CN105599900A - Low-altitude positioning load air-drop method based on multi-rotor unmanned aerial vehicle - Google Patents
Low-altitude positioning load air-drop method based on multi-rotor unmanned aerial vehicle Download PDFInfo
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- CN105599900A CN105599900A CN201610036966.XA CN201610036966A CN105599900A CN 105599900 A CN105599900 A CN 105599900A CN 201610036966 A CN201610036966 A CN 201610036966A CN 105599900 A CN105599900 A CN 105599900A
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- unmanned aerial
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- throwing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/22—Taking-up articles from earth's surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0022—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the communication link
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The invention discloses a low-altitude positioning load air-drop method based on a multi-rotor unmanned aerial vehicle. The multi-rotor unmanned aerial vehicle comprises an aerial flight platform, onboard task equipment and a ground remote control device. The onboard task equipment is located below the aerial flight platform. The onboard task equipment comprises an air-drop engine, a positioning camera and a directional voice broadcast device. The method solves the problem that air-drop of badly-needed emergency supplies is difficult in emergency rescue. The multi-rotor unmanned aerial vehicle has the advantages of being low in cost, easy and convenient to operate and easy to maintain and facilitating transport; with the low-altitude hovering function of the multi-rotor unmanned aerial vehicle and the assistance of the onboard assistant task equipment such as the voice broadcast device and the positioning camera, material air-drop accuracy and utilization efficiency are improved. The method has outstanding application value for a small number of loads which is light and is badly needed by trapped persons, and has great popularization potential in the field of air-drop of emergency rescue supplies.
Description
Technical field
The present invention relates to location, load low latitude throwing technique field, particularly a kind of lotus based on many rotor wing unmanned aerial vehiclesCarry low latitude location throwing method.
Background technology
In emergency disposal for disaster, the transport of relief goods and input are important topics. A lot of feelingsUnder condition, because the condition of a disaster occurs in the disadvantageous area of traffic or disaster has been destroyed road and bridge, cause rescue powerAmount is difficult to pass through on a large scale and go deep into disaster field. At this moment need a kind of measure can carry a small amount of urgent need thingMoney, as medicine, water, lifebuoy and mouth mask, breaks through the restriction of traffic unfavorable conditions, to disaster-stricken stranded crowdCarry out Emergency Assistance. On the one hand, encourage the confidence of disaster-stricken trapped personnel and the mood of pacifying them, the opposing partyFace, utilizes these urgent goods and materials to ensure that trapped personnel adheres to arriving or carrying out and save oneself to rescue personnel, to the greatest extent maximumDegree ensures life security and reduces casualties.
In disposing for calamity emergency, load is thrown in mode, has at present following problem:
For the disaster-stricken trapped personnel that needs load to help, due to conveying arrangement, on-the-spot the condition of a disaster environment, trafficThe effects limit such as condition and disposal personnel, rescue personnel can not set out the very first time, cannot accomplish prestissimoResponse.
For disasters such as fire of high-rise building, earthquake and stone landslides, mountain, transportation condition is inconvenient or be subject to seriousDestroy, ground even walking is also difficult to pass through, and hinders the transport of relief goods and throws in.
Throw in mode in the air for existing relief goods, on the one hand, aircraft is set out inconvenience, expend huge,Be not suitable for non-large-scale disaster-stricken trapped personnel rescue, the yet input of inapplicable light-duty a small amount of load; AnotherAspect, throws for fixed-wing high-altitude, is difficult to accurately location and throws point, and throwing goods and materials has larger waste, profitLow by degree; And large for helicopter low latitude input operation easier, risk is larger.
