CN106681357A - Unmanned aerial vehicle backpack and method and system for controlling unmanned aerial vehicle on basis of unmanned aerial vehicle backpack - Google Patents
Unmanned aerial vehicle backpack and method and system for controlling unmanned aerial vehicle on basis of unmanned aerial vehicle backpack Download PDFInfo
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- CN106681357A CN106681357A CN201710019544.6A CN201710019544A CN106681357A CN 106681357 A CN106681357 A CN 106681357A CN 201710019544 A CN201710019544 A CN 201710019544A CN 106681357 A CN106681357 A CN 106681357A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004064 recycling Methods 0.000 claims abstract description 7
- 238000011084 recovery Methods 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 230000007613 environmental effect Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 2
- 230000005674 electromagnetic induction Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a method for controlling an unmanned aerial vehicle on the basis of an unmanned aerial vehicle backpack. The method comprises the following steps: judging whether the unmanned aerial vehicle meets a throwing condition or not when the unmanned aerial vehicle is positioned in a preset throwing region; if the unmanned aerial vehicle meets the throwing condition, controlling unmanned aerial vehicle catapulting equipment to throw the unmanned aerial vehicle; when a mechanical handle is positioned in a capturing range of a mechanical arm, judging whether the unmanned aerial vehicle meets a recycling condition or not; and if the unmanned aerial vehicle meets the recycling condition, controlling the mechanical arm to capture the mechanical handle of the unmanned aerial vehicle, and placing the unmanned aerial vehicle in a preset recycling region. The invention further discloses an unmanned aerial vehicle backpack and a system for controlling the unmanned aerial vehicle on the basis of the unmanned aerial vehicle backpack. The unmanned aerial vehicle can be automatically launched and recycled, so that the unmanned aerial vehicle is used automatically, and the use range of the unmanned aerial vehicle is wide.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, more particularly to a kind of method based on unmanned plane knapsack control unmanned plane,
System and unmanned plane knapsack.
Background technology
With the development of unmanned air vehicle technique, the application of unmanned plane is more and more extensive.During the utilization of unmanned plane, nobody
The transmitting and recovery of machine are two essential links.The transmitting of unmanned plane directly affects the use of unmanned plane, unmanned plane
Recovery be unmanned plane recycle with fully realize its be worth premise.At present, the mode of taking off of SUAV is by hand
Throw or rubber band ejection, unmanned plane of the weight more than one kilogram is thrown by hand or rubber band is launched and will become highly difficult, and mesh
Using force-landing or operating airborne parachute plus airborne air bag more than the way of recycling of preceding most of unmanned planes, forced landing is easily damaged winged
Machine, and add the mode of parachute using airborne air bag, the load of aircraft is increased, reduce the hours underway of aircraft.And it is existing
Unmanned plane transmitting and removal process be required to user participation, some be unfavorable for user operation in the environment of, just limit nothing
Man-machine use.
The content of the invention
It is a primary object of the present invention to solve in the prior art, the not enough automation of the transmitting of unmanned plane and removal process
Technical problem.
To achieve the above object, a kind of method that unmanned plane is controlled based on unmanned plane knapsack that the present invention is provided, the nothing
Man-machine knapsack includes unmanned aerial vehicle ejecting equipment, mechanical arm, and the unmanned plane includes mechanical handle, described based on unmanned plane knapsack
Controlling the method for unmanned plane includes：
When unmanned plane is located at preset throwing flies region, judge whether unmanned plane meets throwing and fly condition；
If unmanned plane meets throws the condition of flying, control the unmanned aerial vehicle ejecting equipment to throw and fly the unmanned plane；
When mechanical handle is located at the crawl scope of the mechanical arm, judge whether unmanned plane meets recovering condition；
When unmanned plane meets recovering condition, the mechanical arm is controlled to capture the mechanical handle of the unmanned plane, and will
The unmanned plane is placed in preset recovery zone.
Preferably, it is described to meet the winged condition of throwing at least including following one or more：
A, unmanned plane current electric quantity are more than or equal to predetermined threshold value；
B, current throwing fly clear on path；
C, current wind speed are less than or equal to predetermined threshold value；
D, receive throwing fly instruction.
Preferably, if the unmanned plane meets throws the condition of flying, control the unmanned aerial vehicle ejecting equipment throw fly it is described nobody
Include after the step of machine：
Cruise instruction is sent to the unmanned plane, the cruise instruction at least includes the routing information of cruise track, and connects
Receive the information that the unmanned plane is passed back in cruise.
