CN105739523B - A kind of police vehicle-mounted unmanned aerial vehicle monitoring system and control method - Google Patents

Abstract

The invention discloses a police vehicle-mounted UAV monitoring system and a control method. By equipping a police vehicle with a multi-rotor UAV, the characteristics of the UAV's high field of vision are applied when the road is crowded or there is an intersection. The onboard camera senses the road environment information in front of the police vehicle, and transmits the perceived road environment information to the police officers in the police vehicle through the wireless image transmission module, so as to ensure that the tracking target is always within the field of vision of the police officers At the same time, by installing a radar sensor on the roof of the police vehicle, the angle information, distance information and speed information between the UAV and the police vehicle can be sensed in real time, and the proposed sliding mode following control algorithm can accurately calculate The yaw control amount and the pitch control amount of the UAV are transmitted to the UAV through the wireless communication module, and then the UAV is accurately controlled to keep moving forward synchronously with the police vehicle.

Description

A police vehicle-mounted UAV monitoring system and control method

technical field

The invention relates to the technical field of tracking control, and is applicable to road condition investigation and police tracking, in particular to a monitoring system and control method for a vehicle-mounted police drone.

Background technique

In recent years, terrorist attacks and violent incidents have occurred frequently. At the same time, traffic congestion has become increasingly serious, so that police vehicles cannot reach the scene of the incident in the first place, or the line of sight is blocked by vehicles in front and affected by intersections during the pursuit. lead to the loss of tracking targets.

At the same time, the police in some areas monitor the surrounding status information of police vehicles by installing 360-degree rotating cameras on the roofs of police vehicles, but they can only monitor the surrounding status information of police vehicles. In addition, when roads are congested, only Observing the short-distance traffic conditions ahead, it is impossible to obtain further road information.

Due to its advantages of easy operation and convenient maintenance, multi-rotor drones have been widely used in many fields such as cable inspection, fire monitoring, and ecological protection. In practical applications, most traditional UAVs use remote control to control the flight, which has high requirements for operators. In addition, for automatic navigation UAVs, most of them use GPS positioning and navigation or use UAVs to carry cameras for visual navigation. UAVs using GPS navigation cannot work normally in areas with poor GPS signals, while UAVs using camera visual navigation UAVs are greatly affected by factors such as light, and their positioning accuracy is relatively low. In addition, for most self-navigating multi-rotor UAVs, the environmental sensing unit is installed on the body of the multi-rotor UAV. It is necessary to analyze and judge the information collected by the environmental sensing unit through the microprocessor of the body, and the processing speed is slow. Judgment accuracy is low.

Contents of the invention

In order to solve the above problems, the present invention proposes a police vehicle-mounted UAV monitoring system and control method. By equipping police vehicles with multi-rotor UAVs, the UAVs can be used in the case of crowded roads or intersections. The characteristics of the field of view The drone's onboard camera perceives the road environment information in front of the police vehicle, and transmits the perceived road environment information to the police officers in the police vehicle through the wireless image transmission module, thereby ensuring that the tracking target is always Within sight of police officers.

The police vehicle-mounted UAV monitoring system of the present invention includes a vehicle-mounted part and a UAV part; the vehicle-mounted part has a vehicle-mounted processor installed on the vehicle body, a UAV take-off and landing apron and a radar sensor installed on the top of the police vehicle. The drone part includes the drone and the flight control system gimbal and camera module on the drone.

In the vehicle-mounted part, the unmanned aerial vehicle takeoff and landing apron is used for the docking of the unmanned aerial vehicle. The radar sensor is used to obtain the location information of the UAV in real time, including the distance between the UAV and the police vehicle, the height of the UAV from the ground, the flight speed of the UAV and the projection of the UAV on the plane of the police vehicle and the police vehicle. The angle between the transverse and longitudinal positions between vehicles. The on-board processor is used to send the UAV start and dock commands to the flight control system; it is also used to receive the data acquired by the radar sensor and process it to obtain the horizontal and vertical position offsets of the UAV and the police vehicle, and further obtain the UAV The pitch and yaw control amount of the man-machine, and send the pitch and yaw control amount together with the UAV position information to the flight control system in the UAV part, and then realized by the flight control system in the UAV part The drone's pitch control and yaw control keep the drone at the designated position above the front of the police vehicle.

