阅读说明：本技术 一种森林火灾探测无人机的维护保养系统及方法 (Maintenance system and method for forest fire detection unmanned aerial vehicle ) 是由 郭利 裴尼松 余黎 施轶凡 浦顺哲 于 2021-10-28 设计创作，主要内容包括：本发明公开了一种森林火灾探测无人机的维护保养系统及方法,系统包括远程监控中心、维护保养站和多个监测站,每个监测站设有无人机及无人机控制终端,远程监控中心分别通过无线网络与无人机控制终端进行通信；多个监测站中,每两个相邻监测站之间的距离小于无人机航程,并且至少有一个监测站与维护保养站的距离小于无人机航程。本发明对需要进行维护保养的无人机进行单独召回到统一的维护保养站进行维护保养,同时从维护保养站部署一台新的无人机到无人机检测系统中,保证站点24小时有无人机进行值守；可以大大提高每次部署和召回无人机进行维护保养的效率。(The invention discloses a maintenance system and a method of a forest fire detection unmanned aerial vehicle, wherein the system comprises a remote monitoring center, a maintenance station and a plurality of monitoring stations, each monitoring station is provided with an unmanned aerial vehicle and an unmanned aerial vehicle control terminal, and the remote monitoring center is respectively communicated with the unmanned aerial vehicle control terminal through a wireless network; in a plurality of monitoring stations, the distance between every two adjacent monitoring stations is less than the unmanned aerial vehicle journey to at least one monitoring station and the distance of maintaining the station is less than the unmanned aerial vehicle journey. The unmanned aerial vehicle maintenance system has the advantages that unmanned aerial vehicles needing maintenance are called back to a unified maintenance station for maintenance and maintenance independently, and meanwhile, a new unmanned aerial vehicle is deployed from the maintenance station to an unmanned aerial vehicle detection system, so that the unmanned aerial vehicle is guaranteed to be on duty 24 hours at the station; the efficiency of deploying and recalling the unmanned aerial vehicle to maintain at every turn can be greatly improved.)

1. A maintenance system of a forest fire detection unmanned aerial vehicle is characterized by comprising a remote monitoring center, a maintenance station and a plurality of monitoring stations, wherein each monitoring station is provided with an unmanned aerial vehicle and an unmanned aerial vehicle control terminal, and the remote monitoring center is respectively communicated with the unmanned aerial vehicle control terminal through a wireless network;

in a plurality of monitoring stations, the distance between every two adjacent monitoring stations is less than the unmanned aerial vehicle journey to at least one monitoring station and the distance of maintaining the station is less than the unmanned aerial vehicle journey.

2. A method as claimed in claim 1, wherein the method comprises the steps of:

s1, numbering the monitoring stations; in all the monitoring stations, the distance between every two adjacent monitoring stations is less than the range of the unmanned aerial vehicle, the distance between at least one monitoring station and the maintenance station is less than the range of the unmanned aerial vehicle, the monitoring stations with the distance from the maintenance station less than the range of the unmanned aerial vehicle are numbered as 1, then the adjacent monitoring stations are numbered in sequence, the distance between the Nth monitoring station and the 1 st monitoring station is less than the range of the unmanned aerial vehicle, or the distance between the Nth monitoring station and the maintenance station is less than the range of the unmanned aerial vehicle; n represents the total number of monitored sites; simultaneously numbering the unmanned aerial vehicles of each monitoring station in accordance with the monitoring stations;

s2, selecting an unmanned aerial vehicle maintenance mode: maintaining the unmanned aerial vehicle in the system by periodically maintaining the unmanned aerial vehicle of the Nth monitoring station or maintaining and maintaining the unmanned aerial vehicle according to the state of the unmanned aerial vehicle;

s3, if the unmanned aerial vehicle of the Nth monitoring station is maintained regularly, the unmanned aerial vehicle of the Nth monitoring station is recalled to the maintenance station at regular intervals, then the unmanned aerial vehicles of the No. 1 to N-1 monitoring stations fly to the next numbered monitoring station in sequence, and then the unmanned aerial vehicle which has finished maintenance is sent from the maintenance station to the No. 1 monitoring station;

s4, if the maintenance is selected according to the state of the unmanned aerial vehicle, executing the following steps:

s41, the remote monitoring center communicates with the unmanned aerial vehicle control terminals of the monitoring stations, the number of each monitoring station and the distance between each monitoring station and the maintenance station are recorded, the flight state parameters of the unmanned aerial vehicle of each monitoring station are counted, and whether the unmanned aerial vehicle needs to be maintained or not is judged; if yes, executing S42, otherwise, continuing recording and tracking;

