CN110203087A - Charge level ground system and its charging method for the unmanned plane base station autonomous landing 5G - Google Patents

Charge level ground system and its charging method for the unmanned plane base station autonomous landing 5G Download PDF

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Publication number
CN110203087A
CN110203087A CN201910414615.1A CN201910414615A CN110203087A CN 110203087 A CN110203087 A CN 110203087A CN 201910414615 A CN201910414615 A CN 201910414615A CN 110203087 A CN110203087 A CN 110203087A
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unmanned plane
base station
signal
level ground
ultraviolet
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赵太飞
宫春杰
马倩文
李星善
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Xian University of Technology
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Xian University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/37—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles using optical position determination, e.g. using cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/08—Access point devices
    • H04W88/085—Access point devices with remote components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Signal Processing (AREA)
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  • Aviation & Aerospace Engineering (AREA)
  • Optical Communication System (AREA)

Abstract

Charge level ground system for the unmanned plane base station autonomous landing 5G, and including the 5G cellular base station communicated to connect with information processing centre, 5G cellular base station is equipped with charging level ground；Level ground charge equipped with charge position, hemispheric ultraviolet LED light source, environmental sensor, signal transmitter；Charge position is equipped with protective cover；Charging plate is additionally provided in charge position, the bottom for the signal receiver installation unmanned plane being wirelessly connected with signal transmitter；Utilize the method for the unmanned plane base station autonomous landing 5G charging level ground System guides unmanned plane charging, comprising the following steps: step 1, charge position reservation；Step 2, guidance unmanned plane landing；Step 3, unmanned plane charges；Step 4, unmanned plane sails out of charging level ground；The problem that can solve communication quality difference under extreme condition promotes the reliability of wireless ultraviolet light guidance unmanned plane.

Description

Charge level ground system and its charging method for the unmanned plane base station autonomous landing 5G
Technical field
The invention belongs to photoelectric information technical fields, and in particular to the unmanned plane base station autonomous landing 5G charge level ground system and its Charging method.
Background technique
With the fast development of unmanned plane industry and the continuous innovation of its industrial technology, unmanned plane is widely used in boat Multiple industries such as bat, aerial survey, inspection, agricultural, logistics, security protection.For unmanned plane due to its flexibility height, mobility is good, reaction Speed is fast, and operation requires low advantage, gradually plays increasingly important role in the fields such as military, civilian, scientific and technological. Gradually with the appearance of the relevant policies such as country's, unmanned plane control open to low latitude domain in recent years and 5G mobile communication technology Maturation, unmanned plane industry and market all will further be developed.
Unmanned plane, which is networked by 5G communication interface and completes AUTONOMOUS TASK, has become possibility.Although unmanned plane AUTONOMOUS TASK meeting It offers convenience to multiple industries, but due to long-term autonomous operation, energy resource supply of continuing a journey becomes the critical issue having to take into account that.Electricity The patrol unmanned machine of the line of force, express transportation unmanned plane, emergency management and rescue unmanned plane etc. are required to long-time, execute task at a distance, but Most electronic multi-rotor unmanned aerial vehicle is typically only capable to non-stop flight about 1 hour on the market at present, and it is complete that this is not able to satisfy unmanned plane Weather, uninterrupted, AUTONOMOUS TASK demand.Although unmanned plane can carry high capacity cell to extend the utonomous working period, This undoubtedly increases itself load, can reduce the operating efficiency of unmanned plane, not tackle the problem at its root, so unmanned plane It is the prefered method for solving its long-term autonomous operation that energy resource supply can be obtained nearby during AUTONOMOUS TASK.
Summary of the invention
To overcome above-mentioned the deficiencies in the prior art, the object of the present invention is to provide the unmanned plane base station autonomous landing 5G charging level grounds 5G mobile communication and wireless ultraviolet light are combined guidance unmanned plane recharging, solve existing nothing by system and its charging method The problem that man-machine needs are round-the-clock, uninterrupted, AUTONOMOUS TASK but cruise duration are short.
To achieve the above object, the technical solution adopted by the present invention is that: the unmanned plane base station autonomous landing 5G charge level ground system, Including the 5G cellular base station 1 communicated to connect with information processing centre 4,5G cellular base station 1 is equipped with charging level ground 2；Charging is set on level ground 2 There are charge position 7, hemispheric ultraviolet LED light source 5, environmental sensor 6, signal transmitter 10；Charge position 7 is equipped with protective cover 8； It is additionally provided with charging plate 16 in charge position 7, the bottom of unmanned plane 3 is installed with the signal receiver 11 that signal transmitter 10 is wirelessly connected Portion.
The information processing centre 4 respectively with signal transmitter 10, environmental sensor 6, signal receiver 11 and Wei Chu Device module 15 is managed to be connected；Signal transmitter 10 is connected with hemispheric ultraviolet LED light source 5；Signal receiver 11 respectively with photoelectricity Conversion module 12, power measurement module 13, computing module 14 are connected.