Summary of the invention
The invention provides a kind of load low latitude based on many rotor wing unmanned aerial vehicles location throwing method, many rotors withoutMan-machine airflight platform, airborne task device and the ground remote controller of comprising, airborne task device carry existsAirflight platform below, described airborne task device comprises that throwing machine is drawn together, positioning shooting machine and directed voiceBroadcaster; Described ground remote controller comprises video display screen, flight remote-control lever, microphone and throwing machineDraw together remote control switch, between ground remote controller and airflight platform, mainly communicate contact by microwave;Its location, low latitude is thrown and is comprised step:
S11, prepare on ground: carry load, the throwing machine that load is hung over to airflight platform is drawn together, aerialThe flying platform preparation of taking off;
S12, the real scene image that reference location video camera is taken, shows positioning shooting machine by ground remote controllerRealtime graphic;
S13, takes off, and arrives overhead, target location, by the liter of the many rotor wing unmanned aerial vehicles of ground remote controller controlSky and flight;
S14, hovering, the height of throw of landing distance ground 1m-100m;
S15, accurate adjustment hovering position, obtains ground environment image by positioning shooting machine, controls ground distantControl device hovers in the air many rotor wing unmanned aerial vehicles, and flight is to height of throw; When positioning shooting machine obtainsIn ground environment image, when target location is positioned at image center, locate successfully target location;
S16, sends voice signal: propagate voice signal by the microphone on ground remote controller;
S17, broadcast speech signal: the directed voice broadcaster on airborne task device is by the voice that receiveSignal is broadcasted;
S18, remote control is opened throwing machine and is drawn together electronic switch: draw together distant by controlling ground remote controller control throwing machineControl switch, and send the throwing machine that wireless communication signals opens on airborne task device and draw together electronic switch;
S19, throws in load: load departs from throwing machine to be drawn together, and completes and throws in action;
S20, by positioning shooting machine capture video and monitor load: comprise by positioning shooting machine Real-time ObtainingThe video image of load, completes the monitoring to load, and video image is transferred to ground remote control by positioning shooting machineDevice, shows by video display screen;
S21, confirms to throw load and is accepted: throw load by the observation of positioning shooting machine and be accepted, ground is distantControl device obtains described video image, judges that by described video image load is received;
S22, lift-off, makes a return voyage, landing; Return by controlling the former road of the many rotor wing unmanned aerial vehicles of ground remote controller controlReturn.
Preferably, described airflight platform is four rotors or six rotor wing unmanned aerial vehicles.
Preferably, the folding that the throwing machine in described airborne task device is drawn together, by telecontrol electronic switch control, is controlledSignal processed is uploaded from ground remote controller, and the flight control computer built-in by airflight platform passes to remote controlElectronic switch.
Preferably, described positioning shooting machine passes through the first visual angle photographic images, and passes on ground by microwave figureOn the video display screen of remote control, show in real time, ancillary terrestrial aircrew accurate adjustment unmanned plane position,And judge that disaster-stricken trapped personnel is to throwing the reception condition of article.
Preferably, described directed voice broadcaster is flat in the air by ground station control system, many rotor wing unmanned aerial vehiclesPlatform and broadcasting service terminal form, and wherein ground station control system comprises from master program course line module and multi-sourceMIM message input module, many rotor wing unmanned aerial vehicles platform is the carrier of broadcasting service terminal, carries out ground control systemFrom the order of master program course line, broadcasting service terminal device receives the finger of ground control system by wireless modeOrder, then utilizes unmanned aerial vehicle, from master program course line function, directed voice broadcast service is implemented in specific region, usesReceive and throw article in the disaster-stricken trapped personnel of suitcase, utilize the microphone of ground remote controller, dial by voiceNumber mode, propaganda directed to communicate from ground, from aerial platform broadcast, speak, sound is mainly aimed at overland propagation.
The present invention has following beneficial effect:
The load low latitude location throwing method that the present invention is based on many rotor wing unmanned aerial vehicles, can improve emergency management and rescue placeUrgent input speed and the level of being badly in need of goods and materials in putting. With low cost, convenient transport that many rotor wing unmanned aerial vehicles have,Easy and simple to handle and safeguard simple feature; The low latitude hovering function that it possesses and be aided with voice broadcast service and fixedThe airborne nonproductive task equipment such as position video camera, have improved precision and the utilization ratio of the throwing of goods and materials. ForA small amount of load that lightweight and disaster-stricken trapped personnel is badly in need of, the method has more outstanding using value,Emergency management and rescue goods and materials input field possesses larger promotion potential.
Certainly, implement arbitrary product of the present invention and might not need to reach above-described all advantages simultaneously.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, will describe embodiment required belowThe accompanying drawing using is briefly described, and apparently, the accompanying drawing in the following describes is only of the present invention oneA little embodiment, for those of ordinary skill in the art, are not paying under the prerequisite of creative work, alsoCan obtain according to these accompanying drawings other accompanying drawing.