Preferably, if the unmanned plane meets recovering condition, the mechanical arm is controlled to capture the machine of the unmanned plane
Tool handle, and the unmanned plane is placed in after preset recovery zone includes：
Detection unmanned plane current electric quantity, is used to judge whether unmanned plane currently meets charge condition；
When unmanned plane currently meets charge condition, charging connection is set up with the unmanned plane, for the unmanned plane
Charged.
Preferably, if the unmanned plane meets the condition of flying of throwing, control unmanned aerial vehicle ejecting equipment is thrown and flies the unmanned plane
Also include after step：
The positional information of unmanned plane knapsack is dynamically transmitted to unmanned plane, so that unmanned plane is according to the position of the unmanned plane knapsack
Confidence breath navigates to the unmanned plane knapsack position.
To achieve the above object, the present invention also provides a kind of unmanned plane knapsack,
The unmanned plane knapsack at least includes：Unmanned aerial vehicle ejecting equipment, mechanical arm, the unmanned plane knapsack also include：
First judge module, for when unmanned plane flies region positioned at preset throwing, judging whether unmanned plane meets throwing and fly
Condition；
Control module, if meet throwing the condition of flying for unmanned plane, controls the unmanned aerial vehicle ejecting equipment to throw and flies the nothing
It is man-machine；
Second judge module, during for the crawl scope that the mechanical arm is located at when mechanical handle, judges that unmanned plane is
It is no to meet recovering condition；
Recycling module, for when unmanned plane meets recovering condition, controlling the mechanical arm to capture the unmanned plane
Mechanical handle, and the unmanned plane is placed in preset recovery zone.
Preferably, the unmanned plane knapsack also includes：
Communication module, for sending cruise instruction to the unmanned plane, the cruise instruction at least includes cruise track
Routing information, and receive the information that the unmanned plane is passed back in cruise.
Preferably, the unmanned plane knapsack also includes：
Detection module, for detecting unmanned plane current electric quantity, is used to judge whether unmanned plane currently meets charge condition；
Charging module, for when unmanned plane currently meets charge condition, charging connection being set up with the unmanned plane, for
The unmanned plane is charged.
Preferably, the unmanned plane knapsack also includes：
Locating module, the positional information for dynamically transmitting unmanned plane knapsack to unmanned plane, so that unmanned plane is according to
The positional information of unmanned plane knapsack navigates to the unmanned plane knapsack position.
Additionally, to achieve the above object, the present invention also provides a kind of system that unmanned plane is controlled based on unmanned plane knapsack, institute
Stating the system based on unmanned plane knapsack control unmanned plane includes：
Unmanned plane knapsack, unmanned plane described above, the unmanned plane at least includes mechanical handle.
By the present invention, when unmanned plane is located at the winged region of preset throwing and current satisfaction throws the condition of flying, nobody can be passed through
Machine ejection device is thrown and flies unmanned plane；When unmanned plane is located at the capture area of mechanical arm and currently meets recovering condition, pass through
Mechanical arm captures the mechanical handle of unmanned plane and unmanned plane is placed in into recovery zone.Realize the automatic transmitting of unmanned plane and return
Receive, the use of unmanned plane is more automated, make the use scope of unmanned plane more extensive.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of method first embodiment of the present invention based on unmanned plane knapsack control unmanned plane；
Fig. 2 is the schematic flow sheet of method second embodiment of the present invention based on unmanned plane knapsack control unmanned plane；
Fig. 3 is the high-level schematic functional block diagram of unmanned plane knapsack first embodiment of the present invention；
Fig. 4 is the high-level schematic functional block diagram of unmanned plane knapsack second embodiment of the present invention；
Fig. 5 is the high-level schematic functional block diagram of unmanned plane knapsack 3rd embodiment of the present invention；
Fig. 6 is the high-level schematic functional block diagram of unmanned plane knapsack fourth embodiment of the present invention；
Fig. 7 is the schematic diagram of a scenario of system one embodiment of the present invention based on unmanned plane knapsack control unmanned plane.
The realization of the object of the invention, functional characteristics and advantage will be described further referring to the drawings in conjunction with the embodiments.
Specific embodiment
It should be appreciated that specific embodiment described herein is only used to explain the present invention, it is not intended to limit the present invention.
The present invention provides a kind of method that unmanned plane is controlled based on unmanned plane knapsack.The unmanned plane knapsack is equipped on vapour
Car, the unmanned plane knapsack at least includes：Unmanned aerial vehicle ejecting equipment, mechanical arm, the unmanned plane at least include：Manipulator
Handle.