The charging plate is gold-plated pedestal, and surface is divided into well-regulated several pieces, is to provide difference Electrode and the honeycomb structure taken
The signal transmitter 10 is mounted on the top on 5G cellular base station charging level ground 2.
Hemispheric ultraviolet LED light source 5 issues wireless ultraviolet light 9 under the control of 5G cellular base station 1.
The information processing centre includes microprocessor module.
It mainly include hemispheric ultraviolet LED light source inside the signal transmitter, on hemispheric ultraviolet LED light source The LED scanning form of each position successively in emitting ultraviolet light to atmospheric channel, completes the task that signal is sent.
It include photoelectric conversion module, power measurement module and computing module, signal inside the signal receiver 11 The effect of photoelectric conversion module 12 is that the optical signal that will be received is converted into electric signal in receiver, passes through power measurement module 13 The optical power for receiving signal is measured, optical power, which is inputted, can calculate the unmanned plane 3 in computing module 14 fills with cellular base station The distance of signal transmitter 10 on electric level ground 2.
The unmanned plane is using 5G networking unmanned plane.
Utilize the method for the unmanned plane base station autonomous landing 5G charging level ground System guides unmanned plane charging, comprising the following steps:
Step 1, charge position is reserved
Unmanned plane monitors self electric quantity in the task of execution at any time, self electric quantity is divided into three grades: high-grade, electricity > 60%；Middle grade, 30% < electricity < 60%；Inferior grade, electricity < 30%；When self electric quantity is in middle rank, pass through unmanned plane Rough location information, remaining capacity information, task route information, charging level ground whether the information of Kong Xian state carry out integrate comment Estimate, and choose optimal charging level ground position, is networked by 5G communication interface and propose charge position reservation application to the 5G cellular base station.
Step 2, guidance unmanned plane landing
When unmanned plane electricity enters level state, start to make an appointment in advance 5G cellular base station charging pile flight, when with fill Still fly from 5G signal guidance unmanned plane to the strong place of 5G signal when the distance on electric level ground 2 is greater than 30m, when distance is less than 30m, turns Accurately unmanned plane is guided to land by wireless ultraviolet light；The environmental monitoring results of entire descent reference environment sensor are constantly adjusted Whole state of flight；
Step 3, unmanned plane charges
When 5 meters away from level point, the shield information processing centre 4 in charge position 7, which controls, to be opened, and unmanned plane is by wireless purple The guidance of outer light and it is stable drop on gold-plated charging plate after, shield is closed, and unmanned plane starts to charge；Charging plate is plating The pedestal of gold, surface is divided into well-regulated several pieces, is the honeycomb knot taken to provide Different electrodes (positive and negative anodes) Structure；External power supply is provided by base station, and unmanned plane stops over frame by conducting wire connection charging contact, and unmanned plane drops on charging plate It is i.e. chargeable；
Step 4, unmanned plane sails out of charging level ground
After unmanned plane electricity is full of, shield is opened, and unmanned plane flies away from charging level ground, shield by the guidance of wireless ultraviolet light It closes；The charge position can continue to receive the reservation of other unmanned planes.
Entirely by the cellular base station charging level ground recharging working-flow of wireless ultraviolet light guidance 5G networking unmanned plane Terminate.
The wireless ultraviolet light accurately guides unmanned plane to drop in charge position, and steps are as follows for close control:
Step A, ultraviolet signal are sent；
Signal sends work and is completed by the wireless ultraviolet leds light source of hemispherical on 5G cellular base station charging level ground, will be ultraviolet Light LED light source forms hemispherical array structure, several ultraviolet leds light sources are pressed certain regular distribution in hemispherical structure Arrangement, every layer of each column are individually numbered, and every layer is weft, is often classified as warp, and every warp and its reference line have known to one Fixed angle α, every weft and its reference line have an angle β, therefore are located at each ultraviolet light of weft and warp intersection point LED light source has an independent ID number, and the previous position of this ID number represents it through wire size, and latter position represents its weft number, When every ultraviolet leds light source is lit, which includes the letter of self ID by coding mode transmission Breath；
Step B, signal receive；
When the signal receiver 11 of uav bottom receives ultraviolet signal transmitted by ultraviolet LED light source 5 The number of the ultraviolet LED light source 5 is obtained, two angle [alpha]s and β have also just been obtained, unmanned plane can be positioned according to the two angles Coordinate；
Step C, unmanned plane positioning；
The position of unmanned plane is r at a distance from the hemispheric ultraviolet LED light source 5 of transmitting terminal, and r is with hemispheric ultraviolet LED light source 5 is to be projected as r'=r sin β in the xoy plane in the rectangular coordinate system of origin, therefore be projected as x in x-axis =r sin β sin α is projected as y=r sin β cos α in y-axis, is projected as z=r cos β in z-axis, can be obtained by this way Coordinate (the x of unmanned plane0,y0,z0) as shown in formula (1):
In formula, r is the distance between unmanned plane current location and hemispheric ultraviolet LED light source 5；α is to receive ultraviolet light The fixed angle of warp and reference line where the ultraviolet leds that contained id information represents in signal；β is received in ultraviolet signal The fixed angle of weft and reference line where the ultraviolet leds that contained id information represents；
Coordinate real-time update, the environmental information that environmental sensor is also will test in real time on charging plate are transmitted to the base station 5G；
Step D, guidance unmanned plane landing；
The signal transmitter that unmanned plane also will receive information centre while receiving ultraviolet signal is passed by 5G signal The level point coordinate that comes, at level point wind direction, wind speed information, signal processing module inside unmanned plane can be according to receiving Information issues optimal landing instruction to unmanned plane.
