CN106647785B - Unmanned aerial vehicle parking apron control method and device - Google Patents
Unmanned aerial vehicle parking apron control method and device Download PDFInfo
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- CN106647785B CN106647785B CN201611033858.3A CN201611033858A CN106647785B CN 106647785 B CN106647785 B CN 106647785B CN 201611033858 A CN201611033858 A CN 201611033858A CN 106647785 B CN106647785 B CN 106647785B
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0858—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted for vertical take-off of aircraft
Abstract
The invention discloses a method for controlling an unmanned aerial vehicle parking apron, which comprises the following steps: when detecting that a first unmanned machine flies into a preset distance range, sending a flight attitude request to the first unmanned machine; acquiring a flight attitude returned by the first unmanned aerial vehicle, wherein the flight attitude comprises a flight direction and a flight angle of the first unmanned aerial vehicle, and the flight angle comprises a first pitch angle and a first flip angle; adjusting the attitude of the air park according to the acquired flight attitude, wherein the attitude of the air park comprises a second pitch angle and a second turnover angle; and when the attitude of the air park is adjusted to be the same as the flight attitude of the first unmanned machine, sending information for allowing the first unmanned machine to park to the air park when the first unmanned machine receives the information for allowing the first unmanned machine to park to the air park. In addition, the invention also discloses a device for controlling the unmanned aerial vehicle parking apron. By adopting the invention, the unmanned aerial vehicle can be ensured to stably land on the parking apron, and the damage to the unmanned aerial vehicle is avoided.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a device for controlling an unmanned aerial vehicle parking apron.
Background
Unmanned aerial vehicle is the aerial vehicle that does not carry on operating personnel, installs equipment such as autopilot, program control device on the aircraft, adopts aerodynamic to provide required lift for the aircraft, can realize automatic flight or long-range guide. At present common unmanned aerial vehicle adopts the mode of vertical lift to take off and land, but because unmanned aerial vehicle can receive the influence of wind-force at the flight in-process and arouse the fuselage slope, or the topography when landing is not flat enough, leads to the unable steady landing of unmanned aerial vehicle to cause the fuselage to damage. Therefore, the problem that the unmanned aerial vehicle cannot guarantee stable landing and is easy to damage exists in the prior art.
Disclosure of Invention
Based on this, for the technical problem that unmanned aerial vehicle can not guarantee steady landing among the solution conventional art, easy damage, specially proposed an unmanned aerial vehicle air park control method.
An unmanned aerial vehicle parking apron control method comprises the following steps:
when detecting that a first unmanned machine flies into a preset distance range, sending a flight attitude request to the first unmanned machine;
acquiring a flight attitude returned by the first unmanned aerial vehicle, wherein the flight attitude comprises a flight direction and a flight angle of the first unmanned aerial vehicle, and the flight angle comprises a first pitch angle and a first flip angle;
adjusting the attitude of the air park according to the acquired flight attitude, wherein the attitude of the air park comprises a second pitch angle and a second turnover angle;
and when the attitude of the air park is adjusted to be the same as the flight attitude of the first unmanned machine, sending information for allowing the first unmanned machine to park to the air park when the first unmanned machine receives the information for allowing the first unmanned machine to park to the air park.
Optionally, before the detecting that the first unmanned aerial vehicle flies into the preset distance range, the method further includes:
and acquiring request information of the first unmanned machine parking, and measuring the distance between the first unmanned machine and the apron through a distance sensor.
Optionally, the adjusting the attitude of the apron to be the same as the first unmanned flight attitude includes:
the air park is located in the first unmanned-aircraft flight direction, the second pitch angle of the air park is adjusted to be the same as the first unmanned-aircraft first pitch angle, and the second turnover angle of the air park is adjusted to be the same as the first unmanned-aircraft first turnover angle.
Optionally, the positioning of the apron in the first unmanned flight direction includes:
and sending the position information of the air park to the first unmanned machine, so that the first unmanned machine adjusts the flight direction to the air park in the flight direction of the first unmanned machine according to the position information.
