WO2018111075A1 - Automatic landing system with high-speed descent for drones - Google Patents

Automatic landing system with high-speed descent for drones Download PDF

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Publication number
WO2018111075A1
WO2018111075A1 PCT/MX2016/000157 MX2016000157W WO2018111075A1 WO 2018111075 A1 WO2018111075 A1 WO 2018111075A1 MX 2016000157 W MX2016000157 W MX 2016000157W WO 2018111075 A1 WO2018111075 A1 WO 2018111075A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
landing
platform
landing platform
descent
Prior art date
Application number
PCT/MX2016/000157
Other languages
Spanish (es)
French (fr)
Inventor
Eduardo RODARTE LEYVA
Lyla Berenice MORALES VILLALBA
Hiram GUTIÉRREZ LIZÁRRAGA
Dino Alejandro PARDO GUZMÁN
Original Assignee
Rodarte Leyva Eduardo
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rodarte Leyva Eduardo filed Critical Rodarte Leyva Eduardo
Priority to PCT/MX2016/000157 priority Critical patent/WO2018111075A1/en
Publication of WO2018111075A1 publication Critical patent/WO2018111075A1/en

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Classifications

    • 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
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
    • G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]

Definitions

  • the present invention relates to a landing control system of an aerial vehicle of the drone type.
  • this invention belongs to a control system that allows the landing of a drone at a speed speed in a safe way.
  • take-off and landing platforms that additionally add the drone positioning and direction control to it, where they are based on an opto-electronic projector for landing control that continuously measures the variations of the distance that separates the drone from a base (FR2941677), an automatic positioning device by means of the placement of electromagnets provided on a platform and magnets in the drone landing gear (CN105836150), the management of the drone for landing control by radio beacon and beacon (US9481475, WO / 2016/165793), a transmitter that emits a signal through an identification of radio frequency to help find the landing platform (CN 105848533), a scheduled take-off and landing system that is based on vector triangulation with multiple sensors (US8068950, US8355834).
  • an opto-electronic projector for landing control that continuously measures the variations of the distance that separates the drone from a base
  • an automatic positioning device by means of the placement of electromagnets provided on a platform and magnets in the drone landing gear
  • radio beacon and beacon US94
  • Patent No. US20160266579 describes an automated drone safety system with built-in sensors and an imaging device for measuring surveillance data.
  • Surveillance data may include images, telemetry data, infrared data or other detectable location information, which includes a drone dock platform for launching, landing and / or storage of drones.
  • an application is added for any type of mobile device, be it a Smartphone, Tablet, Laptop or similar.
  • patents WO2010 / 061099, US8594862 and EP2364757 describe drones and their piloting principle through a Smartphone or portable multimedia device with touch screen and integrated accelerometer, these devices incorporate the various control elements necessary for the Pilot command detection and bi-directional exchange of data with the drone via a Wi-Fi local area network type wireless link (IEEE 802.11) or Bluetooth.
  • IEEE 802.11 Wi-Fi local area network type wireless link
  • the general implementations for the mentioned landing methods correspond to common landing modes.
  • the present patent describes a method for safe landing, particularly descending with high speed for when the weather conditions or the environment require it.
  • Figure 1 is a schematic diagram of the components of the system of the present invention, showing its interconnection regarding the sending and receiving of signals.
  • the Drone controller [2] communicates with the Platform Control System [4] for, based on the information of its GPS modules [3] and [6], respectively, will position the drone on the platform more than 10 meters high.
  • the vision sensor placed in said aerial vehicle [1] identifies a visual pattern printed on the landing surface illuminated by LEOs with specific light pulses [7].
  • the proximity sensor [5] placed on the landing platform measures the distance the drone is; This data is received by the above-mentioned platform controller and sent to the drone controller so that it executes a PID control algorithm to optimize the descent speed.
  • the drone is at a distance very close to the contact with the landing surface, it is indicated to activate an electromagnet [8] to hold the base of the drone, which integrates a damping device and whose lower face is covered with a sheet of ferromagnetic material.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention describes a system for a platform for automatically landing a drone at high descent speed, with magnetic attachment on contact, comprising a landing surface with a quickly recognisable visual pattern which, once positioned on the platform with GPS information, is detected by a vision sensor included in the drone. A proximity sensor allows the distance from the platform to the drone to be measured, thereby executing a PID control method for optimising speed and descent acceleration.