The calculating of the position of unmanned plane and transmitting terminal distance r are as follows in step 3:
A, situation is looked at straight:
Power attenuation of the wireless ultraviolet light direct-view link in atmosphere free space exponentially decays, free space path damage Consumption and r2Directly proportional, communication distance r is bigger, and path loss is bigger, the energy and r received2It is inversely proportional i.e.Atmosphere Decaying is represented byThe reception gain of signal receiver isThe influence of these comprehensive factors, nothing in the case of direct-view Shown in the expression formula such as formula (2) of the received optical power of line ultraviolet communication link:
Formula (2) can simplify are as follows:
In formula, PtIt is transmitting optical power；R is the parallax range between transmitting terminal and receiving end；λ is the wave of wireless ultraviolet light It is long, KeIt is atmospheric channel attenuation coefficient；ArFor receiving end aperture area, lower received optical power is communicated it is found that looking at straight by formula (3) With r2It is inversely proportional；
B, it is non-straight optionally:
In the non-direct-view communication of wireless ultraviolet light, V is launching elevation and the effective scatterer body for receiving elevation angle cross section Product, r1It is transmitter TxTo the distance of V, it is assumed that the transmission power of signal transmitter is Pt, then the energy of unit solid angle be In wireless ultraviolet light NLOS scattering,single communication link, the decaying of path loss and signal is considered, send power PtThrough r1Transmission After decay toBecome after the scattering of effective scattererLight beam after scattering arrives Communication link between signal receiver can regard LOS transmission as, and influence factor therein includes atmospheric attenuation and space beam path loss Consumption, respectivelyWithSignal receiver reception gain is
The received optical power expression formula such as formula (4) of the wireless non-direct-view communication of ultraviolet light:
In formula, Ω1=2 π [1-cos (φ1/2)],θs=θ1+θ2,r1=rsin θ2/sinθs,r2=rsin θ1/sinθs, public Scatterer V ≈ r altogether2·φ2·r2, it is available to substitute into formula (4) abbreviation:
In formula, r is communication parallax range, and λ is ultraviolet wavelength, PtIt is transmission power, KeBe atmospheric channel attenuation coefficient and Ke=Ka+Ks, wherein KaIt is atmosphere absorbance, KsIt is atmospheric scattering coefficient, ArIt is receiving aperture area, Ω1It is to send solid Angle, V are effective scatterer volume, r1It is transmitter TxTo the distance of V, r2It is detection receiver RxTo the distance of V, PsIt is angle of scattering θsPhase function；
By formula (3) and formula (5) it is found that direct-view situation and it is non-straight optionally in, in transmission power Pt, atmospheric extinction COEFFICIENT Ke, atmospheric scattering COEFFICIENT KsWith receiving aperture area ArIn the case that parameter is certain, received optical power PrIt is about independent variable For the function of transmission range r, ask the inverse function of this function that transmission range r and received optical power P can be obtained at this timerRelationship:
R=f-1(Pr) (6)。
The beneficial effects of the present invention are:
No matter small towns, suburb or city, cellular mobile communication base station dense distribution and electric energy can be provided, be just met for The demand condition of unmanned plane charging level ground deployment.Wireless charging technology is combined with the cellular base station of dense distribution, is effectively solved Determined unmanned plane at any time electric energy supplement the problem of.The present invention, as information carrier, is utilized using the wireless ultraviolet light of non-solar-blind band Corresponding sending and receiving end device carries out fixed point guidance to aerial unmanned plane by the ultraviolet optical transmitter on charging level ground, realizes nobody Machine accurately drops on charging level ground, completes recharging.Carrying out communication using wireless " day is blind " ultraviolet light can be achieved anti-interference energy Power is strong, round-the-clock communication, small power consumption, light is easy on carry unmanned plane.Wirelessly during " day is blind " ultraviolet light guidance unmanned plane High accuracy positioning can be achieved, be very suitable for the autonomous landing for guiding unmanned plane for base station charging level ground in complex environment.