Optionally, the method further includes:
and after the first unmanned aerial vehicle stops, when request information of stopping of the second unmanned aerial vehicle is received, response information which cannot stop is returned to the second unmanned aerial vehicle.
In addition, for the technical problem that unmanned aerial vehicle can not guarantee steady descending among the solution conventional art, easy damage, an unmanned aerial vehicle air park controlling means has been proposed in particular.
An unmanned aerial vehicle air park control device, comprising:
the flight attitude request module is used for sending a flight attitude request to a first unmanned machine when the first unmanned machine is detected to fly into a preset distance range;
the flight attitude acquisition module is used for acquiring a flight attitude returned by the first unmanned aerial vehicle, wherein the flight attitude comprises a flight direction and a flight angle of the first unmanned aerial vehicle, and the flight angle comprises a first pitch angle and a first flip angle;
the air park attitude adjusting module is used for adjusting the air park attitude according to the acquired flight attitude, and the air park attitude comprises a second pitch angle and a second turnover angle;
the parking confirmation module is used for sending parking permission information to the first unmanned machine when the attitude of the air park is adjusted to be the same as the flight attitude of the first unmanned machine, so that the first unmanned machine can be parked to the air park when receiving the parking permission information.
Optionally, the device further includes a docking request obtaining module, configured to obtain request information for the first unmanned aerial vehicle to dock before the first unmanned aerial vehicle is detected to fly into the preset distance range, and measure the distance between the first unmanned aerial vehicle and the apron through a distance sensor.
Optionally, the apron attitude adjusting module is further configured to adjust a second pitch angle of the apron to be the same as the first unmanned pitch angle, and adjust a second roll-over angle of the apron to be the same as the first unmanned first roll-over angle.
Optionally, the apron attitude adjustment module is further configured to send position information of the apron to the first unmanned machine, so that the first unmanned machine adjusts the flight direction according to the position information until the apron is located in the flight direction of the first unmanned machine.
Optionally, the stop request obtaining module is further configured to return response information that the unmanned aerial vehicle cannot stop to the second unmanned aerial vehicle when receiving the request information for stopping of the second unmanned aerial vehicle after the first unmanned aerial vehicle stops.
The embodiment of the invention has the following beneficial effects:
before detecting that unmanned aerial vehicle stops leaning on, through sending gesture request information to unmanned aerial vehicle, acquire unmanned aerial vehicle's real-time flight gesture, including unmanned aerial vehicle's direction of flight and angle to adjust the angle of pitch and the flip angle of air park according to unmanned aerial vehicle's flight gesture, make the air park gesture the same with the unmanned aerial vehicle gesture that is about to descend, guarantee that unmanned aerial vehicle can steadily descend on the air park, avoid damaging unmanned aerial vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a schematic illustration of an unmanned aircraft apron according to an embodiment;
fig. 2 is a flow chart of a method for controlling an unmanned aerial vehicle apron in one embodiment;
FIG. 3 is a schematic view of a flight attitude of an UAV in one embodiment;
FIG. 4 is a schematic view of a flight attitude of an UAV in one embodiment;
FIG. 5 is a schematic illustration of an apron attitude in one embodiment;
FIG. 6 is a schematic illustration of an apron attitude in one embodiment;
FIG. 7 is a schematic illustration of a flight attitude and a tarmac attitude of an unmanned aerial vehicle according to one embodiment;
fig. 8 is a block diagram of an unmanned aerial vehicle apron control device in one embodiment;
fig. 9 is a hardware architecture diagram of a computer system for operating the above-described unmanned airplane apron control method in one embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to solve the technical problems that an unmanned aerial vehicle cannot guarantee stable landing and is easy to damage in the traditional technology, the method for controlling the parking apron of the unmanned aerial vehicle is specially provided. The apron in this embodiment includes a panel, an adjusting bracket and a controller, as shown in fig. 1, wherein the panel is connected to the adjusting bracket, the adjusting bracket is connected to the controller, a sensor is built in the panel to measure an angle of the apron and send a measurement result to the controller, and the controller adjusts the angle of the apron through the adjusting bracket according to a received signal.