Reference picture 1, Fig. 1 is that the flow of method first embodiment of the present invention based on unmanned plane knapsack control unmanned plane is illustrated
Figure.
In the present embodiment, unmanned plane knapsack is equipped on automobile, and the unmanned plane knapsack at least includes：Unmanned aerial vehicle ejecting sets
Standby, mechanical arm, the unmanned plane at least includes：Mechanical handle, based on unmanned plane knapsack control unmanned plane in the present embodiment
Method includes：
Step S110, when unmanned plane is located at preset throwing flies region, judges that whether currently meeting throwing flies condition；
In the present embodiment, fly region to preset throwing not limit, as long as unmanned plane is located at ejection device energy on the area
Enough launch unmanned plane；In the present embodiment, the setting for throwing the condition of flying is not limited, depending on situation.Specifically, throw
Winged region can be located at the automobile top for carrying unmanned plane knapsack.
Step S120, if unmanned plane meets throws the condition of flying, controls the unmanned aerial vehicle ejecting equipment to throw and flies the unmanned plane；
In the present embodiment, when current satisfaction throws the condition of flying, the mode that control ejection device throws winged unmanned plane is not limited, example
Such as, in an alternate embodiment of the present invention, it is possible to use Electromagnetical ejector is launched unmanned plane as ejection device.
Step S130, when mechanical handle is located at the crawl scope of the mechanical arm, judges whether unmanned plane meets back
Receipt part；
In the present embodiment, for mechanical handle, how the mode of the crawl scope for being located at mechanical arm is not limited, Ke Yishi
Unmanned plane, the positional information with mechanical arm, by navigation, reaches the crawl scope of mechanical arm as navigation target；Can be with
It is to be positioned by the position to unmanned plane, control automobile movement (unmanned plane knapsack is equipped on automobile) so that unmanned plane
Mechanical handle is located at the crawl scope of mechanical arm.
Step S140, when unmanned plane meets recovering condition, controls the mechanical arm to capture the machinery of the unmanned plane
Handle, and the unmanned plane is placed in preset recovery zone..
In the present embodiment, the setting for recovering condition is not limited.
Condition one, is judged based on electricity, sets a power threshold, judges whether unmanned plane current electric quantity is less than or equal to be somebody's turn to do
Threshold value.Such as, it is 20% to set threshold value, if detecting unmanned plane current electric quantity less than 20%, unmanned plane currently meets recovery
Condition.
Condition two, judges according to the unmanned plane current flight time, sets a flight time threshold value, judges that unmanned plane is worked as
Whether the preceding flight time is more than or equal to the threshold value.For example, set threshold value be 20 minutes (at present using battery as driving source nobody
Machine follow-on mission is about 30 minutes), if detecting the flight time of current unmanned plane more than 20 minutes, unmanned plane is currently full
Sufficient recovering condition.
Condition three, judges according to current environmental condition, for example, a wind speed threshold value is set, in judging current environment
Whether wind speed is more than or equal to the threshold value.For example, it is 10m/s to set threshold value, if being rapidly more than 10m/s in detecting current environment,
Then unmanned plane currently meets recovering condition.
Condition four, can also be the recovery order sent according to earth station reclaim the operation of unmanned plane.
The mode of the mechanical handle of control machinery arm crawl unmanned plane is not limited in the present embodiment.For example, the machine of unmanned plane
Tool handle, in folded state, when unmanned plane is located at the crawl scope of mechanical arm, and meets back in unmanned plane normal flight
During receipt part, control machinery handle stretches out, and mechanical arm determines the position of mechanical handle, carries out grasping movement.In the present embodiment,
Mechanical arm determines that the mode of mechanical handle is not limited, for example, being equipped with camera on mechanical arm, is determined by the picture of camera
The position of mechanical handle, so that control machinery arm is captured to mechanical handle.
In the present embodiment, the position of preset recovery zone does not limit, depending on concrete foundation is actually needed.
In the present embodiment, when unmanned plane flies region in preset throwing, judge currently whether meets the winged condition of throwing, it is full
Unmanned plane throw during sufficient condition and is flown；When unmanned plane is in the crawl scope of mechanical arm, whether judgement currently meets back
Receipt part, when meeting condition, control machinery arm is captured to the mechanical handle of unmanned plane, and unmanned plane is placed in into recovery area
Domain, to complete the recovery to unmanned plane.By the inventive method so that the transmitting of unmanned plane is more automated with removal process.