Landing of the unmanned plane before and after cellular base station charging level ground recharging is completed does not require nothing more than positioning accuracy height, is also easy to It is influenced by outdoor base station complex environment and a variety of meteorological conditions of wind and frost sleet.Wireless ultraviolet communication technology has anti-interference ability By force, the advantages that portable, wide visual field receives, being capable of all weather operations.Pass through space division coding, wavelength-division multiplex, pulse width modulation Deng combination forms multidimensional coding technology, and delivering can solve pole by a variety of array scanning mode combination fountain codes The problem of communication quality difference under the conditions of end promotes the reliability of wireless ultraviolet light guidance unmanned plane.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the unmanned plane of the present invention base station autonomous landing 5G charging level ground system.
Fig. 2 is the schematic diagram of internal structure of the unmanned plane of the present invention base station autonomous landing 5G charging level ground system.
Fig. 3 (a) is the hemispherical ultraviolet LED light source schematic diagram for unmanned plane positioning.
Fig. 3 (b) is the schematic diagram of fixed angle α between the warp of Fig. 3 (a) and reference line.
Fig. 3 (c) is the schematic diagram of fixing clamp angle beta between the weft of Fig. 3 (a) and reference line.
Fig. 4 is cellular base station charge position schematic diagram of the present invention.
In figure: 1-5G cellular base station, 2- charging level ground, 3- unmanned plane, 4- information processing centre, 5- hemispherical ultraviolet LED light Source, 6- environmental sensor, 7- charge position, 8- protective cover, 9- is wireless ultraviolet light, 10- signal transmitter, 11- signal receiver, 12- photoelectric conversion module, 13- power measurement module, 14- computing module, 15- microprocessor module, 16- charging plate.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Charge level ground system for the unmanned plane base station autonomous landing 5G, including the 5G honeycomb base communicated to connect with information processing centre 4 1,5G cellular base station 1 of standing is equipped with charging level ground 2；Level ground 2 charge equipped with charge position 7, hemispheric ultraviolet LED light source 5, environment biography Sensor 6, signal transmitter 10；Charge position 7 is equipped with protective cover 8；It is additionally provided with charging plate 16 in charge position 7, is sent with signal The signal receiver 11 that machine 10 is wirelessly connected installs the bottom of unmanned plane 3.
The information processing centre 4 respectively with signal transmitter 10, environmental sensor 6, signal receiver 11 and Wei Chu Device module 15 is managed to be connected；Signal transmitter 10 is connected with hemispheric ultraviolet LED light source 5；Signal receiver 11 respectively with photoelectricity Conversion module 12, power measurement module 13, computing module 14 are connected.
The charging plate is gold-plated pedestal, and surface is divided into well-regulated several pieces, is to provide difference Electrode (positive and negative anodes) and the honeycomb structure taken
The signal transmitter 10 is mounted on the top on 5G cellular base station charging level ground 2.
Hemispheric ultraviolet LED light source 5 issues wireless ultraviolet light 9 under the control of 5G cellular base station 1.
The information processing centre includes microprocessor module.
It mainly include hemispheric ultraviolet LED light source inside the signal transmitter, on hemispheric ultraviolet LED light source The LED scanning form of each position successively in emitting ultraviolet light to atmospheric channel, completes the task that signal is sent.
It include photoelectric conversion module, power measurement module and computing module, signal inside the signal receiver 11 The effect of photoelectric conversion module 12 is that the optical signal that will be received is converted into electric signal in receiver, passes through power measurement module 13 The optical power for receiving signal is measured, optical power, which is inputted, can calculate the unmanned plane 3 in computing module 14 fills with cellular base station The distance of signal transmitter 10 on electric level ground 2.
The unmanned plane is using 5G networking unmanned plane.
The present invention is a kind of cellular base station charging level ground recharging system by wireless ultraviolet light guidance " 5G networking unmanned plane " System, structure is as shown in Figure 1, the system mainly includes information processing centre 4, environmental sensor 6, signal transmitter 10 and signal Receiver 11, signal transmitter 10 are mounted on 5G cellular base station charging level ground 2, and signal receiver 11 is mounted on 3 bottom of unmanned plane.