s42, acquiring the number of the unmanned aerial vehicle which needs to be maintained, flying the unmanned aerial vehicle with the number smaller than the number to the next monitoring station with the number in sequence, and simultaneously sending the unmanned aerial vehicle which has finished maintenance to the monitoring station No. 1 from the maintenance station; the remote monitoring center plans a flight path for the unmanned aerial vehicle according to the electric quantity of the unmanned aerial vehicle needing maintenance, the range of the unmanned aerial vehicle and the distance from the unmanned aerial vehicle to a maintenance station, sets a monitoring station at which the unmanned aerial vehicle needs to stop in the process of flight, and sends a control command to a current monitoring station of the unmanned aerial vehicle and the monitoring station at which the unmanned aerial vehicle needs to stop in the midway;

s43, the unmanned aerial vehicle which needs to be maintained flies back to the maintenance station for maintenance according to the planned path;

s5, numbering the unmanned aerial vehicle again, and keeping the unmanned aerial vehicle number consistent with the current monitoring station number.

3. The method for maintaining the forest fire detection unmanned aerial vehicle as claimed in claim 2, wherein the step S43 is implemented by:

s431, when the unmanned aerial vehicle to be maintained takes off from the next station, the unmanned aerial vehicle control terminal of the current monitoring station sends frequency information of the unmanned aerial vehicle control terminal of the next station and GPS coordinates of the monitoring station to the unmanned aerial vehicle, meanwhile, the unmanned aerial vehicle control terminal of the next station sends the numbered unmanned aerial vehicle station-crossing instruction through a remote monitoring center, and then the unmanned aerial vehicle control terminal is in a state of waiting for connection of a new unmanned aerial vehicle;

s432, when the unmanned aerial vehicle enters an unmanned aerial vehicle control terminal airspace of a next station, automatically switching to the frequency of the unmanned aerial vehicle control terminal to initiate a connection application to the unmanned aerial vehicle control terminal, and after receiving the connection application, the unmanned aerial vehicle control terminal sends an instruction to the unmanned aerial vehicle to control the unmanned aerial vehicle to land and charge;

s433, after the unmanned aerial vehicle finishes charging, taking off towards the next station, and returning to the step S431; meanwhile, the unmanned aerial vehicle control terminal of the current monitoring station is switched to a state of waiting for new unmanned aerial vehicle connection again, and is connected with the unmanned aerial vehicle of the monitoring station again;

and S434, repeating the steps from S431 to S433 until the unmanned aerial vehicle which needs to be maintained returns to the maintenance station.

4. The maintenance method of the forest fire detection unmanned aerial vehicle as claimed in claim 2, wherein in step S3, if the distance between the nth monitoring station and the 1 st monitoring station is less than the voyage of the unmanned aerial vehicle, the unmanned aerial vehicle of the nth monitoring station flies to the 1 st monitoring station first to be charged, and then returns to the maintenance station; and if the distance between the Nth monitoring station and the maintenance station is less than the range of the unmanned aerial vehicle, directly flying back to the maintenance station.

5. A method as claimed in claim 2, wherein in steps S3 and S4, the drone completes a mission of detecting an area on the flight path while flying to the next monitoring station.

Technical Field

The invention belongs to the technical field of forest fire prevention, and particularly relates to a maintenance system and method of a forest fire detection unmanned aerial vehicle.

Background

Traditional forest smoke and fire observation tower adopts the manual work to watch, and is inefficient, follow-up video smoke and fire camera detecting equipment that adopts discerns the fire point automatically, and the wrong report rate is high, and the fire point is confirmed and is needed artifical the affirmation, and the mountain road is difficult to go, and the cost is big, and is untimely, consequently, partial fire point is confirmed and is adopted flying hand operation unmanned aerial vehicle to go to the affirmation. However, the unmanned aerial vehicle is often untimely and unreliable to be executed by means of the flyer, the most reliable method is to directly install the unmanned aerial vehicle on the observation tower, take off automatically and confirm the fire automatically, but the maintenance of the unmanned aerial vehicle is the largest problem when the unmanned aerial vehicle is placed in the field for a long time, and the failure rate is increased after a long time, so that the unmanned aerial vehicle cannot work. The automatic hangar that has the specialty abroad can carry out unmanned aerial vehicle maintenance can go up the machine oil, changes the rotor, and still deposit with constant temperature, can solve the open-air problem of depositing for a long time, but the general cost of this type of hangar is very high, often is tens times to hundreds times of unmanned aerial vehicle cost, therefore the popularization of unfavorable project.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a maintenance system of a forest fire detection unmanned aerial vehicle, which can independently recall an unmanned aerial vehicle needing maintenance to a uniform maintenance station for maintenance, can deploy a new unmanned aerial vehicle from the maintenance station to an unmanned aerial vehicle detection system before recall, ensures that the unmanned aerial vehicle is on duty at the station for 24 hours, can greatly improve the efficiency of deploying and recalling the unmanned aerial vehicle for maintenance each time, and provides a maintenance method of the unmanned aerial vehicle.

