面向监控的井下无人机集群系统与关键技术

Underground unmanned aerial vehicles cluster system for monitoring and its key technologies

井下监控系统通常是固定布设且布设范围有限,难以完全满足井下安全生产的动态监控需求,且井下单架无人机因无线通信距离有限,导致其监控能力较弱。针对上述问题,提出了一种面向监控的井下无人机集群系统,并从井下无人机集群飞行与规避协同控制、数据链组网、矿井巷道环境地图创建、井下无人机姿态与位置估计、动态障碍物检测、路径规划等方面详细介绍了系统实现的关键技术。地面调度中心通过设置在井下监控分站的网关节点向井下无人机集群发布调度命令,井下无人机编队采用"一"字形队列沿矿井巷道集群飞行,在进入指定区域后通过所搭载的视频传感器与环境监测传感器对井下指定区域进行监控,并通过多无人机协作方式将所监测的视频信息与环境参数传输到井下监控分站,实现对井下目标区域的自主动态监控。井下无人机集群系统具有覆盖范围广、监测能力强等优点,通过协同控制多架井下无人机提高了监控效率,通过无线多跳的方式解决了井下无人机单架平台无线通信距离受限的问题,有利于监测与控制信息的传递。

Underground monitoring and control system is usually fixed and has limited range,so it is difficult to fully meet dynamic monitoring requirements of underground safety production.Moreover,due to limited wireless communication distance,underground single unmanned aerial vehicle has weak monitoring ability.For the above problems,an underground unmanned aerial vehicles cluster system for monitoring was proposed.The key technologies of the system implementation were introduced in detail such as cooperative control for flying and avoidance,data chain networking,creation of mine roadway environment maps,attitude and position estimation for unmanned aerial vehicles,moving obstacle detection and path planning.Ground dispatching center issues dispatching orders to the underground unmanned aerial vehicles cluster through gateway node set up in underground monitoring sub-station,and the underground unmanned aerial vehicles formation fly with 'one' shaped queue along underground roadway.After entering the target area,the unmanned aerial vehicles can monitor the underground target area through the video sensors and environmental monitoring sensors on board,and transmit themonitoring video information and environmental parameters to the underground monitoring sub-station through the cooperation of multiple unmanned aerial vehicles,so as to realize autonomous and dynamic monitoring of the underground target area.The unmanned aerial vehicles cluster system has advantages of wide coverage and strong monitoring capability,through collaborative control,which can effectively improve monitoring efficiency.In addition,it can also solve the problem of limited wireless communication distance of single platform of underground unmanned aerial vehicle by means of wireless multi-hop,which is conducive to transmission of monitoring and control information.