Referring to fig. 2, the method is performed by the steps of:
step S102: and when detecting that a first unmanned machine flies into a preset distance range, sending a flight attitude request to the first unmanned machine.
Step S104: and acquiring the flying attitude returned by the first unmanned aerial vehicle, wherein the flying attitude comprises the flying direction and the flying angle of the first unmanned aerial vehicle, and the flying angle comprises a first pitch angle and a first flip angle.
In this embodiment, be provided with communication module on the parking apron, can communicate with unmanned aerial vehicle, when receiving the request information that carries out the berth that unmanned aerial vehicle sent, start distance sensor and measure unmanned aerial vehicle to the distance of parking apron, when this distance is less than certain threshold value, send the flight attitude request to the unmanned aerial vehicle about to berth, wherein, unmanned aerial vehicle's flight attitude includes direction of flight and angle of flight, and angle of flight includes first pitch angle and first flip angle. As shown in fig. 3 and 4, the first pitch angle is an included angle between the body of the unmanned aerial vehicle and the horizontal plane in the flight direction, and the first flip angle is an included angle between the body of the unmanned aerial vehicle and the horizontal plane in the vertical flight direction.
The flight direction of the drone can be obtained by a magnetometer sensor built into the drone. The magnetometer sensor is also called as a geomagnetic sensor and a magnetic sensor, and can be used for obtaining the included angles between the equipment and the east, west, south and north directions and the motion direction of the equipment by testing the intensity and direction of the magnetic field. The pitch angle and the roll angle may be measured by a gyroscope. Still include the accelerometer in unmanned aerial vehicle inside, through measuring unmanned aerial vehicle at the atress condition of certain axial, come the ascending acceleration of perception arbitrary direction, can obtain unmanned aerial vehicle's displacement.
In one embodiment, the unmanned aerial vehicle sends a parking request message to the apron before landing, after the apron receives the parking request message, the distance between the unmanned aerial vehicle and the apron is measured by the distance sensor to be 10m, the distance threshold value of the apron allowing parking is set to be 5m, and at the moment, the distance between the unmanned aerial vehicle and the apron is beyond the threshold value, and the apron continues distance detection. And supposing that the distance between the unmanned aerial vehicle and the parking apron is detected to be 4m and smaller than the set distance threshold subsequently, the parking apron sends an instruction to the unmanned aerial vehicle to request to acquire the real-time flight attitude of the unmanned aerial vehicle. The unmanned aerial vehicle sends the flight direction and flight angle information acquired by sensors such as a magnetometer and a gyroscope to the parking apron. In this embodiment, can count the flight distance that unmanned aerial vehicle keeps the flight attitude unchangeable at the landing in-process through certain experiment, set up the distance threshold value that allows to park of air park according to this distance value to make unmanned aerial vehicle and air park process posture cooperation more accurate.
Step S106: and adjusting the attitude of the air park according to the acquired flight attitude, wherein the attitude of the air park comprises a second pitch angle and a second turnover angle.
Step S108: and when the attitude of the air park is adjusted to be the same as the flight attitude of the first unmanned machine, sending information for allowing the first unmanned machine to park to the air park when the first unmanned machine receives the information for allowing the first unmanned machine to park to the air park.
In this embodiment, after the air park receives the flight attitude sent by the unmanned aerial vehicle, the attitude of the air park is adjusted according to the first pitch angle and the first roll-over angle of the unmanned aerial vehicle, so that the second pitch angle is the same as the first pitch angle of the unmanned aerial vehicle, and the second roll-over angle of the air park is the same as the first roll-over angle of the unmanned aerial vehicle. As shown in fig. 5 and 6, the second pitch angle is an angle between the panel of the apron and the horizontal plane in the flight direction of the drone, and the second roll angle is an angle between the panel of the apron and the horizontal plane perpendicular to the flight direction of the drone. For example, as shown in fig. 7, the drone maintains the attitude of the flight while approaching the tarmac, and the sensors on the drone measure a first pitch angle of 20 degrees down from the horizontal and a first roll angle of 5 degrees down from the horizontal. The parking apron reads out the value of first pitch angle and first flip angle therein after receiving unmanned aerial vehicle's flight gesture to adjust the parking apron gesture the same with unmanned aerial vehicle flight gesture, adjust the second pitch angle promptly and be the downward 20 degrees of skew horizontal plane, adjust the second flip angle and be the downward 5 degrees of skew horizontal plane, later send the information that allows the berth to unmanned aerial vehicle, receive unmanned aerial vehicle and berth. Therefore, when the original flight track of the unmanned aerial vehicle is kept to land, the unmanned aerial vehicle can land on the parking apron accurately, and damage is avoided.
