CN116620596A - Intelligent airport control method for unmanned aerial vehicle - Google Patents
Intelligent airport control method for unmanned aerial vehicle Download PDFInfo
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- CN116620596A CN116620596A CN202310899336.5A CN202310899336A CN116620596A CN 116620596 A CN116620596 A CN 116620596A CN 202310899336 A CN202310899336 A CN 202310899336A CN 116620596 A CN116620596 A CN 116620596A
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- 230000007246 mechanism Effects 0.000 claims abstract description 43
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 5
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- 238000010586 diagram Methods 0.000 description 2
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- 238000011161 development Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/90—Launching from or landing on platforms
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- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Aviation & Aerospace Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The application relates to the technical field of unmanned aerial vehicles, and discloses an intelligent airport control method for an unmanned aerial vehicle, which comprises the following steps of: the intelligent airport selects a stop place, performs lifting feasibility analysis and generates a lifting control instruction; an unmanned aerial vehicle lifting platform is loaded in the intelligent airport, and a telescopic door is arranged at the top of the intelligent airport; the unmanned aerial vehicle lifting platform is internally provided with a rotation mechanism and a plurality of parking platforms connected with the rotation mechanism, and the parking platforms are uniformly distributed and form an upper-layer parking apron and a lower-layer parking apron; the positions of the parking platforms of the upper and lower parking decks are rotated along with a rotation mechanism; the intelligent airport sets a landing route and a landing posture of the unmanned aerial vehicle according to the landing feasibility analysis result; the unmanned aerial vehicle lifting platform adjusts the positions of all the stopping platforms according to the take-off and landing control instructions and controls the opening and closing of the telescopic door. The unmanned aerial vehicle landing control system can dynamically control the landing process of the unmanned aerial vehicle, is beneficial to improving the safety of the landing and the take-off of the unmanned aerial vehicle, and provides support for intelligent cruising of the unmanned aerial vehicle.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an intelligent airport control method for an unmanned aerial vehicle.
Background
In the daily lifting process of the unmanned aerial vehicle, certain requirements are met for the environment and the operation. The unmanned plane has low flying height, large speed change and weak anti-interference capability in the take-off and landing stages. Under the condition, the unmanned aerial vehicle can safely and smoothly take off and safely and accurately land on a preset landing point, and high requirements are put on the control precision and robustness of the flight control law.
In the conventional unmanned aerial vehicle taking-off and landing process, a corresponding unmanned aerial vehicle operator sets an apron for the unmanned aerial vehicle, and then the unmanned aerial vehicle is autonomously controlled by a controller to take off and land, so that the unmanned aerial vehicle can be stably controlled in the control mode, and the taking-off and landing safety of the unmanned aerial vehicle is ensured; but is relatively labor-intensive and requires a certain experience from the operator. At present, with the further development of unmanned aerial vehicle autonomous flight function, unmanned aerial vehicle can realize autonomous take-off and landing, and compared by the control take-off and landing that the operator is one-to-one, efficiency is higher, and the cost is lower. However, because the landing precision of the autonomous landing system, the autonomous take-off and landing system and the like based on the GPS, which are equipped by the unmanned aerial vehicle, is limited, landing safety is insufficient, requirements on a shutdown platform are high, coping capacity on complex scenes is relatively poor, and the automatic take-off and landing of the unmanned aerial vehicle still has a large risk hidden danger, and the automatic cruising of the unmanned aerial vehicle still has a large lifting space.
Disclosure of Invention
The application aims to provide the intelligent airport control method for the unmanned aerial vehicle, which can dynamically control the take-off and landing process of the unmanned aerial vehicle, is beneficial to improving the take-off and landing safety of the unmanned aerial vehicle and provides support for intelligent cruising of the unmanned aerial vehicle.