As shown in Fig. 2, information processing centre 4 includes microprocessor module 15, the model of microprocessor module 15 STM32F407。
10 inside of signal transmitter includes mainly hemispherical ultraviolet LED light source 5, by several LED in hemispherical structure It is arranged by certain regular distribution, the LED scan-type of each position successively in emitting ultraviolet light to atmospheric channel, is completed signal and sent Task；
Include photoelectric conversion module 12, power measurement module 13 (model: HM3015) and fortune inside signal receiver 11 Module 14 is calculated, the effect of photoelectric conversion module 12 is that the optical signal that will be received is converted into electric signal in signal receiver 11, is led to Overpower measurement module 13 measures the optical power for receiving signal, and optical power, which is inputted in computing module 14, can calculate this nobody Machine is at a distance from signal transmitter 10 on cellular base station charging level ground 2；
Environmental sensor 6 is used to detect situations such as wind speed, wind direction, temperature, turbulent flow on charging level ground 2, and will test result hair Give 5G cellular base station 1.Signal processing center 4 in unmanned plane 3 can and signal transmitter calculated according to computing module 14 10 distance and the id information for receiving the hemispherical ultraviolet LED light source for including in optical signal position itself, and according to The sensor monitoring information and level point coordinate information sent by 5G cellular base station 1 issues suitable landing to unmanned plane and refers to It enables, guidance unmanned plane 3 accurately drops in charge position 7.
Using the method for the unmanned plane base station autonomous landing 5G charging level ground System guides unmanned plane charging, specific implementation includes such as Lower step:
Step 1, charge position is reserved
Unmanned plane 3 monitors self electric quantity in the task of execution at any time, and self electric quantity is divided into three grades: high (electricity > 60%) (30% < electricity < 60%), low (electricity < 30%) in,.When self electric quantity is in middle rank, pass through unmanned plane 3 itself Rough location information, remaining capacity information, task route information etc. carry out comprehensive assessment and choose optimal charging level ground position, pass through 5G communication interface, which is networked, proposes charge position reservation application to the base station.If it is less than that planned number is reserved in the base station, reservation application is agreed to And by charge position 7 be the unmanned plane 3 retain, if the base station charging the quota has been filled, refuse reservation application, unmanned plane 3 continue to Apply for new charge position 7 in other base stations；
Step 2, guidance unmanned plane landing
When unmanned plane electricity enters level state, start to make an appointment in advance 5G cellular base station charging pile flight, when with fill Still fly from 5G signal guidance unmanned plane to the strong place of 5G signal when the distance on electric level ground 2 is greater than 30m, when distance is less than 30m, turns Accurately unmanned plane is guided to drop in charge position by wireless ultraviolet light；The environmental monitoring of entire descent reference environment sensor As a result state of flight is constantly adjusted；
The wireless ultraviolet light accurately guides unmanned plane to drop in charge position, and steps are as follows for close control:
Step A, signal are sent
Signal sends work and is completed by the wireless ultraviolet leds light source 5 of hemispherical on charging level ground 2.It, will as shown in Fig. 3 (a) Ultraviolet LED light source forms hemispherical array structure, several ultraviolet LED light sources are pressed certain regular distribution in hemispherical structure Arrangement.As shown in Fig. 3 (b), (c), every layer of each column is individually numbered, and every layer is weft, is often classified as warp, every warp and its base Directrix has a known fixed angle α, and every weft and its reference line have an angle β.Therefore it is located at weft and warp is handed over Each ultraviolet LED light source of point has an independent ID number, and the previous position of this ID number represents it through wire size, latter position Its weft number is represented, when every LED is lit, it includes certainly which, which is by certain coding mode transmission, The information of body ID.
Step B, signal receive
When the signal receiver 11 of 3 bottom carry of unmanned plane receives ultraviolet signal transmitted by LED, it can obtain The number for obtaining the LED, has also just obtained two angle [alpha]s and β, the coordinate of unmanned plane 3 can be positioned according to the two angles.
Step C, unmanned plane positioning
The position of unmanned plane 3 is r at a distance from transmitting terminal, and the calculating of r is as follows:
(a) situation is looked at straight:
Wireless ultraviolet light 9 looks at power attenuation of the link in atmosphere free space straight and exponentially decays.Free space path Loss and r2Directly proportional, communication distance r is bigger, and path loss is bigger, the energy and r received2It is inversely proportional i.e.Greatly Laboured breathing, which subtracts, to be represented byThe reception gain of signal receiver isThe influence of these comprehensive factors, in the case of direct-view Shown in the expression formula such as formula (2) of the received optical power of wireless ultraviolet communication link:
Formula (2) can simplify are as follows:
In formula, PtIt is transmitting optical power；R is the parallax range between transmitting terminal and receiving end；λ is the wave of wireless ultraviolet light It is long, KeIt is atmospheric channel attenuation coefficient；ArFor receiving end aperture area.By formula (3) it is found that direct-view communicates lower received optical power With r2It is inversely proportional.