In this embodiment, the unmanned aerial vehicle is in the landing process, and the apron sends position information to the unmanned aerial vehicle. After the unmanned aerial vehicle receives the position information of the air park, whether the air park is in the flight direction of the unmanned aerial vehicle is judged according to the position information and the flight track of the unmanned aerial vehicle. If the parking apron is just positioned in the flight direction of the unmanned aerial vehicle, the unmanned aerial vehicle keeps the original flight track to continuously fly; if the air park is outside the flight direction of the unmanned aerial vehicle, then the unmanned aerial vehicle adjusts the flight direction in time according to the deviation of the position of the air park and the flight track of the unmanned aerial vehicle, corrects the track, and enables the unmanned aerial vehicle to land on the air park accurately. For example, in the process that the unmanned aerial vehicle approaches the apron, the position information of the acquired apron is longitude 114 degrees and latitude 26 degrees at a position 4m away from the apron, and the unmanned aerial vehicle has a deviation of 0.5m when reaching the apron according to the judgment of the flight trajectory calculated according to the real-time flight direction of the unmanned aerial vehicle, and the control system of the unmanned aerial vehicle corrects the flight direction of the unmanned aerial vehicle, so that the apron is located in the flight direction of the unmanned aerial vehicle.
In one embodiment, when the apron receives the request message for the second drone to stop after receiving the drone to stop, the apron returns the response message that the drone cannot stop to the second drone. For example, unmanned aerial vehicle a has been parked on the apron, another unmanned aerial vehicle B flies to the apron this moment, when unmanned aerial vehicle B detected the apron, sends the parking request to the apron, then the apron then returns the information that can't park to unmanned aerial vehicle B this moment, refuses unmanned aerial vehicle B's parking request to avoid a plurality of unmanned aerial vehicles to park and the problem that the apron space is not enough leads to unmanned aerial vehicle to damage.
In one embodiment, the apron may also send a broadcast signal to surrounding drones by broadcast to detect whether any drone is about to stop. For example, an identification position is added to the code of the communication information between the apron and the unmanned aerial vehicle, if the identification position in the information sent by the apron is "0", it indicates that no unmanned aerial vehicle is parked on the apron at this time, and if the identification position is "1", it indicates that the unmanned aerial vehicle is parked on the apron at this time, and no other unmanned aerial vehicle is allowed to land on the apron; and in response information returned by the unmanned aerial vehicle, if the identification position is '0', the unmanned aerial vehicle is not ready to be parked on the parking apron, and if the identification position is '1', the unmanned aerial vehicle is about to be parked on the parking apron, so that the communication efficiency is improved.
In another embodiment, the implementation of the present invention is set forth below in connection with a specific application scenario. In the application scene, the distance threshold value of the parking apron allowing parking is 3m, when the parking request of the unmanned aerial vehicle C is received, the fact that the unmanned aerial vehicle C is 3m away from the parking apron is detected, and the flight attitude request is sent to the unmanned aerial vehicle C.
When receiving a flight attitude request of the parking apron, the unmanned aerial vehicle C determines that the first pitch angle measured by the sensor is 15 degrees downwards away from the horizontal plane and the first roll-over angle is 10 degrees downwards away from the horizontal plane, and sends the flight attitude data to the parking apron.
After receiving the flight attitude of the unmanned aerial vehicle C, the air park reads the values of a first pitch angle and a first turnover angle, wherein the values are 15 degrees downwards deviated from the horizontal plane and 10 degrees downwards deviated from the horizontal plane respectively, and adjusts the attitude of the air park to be the same as the flight attitude of the unmanned aerial vehicle according to the data, namely, the second pitch angle is adjusted to be 15 degrees downwards deviated from the horizontal plane, and the second turnover angle is adjusted to be 10 degrees downwards deviated from the horizontal plane. And then sending the information allowing the unmanned aerial vehicle to stop, and receiving the stop of the unmanned aerial vehicle.