The basic scheme provided by the application is as follows: the intelligent airport control method for the unmanned aerial vehicle comprises the following steps of:
the intelligent airport selects a stop place, performs lifting feasibility analysis and generates a lifting control instruction; the analysis factors of the lifting feasibility analysis comprise meteorological influence factors, space influence factors and state influence factors;
an unmanned aerial vehicle lifting platform is loaded in the intelligent airport, and a telescopic door is arranged at the top of the intelligent airport; the size and the position of the telescopic door are matched with those of the unmanned aerial vehicle lifting platform; the unmanned aerial vehicle lifting platform is internally provided with a wheel rotating mechanism and a plurality of parking platforms connected with the wheel rotating mechanism, and the parking platforms are uniformly distributed and form an upper-layer parking apron and a lower-layer parking apron; the position of the parking platform of the upper parking apron and the position of the parking platform of the lower parking apron are rotated along with a rotation mechanism;
the intelligent airport sets a landing route and a landing posture of the unmanned aerial vehicle according to the landing feasibility analysis result;
the unmanned aerial vehicle lifting platform adjusts the positions of all the stopping platforms according to the take-off and landing control instructions and controls the opening and closing of the telescopic door.
The application has the following effects and advantages: the intelligent airport can carry out take-off and landing feasibility analysis to the berth, and take-off and landing control instructions are intelligently generated by comprehensively considering different influence factors which are easy to influence take-off or landing of the unmanned aerial vehicle, such as weather, space, state and the like, and command and control the self structure (a telescopic door and an unmanned aerial vehicle lifting platform) of the intelligent airport and the unmanned aerial vehicle to operate, and different take-off and landing routes and take-off and landing postures are pertinently set, so that different unmanned aerial vehicle take-off and landing scenes can be dealt with, the take-off and landing safety of the unmanned aerial vehicle can be improved, and support is provided for intelligent cruising of the unmanned aerial vehicle.
On the one hand, the position of the platform can be flexibly switched, and the unmanned aerial vehicle needing to take off preferentially is in an upper layer position by pre-adjusting the position of a stopping platform in the unmanned aerial vehicle lifting platform; on the other hand, when the unmanned aerial vehicle needs to land, the shutdown platform in an idle state can be adjusted in advance to be positioned at an upper layer position convenient for receiving the unmanned aerial vehicle; the dynamic matching of actions such as flying and landing of the intelligent airport and the unmanned aerial vehicle is realized, and the efficiency of taking off and landing of the unmanned aerial vehicle is improved.
Drawings
FIG. 1 is a schematic flow chart of a method of a first embodiment of a control method of an intelligent airport for a unmanned plane;
fig. 2 is a schematic diagram of the overall structure of an unmanned aerial vehicle lifting platform according to a first embodiment of an intelligent airport control method for an unmanned aerial vehicle;
fig. 3 is a schematic structural diagram of a shutdown platform according to a first embodiment of the control method of the intelligent airport for the unmanned aerial vehicle.
Detailed Description
The following is a further detailed description of the embodiments:
the labels in the drawings of this specification include: the rotary mechanism 1, the swing rail 11, the upper rail portion 111, the lower rail portion 112, the left rail portion 113, the right rail portion 114, the first moving rail 12, the second moving rail 13, the first inner rail 14, the second inner rail 15, and the switching portion 16;
a lifting mechanism 2, a linear guide rail 21, a lifting driving mechanism 22 and a lifting mechanism motor 23;
the machine stopping platform 3, the guide bracket 31, the upper bearing pair 32, the lower bearing pair 33, the bearing 34 and the bearing rod 35.
Example 1
An example is substantially as shown in figure 1: the intelligent airport control method for the unmanned aerial vehicle comprises the following steps of:
the intelligent airport selects a stop place, performs lifting feasibility analysis and generates a lifting control instruction; the analysis factors of the lifting feasibility analysis comprise meteorological influence factors, space influence factors and state influence factors. The take-off and landing control instructions comprise a rotation control instruction which is sent to the unmanned aerial vehicle lifting platform and used for controlling the rotation mechanism and a lifting control instruction which is used for controlling the lifting mechanism 2; and flight control instructions to the drone.
An unmanned aerial vehicle lifting platform is loaded in the intelligent airport, and a telescopic door is arranged at the top of the intelligent airport; the size and the position of the telescopic door are matched with those of the unmanned aerial vehicle lifting platform. The intelligent airport comprises a cab and a carriage which are connected, wherein the interior of the carriage is provided with a control area and an equipment area, and the unmanned aerial vehicle lifting platform is arranged in the equipment area in the carriage; the control area is internally provided with a control platform, and the control platform is internally provided with an intelligent control system.