B, it is non-straight optionally:
In wireless ultraviolet light 9 non-direct-view communication, V is launching elevation and the effective scatterer body for receiving elevation angle cross section Product, r1It is transmitter TxTo the distance of V, it is assumed that the transmission power of signal transmitter is Pt, then the energy of unit solid angle be In wireless ultraviolet light NLOS scattering,single communication link, the decaying of path loss and signal is considered, send power PtThrough r1Transmission After decay toBecome after the scattering of effective scattererLight beam after scattering arrives Communication link between signal receiver can regard LOS transmission as, and influence factor therein includes atmospheric attenuation and space beam path loss Consumption, respectivelyWithSignal receiver reception gain is
The received optical power expression formula such as formula (4) of the non-direct-view communication of ultraviolet light:
In formula, Ω1=2 π [1-cos (φ1/2)],θs=θ1+θ2,r1=rsin θ2/sinθs,r2=rsin θ1/sinθs, public Scatterer V ≈ r altogether2·φ2·r2.Substitution formula (4) abbreviation is available:
In formula, r is communication parallax range, and λ is ultraviolet wavelength, PtIt is transmission power, KeBe atmospheric channel attenuation coefficient and Ke=Ka+Ks, wherein KaIt is atmosphere absorbance, KsIt is atmospheric scattering coefficient, ArIt is receiving aperture area, Ω1It is to send solid Angle, V are effective scatterer volume, r1It is transmitter TxTo the distance of V, r2It is detection receiver RxTo the distance of V, PsIt is angle of scattering θsPhase function；
By formula (3) and formula (5) it is found that direct-view situation and it is non-straight optionally in, in transmission power Pt, atmospheric extinction COEFFICIENT Ke, atmospheric scattering COEFFICIENT KsWith receiving aperture area ArEtc. parameters it is certain in the case where, received optical power PrIt is about change certainly Amount is the function of transmission range r, asks the inverse function of this function that transmission range r and received optical power P can be obtained at this timerPass System:
R=f-1(Pr) (6)
By being analyzed above it can be concluded that unmanned plane 3 and transmitting terminal hemispherical ultraviolet LED light source 5 distance r, r are with transmitting End is to be projected as r'=r sin β in the rectangular coordinate system xoy plane of origin, therefore be projected as x=r sin β sin in x-axis α is projected as y=r sin β cos α in y-axis, is projected as z=r cos β in z-axis, can be obtained by the seat of unmanned plane 3 in this way Mark (x0,y0,z0) as shown in formula (1):
Coordinate real-time update, the environmental information that environmental sensor 6 is also will test in real time on charging level ground are transmitted to 5G honeycomb base Stand 1.
Step D, guidance unmanned plane landing
The signal transmitter that unmanned plane 3 also will receive information centre while receiving ultraviolet signal is passed by 5G signal The level point coordinate that comes, the information such as wind direction, wind speed at level point, information processing centre 4 inside unmanned plane 3 can basis receive These information issue optimal landing instruction to unmanned plane 3；
Step 3, unmanned plane charges
As shown in figure 4, protective cover 8 is in close state, in this way can be with when charge position 7 is in and does not provide charged state Protection charging plate 16 is not influenced by harsh weather.When the landing of unmanned plane 3 away from charge position 7 apart from be 5 meters when, in charge position 7 Flexible protective cover 8 is opened, unmanned plane 3 by wireless ultraviolet light 9 guide and it is stable drop on gold-plated charging plate 16 after, it is anti- Shield 8 is closed, and unmanned plane 3 starts to charge.The plate 16 that charges is gold-plated pedestal, and surface is divided into well-regulated several Part, it is the honeycomb structure taken to provide Different electrodes (positive and negative anodes).External power supply is provided by 5G cellular base station 1, unmanned plane Stop over frame by conducting wire connect charging contact, as long as unmanned plane 3 drop to charging plate 16 on it is i.e. chargeable；
Step 4, unmanned plane sails out of charging level ground
After 3 electricity of unmanned plane is full of, protective cover 8 is opened, and unmanned plane 3 flies away from charge position 7 by the guidance of wireless ultraviolet light 9, Shield 8 is closed.The charge position can continue to receive the reservation of other unmanned planes.

Claims (10)

  1. The level ground system 1. the unmanned plane base station autonomous landing 5G is charged, which is characterized in that including being communicated to connect with information processing centre (4) 5G cellular base station (1), 5G cellular base station (1) be equipped with charging level ground (2)；Level ground (2) are charged equipped with charge position (7), hemispherical Ultraviolet LED light source (5), environmental sensor (6), signal transmitter (10)；Charge position (7) is equipped with protective cover (8)；Charge position (on 7) are additionally provided with charging plate (16), install unmanned plane (3) with the signal receiver (11) that signal transmitter (10) are wirelessly connected Bottom；
    The information processing centre (4) respectively with signal transmitter (10), environmental sensor (6), signal receiver (11) and Microprocessor module (15) is connected；Signal transmitter (10) is connected with hemispheric ultraviolet LED light source (5)；Signal receiver (11) it is connected respectively with photoelectric conversion module (12), power measurement module (13), computing module (14).