The load low latitude location throwing method stream based on many rotor wing unmanned aerial vehicles that Fig. 1 provides for the embodiment of the present inventionCheng Tu.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearlyChu, intactly description, obviously, described embodiment is only the present invention's part embodiment, instead ofWhole embodiment. Based on the embodiment in the present invention, those of ordinary skill in the art are not making creationAll other embodiment that obtain under property work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, the embodiment of the present invention provides a kind of location, load low latitude based on many rotor wing unmanned aerial vehiclesThrowing method, it comprises the following steps:
The equipment basis of the load low latitude location throwing method based on many rotor wing unmanned aerial vehicles is many rotor wing unmanned aerial vehiclesAccurately location delivery system, this system is by airflight platform, airborne task device and ground remote controller groupBecome. Under airborne task device, hang on aerial platform, comprise that a main equipment-throwing machine is drawn together and two auxiliary establishingStandby-positioning shooting machine and directed voice broadcaster. Ground remote controller is hand-held by ground flying operating personnel,The flight of remotely pilotless machine, realizes accurate location and goods and materials and accurately throws in. Ground remote controller configures following accessory:Video display screen, flight remote-control lever, microphone and throwing machine are drawn together remote control switch, and ground remote controller is with aerialBetween flying platform, mainly communicate contact by microwave.
Many rotor structures of airflight platform make it possess traffic altitude free lifting and automatic hovering function,Thereby can realize in the stable stop of disaster-stricken trapped personnel overhead lower, and can further pass through positioning shooting machineThe first video accurate adjustment position, visual angle of taking. The folding that throwing machine in airborne task device is drawn together is by remote controlElectronic switch control, control signal is uploaded from ground remote controller, calculates by the control that flies that aerial platform is built-inMachine passes to telecontrol electronic switch. Positioning shooting machine small volume and less weight in airborne auxiliary equipment, camera lens over the ground,Main Function is by the first visual angle photographic images, and passes the display screen at ground remote controller by microwave figureUpper demonstration in real time, ancillary terrestrial aircrew accurate adjustment unmanned plane position, and can judge disaster-stricken trapped personnelTo throwing the reception condition of article. Directed voice broadcaster in airborne auxiliary equipment is for the disaster-stricken quilt of suitcaseOppressive member receives and throws article, utilizes the microphone of ground remote controller, by the mode of phonetic dialing, fromPropagandaing directed to communicate in ground, from aerial platform broadcast, speaks, and sound is mainly aimed at overland propagation.
The workflow of the load low latitude location throwing method based on many rotor wing unmanned aerial vehicles is as follows:
1. the throwing machine that load is hung over to unmanned plane airflight platform is drawn together, the unmanned plane preparation of taking off;
2. ground flying librarian use ground remote controller control unmanned plane takes off, and unmanned plane flies to disaster-stricken strandedPersonnel overhead;
3. ground flying personnel control unmanned plane hovering, and slowly reduce height, approach disaster-stricken trapped personnel,The position that one of preliminary acquisition facilitates relief goods to throw and just receive, in this position, unmanned plane airflight is flatThe machine of positioning shooting over the ground of hanging under platform should be able to clear view to the periphery situation of disaster-stricken trapped personnel;
4. positioning shooting machine starts, and the video image of shooting is back to ground remote controller in real time, and is showingScreen display, is aided with the periphery real scene image of the disaster-stricken trapped personnel that this first view arrives, and adjusts unmannedMachine is to position (and height), and in this position, relief goods can comparatively accurately be thrown into disaster-stricken trapped personnelCan obtain scope, larger departing from do not occur in throwing process;
5. ground flying librarian use microphone is propagandaed directed to communicate, and the mode by phonetic dialing is from airflight platformIn directed voice broadcaster, spread out of sound, remind disaster-stricken trapped personnel relief goods to be about to throw and carry out connectReceive and prepare;
6. ground flying personnel remote control throwing machine is drawn together switch opens, and relief goods are thrown, and now it should be noted thatLoad reduces suddenly play on the airflight platform bringing and does;
7. the image that ground flying personnel pass back by positioning shooting machine determines that relief goods are by disaster-stricken trapped personnelReceive smoothly;
8. ground flying personnel remotely-piloted vehicle raises and returns to landing.