As shown in fig. 2, a wheel rotating mechanism and a plurality of stopping platforms 3 connected with the wheel rotating mechanism are arranged in the unmanned aerial vehicle lifting platform, and the stopping platforms 3 are uniformly distributed and form an upper-layer parking apron and a lower-layer parking apron; the position of the parking platform 3 of the upper parking apron and the position of the parking platform 3 of the lower parking apron are rotated along with a rotation mechanism.
Specifically, in this embodiment, the wheel rotation mechanism is provided with two groups, including a left wheel rotation mechanism and a right wheel rotation mechanism which are oppositely arranged; the rotating mechanism is provided with an outer rotating track, an inner rotating track and a linear track. The outer wheel rotating track is a square track, and the straight track is a vertical straight track and is simultaneously communicated with the upper track part 111 and the lower track part 112 of the outer wheel rotating track and the inner wheel rotating track; the rotation mechanism is internally provided with a driving control mechanism for driving the outer rotation track to rotate. The inner race track is a first inner track 14 on the underside of the upper track portion 111 of the outer race track, and a second inner track 15 on the underside of the lower track portion 112 of the outer race track. The inner wheel rotating rail is communicated with the outer wheel rotating rail.
As shown in fig. 3, the shutdown platform 3 is provided with four bearing groups, and the two ends of the bottom of the shutdown platform 3 are respectively provided with a bearing pair 32 and a lower bearing pair 33; a single bearing pair includes two bearings 34 separated by a predetermined distance. And the upper bearing pair 32 is spaced apart from the lower bearing pair 33 by a distance. The bearing 34 groups at the two ends are respectively connected with the wheel rotating track on the left wheel rotating mechanism and the wheel rotating track on the right wheel rotating mechanism; the rotating track rotates, which moves the set of bearings 34 together. In the initial state, the upper bearing pairs 32 of the two shutdown platforms 3 are correspondingly positioned on the upper rail parts 111 of the revolving rails 11; the lower bearing pairs 33 of the other two shutdown platforms 3 are correspondingly positioned at the lower rail sections 112 of the swing rails 11.
And, the linear track is provided with two, including the first moving track 12 near the left track portion 113 of the outer race track and the second moving track 13 near the right track portion 114 of the outer race track; the interval between the first moving rail 12 and the left rail portion 113 of the outer race rail is equal to the interval between the second moving rail 13 and the right rail portion 114 of the outer race rail, and is equal to a preset distance.
The unmanned aerial vehicle lifting platform further comprises a lifting mechanism 2; the lifting mechanism 2 is connected with the rotating mechanism; the lifting mechanism 2 is used for driving the rotation mechanism to lift. Specifically, the lifting mechanism 2 may adopt a ball screw, and the rotation mechanism is provided with a switching part 16 connected with a transmission part of the ball screw, so that the rotation mechanism is driven to move up or down by driving the ball screw.
In addition, still be equipped with cloud platform control weather station, visual identification module and communication mechanism at intelligent airport top. The cradle head monitoring weather station is used for collecting weather environment information around the intelligent airport in real time. The communication mechanism comprises a WAPI antenna, an unmanned aerial vehicle wireless communication module and a mobile network communication module and is used for providing a perfect communication environment for the unmanned aerial vehicle and the intelligent airport. The visual recognition module is used for collecting environmental image information of the top and the periphery of the intelligent airport and analyzing and obtaining the empty space volumes of the top and the periphery of the intelligent airport.
The space-affecting factors include the upper space volume of the telescoping door, and the space volume expected to be required for unmanned aerial vehicle traffic. Specifically, in this embodiment, the upper space volume is confirmed by the visual recognition module. The space volume required by the expected unmanned aerial vehicle passage is calculated by combining the model of the unmanned aerial vehicle and the take-off and landing route of the unmanned aerial vehicle, and the take-off and landing route refers to the automatic take-off and landing route of the unmanned aerial vehicle which is set by default. When the space volume on the upper part of the unmanned aerial vehicle is smaller than the space volume required by the expected unmanned aerial vehicle to pass, the take-off and landing feasibility corresponding to the space influence factor is 0; when the space volume on the upper part of the unmanned aerial vehicle is larger than the space volume required by the expected unmanned aerial vehicle passage, the take-off and landing feasibility corresponding to the space influence factor is 90.