The purpose of the invention is realized by the following technical scheme: a maintenance system of a forest fire detection unmanned aerial vehicle comprises a remote monitoring center, a maintenance station and a plurality of monitoring stations, wherein each monitoring station is provided with an unmanned aerial vehicle and an unmanned aerial vehicle control terminal, and the remote monitoring center is respectively communicated with the unmanned aerial vehicle control terminals through a wireless network;

in a plurality of monitoring stations, the distance between every two adjacent monitoring stations is less than the unmanned aerial vehicle journey to at least one monitoring station and the distance of maintaining the station is less than the unmanned aerial vehicle journey.

Another object of the present invention is to provide a maintenance method for a forest fire detection drone, comprising the following steps:

s1, numbering the monitoring stations; in all the monitoring stations, the distance between every two adjacent monitoring stations is less than the range of the unmanned aerial vehicle, the distance between at least one monitoring station and the maintenance station is less than the range of the unmanned aerial vehicle, the monitoring stations with the distance from the maintenance station less than the range of the unmanned aerial vehicle are numbered as 1, then the adjacent monitoring stations are numbered in sequence, the distance between the Nth monitoring station and the 1 st monitoring station is less than the range of the unmanned aerial vehicle, or the distance between the Nth monitoring station and the maintenance station is less than the range of the unmanned aerial vehicle; n represents the total number of monitored sites; simultaneously numbering the unmanned aerial vehicles of each monitoring station in accordance with the monitoring stations;

s2, selecting an unmanned aerial vehicle maintenance mode: maintaining the unmanned aerial vehicle in the system by periodically maintaining the unmanned aerial vehicle of the Nth monitoring station or maintaining and maintaining the unmanned aerial vehicle according to the state of the unmanned aerial vehicle;

s3, if the unmanned aerial vehicle of the Nth monitoring station is maintained regularly, the unmanned aerial vehicle of the Nth monitoring station is recalled to the maintenance station at regular intervals, then the unmanned aerial vehicles of the No. 1 to N-1 monitoring stations fly to the next numbered monitoring station in sequence, and then the unmanned aerial vehicle which has finished maintenance is sent from the maintenance station to the No. 1 monitoring station;

s4, if the maintenance is selected according to the state of the unmanned aerial vehicle, executing the following steps:

s41, the remote monitoring center communicates with the unmanned aerial vehicle control terminals of the monitoring stations, the number of each monitoring station and the distance between each monitoring station and the maintenance station are recorded, the flight state parameters of the unmanned aerial vehicle of each monitoring station are counted, and whether the unmanned aerial vehicle needs to be maintained or not is judged; if yes, executing S42, otherwise, continuing recording and tracking;

s42, acquiring the number of the unmanned aerial vehicle which needs to be maintained, flying the unmanned aerial vehicle with the number smaller than the number to the next monitoring station with the number in sequence, and simultaneously sending the unmanned aerial vehicle which has finished maintenance to the monitoring station No. 1 from the maintenance station; the remote monitoring center plans a flight path for the unmanned aerial vehicle according to the electric quantity of the unmanned aerial vehicle needing maintenance, the range of the unmanned aerial vehicle and the distance from the unmanned aerial vehicle to a maintenance station, sets a monitoring station at which the unmanned aerial vehicle needs to stop in the process of flight, and sends a control command to a current monitoring station of the unmanned aerial vehicle and the monitoring station at which the unmanned aerial vehicle needs to stop in the midway;

s43, the unmanned aerial vehicle which needs to be maintained flies back to the maintenance station for maintenance according to the planned path;

s5, numbering the unmanned aerial vehicle again, and keeping the unmanned aerial vehicle number consistent with the current monitoring station number.