The disclosed preferred embodiment of the present invention is just for helping to set forth the present invention above. Preferred embodiment is notHave all details of detailed descriptionthe, also not limiting this invention is only described detailed description of the invention. Obviously, rootAccording to the content of this description, can make many modifications and variations. These are chosen and specifically described to this description in factExecuting example, is in order to explain better principle of the present invention and practical application, thus technical field technology under makingPersonnel can understand and utilize the present invention well. The present invention is only subject to claims and four corner and equivalenceThe restriction of thing.
Claims (5)
1. the load low latitude based on many rotor wing unmanned aerial vehicles location throwing method, is characterized in that, many rotors withoutMan-machine airflight platform, airborne task device and the ground remote controller of comprising, airborne task device carryFlying platform below aloft, described airborne task device comprises that throwing machine is drawn together, positioning shooting machine and orientationVoice broadcaster; Described ground remote controller comprise video display screen, flight remote-control lever, microphone andThrowing machine is drawn together remote control switch, between ground remote controller and airflight platform, mainly leads to by microwaveLetter contact; Its location, low latitude is thrown and is comprised step:
S11, prepare on ground: carry load, the throwing machine that load is hung over to airflight platform is drawn together, skyThe preparation of taking off of middle flying platform;
S12, the real scene image that reference location video camera is taken, shows positioning shooting by ground remote controllerThe realtime graphic of machine;
S13, takes off, and arrives overhead, target location, by the many rotor wing unmanned aerial vehicles of ground remote controller controlLift-off and flight;
S14, hovering, the height of throw of landing distance ground 1m-100m;
S15, accurate adjustment hovering position, obtains ground environment image by positioning shooting machine, controls groundRemote control hovers in the air many rotor wing unmanned aerial vehicles, and flight is to height of throw; When positioning shooting machineObtain in ground environment image, when target location is positioned at image center, locate successfully target location;
S16, sends voice signal: propagate voice signal by the microphone on ground remote controller;
S17, broadcast speech signal: the directed voice broadcaster on airborne task device is by the language receivingTone signal is broadcasted;
S18, remote control is opened throwing machine and is drawn together electronic switch: draw together by controlling ground remote controller control throwing machineRemote control switch, and send the throwing machine that wireless communication signals opens on airborne task device and draw together electronic switch;
S19, throws in load: load departs from throwing machine to be drawn together, and completes and throws in action;
S20, by positioning shooting machine capture video and monitor load: by positioning shooting machine Real-time Obtaining bagDraw together the video image of load, complete the monitoring to load, video image is transferred to ground by positioning shooting machineRemote control, shows by video display screen;
S21, confirms to throw load and is accepted: throw load by the observation of positioning shooting machine and be accepted, groundRemote control obtains described video image, judges that by described video image load is received;
S22, lift-off, makes a return voyage, landing; By controlling the former road of the many rotor wing unmanned aerial vehicles of ground remote controller controlReturn.
2. the load low latitude location throwing method based on many rotor wing unmanned aerial vehicles as claimed in claim 1, itsBe characterised in that: described airflight platform is four rotors or six rotor wing unmanned aerial vehicles.
3. the load low latitude location throwing method based on many rotor wing unmanned aerial vehicles as claimed in claim 1, itsBe characterised in that: the folding that the throwing machine in described airborne task device is drawn together, by telecontrol electronic switch control, is controlledSignal processed is uploaded from ground remote controller, passes to distant by the built-in flight control computer of airflight platformControl electronic switch.
4. the load low latitude location throwing method based on many rotor wing unmanned aerial vehicles as described in claim 1 and 2,It is characterized in that: described positioning shooting machine passes through the first visual angle photographic images, and passes on ground by microwave figureOn the video display screen of face remote control, show in real time the unmanned seat in the plane of ancillary terrestrial aircrew accurate adjustmentPut, and judge that disaster-stricken trapped personnel is to throwing the reception condition of article.