The weather influencing factors include instantaneous weather data, and weather data within an expected unmanned aerial vehicle operating time. Specifically, in this embodiment, the immediate weather data is acquired by the cradle head monitoring weather station, and the weather data in the predicted working time of the unmanned aerial vehicle is extracted from the weather software. Specifically, firstly, whether severe weather (including storm, typhoon, heavy fog and the like) exists in the weather data is analyzed, and if the severe weather exists, the starting and stopping time of the severe weather is further confirmed; if the starting and stopping time covers the instant time point, the starting and landing feasibility corresponding to the weather influencing factor is 0; if the start-stop time does not cover the instant time point, the instant take-off is taken as a reference, a time interval required by the unmanned aerial vehicle to complete the planned cruising task is defined (if the unmanned aerial vehicle needs 3 hours for completing one-time power inspection of the area A, the instant time point is 14:00, the time interval is set to be 14:00-17:00), if the time interval is overlapped with the start-stop time, and when the overlap ratio is less than 60%, the start-stop feasibility corresponding to the weather influence factor is 50; when the overlap ratio is more than 60%, the lifting feasibility corresponding to the weather influencing factor is 20.
Specifically, the state influence factors include unmanned aerial vehicle carrying state information on each of the shutdown platforms 3 in the unmanned aerial vehicle lifting platform, and unmanned aerial vehicle running state information of the pre-take-off and landing. The unmanned aerial vehicle carrying state information comprises whether unmanned aerial vehicles are parked on each shutdown platform 3, the parked unmanned aerial vehicle model and the like; the operation state information of the unmanned aerial vehicle comprises the residual electric quantity of the unmanned aerial vehicle, the structural state of the unmanned aerial vehicle and the like. In this embodiment, the structural state of the unmanned aerial vehicle may be determined by using a visual recognition module; the visual recognition module collects actual appearance image information of the unmanned aerial vehicle and compares the actual appearance image information with a standard appearance image of the unmanned aerial vehicle, if the comparison similarity is higher than 90%, the structural state of the unmanned aerial vehicle is judged to be stable, and the lifting feasibility corresponding to the state influence factor is 80; otherwise, the structural state of the unmanned aerial vehicle is judged to be unstable, and the lifting feasibility corresponding to the state influence factor is 0.
The final lifting feasibility analysis result is obtained by adding weights to the lifting feasibility corresponding to the influence factors, and in specific application, the weights of the influence factors and the added judgment threshold values can be set according to actual lifting requirements. And when one lifting feasibility degree is 0, the lifting feasibility degree is directly judged to be low, and the lifting is unsuitable. Specifically, when there is an influence factor with a take-off and landing feasibility of 0, the intelligent airport sets the flight control instruction to suspend take-off and landing according to the influence factor.
And the intelligent airport sets a landing route and a landing posture (including a landing height, a hovering height and the like of a vertical landing mode) of the unmanned aerial vehicle according to the landing feasibility analysis result.
The unmanned aerial vehicle lifting platform adjusts the position of each stopping platform 3 according to the take-off and landing control instruction and controls the opening and closing of the telescopic door.
When the positions of all the stopping platforms 3 are adjusted, the unmanned aerial vehicle lifting platform acquires the type of the unmanned aerial vehicle which is pre-flown or the type of the unmanned aerial vehicle which is pre-landed from the take-off and landing control instruction; according to the type of the unmanned aerial vehicle to be pre-dispatched, the parking platform 3 carrying the unmanned aerial vehicle of the corresponding type is rotated to the upper parking apron position; according to the type of the unmanned aerial vehicle which is landed in advance, the parking space required by the corresponding type is left on the parking platform 3 in the upper layer of the parking apron.
According to the intelligent airport control method for the unmanned aerial vehicle, which is provided by the embodiment, the take-off and landing process of the unmanned aerial vehicle can be dynamically controlled, the safety of take-off and landing of the unmanned aerial vehicle can be improved, and support is provided for intelligent cruising of the unmanned aerial vehicle.