Further, in method another embodiment of the present invention based on unmanned plane knapsack control unmanned plane, current satisfaction is thrown
Winged condition at least includes following one or more：
A, unmanned plane current electric quantity are more than or equal to predetermined threshold value；
Under the conditions of this, default power threshold can not too small (unmanned plane be flown when electricity is low, flight time mistake
It is short, there is no Practical significance).For example, being set to 90%, when only unmanned plane electricity is more than or equal to 90%, throwing could be met and flown
Condition.
B, current throwing fly clear on path；
Under the conditions of this, winged path can be thrown to unmanned plane by camera and imaged, the picture to imaging is detected,
With the presence or absence of barrier, only when in the absence of barrier, just meet and throw the condition of flying.So that Cheng Gengjia peaces are flown in the throwing of unmanned plane
Entirely.
C, current wind speed are less than or equal to predetermined threshold value；
Under the conditions of this, default wind speed threshold value is not limited, and the wind loading rating with specific reference to unmanned plane is set, for example, be set to
10m/s, only wind speed are less than or equal to 10m/s, just meet and throw the condition of flying.By the limitation to wind speed, nothing has further been ensured
Man-machine flight safety.
D, receive throwing fly instruction.
Under the present embodiment, user can be by loading on the earth station of automobile, and the mode being manually operated sends throwing
Fly the instruction of unmanned plane, for carrying out throwing winged operation to unmanned plane.
In the present embodiment, it is configured to throwing the condition of flying based on unmanned plane current electric quantity, current environmental condition etc., is strengthened
Unmanned plane throws the security for flying over journey.
Further, the present invention based on unmanned plane knapsack control unmanned plane another embodiment of method in, step S120 it
After include：
Cruise instruction is sent to the unmanned plane, the cruise instruction at least includes the routing information of cruise track, and connects
Receive the information that the unmanned plane is passed back in cruise.
In the present embodiment, can send cruise instruction to unmanned plane by being equipped on the earth station of automobile, for example, working as
Before need unmanned plane to be cruised by the A points B points that fly to, then A points to the flight path information of B points are sent to unmanned plane, nobody
Machine is navigated according to the routing information for receiving, so as to complete aerial mission.In another alternative embodiment of the present invention, unmanned plane
Cruise task can also be what is prestored, after unmanned plane is flown by throwing, the cruise task for being prestored automatically.
In the present embodiment, the mode for receiving the information that unmanned plane is passed back is not limited.For example, being set up between unmanned plane and earth station
Direct wireless communication, to can also be and enter row information transfer by terminal.
In the present embodiment, the information type that unmanned plane is passed back is not limited.Can be unmanned plane shot in cruise picture, regard
Frequently, the information such as sound, the information of the environmental aspect that can be gathered with unmanned plane, such as air humidity, wind speed, temperature etc..
In the present embodiment, can be by the flight path of earth station's real-time control unmanned plane, and in unmanned plane during flying process
In carry out data transmission with unmanned plane, increase the practicality that unmanned plane is used.
Reference picture 2, Fig. 2 is that the flow of method second embodiment of the present invention based on unmanned plane knapsack control unmanned plane is illustrated
Figure.In the present embodiment, include after step S140：
Step S150, detects unmanned plane current electric quantity, is used to judge whether unmanned plane currently meets charge condition；
In the present embodiment, judge mode that whether unmanned plane currently meet charge condition not according to unmanned plane current electric quantity
Limit.For example, a threshold value is set, such as 20%, the electricity of unmanned plane is detected, and compare whether the electricity of unmanned plane is less than or equal to
20%, if so, then unmanned plane currently meets charge condition.
Step S160, when unmanned plane currently meets charge condition, charging connection is set up with the unmanned plane, for institute
Unmanned plane is stated to be charged.
In the present embodiment, the mode for setting up charging connection with unmanned plane is not limited, such as adopted between unmanned plane and charging module
Wireless connection is carried out with modes such as wifi, bluetooths.After charging connection is set up, reality can be carried out between unmanned plane and charging module
When radio communication, carry out data transmission, such as current charge condition is fed back to charging module by unmanned plane in real time.