In the part of the unmanned aerial vehicle, a camera module is installed on the cloud platform; the camera module includes a camera and a picture transmission module; the camera is used to obtain the image information of the road in real time during the flight of the unmanned aerial vehicle, so as to realize the shooting of the tracked vehicle; The image transmission module is used to transmit the road information obtained by the camera to the on-board processor.

The present invention also proposes a control method for the above-mentioned police vehicle-mounted UAV monitoring system, which is completed through the following steps:

Step 1: During the driving of the police vehicle, when the vehicle is being tracked, the vehicle-mounted processor sends a start command to the flight control system on the drone to start the drone. At the same time, the vehicle-mounted processor will also set the flight The altitude information is sent to the flight control system on the drone, and the flight control system controls the drone to take off to the set altitude.

Step 2: Real-time monitoring of the distance l(t) between the UAV and the police vehicle at time t, the height h ₀ of the UAV above the ground, the real-time speed v ₀ (t) of the UAV and the projection of the UAV by the radar sensor The angle θ(t) between the plane of the police vehicle and the longitudinal position of the police vehicle is sent to the on-board processor for processing, and the longitudinal position offset between the UAV and the police vehicle at time t is obtained Offset from horizontal position.

Step 3: Input the longitudinal position offset and lateral position offset of the UAV and the police vehicle at time t into the pitch controller and yaw controller respectively, and obtain the pitch control amount and yaw control of the UAV The amount, together with the location information of the drone, is transmitted to the flight control system on the drone, and then the pitch and yaw control of the drone is carried out through the flight control system, so that the drone is always kept at the designated position above the front of the police vehicle , to take pictures of the tracked vehicle.

Step 4: After the vehicle is tracked, the UAV returns to the UAV take-off and landing pad. During the landing process, the radar sensor accurately senses the position information of the UAV, sends it to the on-board processor, and transmits it to the UAV on-board processor. The flight control system controls the UAV to accurately land on the UAV landing pad.

The advantages of the present invention are:

1. The vehicle-mounted UAV monitoring system for police use of the present invention uses a multi-rotor UAV as a carrier. When the UAV is equipped with a camera and encounters a fork in the road or a traffic jam during the tracking process, the traffic situation ahead is unknown. Understand the vehicle and road information in front at the first time, and realize the whole tracking of the suspected vehicle;

2. The police vehicle-mounted UAV monitoring system of the present invention uses sliding mode control theory to design a sliding mode following controller, and the control algorithm is robust. In addition, there is only one parameter to be determined in the controller, which is simple in structure and easy to operate;

3. The police vehicle-mounted UAV monitoring system of the present invention realizes the UAV's autonomous follow-up flight. Compared with the traditional remote control to control the multi-rotor UAV, it does not require the intervention of the staff, which greatly enhances the stability of the flight;

4. The police vehicle-mounted UAV monitoring system of the present invention, by installing a radar sensor on the roof of the police vehicle, can sense the lateral and longitudinal position offsets between the UAV and the police vehicle and the speed information of the UAV in real time, and pass the vehicle-mounted UAV monitoring system. The end processor gets the perception result. Compared with the traditional autonomous navigation UAV, the processing speed and stability are more reliable by installing the environment perception module on the UAV itself;

5. The dual-mode yaw controller designed for the police vehicle-mounted UAV monitoring system of the present invention applies a fuzzy controller when the lateral offset is large to eliminate the influence of uncertain factors. When the lateral offset is small, Apply PI controller to eliminate the steady-state error and realize the precise tracking of police vehicles by drones;

6. The police vehicle-mounted UAV monitoring system of the present invention, the UAV fixed locking and charging device designed can be automatically locked after the UAV lands, and the UAV can be charged without personnel operation, which is simple and stable.

Description of drawings

Fig. 1 is a schematic diagram of the use state of the police vehicle-mounted UAV monitoring system of the present invention;

Fig. 2 is a schematic structural diagram of the vehicle-mounted part of the police vehicle-mounted UAV monitoring system of the present invention;

Fig. 3 is a schematic structural view of the unmanned aerial vehicle part of the police vehicle-mounted unmanned aerial vehicle monitoring system of the present invention;

Fig. 4 is a state diagram of the UAV docked in the UAV fixed locking device in the police vehicle-mounted UAV monitoring system of the present invention.