Example two
In the intelligent airport control method for the unmanned aerial vehicle, on the basis of the first embodiment, the analysis factors further comprise task influence factors; the task influence factors comprise influence degrees of the change of the take-off and landing time points and the change of the take-off and landing places on the task execution degree of the unmanned aerial vehicle. For example, if the task requires the unmanned aerial vehicle to complete cruising before 16:00, if the take-off time point+the task execution time after the take-off time is changed exceeds the deadline of the task requirement, the corresponding take-off and landing feasibility is-15.
According to the intelligent airport control method for the unmanned aerial vehicle, provided by the embodiment, the actual cruising task of the unmanned aerial vehicle can be combined, the change of the taking-off and landing place or the taking-off and landing time can be analyzed, the degree of influence on the task of the unmanned aerial vehicle is further determined to be a more proper taking-off and landing plan for the unmanned aerial vehicle, and the control is more accurate.
The foregoing is merely an embodiment of the present application, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application date or before the priority date, can know all the prior art in the field, and has the capability of applying the conventional experimental means before the date, and a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent.
Claims (8)
1. The intelligent airport control method for the unmanned aerial vehicle is characterized by comprising the following steps of:
the intelligent airport selects a stop place, performs lifting feasibility analysis and generates a lifting control instruction; the analysis factors of the lifting feasibility analysis comprise meteorological influence factors, space influence factors and state influence factors;
an unmanned aerial vehicle lifting platform is loaded in the intelligent airport, and a telescopic door is arranged at the top of the intelligent airport; the size and the position of the telescopic door are matched with those of the unmanned aerial vehicle lifting platform; the unmanned aerial vehicle lifting platform is internally provided with a wheel rotating mechanism and a plurality of parking platforms connected with the wheel rotating mechanism, and the parking platforms are uniformly distributed and form an upper-layer parking apron and a lower-layer parking apron; the position of the parking platform of the upper parking apron and the position of the parking platform of the lower parking apron are rotated along with a rotation mechanism;
the intelligent airport sets a landing route and a landing posture of the unmanned aerial vehicle according to the landing feasibility analysis result;
the unmanned aerial vehicle lifting platform adjusts the positions of all the stopping platforms according to the take-off and landing control instructions and controls the opening and closing of the telescopic door.
2. The method of claim 1, wherein the unmanned aerial vehicle lift platform further comprises a lift mechanism; the lifting mechanism is connected with the rotating mechanism; the lifting mechanism is used for driving the rotation mechanism to lift.
3. The method of claim 1, wherein the status influencing factors include unmanned aerial vehicle loading status information on each of the unmanned aerial vehicle lifting platforms, and pre-lift unmanned aerial vehicle operation status information.
4. The method of claim 1, wherein the analysis factors further comprise task impact factors; the task influence factors comprise influence degrees of change of the take-off and landing time points or change of the take-off and landing places on the task execution degree of the unmanned aerial vehicle.
5. The unmanned aerial vehicle intelligent airport control method of claim 2, wherein the take-off and landing control instructions comprise a wheel rotation control instruction for controlling a wheel rotation mechanism and a lift control instruction for controlling a lift mechanism, which are transmitted to a lifting platform of the unmanned aerial vehicle; and flight control instructions to the drone.
6. The method according to claim 1, wherein the unmanned aerial vehicle lift platform obtains a pre-flown unmanned aerial vehicle type or a pre-landed unmanned aerial vehicle type from the landing control instruction when adjusting the positions of the respective landing platforms; according to the type of the unmanned aerial vehicle to be pre-dispatched, rotating the stopping platform carrying the unmanned aerial vehicle of the corresponding type to the upper stopping apron position; according to the type of the unmanned aerial vehicle which lands in advance, the parking space required by the corresponding type is reserved on a parking platform in the upper parking apron.
7. The method of claim 1, wherein the space-affecting factor comprises an upper space volume of a retractable door and a predicted space volume required for unmanned aerial vehicle traffic.
8. The unmanned aerial vehicle intelligent airport control method of claim 7, wherein the weather influencing factors comprise instantaneous weather data, and weather data over an expected unmanned aerial vehicle operating time.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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