  2. The level ground system 2. the unmanned plane base station autonomous landing 5G according to claim 1 is charged, which is characterized in that the charging Plate is gold-plated pedestal, and surface is divided into well-regulated several pieces, is taken to provide Different electrodes (positive and negative anodes) Honeycomb structure.
  3. The level ground system 3. the unmanned plane base station autonomous landing 5G according to claim 1 is charged, which is characterized in that the signal Transmitter (10) is mounted on the top on 5G cellular base station charging level ground 2.
  4. The level ground system 4. the unmanned plane base station autonomous landing 5G according to claim 1 is charged, which is characterized in that the hemisphere The ultraviolet LED light source 5 of shape issues wireless ultraviolet light (9) under the control of 5G cellular base station (1).
  5. The level ground system 5. the unmanned plane base station autonomous landing 5G according to claim 1 is charged, which is characterized in that the information Processing center includes microprocessor module.
  6. The level ground system 6. the unmanned plane base station autonomous landing 5G according to claim 1 is charged, which is characterized in that the signal It mainly include hemispheric ultraviolet LED light source inside transmitter, the LED scanning of each position on hemispheric ultraviolet LED light source Form successively in emitting ultraviolet light to atmospheric channel, completes the task that signal is sent.
  7. The level ground system 7. the unmanned plane base station autonomous landing 5G according to claim 1 is charged, which is characterized in that the signal It include photoelectric conversion module, power measurement module and computing module, photoelectric conversion in signal receiver inside receiver (11) The effect of module (12) is that the optical signal that will be received is converted into electric signal, measures reception signal by power measurement module (13) Optical power, by optical power input computing module (14) in can calculate the unmanned plane (3) and cellular base station charging level ground (2) on The distance of signal transmitter (10)；The unmanned plane is using 5G networking unmanned plane.
  8. 8. utilizing the method for the unmanned plane base station autonomous landing 5G charging level ground System guides unmanned plane charging, which is characterized in that including Following steps:
    Step 1, charge position is reserved
    Unmanned plane monitors self electric quantity in the task of execution at any time, and self electric quantity is divided into three grades: it is high-grade, electricity > 60%；Middle grade, 30% < electricity < 60%；Inferior grade, electricity < 30%；When self electric quantity is in middle rank, pass through unmanned plane Whether the information of Kong Xian state carries out comprehensive comment for rough location information, remaining capacity information, task route information, charging level ground Estimate, and choose optimal charging level ground position, is networked by 5G communication interface and propose charge position reservation application to the 5G cellular base station；
    Step 2, guidance unmanned plane landing
    When unmanned plane electricity enters level state, start to make an appointment in advance 5G cellular base station charging pile flight, when with charging level ground (2) still flown from 5G signal guidance unmanned plane to the strong place of 5G signal when distance is greater than 30m, when distance is less than 30m, turn by Wireless ultraviolet light accurately guides unmanned plane to land；The environmental monitoring results of entire descent reference environment sensor constantly adjust State of flight；
    Step 3, unmanned plane charges
    When 5 meters away from level point, the shield in charge position (7) is controlled by information processing centre (4) to be opened, and unmanned plane is by wireless Ultraviolet light guidance and it is stable drop on gold-plated charging plate after, shield is closed, and unmanned plane starts to charge；Charging plate be Gold-plated pedestal, surface are divided into well-regulated several pieces, are the honeycomb structures taken to provide Different electrodes；It is external Power supply is provided by base station, and unmanned plane stops over frame by conducting wire connection charging contact, and unmanned plane, which drops on charging plate, to be filled Electricity；
    Step 4, unmanned plane sails out of charging level ground
    After unmanned plane electricity is full of, shield is opened, and unmanned plane flies away from charging level ground by the guidance of wireless ultraviolet light, and shield closes It closes；The charge position can continue to receive the reservation of other unmanned planes.