In the picture:

1-vehicle part 2-drone part 3-suspect vehicle

101-UAV landing pad 102-UAV fixed locking device 103-UAV charging device

104-radar sensor 102a-lead screw 102b-push rod

102c-Bracket 201-Pan Tilt 202-Camera Module

203-Flight control system

Specific real-time mode

The present invention will be described in further detail below in conjunction with the accompanying drawings.

A vehicle-mounted unmanned aerial vehicle monitoring system for police use in the present invention includes a vehicle-mounted part 1 and an unmanned aerial vehicle part 2 . Through the UAV part 2, it is possible to know the vehicle and road information in front at the first time when encountering a fork in the road or a traffic jam during the tracking process, and then realize the full tracking of the suspect vehicle 3, as shown in Figure 1. shown. The vehicle-mounted part 1 includes a UAV take-off and landing pad 101 installed on the top of the police vehicle, a fixed locking device 102 for the UAV, a charging device 103 for the UAV, a radar sensor 104, and a vehicle-mounted apron installed on the body of the police vehicle. Processor and vehicle wireless communication module, as shown in Figure 2. The UAV part 2 includes a multi-rotor UAV, and a gimbal 201 , a camera module 202 and a flight control system 203 mounted on the multi-rotor UAV, as shown in FIG. 3 . Real-time wireless communication is carried out between the vehicle-mounted part 1 and the drone part 2 through the vehicle-mounted wireless communication module and the airborne wireless communication module.

In the vehicle-mounted part 1, the unmanned aerial vehicle takeoff and landing apron 101 is installed on the roof of the police vehicle for parking the unmanned aerial vehicle. On the roof of the police vehicle, an unmanned aerial vehicle fixing and locking device 102 and an unmanned aerial vehicle charging device 103 are also installed. Among them, the UAV fixing and locking device 102 is used to fix and lock the UAV after the UAV stops on the UAV take-off and landing pad 101, so as to prevent the UAV from falling while the police vehicle is driving. . The drone fixing and locking device 102 includes a lead screw 102a and a push rod 102b. Wherein, there are four leading screws 102a, two in one group, and the axes are all along the front and back direction of the police vehicle. Wherein, one set of lead screws 102a is located at the front of the UAV take-off and landing pad 101, and is installed on the supports designed on both sides of the UAV take-off and landing apron 101 through bearings; The rear portion of the apron 101 is also installed on the supports designed on both sides of the UAV take-off and landing apron 101 by bearings. There are two push rods 102b, so that they are the front push rod and the rear push rod, which are respectively threaded on the two sets of lead screws 102a at the front and rear; the two front lead screws 102a are driven by a servo motor Synchronous rotation can realize the front push rod to move backward; drive the rear two lead screws to rotate synchronously through the servo motor to realize the rear push rod 102b to move forward; and then the two push rods can move in the same direction or in the opposite direction . Through the above-mentioned UAV fixing and locking device 102, when the UAV lands on the UAV landing pad 101, the two push rods 102b are driven by the servo motor to move relative to each other, so that the front end of the UAV landing gear and the rear end are locked. Closely between the two push rods 102b and the landing pad 101 of the UAV, so as to realize the fixed locking of the UAV, as shown in FIG. 4 .

The UAV charging device 103 is used to charge the UAV after the UAV is fixed and locked on the UAV landing pad 101; The corresponding electrodes cooperate to realize the charging of the drone. The radar sensor 104 is used to obtain the position information of the UAV in real time, including the distance between the UAV and the police vehicle, the height of the UAV from the ground, the flight speed of the UAV, and the projection of the UAV in the plane of the police vehicle. Use the lateral and longitudinal position offsets between vehicles. The vehicle-mounted processor is used to send the UAV start and dock commands to the flight control system; it is also used to receive the data acquired by the radar sensor 104 and process it to obtain the pitch and yaw control values of the UAV and the police vehicle, and convert the pitch and the yaw control amount together with the UAV position information are sent to the flight control system 203 in the UAV part 2, and then the pitch control and yaw control of the UAV are realized through the flight control system 203. The pitch and yaw control quantities of the above-mentioned UAV and police vehicle are respectively obtained by the designed pitch controller and yaw controller in the on-board processor. The specific design is as follows:

A. Specific design of pitch controller:

Ideally, the UAV is always above the police vehicle, that is, the longitudinal position offset between the UAV and the police vehicle under ideal conditions:

ΔX(t)=v ₀ (t)*Δt

Among them, v ₀ (t) is the flying speed of the UAV at time t, and Δt is the response time of the pitch controller.