And then the parking apron receives the parking request of the unmanned aerial vehicle D, and at the moment, the parking apron returns the information that the unmanned aerial vehicle D cannot park due to the fact that the unmanned aerial vehicle C already parks on the parking apron.
In addition, for solving the technical problems that the unmanned aerial vehicle can not guarantee stable landing and is easy to damage in the conventional technology, the unmanned aerial vehicle parking apron control device is provided, as shown in fig. 8, and comprises a flight attitude request module 102, a flight attitude acquisition module 104, a parking apron attitude adjustment module 106, a parking confirmation module 108 and a parking request acquisition module 110, wherein:
the flight attitude request module 102 is configured to send a flight attitude request to a first unmanned machine when the first unmanned machine is detected to fly into a preset distance range;
a flight attitude obtaining module 104, configured to obtain a flight attitude returned by the first unmanned machine, where the flight attitude includes a flight direction and a flight angle of the first unmanned machine, and the flight angle includes a first pitch angle and a first roll-over angle;
the air park attitude adjusting module 106 is configured to adjust an air park attitude according to the acquired flight attitude, where the air park attitude includes a second pitch angle and a second roll-over angle;
a docking confirmation module 108, configured to send information of allowing docking to the first unmanned machine when the attitude of the apron is adjusted to be the same as the flight attitude of the first unmanned machine, so that the first unmanned machine docks to the apron when receiving the information of allowing docking.
Optionally, the apparatus further includes a docking request obtaining module 110, configured to obtain request information for the first unmanned aerial vehicle to dock before the first unmanned aerial vehicle is detected to fly into the preset distance range, and measure a distance between the first unmanned aerial vehicle and the apron through a distance sensor.
Optionally, the apron attitude adjustment module 106 is further configured to adjust a second pitch angle of the apron to be the same as the first unmanned pitch angle, and adjust a second roll angle of the apron to be the same as the first unmanned first roll angle.
Optionally, the apron attitude adjustment module 106 is further configured to send the position information of the apron to the first unmanned machine, so that the first unmanned machine adjusts the flight direction according to the position information until the apron is located in the flight direction of the first unmanned machine.
Optionally, the docking request obtaining module 110 is further configured to, after receiving the first unmanned aerial vehicle docking, return response information that the second unmanned aerial vehicle cannot dock to the second unmanned aerial vehicle when receiving request information for docking of the second unmanned aerial vehicle.
The embodiment of the invention has the following beneficial effects:
before detecting that unmanned aerial vehicle stops leaning on, through sending gesture request information to unmanned aerial vehicle, acquire unmanned aerial vehicle's real-time flight gesture, including unmanned aerial vehicle's direction of flight and angle to adjust the angle of pitch and the flip angle of air park according to unmanned aerial vehicle's flight gesture, make the air park gesture the same with the unmanned aerial vehicle gesture that is about to descend, guarantee that unmanned aerial vehicle can steadily descend on the air park, avoid damaging unmanned aerial vehicle.
In one embodiment, as shown in fig. 9, a terminal 10 of a computer system based on von neumann architecture running the unmanned airplane apron control method described above is illustrated. The terminal device may include an external input interface 1001, a processor 1002, a memory 1003, and an output interface 1004, which are connected through a system bus. The external input interface 1001 may optionally include at least a network interface 10012. Memory 1003 can include external memory 10032 (e.g., a hard disk, optical or floppy disk, etc.) and internal memory 10034. The output interface 1004 may include at least a display 10042 or the like.