In the present embodiment, when unmanned plane meets charge condition, the mode that control charging module is charged to unmanned plane
Do not limit, can be the mode of wired charging, or the mode of wireless charging.For example, being charged by way of wired charging
Can be, automobile is loaded with power supply that, by mechanical arm, the dotted line that fills that will connect power supply accesses unmanned plane charging hole.Again for example, logical
Crossing the mode of electromagnetic induction carries out wireless charging to unmanned plane, such as automobile is loaded with launching the device of electromagnetic wave, unmanned plane
The device for receiving electromagnetic wave is mounted with, the electromagnetic wave that unmanned plane will be received is converted into electric energy, for being charged to battery.
In the present embodiment, after unmanned plane is reclaimed, unmanned plane electricity is detected, if detect electricity be less than or
Equal to predetermined threshold value, just unmanned plane is charged, reduce manual operation so that the use of unmanned plane is more convenient.
Further, in method another embodiment of the present invention based on unmanned plane knapsack control unmanned plane, based on unmanned plane
The method of knapsack control unmanned plane also includes：
The positional information of unmanned plane knapsack is dynamically transmitted to unmanned plane, so that unmanned plane is according to the position of the unmanned plane knapsack
Confidence breath navigates to the unmanned plane knapsack position.
In the present embodiment, accurately grasp the position of unmanned plane knapsack in real time for the ease of unmanned plane, channel radio can be used
The mode of letter, sends positional information so that unmanned plane can pass through after flying out to unmanned plane in real time or at regular intervals
The positional information is navigated, flight to unmanned plane knapsack position.
The present invention further provides a kind of unmanned plane knapsack, the unmanned plane knapsack is equipped on automobile, and the unmanned plane knapsack is extremely
Include less：Unmanned aerial vehicle ejecting equipment, mechanical arm.
Reference picture 3, Fig. 3 is the high-level schematic functional block diagram of unmanned plane knapsack first embodiment of the present invention.
In the present embodiment, unmanned plane knapsack also includes：
First judge module 110, when unmanned plane is located at preset throwing flies region, judges whether unmanned plane meets throwing and fly bar
Part；
In the present embodiment, fly region to preset throwing not limit, as long as unmanned plane is located at ejection device energy on the area
Enough launch unmanned plane；In the present embodiment, the setting for throwing the condition of flying is not limited, depending on situation.Specifically, throw
Winged region can be located at the automobile top for carrying unmanned plane knapsack.
Control module 120, if meet throwing the condition of flying for unmanned plane, controls the unmanned aerial vehicle ejecting equipment to throw winged described
Unmanned plane；
In the present embodiment, when current satisfaction throws the condition of flying, the mode that control ejection device throws winged unmanned plane is not limited, example
Such as, in an alternate embodiment of the present invention, it is possible to use Electromagnetical ejector is launched unmanned plane as ejection device.
Second judge module 130, during for the crawl scope that the mechanical arm is located at when mechanical handle, judges unmanned plane
Whether recovering condition is met；
In the present embodiment, the mode of crawl scope of mechanical arm how is located at for the mechanical handle of unmanned plane not
Limit, can be unmanned plane, and the positional information with mechanical arm, by navigation, reaches the crawl model of mechanical arm as navigation target
Enclose；It is also possible that being positioned by the position to unmanned plane, control automobile movement (unmanned plane knapsack is equipped on automobile) makes
Obtain the crawl scope that mechanical handle is located at mechanical arm.
Recycling module 140, for when unmanned plane meets recovering condition, controlling the mechanical arm to capture the unmanned plane
Mechanical handle, and the unmanned plane is placed in preset recovery zone.
In the present embodiment, the setting for recovering condition is not limited.
Condition one, is judged based on electricity, sets a power threshold, judges whether unmanned plane current electric quantity is less than or equal to be somebody's turn to do
Threshold value.Such as, it is 20% to set threshold value, if detecting unmanned plane current electric quantity less than 20%, unmanned plane currently meets recovery
Condition.
Condition two, judges according to the unmanned plane current flight time, sets a flight time threshold value, judges that unmanned plane is worked as
Whether the preceding flight time is more than or equal to the threshold value.For example, set threshold value be 20 minutes (at present using battery as driving source nobody
Machine follow-on mission is about 30 minutes), if detecting the flight time of current unmanned plane more than 20 minutes, unmanned plane is currently full
Sufficient recovering condition.
Condition three, judges according to current environmental condition, for example, a wind speed threshold value is set, in judging current environment
Whether wind speed is more than or equal to the threshold value.For example, it is 10m/s to set threshold value, if being rapidly more than 10m/s in detecting current environment,
Then unmanned plane currently meets recovering condition.
Condition four, can also be the recovery order sent according to earth station reclaim the operation of unmanned plane.