5. the load low latitude location throwing method based on many rotor wing unmanned aerial vehicles as described in claim 1 and 2,It is characterized in that: described directed voice broadcaster comprises ground station control system and broadcasting service terminal,Receive and throw article for the disaster-stricken trapped personnel of suitcase, utilize the microphone of ground remote controller, pass through languageThe mode of sound dialing, propagandas directed to communicate from ground, from aerial platform broadcast, speaks, and sound is mainly aimed at groundPropagate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610036966.XA CN105599900A (en) | 2016-01-20 | 2016-01-20 | Low-altitude positioning load air-drop method based on multi-rotor unmanned aerial vehicle |
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| CN201610036966.XA CN105599900A (en) | 2016-01-20 | 2016-01-20 | Low-altitude positioning load air-drop method based on multi-rotor unmanned aerial vehicle |
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Cited By (17)
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|---|---|---|---|---|
| CN106530839A (en) * | 2016-11-30 | 2017-03-22 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle assembly line type takeoff and landing method based on double ground stations |
| CN106598067A (en) * | 2016-12-07 | 2017-04-26 | 中国人民武装警察部队总医院 | Combined medical disaster rescue system and method based on multi-UAVs |
| CN106657919A (en) * | 2017-01-06 | 2017-05-10 | 四川克瑞斯航空科技有限公司 | Unmanned aerial vehicle device applied to express fixed point delivery |
| CN106708093A (en) * | 2017-01-17 | 2017-05-24 | 广东容祺智能科技有限公司 | Multistage intelligent unmanned aerial vehicle (UAV) throwing system |
| CN106950997A (en) * | 2017-05-11 | 2017-07-14 | 北京京东尚科信息技术有限公司 | The method and device that unmanned plane is independently unloaded |
| CN107105142A (en) * | 2017-04-27 | 2017-08-29 | 烟台中飞海装科技有限公司 | A kind of unmanned plane delivery system |
| CN107719683A (en) * | 2017-10-13 | 2018-02-23 | 北京臻迪科技股份有限公司 | A kind of control method and device of unmanned plane carry |
| CN108382596A (en) * | 2018-02-12 | 2018-08-10 | 曾浩 | A kind of unmanned plane particulate matter delivery device |
| CN109479119A (en) * | 2016-07-22 | 2019-03-15 | 深圳市大疆创新科技有限公司 | The System and method for of UAV interactive video broadcast |
| CN109573040A (en) * | 2019-01-31 | 2019-04-05 | 吉林大学 | A kind of emergency materials storage device based on cloud storage |
| CN110692027A (en) * | 2017-06-05 | 2020-01-14 | 杭州零零科技有限公司 | System and method for providing easy-to-use release and automatic positioning of drone applications |
| CN112960116A (en) * | 2021-01-27 | 2021-06-15 | 湖南迈克森伟电子科技有限公司 | Aerial material delivery platform of close-range unmanned aerial vehicle |
| CN113256840A (en) * | 2021-07-14 | 2021-08-13 | 交通运输部天津水运工程科学研究所 | Port equipment inspection system based on unmanned aerial vehicle |
| CN113933871A (en) * | 2021-10-15 | 2022-01-14 | 贵州师范学院 | Flood disaster detection system based on unmanned aerial vehicle and Beidou positioning |
| CN114633885A (en) * | 2022-05-12 | 2022-06-17 | 长安大学 | Split type geological disaster monitoring instrument deployed by unmanned aerial vehicle and deployment method thereof |
| CN115779299A (en) * | 2022-11-15 | 2023-03-14 | 亿航智能设备（广州）有限公司 | Automatic fire extinguishing system and method for unmanned aerial vehicle |
| CN116483128A (en) * | 2023-06-19 | 2023-07-25 | 湖南林科达信息科技有限公司 | Unmanned aerial vehicle multitasking load device conversion method and system |
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| CN109479119A (en) * | 2016-07-22 | 2019-03-15 | 深圳市大疆创新科技有限公司 | The System and method for of UAV interactive video broadcast |
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| CN106708093A (en) * | 2017-01-17 | 2017-05-24 | 广东容祺智能科技有限公司 | Multistage intelligent unmanned aerial vehicle (UAV) throwing system |
| CN107105142A (en) * | 2017-04-27 | 2017-08-29 | 烟台中飞海装科技有限公司 | A kind of unmanned plane delivery system |
| CN106950997A (en) * | 2017-05-11 | 2017-07-14 | 北京京东尚科信息技术有限公司 | The method and device that unmanned plane is independently unloaded |
| CN110692027B (en) * | 2017-06-05 | 2022-11-22 | 杭州零零科技有限公司 | System and method for providing easy-to-use release and automatic positioning of drone applications |
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| CN107719683A (en) * | 2017-10-13 | 2018-02-23 | 北京臻迪科技股份有限公司 | A kind of control method and device of unmanned plane carry |
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