Further, the specific implementation method of step S43 is as follows:

s431, when the unmanned aerial vehicle to be maintained takes off from the next station, the unmanned aerial vehicle control terminal of the current monitoring station sends frequency information of the unmanned aerial vehicle control terminal of the next station and GPS coordinates of the monitoring station to the unmanned aerial vehicle, meanwhile, the unmanned aerial vehicle control terminal of the next station sends the numbered unmanned aerial vehicle station-crossing instruction through a remote monitoring center, and then the unmanned aerial vehicle control terminal is in a state of waiting for connection of a new unmanned aerial vehicle;

s432, when the unmanned aerial vehicle enters an unmanned aerial vehicle control terminal airspace of a next station, automatically switching to the frequency of the unmanned aerial vehicle control terminal to initiate a connection application to the unmanned aerial vehicle control terminal, and after receiving the connection application, the unmanned aerial vehicle control terminal sends an instruction to the unmanned aerial vehicle to control the unmanned aerial vehicle to land and charge;

s433, after the unmanned aerial vehicle finishes charging, taking off towards the next station, and returning to the step S431; meanwhile, the unmanned aerial vehicle control terminal of the current monitoring station is switched to a state of waiting for new unmanned aerial vehicle connection again, and is connected with the unmanned aerial vehicle of the monitoring station again;

and S434, repeating the steps from S431 to S433 until the unmanned aerial vehicle which needs to be maintained returns to the maintenance station.

Further, if the distance between the Nth monitoring station and the 1 st monitoring station is smaller than the range of the unmanned aerial vehicle, the unmanned aerial vehicle of the Nth monitoring station flies to the 1 st monitoring station for charging, and then returns to the maintenance station; and if the distance between the Nth monitoring station and the maintenance station is less than the range of the unmanned aerial vehicle, directly flying back to the maintenance station.

Further, in the steps S3 and S4, the drone completes the reconnaissance mission to the area on the flight path during the flight to the next monitoring station.

The invention has the beneficial effects that: according to the invention, a set of unmanned aerial vehicle maintenance scheme is innovatively designed, so that the long-term field work of the unmanned aerial vehicle can be realized. The unmanned aerial vehicle in the system can be maintained by regularly maintaining the unmanned aerial vehicle of the Nth monitoring station; the number of each unmanned aerial vehicle can be uniformly recorded and tracked through a remote monitoring center, and the relevant flight state parameters of the unmanned aerial vehicles are counted: reflect unmanned aerial vehicle operating condition and maintain the relevant information such as reporting an emergency and asking for help or increased vigilance of maintenance demand like the battery condition of ageing and flight in-process to estimate the maintenance demand of judging unmanned aerial vehicle, call back unified maintenance station to maintain the maintenance alone to the unmanned aerial vehicle that needs maintain the maintenance. Meanwhile, a new unmanned aerial vehicle can be deployed from the maintenance station to the unmanned aerial vehicle detection system before recall, and the unmanned aerial vehicle can be ensured to be on duty 24 hours after the station is called; can improve at every turn and arrange and recall the efficiency that unmanned aerial vehicle maintained the maintenance greatly, return the in-process of maintaining the station at unmanned aerial vehicle simultaneously, can also compromise the reconnaissance task to the key danger zone in the network deployment coverage, consequently can assemble maintenance and daily reconnaissance task mutually, form periodic maintenance and unmanned aerial vehicle initiative and patrol and examine the mechanism, realize killing two birds with one stone.

Drawings

Fig. 1 is a flowchart of a maintenance method of an unmanned aerial vehicle according to the present invention.

Detailed Description

The technical scheme of the invention is further explained by combining the attached drawings.

The maintenance system of the forest fire detection unmanned aerial vehicle comprises a remote monitoring center, a maintenance station and a plurality of monitoring stations, wherein each monitoring station is provided with the unmanned aerial vehicle and an unmanned aerial vehicle control terminal, and the remote monitoring center is respectively communicated with the unmanned aerial vehicle control terminal through a wireless network;

in a plurality of monitoring stations, the distance between every two adjacent monitoring stations is less than the unmanned aerial vehicle journey to at least one monitoring station and the distance of maintaining the station is less than the unmanned aerial vehicle journey.

As shown in fig. 1, the maintenance method of the forest fire detection unmanned aerial vehicle of the present invention includes the following steps:

s1, numbering the monitoring stations; in all monitoring stations, the distance between every two adjacent monitoring stations is smaller than the range of the unmanned aerial vehicle, the distance between at least one monitoring station and a maintenance station is smaller than the range of the unmanned aerial vehicle, the monitoring stations with the distance from the maintenance station smaller than the range of the unmanned aerial vehicle are numbered as 1, then the adjacent monitoring stations are numbered in sequence, the distance between the Nth monitoring station and the 1 st monitoring station is smaller than the range of the unmanned aerial vehicle, and all monitoring stations form an annular unmanned aerial vehicle detection system; or the distance between the Nth monitoring station and the maintenance station is less than the range of the unmanned aerial vehicle, and all the monitoring stations and the maintenance station form an annular unmanned aerial vehicle detection system; n represents the total number of monitored sites; simultaneously numbering the unmanned aerial vehicles of each monitoring station in accordance with the monitoring stations;