The mode of the mechanical handle of control machinery arm crawl unmanned plane is not limited in the present embodiment.For example, the machine of unmanned plane
Tool handle, in folded state, when unmanned plane is located at the crawl scope of mechanical arm, and meets back in unmanned plane normal flight
During receipt part, control machinery handle stretches out, and mechanical arm determines the position of mechanical handle, carries out grasping movement.In the present embodiment,
Mechanical arm determines that the mode of mechanical handle is not limited, for example, being equipped with camera on mechanical arm, is determined by the picture of camera
The position of mechanical handle, so that control machinery arm is captured to mechanical handle.
In the present embodiment, the position of preset recovery zone does not limit, depending on concrete foundation is actually needed.
In the present embodiment, when unmanned plane flies region in preset throwing, judge currently whether meets the winged condition of throwing, it is full
Unmanned plane throw during sufficient condition and is flown；When unmanned plane is in the crawl scope of mechanical arm, whether judgement currently meets back
Receipt part, when meeting condition, control machinery arm is captured to the mechanical handle of unmanned plane, and unmanned plane is placed in into recovery area
Domain, to complete the recovery to unmanned plane.By the inventive method so that the transmitting of unmanned plane is more automated with removal process.
Reference picture 4, Fig. 4 is the high-level schematic functional block diagram of unmanned plane knapsack second embodiment of the present invention.
In the present embodiment, unmanned plane knapsack also includes：
Communication module 150, for sending cruise instruction to the unmanned plane, the cruise instruction at least includes cruise track
Routing information, and receive unmanned plane information for passing back in cruise.
In the present embodiment, can send cruise instruction to unmanned plane by being equipped on the earth station of automobile, for example, working as
Before need unmanned plane to be cruised by the A points B points that fly to, then A points to the flight path information of B points are sent to unmanned plane, nobody
Machine is navigated according to the routing information for receiving, so as to complete aerial mission.In another alternative embodiment of the present invention, unmanned plane
Cruise task can also be what is prestored, after unmanned plane is flown by throwing, the cruise task for being prestored automatically.
In the present embodiment, the mode for receiving the information that unmanned plane is passed back is not limited.For example, being set up between unmanned plane and earth station
Direct wireless communication, to can also be and enter row information transfer by terminal.
In the present embodiment, the information type that unmanned plane is passed back is not limited.Can be unmanned plane shot in cruise picture, regard
Frequently, the information such as sound, the information of the environmental aspect that can be gathered with unmanned plane, such as air humidity, wind speed, temperature etc..
In the present embodiment, can be by the flight path of earth station's real-time control unmanned plane, and in unmanned plane during flying process
In carry out data transmission with unmanned plane, increase the practicality that unmanned plane is used.
Reference picture 5, Fig. 5 is the high-level schematic functional block diagram of unmanned plane knapsack 3rd embodiment of the present invention.
In the present embodiment, unmanned plane knapsack also includes：
Detection module 160, for detecting unmanned plane current electric quantity, is used to judge whether unmanned plane currently meets charging bar
Part；
In the present embodiment, judge mode that whether unmanned plane currently meet charge condition not according to unmanned plane current electric quantity
Limit.For example, a threshold value is set, such as 20%, the electricity of unmanned plane is detected, and compare whether the electricity of unmanned plane is less than or equal to
20%, if so, then unmanned plane currently meets charge condition.
Charging module 170, for when unmanned plane currently meets charge condition, charging connection being set up with the unmanned plane,
For being charged to the unmanned plane.
In the present embodiment, the mode for setting up charging connection with unmanned plane is not limited, such as adopted between unmanned plane and charging module
Wireless connection is carried out with modes such as wifi, bluetooths.After charging connection is set up, reality can be carried out between unmanned plane and charging module
When radio communication, carry out data transmission, such as current charge condition is fed back to charging module by unmanned plane in real time.
In the present embodiment, when unmanned plane meets charge condition, the mode that control charging module is charged to unmanned plane
Do not limit, can be the mode of wired charging, or the mode of wireless charging.For example, being charged by way of wired charging
Can be, automobile is loaded with power supply that, by mechanical arm, the dotted line that fills that will connect power supply accesses unmanned plane charging hole.Again for example, logical
Crossing the mode of electromagnetic induction carries out wireless charging to unmanned plane, such as automobile is loaded with launching the device of electromagnetic wave, unmanned plane
The device for receiving electromagnetic wave is mounted with, the electromagnetic wave that unmanned plane will be received is converted into electric energy, for being charged to battery.