According to the position longitudinal offset ξ(t) of the UAV and the police vehicle during the actual flight process obtained by the radar sensor 104, the actual longitudinal position offset and the theoretical longitudinal position between the UAV and the police vehicle are obtained The difference in offsets is:

σ(t)=ξ(t)-ΔX(t)=ξ(t)-v ₀ (t)*Δt

Ideally, the difference between the actual longitudinal position offset and the theoretical longitudinal position offset between the UAV and the police vehicle is 0, and the UAV is located in front of the police vehicle. According to the sliding mode control theory, select Sliding mode switching function:

X=σ(t)=ξ(t)-ΔX(t)=ξ(t)-v ₀ (t)*Δt

According to the sliding mode control theory, the sliding mode control equation is established When the sliding mode control equation is satisfied, the sliding mode switching function X→0, that is, σ(t)→0. λ represents the parameter of the sliding mode controller, the smaller the λ, the slower the approach speed, and the larger the λ, the faster the approach speed, and at the same time, it will cause greater jitter. In practical application, λ is selected according to the actual experimental situation. Substitute the sliding mode switching function into the sliding mode control equation to get:

Therefore, the following controller is designed as:

Among them, u(t) represents the output control amount of the controller, which can be used to control the pitch of the UAV, so that the UAV can stably follow the police vehicle.

B. Specific design of yaw controller:

According to the lateral position offset ζ(t) of the UAV and the police vehicle in the actual flight process obtained by the radar sensor 104, a dual-mode controller is designed to eliminate the lateral position offset, thereby ensuring that the UAV is in contact with the police vehicle. There is no deviation in lateral position between police vehicles. The input of the dual-mode controller is the lateral position offset between the UAV and the police vehicle, and the output is the yaw control amount of the UAV. According to the yaw control amount, each rotor on the UAV can be controlled to drive the servo motor The rotational speed and then control the yaw of the UAV. The above-mentioned dual-mode controller is composed of a fuzzy controller and a PI controller connected in parallel. When the lateral position offset |ζ(t)|> _ζ0 , the fuzzy controller is used to overcome the influence of uncertain factors. When the quantity |ζ(t)|<ζ ₀ , the PI controller is applied to eliminate the steady-state error, and ζ ₀ is the critical coefficient of the lateral position offset.

In the drone part 2, the camera module 202 is installed on the gimbal 201 to ensure the stability of the camera module 202 during the flight of the drone, thereby ensuring that the image information captured by the camera module 202 during the flight is clear and stable . The camera module 202 includes a camera and a video transmission module; the camera is used to obtain real-time image information of the road during the flight of the UAV to realize the shooting of the tracked vehicle; the video transmission module is used to transmit the road information obtained by the camera to the ground control stand. The flight control system 203 is used to receive the startup command sent by the on-board processor to control the start and stop of the UAV; at the same time, it receives the position information of the UAV sent by the on-board processor and the longitudinal and lateral position offsets of the UAV and the police vehicle, and controls Each rotor of the multi-rotor UAV drives the motor at different speeds, thereby realizing the pitch control, yaw control and height control of the UAV during the flight process, ensuring that the UAV always keeps flying in the police vehicle during the driving process. Designated location above the front of the vehicle.

A method for monitoring a police vehicle-mounted unmanned aerial vehicle for the above-mentioned device, the specific steps are as follows:

Step 1: During the driving of the police vehicle, when the vehicle is being tracked, the vehicle-mounted processor sends a start command to the flight control system 203 on the drone to start the drone. At the same time, the vehicle-mounted processor will also set the The flight height information is sent to the flight control system 203 on the drone. After the parameters of the drone are normal, the flight control system 203 controls the drone to take off to the set altitude.

