vertical to the upper edge of the regular hexagon; the right side of fig. 3 is the internal design of the apron tray, wherein each small square represents a coil, all alternating current coils are connected through a control board, alternating excitation current is added to generate magnetic adsorption force, and the magnetic adsorption force is lost when power is off; the 'fence line' at the outermost side of the hexagon represents a coil containing an apron area, and an electric field is generated in the area above the apron under the action of the wireless charging controller and is used for charging the unmanned aerial vehicle.

As shown in fig. 4, the data interaction method between the unmanned aerial vehicle and the smart street lamp is as follows: wisdom street lamp passes through wireless wiFi/loRa/NB-IOT with unmanned aerial vehicle and is connected, and accuse is according to air park state (charged state, the state of berthing, inorganic state) control magnetic force sucking disc and wireless charge controller in the lamp pole, realizes that unmanned aerial vehicle is wireless to be charged and adsorb firm berth. When the unmanned aerial vehicle sends a parking request, the lamp pole central control receives the parking request through WiFi/LoRa/NB-IOT, whether a response is sent according to the state of the parking apron, and if the parking is responded, the unmanned aerial vehicle and the lamp pole are paired to enter the unmanned aerial vehicle landing process. When the unmanned aerial vehicle starts to land, the unmanned aerial vehicle acquires GPS positioning of a target lamp pole, and the airborne computer and the flight control unit control the unmanned aerial vehicle to fly to the area adjacent to the target lamp pole; at the moment, the unmanned aerial vehicle records a camera around a target area, identifies a visual target of the lamp post air park, calculates the accurate poses of the unmanned aerial vehicle and the lamp post air park according to visual features, and controls the unmanned aerial vehicle to accurately park on the air park according to the real-time relative pose in flight control of the unmanned aerial vehicle; subsequently, unmanned aerial vehicle sends "descending completion" instruction, and accuse control magnetic force sucking disc produces the adsorption affinity in the lamp pole, realizes firm the berthing. Finally, open wireless charging to unmanned aerial vehicle, after the completion of charging, control in unmanned aerial vehicle feedback signal arrives the lamp pole, and wireless charge controller stops charging.

The unmanned aerial vehicle accurate positioning method integrating the GPS and the visual target comprises the following steps: firstly, according to the GPS positioning information of the lamp post, the unmanned aerial vehicle is combined with the self-generated GPS positioning to fly to the position near the lamp post to be parked; and then the unmanned aerial vehicle camera identifies the lamp post visual target, and calculates the relative pose of the lamp post and the unmanned aerial vehicle based on the visual characteristics.

The foregoing has described the general principles, principal features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.