In the present embodiment, after unmanned plane is reclaimed, unmanned plane electricity is detected, if detect electricity be less than or
Equal to predetermined threshold value, just unmanned plane is charged, reduce manual operation so that the use of unmanned plane is more convenient.
Reference picture 6, Fig. 6 is the high-level schematic functional block diagram of unmanned plane knapsack fourth embodiment of the present invention.
In the present embodiment, unmanned plane knapsack also includes：
Locating module 180, the positional information for dynamically transmitting unmanned plane knapsack to unmanned plane, so that unmanned plane is according to institute
The positional information for stating unmanned plane knapsack navigates to the unmanned plane knapsack position.
In the present embodiment, accurately grasp the position of unmanned plane knapsack in real time for the ease of unmanned plane, channel radio can be used
The mode of letter, sends positional information so that unmanned plane can pass through after flying out to unmanned plane in real time or at regular intervals
The positional information is navigated, flight to unmanned plane knapsack position.
Reference picture 7, Fig. 7 is that the scene of system one embodiment of the present invention based on unmanned plane knapsack control unmanned plane is illustrated
Figure.
In the present embodiment, the system based on unmanned plane knapsack control unmanned plane includes：Unmanned plane knapsack 10 described above,
Unmanned plane 20, the unmanned plane knapsack 10 is equipped on automobile, and the unmanned plane 20 at least includes mechanical handle, for supplying unmanned plane
Knapsack 10 is captured, to reclaim.
In any optional real-time example of the present invention, unmanned plane is carried out by ejection device throw winged manipulation, by manipulator
Arm captures the mechanical handle of unmanned plane, completes the recovery to unmanned plane.Realize the automatic transmitting of unmanned plane and reclaim so that nothing
Man-machine use is more automated, and improves Consumer's Experience.
The preferred embodiments of the present invention are these are only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. it is a kind of based on unmanned plane knapsack control unmanned plane method, it is characterised in that the unmanned plane knapsack include unmanned plane
Ejection device, mechanical arm, the unmanned plane include mechanical handle, the method bag based on unmanned plane knapsack control unmanned plane
Include：
When unmanned plane is located at preset throwing flies region, judge whether unmanned plane meets throwing and fly condition；
If unmanned plane meets throws the condition of flying, control the unmanned aerial vehicle ejecting equipment to throw and fly the unmanned plane；
When mechanical handle is located at the crawl scope of the mechanical arm, judge whether unmanned plane meets recovering condition；
When unmanned plane meets recovering condition, the mechanical arm is controlled to capture the mechanical handle of the unmanned plane, and will be described
Unmanned plane is placed in preset recovery zone.
2. it is as claimed in claim 1 to be based on the method that unmanned plane knapsack controls unmanned plane, it is characterised in that the satisfaction is thrown and flown
Condition at least includes following one or more：
A, unmanned plane current electric quantity are more than or equal to predetermined threshold value；
B, current throwing fly clear on path；
C, current wind speed are less than or equal to predetermined threshold value；
D, receive throwing fly instruction.
3. it is as claimed in claim 1 to be based on the method that unmanned plane knapsack controls unmanned plane, it is characterised in that if the unmanned plane
Meet and throw the condition of flying, then control the unmanned aerial vehicle ejecting equipment to include after throwing the step of flying the unmanned plane：
Cruise instruction is sent to the unmanned plane, the cruise instruction at least includes the routing information of cruise track, and receives institute
State the information that unmanned plane is passed back in cruise.
4. it is as claimed in claim 1 to be based on the method that unmanned plane knapsack controls unmanned plane, it is characterised in that if the unmanned plane
When meeting recovering condition, the mechanical arm is controlled to capture the mechanical handle of the unmanned plane, and the unmanned plane is placed in pre-
Put and include after recovery zone：
Detection unmanned plane current electric quantity, is used to judge whether unmanned plane currently meets charge condition；
When unmanned plane currently meets charge condition, charging connection is set up with the unmanned plane, for being carried out to the unmanned plane
Charge.
5. the method that unmanned plane is controlled based on unmanned plane knapsack as any one of claim 1,3 or 4, its feature exists
In if the unmanned plane meets the condition of flying of throwing, control unmanned aerial vehicle ejecting equipment is also wrapped after throwing the step of flying the unmanned plane
Include：
The positional information of unmanned plane knapsack is dynamically transmitted to unmanned plane, so that unmanned plane is believed according to the position of the unmanned plane knapsack
Breath navigates to the unmanned plane knapsack position.