Step 2: The radar sensor 104 monitors in real time the distance l(t) between the drone and the police vehicle at time t, the height h ₀ of the drone from the ground, the real-time speed v ₀ (t) of the drone, and the The angle θ(t) between the projection and the longitudinal position of the police vehicle in the plane of the police vehicle is sent to the on-board processor; through the above data, the longitudinal position offset between the UAV and the police vehicle at time t can be obtained as :

And the lateral position offset between the UAV and the police vehicle is:

Step 3: Since the police vehicle does not drive at a constant speed, the UAV must also change its speed accordingly when tracking the police vehicle. Therefore, by inputting the longitudinal position offset and lateral position offset of the UAV and the police vehicle at time t into the pitch controller and yaw controller respectively, the pitch control amount and yaw control of the UAV can be obtained The amount, together with the location information of the drone, is transmitted to the flight control system 203 on the drone, and then the pitch and yaw control of the drone is carried out through the flight control system, so that the drone is always kept at the designated position above the front of the police vehicle. location, and photograph the suspect vehicle.

Step 4: After the vehicle is tracked, the UAV returns to the UAV landing pad 101. During the landing process, the radar sensor 104 accurately senses the location information of the UAV, sends it to the on-board processor, and transmits it to the UAV. The flight control system 203 on the aircraft controls the UAV to accurately land on the UAV take-off and landing pad 101 . At this time, the UAV fixing and locking device 102 is controlled to fix and lock the UAV.

Claims (6)

1. a kind of police vehicle-mounted unmanned aerial vehicle monitors system, including vehicle-mounted part and unmanned plane part；Vehicle-mounted part has on car body The in-vehicle processor of installation；Unmanned plane part includes the flight control system carried on unmanned plane and unmanned plane；It is characterized in that：It is vehicle-mounted Part further includes the unmanned plane landing machine level ground installed at the top of police vehicle, radar sensor；Unmanned plane part further includes unmanned plane Holder, the camera module of upper carrying；

In the vehicle-mounted part, unmanned plane landing machine level ground is used for the stop of unmanned plane；Radar sensor is used for obtaining nobody in real time Machine location information, including height of distance, unmanned plane of the unmanned plane apart from police vehicle apart from ground, unmanned plane during flying speed with Unmanned plane is projected in the laterally and longitudinally position angle between police vehicle in police vehicle plane；In-vehicle processor is used for winged Control system sends unmanned plane and starts and stop order, and obtains data for receiving radar sensor, and is handled, and nothing is obtained The man-machine laterally and longitudinally position offset with police vehicle further obtains pitching and the yaw controlled quentity controlled variable of unmanned plane, and will Pitching and yaw controlled quentity controlled variable are sent to the flight control system in unmanned plane part together together with unmanned plane location information, and then by nobody Flight control system in machine part realizes pitch control and the yaw control of unmanned plane, before so that unmanned plane is always positioned at police vehicle Designated position above portion；

In the unmanned plane part, camera module is installed on holder；Camera module includes camera and figure transmission module；It takes the photograph As head is used for obtaining the image information of road, shooting of the realization to tracked vehicle in real time during unmanned plane during flying；Figure passes Module is used for the road information that camera obtains being transferred to in-vehicle processor；

Vehicle-mounted part further includes that unmanned plane fixes locking device, for realizing fixing lock of the unmanned plane on unmanned plane landing machine level ground Tightly；

It includes leading screw and push rod that unmanned plane, which fixes locking device,；Wherein, leading screw is four, is two-by-two one group, axis is along police Vehicle Chinese herbaceous peony rear direction；Wherein, one group of leading screw is located at unmanned plane landing machine level ground front, and unmanned plane landing machine is mounted on by bearing On the holder of level ground both sides design；Another group of leading screw is located at unmanned plane landing machine level ground rear portion, and unmanned plane is mounted on again by bearing On the holder of landing machine level ground both sides design；Push rod is two, enables it for front push rod and rear portion push rod, and screw thread is socketed in position respectively On two groups of leading screws at front and rear portion；The screw synchronous rotation of front two is driven by servo motor, makes front push rod backward It is mobile；The screw synchronous rotation of two, rear portion is driven by servo motor, rear portion push rod is made to move forward；When unmanned plane drops to nothing When man-machine landing machine level ground, two push rod relative motions are driven by servo motor, unmanned plane landing gear front and rear end is made to be clamped on Between two push rods and unmanned plane landing machine level ground, the fixed locking of unmanned plane is realized.