s2, selecting an unmanned aerial vehicle maintenance mode: maintaining the unmanned aerial vehicle in the system by periodically maintaining the unmanned aerial vehicle of the Nth monitoring station or maintaining and maintaining the unmanned aerial vehicle according to the state of the unmanned aerial vehicle;

s3, if the unmanned aerial vehicle of the Nth monitoring station is maintained regularly, the unmanned aerial vehicle of the Nth monitoring station is recalled to the maintenance station at regular intervals, then the unmanned aerial vehicles of the No. 1 to N-1 monitoring stations fly to the next numbered monitoring station in sequence, and then the unmanned aerial vehicle which has finished maintenance is sent from the maintenance station to the No. 1 monitoring station; if the distance between the Nth monitoring station and the 1 st monitoring station is smaller than the range of the unmanned aerial vehicle, the unmanned aerial vehicle of the Nth monitoring station flies to the 1 st monitoring station for charging, and then returns to the maintenance station; if the distance between the Nth monitoring station and the maintenance station is less than the range of the unmanned aerial vehicle, directly flying back to the maintenance station; in this way, after N times of alternation, all unmanned aerial vehicles are maintained;

s4, if the maintenance is selected according to the state of the unmanned aerial vehicle, executing the following steps:

s41, the remote monitoring center communicates with the unmanned aerial vehicle control terminals of the monitoring stations, the number of each monitoring station and the distance between each monitoring station and the maintenance station are recorded, the flight state parameters of the unmanned aerial vehicle of each monitoring station are counted, and whether the unmanned aerial vehicle needs to be maintained or not is judged; if yes, executing S42, otherwise, continuing recording and tracking;

s42, acquiring the number of the unmanned aerial vehicle which needs to be maintained, flying the unmanned aerial vehicle with the number smaller than the number to the next monitoring station with the number in sequence, and simultaneously sending the unmanned aerial vehicle which has finished maintenance to the monitoring station No. 1 from the maintenance station; in consideration of unmanned flight distance limitation, when the unmanned aerial vehicle at a remote station is recalled or deployed, the electric quantity supplement is carried out at an intermediate station, so that the remote monitoring center plans a flight path for the unmanned aerial vehicle according to the electric quantity of the unmanned aerial vehicle needing maintenance, the flight distance of the unmanned aerial vehicle and the distance from the unmanned aerial vehicle to the maintenance station, sets a monitoring station at which the unmanned aerial vehicle needs to stop in the middle of flight, and sends a control instruction to the current monitoring station of the unmanned aerial vehicle and the monitoring station at which the unmanned aerial vehicle needs to stop in the middle of flight;

s43, the unmanned aerial vehicle which needs to be maintained flies back to the maintenance station for maintenance according to the planned path; the specific implementation method comprises the following steps:

s431, when the unmanned aerial vehicle to be maintained takes off from the next station, the unmanned aerial vehicle control terminal of the current monitoring station sends frequency information of the unmanned aerial vehicle control terminal of the next station and GPS coordinates of the monitoring station to the unmanned aerial vehicle, meanwhile, the unmanned aerial vehicle control terminal of the next station sends the numbered unmanned aerial vehicle station-crossing instruction through a remote monitoring center, and then the unmanned aerial vehicle control terminal is in a state of waiting for connection of a new unmanned aerial vehicle;

s432, when the unmanned aerial vehicle enters an unmanned aerial vehicle control terminal airspace of a next station, automatically switching to the frequency of the unmanned aerial vehicle control terminal to initiate a connection application to the unmanned aerial vehicle control terminal, and after receiving the connection application, the unmanned aerial vehicle control terminal sends an instruction to the unmanned aerial vehicle to control the unmanned aerial vehicle to land and charge;

s433, after the unmanned aerial vehicle finishes charging, taking off towards the next station, and returning to the step S431; meanwhile, the unmanned aerial vehicle control terminal of the current monitoring station is switched to a state of waiting for new unmanned aerial vehicle connection again, and is connected with the unmanned aerial vehicle of the monitoring station again;

and S434, repeating the steps from S431 to S433 until the unmanned aerial vehicle which needs to be maintained returns to the maintenance station.

S5, numbering the unmanned aerial vehicle again, and keeping the unmanned aerial vehicle number consistent with the current monitoring station number.

In the steps S3 and S4, the unmanned aerial vehicle completes the investigation task for the area on the flight path in the process of flying to the next monitoring station.

It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.