6. a kind of unmanned plane knapsack, it is characterised in that the unmanned plane knapsack at least includes：Unmanned aerial vehicle ejecting equipment, manipulator
Arm, the unmanned plane knapsack also includes：
First judge module, for when unmanned plane flies region positioned at preset throwing, judging whether unmanned plane meets throwing and fly condition；
Control module, if meet throwing the condition of flying for unmanned plane, controls the unmanned aerial vehicle ejecting equipment to throw and flies the unmanned plane；
Second judge module, during for the crawl scope that the mechanical arm is located at when mechanical handle, judges whether unmanned plane is full
Sufficient recovering condition；
Recycling module, for when unmanned plane meets recovering condition, controlling the mechanical arm to capture the machinery of the unmanned plane
Handle, and the unmanned plane is placed in preset recovery zone.
7. unmanned plane knapsack as claimed in claim 6, it is characterised in that the unmanned plane knapsack also includes：
Communication module, for sending cruise instruction to the unmanned plane, the cruise instruction at least includes the path of cruise track
Information, and receive the information that the unmanned plane is passed back in cruise.
8. unmanned plane knapsack as claimed in claim 6, it is characterised in that the unmanned plane knapsack also includes：
Detection module, for detecting unmanned plane current electric quantity, is used to judge whether unmanned plane currently meets charge condition；
Charging module, for when unmanned plane currently meets charge condition, charging connection being set up with the unmanned plane, for institute
Unmanned plane is stated to be charged.
9. the unmanned plane knapsack as any one of claim 6,7 or 8, it is characterised in that the unmanned plane knapsack is also wrapped
Include：
Locating module, for unmanned plane dynamically transmission unmanned plane knapsack positional information, for unmanned plane according to it is described nobody
The positional information of machine knapsack navigates to the unmanned plane knapsack position.
10. it is a kind of based on unmanned plane knapsack control unmanned plane system, it is characterised in that it is described based on unmanned plane knapsack control nothing
Man-machine system includes the unmanned plane knapsack and unmanned plane described in any one of claim 6~9, wherein, the unmanned plane is extremely
Include mechanical handle less.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019544.6A CN106681357A (en) | 2017-01-11 | 2017-01-11 | Unmanned aerial vehicle backpack and method and system for controlling unmanned aerial vehicle on basis of unmanned aerial vehicle backpack |
| PCT/CN2017/079450 WO2018129818A1 (en) | 2017-01-11 | 2017-04-05 | Method and system for controlling unmanned aerial vehicle on basis of unmanned aerial vehicle backpack, and unmanned aerial vehicle backpack |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019544.6A CN106681357A (en) | 2017-01-11 | 2017-01-11 | Unmanned aerial vehicle backpack and method and system for controlling unmanned aerial vehicle on basis of unmanned aerial vehicle backpack |
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| Publication Number | Publication Date |
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| CN106681357A true CN106681357A (en) | 2017-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710019544.6A Pending CN106681357A (en) | 2017-01-11 | 2017-01-11 | Unmanned aerial vehicle backpack and method and system for controlling unmanned aerial vehicle on basis of unmanned aerial vehicle backpack |
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| CN (1) | CN106681357A (en) |
| WO (1) | WO2018129818A1 (en) |
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| CN108363405A (en) * | 2018-04-08 | 2018-08-03 | 广东华中科技大学工业技术研究院 | A kind of method and system of unmanned plane collaboration unmanned boat charging |
| CN108780322A (en) * | 2017-05-24 | 2018-11-09 | 深圳市大疆创新科技有限公司 | Method and apparatus and UAV system for controlling unmanned plane |
| WO2019019357A1 (en) * | 2017-07-24 | 2019-01-31 | 深圳市大疆创新科技有限公司 | Accompanying flight backpack for unmanned aerial vehicle and accompanying flight system for unmanned aerial vehicle |
| CN110661310A (en) * | 2019-08-30 | 2020-01-07 | 深圳供电局有限公司 | Charging device and unmanned aerial vehicle combination |
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| CN110530374B (en) * | 2019-10-08 | 2023-06-23 | 西安爱生技术集团公司 | Unmanned aerial vehicle astronomical hook recovery stage track deviation display method |
| CN114089777A (en) * | 2021-11-22 | 2022-02-25 | 广州市华科尔科技股份有限公司 | Control method and device for throwing unmanned aerial vehicle |
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| WO2018129818A1 (en) | 2018-07-19 |
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