2. a kind of police vehicle-mounted unmanned aerial vehicle monitors system as described in claim 1, it is characterised in that：Vehicle-mounted part further includes for nobody Machine charging unit is used for the charging of unmanned plane.

3. a kind of police vehicle-mounted unmanned aerial vehicle monitors system as claimed in claim 2, it is characterised in that：Charging unit is included in nobody Corresponding electrode is set on machine landing gear and on unmanned plane landing machine level ground, filling for unmanned plane is realized by coordinating between electrode Electricity.

4. a kind of police vehicle-mounted unmanned aerial vehicle monitors system as described in claim 1, it is characterised in that：The pitching and yaw of unmanned plane Controlled quentity controlled variable is obtained by the pitch controller of the design in in-vehicle processor and yawer processing respectively, and specific design is as follows：

A, pitch controller is designed specifically to：

Wherein, u (t) indicates the output controlled quentity controlled variable of controller；v₀(t) it is t moment unmanned plane during flying speed, Δ t expression pitch controls The response time of device；ξ (t) is the position vertical misalignment amount of the t moment unmanned plane and police vehicle that are obtained by radar sensor；

B, yawer specifically designs：

According to the transverse positional offset ζ (t) with police vehicle during the unmanned plane practical flight obtained by radar sensor, Design elimination of the dual mode controller realization to transverse positional offset；The input of dual mode controller be unmanned plane and police vehicle it Between transverse positional offset, export the yaw controlled quentity controlled variable for unmanned plane, according to yaw controlled quentity controlled variable control unmanned plane on each rotation The rotating speed of wing driving motor and then the yaw for controlling unmanned plane.

5. a kind of police vehicle-mounted unmanned aerial vehicle monitors system as claimed in claim 4, it is characterised in that：Dual mode controller is by Fuzzy Control Device processed is composed in parallel with PI controllers, in transverse positional offset absolute value | ζ (t) |>ζ₀When, overcome using fuzzy controller The influence of uncertain factor, in transverse positional offset absolute value | ζ (t) |<ζ₀When, using PI controllers to eliminate stable state mistake Difference, ζ₀For transverse positional offset critical coefficient.

6. for a kind of control method of police vehicle-mounted unmanned aerial vehicle monitoring system described in claim 1, it is characterised in that：Under State step completion：

Step 1：During police vehicle travels, to vehicle into when line trace, by in-vehicle processor on unmanned plane Flight control system, which is sent, starts order, starts unmanned plane, meanwhile, the flying height information of setting is also sent to nothing by in-vehicle processor Flight control system on man-machine flies to the height of setting controlling unmanned plane by flight control system；

Step 2：Monitor distance l (t) of the t moment unmanned plane apart from police vehicle, unmanned plane distance ground in real time by radar sensor The height h in face₀, the real-time speed v of unmanned plane₀(t) and unmanned plane is projected in police vehicle plane and police vehicle longitudinal direction position Set angle theta (t), and be all sent to in-vehicle processor, handled by in-vehicle processor, obtain t moment unmanned plane with it is police The longitudinal positional offset and transverse positional offset of vehicle；

Step 3：The longitudinal positional offset and transverse positional offset of t moment unmanned plane and police vehicle are separately input into and bowed It faces upward controller and in yawer, obtains the pitch control amount and yaw controlled quentity controlled variable of unmanned plane, and believe together with unmanned plane position Breath is transferred to the flight control system on unmanned plane, and then carries out pitching and yaw control to unmanned plane by flight control system, makes nothing It is man-machine to remain at police vehicle front upper designated position, it is shot to being tracked vehicle；

Step 4：Vehicle tracking finishes, and unmanned plane makes a return voyage to unmanned plane landing machine level ground, and descent is precisely felt by radar sensor Know unmanned plane location information, in-vehicle processor is sent to, and the flight control system on unmanned plane is transferred to by in-vehicle processor, by flying Control system control unmanned plane precisely drops on unmanned plane landing machine level ground.