Specifically, the processor 1002 is configured to execute the following steps:
when detecting that a first unmanned machine flies into a preset distance range, sending a flight attitude request to the first unmanned machine;
acquiring a flight attitude returned by the first unmanned aerial vehicle, wherein the flight attitude comprises a flight direction and a flight angle of the first unmanned aerial vehicle, and the flight angle comprises a first pitch angle and a first flip angle;
adjusting the attitude of the air park according to the acquired flight attitude, wherein the attitude of the air park comprises a second pitch angle and a second turnover angle;
and when the attitude of the air park is adjusted to be the same as the flight attitude of the first unmanned machine, sending information for allowing the first unmanned machine to park to the air park when the first unmanned machine receives the information for allowing the first unmanned machine to park to the air park.
Optionally, before the detecting that the first unmanned aerial vehicle flies into the preset distance range, the method further includes:
and acquiring request information of the first unmanned machine parking, and measuring the distance between the first unmanned machine and the apron through a distance sensor.
Optionally, the adjusting the attitude of the apron to be the same as the first unmanned flight attitude includes:
the air park is located in the first unmanned-aircraft flight direction, the second pitch angle of the air park is adjusted to be the same as the first unmanned-aircraft first pitch angle, and the second turnover angle of the air park is adjusted to be the same as the first unmanned-aircraft first turnover angle.
Optionally, the positioning of the apron in the first unmanned flight direction includes:
and sending the position information of the air park to the first unmanned machine, so that the first unmanned machine adjusts the flight direction to the air park in the flight direction of the first unmanned machine according to the position information.
Optionally, the method further includes:
and after the first unmanned aerial vehicle stops, when request information of stopping of the second unmanned aerial vehicle is received, response information which cannot stop is returned to the second unmanned aerial vehicle.
In this embodiment, the method runs on a computer program, program files of the computer program are stored in the external memory 10032 of the computer system 10 based on the von neumann system, loaded into the internal memory 10034 during running, then compiled into machine code, and then transferred to the processor 1002 for execution, so that the logical flight attitude request module 102, flight attitude acquisition module 104, apron attitude adjustment module 106, parking confirmation module 108, and parking request acquisition module 110 are formed in the computer system 10 based on the von neumann system. And in the execution process of the unmanned aerial vehicle apron control method, all input parameters are received through the external input interface 1001, transferred to the memory 1003 for caching, then input into the processor 1002 for processing, and the processed result data is cached in the memory 1003 for subsequent processing or transferred to the output interface 1004 for outputting.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention, and it is therefore to be understood that the invention is not limited by the scope of the appended claims.
Claims (8)
1. An unmanned aerial vehicle apron control method, characterized in that the method comprises:
sending a broadcast signal to surrounding unmanned aerial vehicles in a broadcast mode, and detecting whether the unmanned aerial vehicles are about to stop, wherein the broadcast signal comprises an identification bit, a first value of the identification bit indicates that no unmanned aerial vehicle stops on the parking apron at the moment, and a second value of the identification bit indicates that the unmanned aerial vehicles stop on the parking apron at the moment;
when detecting that a first unmanned machine flies into a preset distance range, sending a flight attitude request to the first unmanned machine;
acquiring a flight attitude returned by the first unmanned aerial vehicle, wherein the flight attitude comprises a flight direction and a flight angle of the first unmanned aerial vehicle, and the flight angle comprises a first pitch angle and a first flip angle;
adjusting the attitude of the air park according to the acquired flight attitude, wherein the attitude of the air park comprises a second pitch angle and a second turnover angle;
when the attitude of the air park is adjusted to be the same as the flight attitude of the first unmanned machine, sending information for allowing parking to the first unmanned machine, so that the first unmanned machine can be parked to the air park when receiving the information for allowing parking;
and after the first unmanned aerial vehicle stops, when request information of stopping of the second unmanned aerial vehicle is received, response information which cannot stop is returned to the second unmanned aerial vehicle.
2. The unmanned-aerial-vehicle apron control method of claim 1, before the detecting that the first unmanned-aerial-vehicle flies into the preset distance range, further comprising:
and acquiring request information of the first unmanned machine parking, and measuring the distance between the first unmanned machine and the apron through a distance sensor.