  9. 9. the side according to claim 8 using the unmanned plane base station autonomous landing 5G charging level ground System guides unmanned plane charging Method, which is characterized in that the wireless ultraviolet light accurately guides unmanned plane to drop in charge position, which is characterized in that specifically draws Lead that steps are as follows:
    Step A, ultraviolet signal are sent；
    Signal sends work and is completed by the wireless ultraviolet leds light source of hemispherical on 5G cellular base station charging level ground, in dome-type knot Several ultraviolet leds light sources are arranged by certain regular distribution on structure, every layer of each column is individually numbered, and every layer is weft, often It is classified as warp, every warp and its reference line have a known fixed angle α, and every weft and its reference line have an angle β, therefore each the ultraviolet leds light source for being located at weft and warp intersection point has an independent ID number, this ID number Previous position represents it through wire size, and latter position represents its weft number, when every ultraviolet leds light source is lit, the ultraviolet leds Light source includes the information of self ID by coding mode transmission；
    Step B, signal receive；
    When the signal receiver (11) of uav bottom receives ultraviolet signal transmitted by ultraviolet LED light source (5) The number of the ultraviolet LED light source (5) is obtained, two angle [alpha]s and β have also just been obtained, nobody can be positioned according to the two angles The coordinate of machine；
    Step C, unmanned plane positioning；
    The position of unmanned plane is r at a distance from the hemispheric ultraviolet LED light source of transmitting terminal (5), and r is with hemispheric ultraviolet LED Light source (5) is to be projected as r'=rsin β in the xoy plane in the rectangular coordinate system of origin, therefore be projected as x=in x-axis Rsin β sin α is projected as y=rsin β cos α in y-axis, is projected as z=rcos β in z-axis, can be obtained by nobody in this way Coordinate (the x of machine0,y0,z0) as shown in formula (1):
    In formula, r is the distance between unmanned plane current location and hemispheric ultraviolet LED light source (5)；α is to receive ultraviolet light letter The fixed angle of warp and reference line where the ultraviolet leds that contained id information represents in number；β is to receive institute in ultraviolet signal The fixed angle of weft and reference line where the ultraviolet leds represented containing id information；
    Coordinate real-time update, the environmental information that environmental sensor is also will test in real time on charging plate are transmitted to the base station 5G；
    Step D, guidance unmanned plane landing；
    What the signal transmitter that unmanned plane also will receive information centre while receiving ultraviolet signal was transmitted by 5G signal The information of wind direction, wind speed at level point coordinate, level point, the signal processing module inside unmanned plane can be according to the information received Optimal landing instruction is issued to unmanned plane.
  10. 10. according to claim 9 charge what System guides unmanned plane in level ground charged using the unmanned plane base station autonomous landing 5G Method, which is characterized in that the calculating of unmanned plane and the hemispheric ultraviolet LED light source of transmitting terminal (5) distance r is as follows in step C:
    A, situation is looked at straight:
    Power attenuation of the wireless ultraviolet light direct-view link in atmosphere free space exponentially decays, free space path loss with r2Directly proportional, communication distance r is bigger, and path loss is bigger, the energy and r received2It is inversely proportional i.e.Atmospheric attenuation It is represented byThe reception gain of signal receiver isThe influence of these comprehensive factors, it is wireless purple in the case of direct-view Shown in the expression formula of the received optical power of outer optical communication link such as formula (2):
    Formula (2) can simplify are as follows:
    In formula, PtIt is transmitting optical power；R is the parallax range between transmitting terminal and receiving end；λ is the wavelength of wireless ultraviolet light, Ke It is atmospheric channel attenuation coefficient；ArFor receiving end aperture area, lower received optical power and r are communicated it is found that looking at straight by formula (3)2At Inverse ratio；
    B, it is non-straight optionally:
    In the non-direct-view communication of wireless ultraviolet light, V is launching elevation and the effective scatterer volume for receiving elevation angle cross section, r1 It is transmitter TxTo the distance of V, it is assumed that the transmission power of signal transmitter is Pt, then the energy of unit solid angle beIn nothing In line ultraviolet light NLOS scattering,single communication link, the decaying of path loss and signal is considered, send power PtThrough r1It declines after transmission It is kept toBecome after the scattering of effective scattererLight beam after scattering is to letter Communication link between number receiver can regard LOS transmission as, and influence factor therein includes atmospheric attenuation and space link loss, RespectivelyWithSignal receiver reception gain is
    The received optical power expression formula such as formula (4) of the wireless non-direct-view communication of ultraviolet light:
    In formula, Ω1=2 π [1-cos (φ1/2)],θs=θ1+θ2,r1=rsin θ2/sinθs,r2=rsin θ1/sinθs, public to dissipate Beam V ≈ r2·φ2·r2, it is available to substitute into formula (4) abbreviation:
    In formula, r is communication parallax range, and λ is ultraviolet wavelength, PtIt is transmission power, KeIt is atmospheric channel attenuation coefficient and Ke= Ka+Ks, wherein KaIt is atmosphere absorbance, KsIt is atmospheric scattering coefficient, ArIt is receiving aperture area, Ω1It is to send solid angle, V It is effective scatterer volume, r1It is transmitter TxTo the distance of V, r2It is detection receiver RxTo the distance of V, PsIt is scatteringangleθs's Phase function；
    By formula (3) and formula (5) it is found that direct-view situation and it is non-straight optionally in, in transmission power Pt, atmospheric extinction coefficient Ke, atmospheric scattering COEFFICIENT KsWith receiving aperture area ArIn the case that parameter is certain, received optical power PrBe about independent variable for pass The function of defeated distance r, asks the inverse function of this function that transmission range r and received optical power P can be obtained at this timerRelationship:
    R=f-1(Pr) (6)。
CN201910414615.1A 2019-05-17 2019-05-17 Charge level ground system and its charging method for the unmanned plane base station autonomous landing 5G Pending CN110203087A (en)

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