3. The unmanned-aerial-vehicle apron control method of claim 1, wherein said adjusting the apron attitude to be the same as the first unmanned-aerial-vehicle flight attitude comprises:
the air park is located in the first unmanned-aircraft flight direction, the second pitch angle of the air park is adjusted to be the same as the first unmanned-aircraft first pitch angle, and the second turnover angle of the air park is adjusted to be the same as the first unmanned-aircraft first turnover angle.
4. The unmanned-aerial-vehicle apron control method of claim 3, wherein said apron being in the first unmanned-vehicle flight direction comprises:
and sending the position information of the air park to the first unmanned machine, so that the first unmanned machine adjusts the flight direction to the air park in the flight direction of the first unmanned machine according to the position information.
5. An unmanned aerial vehicle air park control device, characterized in that the device includes:
the parking request acquisition module is used for sending a broadcast signal to surrounding unmanned aerial vehicles in a broadcast mode and detecting whether the unmanned aerial vehicles are about to park, wherein the broadcast signal comprises an identification bit, a first value of the identification bit indicates that no unmanned aerial vehicle parks on the parking apron at the moment, and a second value of the identification bit indicates that the unmanned aerial vehicles are accepted to park on the parking apron at the moment;
the flight attitude request module is used for sending a flight attitude request to a first unmanned machine when the first unmanned machine is detected to fly into a preset distance range;
the flight attitude acquisition module is used for acquiring a flight attitude returned by the first unmanned aerial vehicle, wherein the flight attitude comprises a flight direction and a flight angle of the first unmanned aerial vehicle, and the flight angle comprises a first pitch angle and a first flip angle;
the air park attitude adjusting module is used for adjusting the air park attitude according to the acquired flight attitude, and the air park attitude comprises a second pitch angle and a second turnover angle;
the parking confirmation module is used for sending parking permission information to the first unmanned machine when the attitude of the air park is adjusted to be the same as the flight attitude of the first unmanned machine, so that the first unmanned machine can be parked to the air park when receiving the parking permission information;
the parking request acquisition module is further used for returning response information which cannot be parked to the second unmanned aerial vehicle when receiving the request information for parking the second unmanned aerial vehicle after the first unmanned aerial vehicle is parked.
6. The unmanned-aerial-vehicle apron control apparatus of claim 5, further comprising a landing request acquisition module for acquiring request information for the first unmanned vehicle landing before the first unmanned vehicle is detected to fly into the preset distance range, the distance between the first unmanned vehicle and the apron being measured by a distance sensor.
7. The unmanned-aerial-vehicle apron control apparatus of claim 5, wherein the apron attitude adjustment module is further configured to adjust a second pitch angle of the apron to be the same as the first unmanned pitch angle and to adjust a second roll angle of the apron to be the same as the first unmanned first roll angle.
8. The unmanned-aerial-vehicle apron control apparatus of claim 7, wherein the apron attitude adjustment module is further configured to send the apron location information to the first unmanned machine, such that the first unmanned machine adjusts the flight direction according to the location information until the apron is in the first unmanned-aerial-vehicle flight direction.
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| CN201611033858.3A CN106647785B (en) | 2016-11-16 | 2016-11-16 | Unmanned aerial vehicle parking apron control method and device |
| PCT/CN2017/073230 WO2018090494A1 (en) | 2016-11-16 | 2017-02-10 | Method and device for controlling apron for unmanned aerial vehicle |
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| CN201611033858.3A CN106647785B (en) | 2016-11-16 | 2016-11-16 | Unmanned aerial vehicle parking apron control method and device |
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| CN110727283A (en) * | 2019-09-23 | 2020-01-24 | 浙江驭云航空科技有限公司 | Combined type unmanned aerial vehicle flight attitude control device and control method thereof |
| CN111367266A (en) * | 2020-03-12 | 2020-07-03 | 北京三快在线科技有限公司 | Unmanned equipment route adjusting method and device and unmanned equipment system |
| CN113253759B (en) * | 2021-06-01 | 2021-11-30 | 北京三快在线科技有限公司 | Unmanned aerial vehicle distribution method and cargo storage cabinet for unmanned aerial vehicle distribution |
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| WO2018090494A1 (en) | 2018-05-24 |
| CN106647785A (en) | 2017-05-10 |
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