Description

SISTEMA DE ATERRIZAJE AUTOMÁTICO CON ALTA VELOCIDAD DE  AUTOMATIC LANDING SYSTEM WITH HIGH SPEED OF
DESCENSO PARA DRONES  DRONES DESCENT
CAMPO TÉCNICO DE LA INVENCIÓN TECHNICAL FIELD OF THE INVENTION
La presente invención se relaciona a un sistema de control de aterrizaje de un vehículo aéreo del tipo dron. Particularmente, esta invención pertenece a un sistema de control que permite el aterrizaje de un dron a aita velocidad de una forma segura. The present invention relates to a landing control system of an aerial vehicle of the drone type. Particularly, this invention belongs to a control system that allows the landing of a drone at a speed speed in a safe way.
ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION
En los últimos años se observado una gran popularidad en los drones o Vehículo Aéreo no Tripulado (siglas en ingles UAV) tanto en aplicaciones militares como civiles. En especial, se ha observado un aumento significativo en la fabricación de Drones pequeños de despegue y aterrizaje vertical (siglas en ingles VTOL) debido a sus capacidades de maniobrabilidad, robustez, practicidad y ligereza; al mismo tiempo los drones se han vuelto más accesibles y menos costosos. A pesar del rápido crecimiento se han ofrecido pocas soluciones para abordar el problema de la recuperación de drones a prueba de errores sin intervención humana. Una de las dificultades asociadas con los drones VTOL es que no pueden aterrizar de forma segura en terrenos desiguales. Si el vehículo aéreo está orientado para que coincida con una superficie de aterrizaje irregular, el vehículo puede no ser capaz de mantener el vuelo. Además, cuando la superficie de aterrizaje es irregular hay una mayor probabilidad de tocar el suelo con uno de los rotores, causando un fallo catastrófico del UAV. In recent years, great popularity has been observed in drones or UAVs in both military and civilian applications. In particular, there has been a significant increase in the manufacture of small take-off and vertical landing drones (VTOL acronym) due to their maneuverability, robustness, practicality and lightness capabilities; At the same time, drones have become more accessible and less expensive. Despite rapid growth, few solutions have been offered to address the problem of error-proof drone recovery without human intervention. One of the difficulties associated with VTOL drones is that they cannot land safely on uneven terrain. If the air vehicle is oriented to match an irregular landing surface, the vehicle may not be able to maintain the flight. In addition, when the landing surface is irregular there is a greater probability of touching the ground with one of the rotors, causing a catastrophic failure of the UAV.
Respecto a las invenciones registradas en el tema, se encuentran las que describen plataformas de despegue y aterrizaje que adicionalmente agregan él control de posicionamiento y dirección del dron hacia el mismo, en donde se basan en un proyector opto-electrónico para el control del aterrizaje que mide continuamente las variaciones de la distancia que separa el dron de una base (FR2941677), un dispositivo de posicionamiento automático por medio de la colocación de electroimanes previstos en una plataforma e imanes en el tren de aterrizaje del dron (CN105836150), la gestión del dron para el control de aterrizaje mediante radiobaliza y baliza (US9481475, WO/2016/165793), un transmisor que emite una señal a través de una identificación de radiofrecuencia para ayudar a encontrar la plataforma de aterrizaje (CN 105848533), un sistema de despegue y aterrizaje programado que se basa en la triangulación de vectores con múltiples sensores (US8068950, US8355834). Por otro lado. La patente No. US20160266579 describe un sistema automatizado de seguridad de drones con sensores incorporados y un dispositivo de formación de imágenes para medir los datos de vigilancia. Los datos de vigilancia pueden incluir imágenes, datos de telemetría, datos de infrarrojos u otra información detectable de la ubicación, que incluye una plataforma con muelleo de dron para el lanzamiento, aterrizaje y / o almacenamiento de los drones. Adicionalmente se agrega una aplicación para cualquier tipo de dispositivo móvil, ya sea un Smartphone, Tablet, Laptop o similar. Con relación a la patente anterior, las patentes WO2010/061099, US8594862 y EP2364757 describen drones y su principio de pilotaje a través de un Smartphone o dispositivo multimedia portátil con pantalla táctil y acelerómetro integrado, estos aparatos incorporan los diversos elementos de control necesarios para la detección de los comandos de pilotaje y el intercambio bídireccional de datos con el dron a través de un enlace inalámbrico de tipo de red de área local Wi- Fi (IEEE 802.11) o Bluetooth. Las implementaciones generales para los métodos de aterrizaje mencionados corresponden a modos de aterrizaje comunes. La presente patente describe un método para aterrizaje seguro, particularmente descendiendo con alta velocidad para cuando las condiciones climatológicas o del entorno lo requieran. Regarding the inventions registered in the subject, there are those that describe take-off and landing platforms that additionally add the drone positioning and direction control to it, where they are based on an opto-electronic projector for landing control that continuously measures the variations of the distance that separates the drone from a base (FR2941677), an automatic positioning device by means of the placement of electromagnets provided on a platform and magnets in the drone landing gear (CN105836150), the management of the drone for landing control by radio beacon and beacon (US9481475, WO / 2016/165793), a transmitter that emits a signal through an identification of radio frequency to help find the landing platform (CN 105848533), a scheduled take-off and landing system that is based on vector triangulation with multiple sensors (US8068950, US8355834). On the other hand. Patent No. US20160266579 describes an automated drone safety system with built-in sensors and an imaging device for measuring surveillance data. Surveillance data may include images, telemetry data, infrared data or other detectable location information, which includes a drone dock platform for launching, landing and / or storage of drones. Additionally an application is added for any type of mobile device, be it a Smartphone, Tablet, Laptop or similar. In relation to the previous patent, patents WO2010 / 061099, US8594862 and EP2364757 describe drones and their piloting principle through a Smartphone or portable multimedia device with touch screen and integrated accelerometer, these devices incorporate the various control elements necessary for the Pilot command detection and bi-directional exchange of data with the drone via a Wi-Fi local area network type wireless link (IEEE 802.11) or Bluetooth. The general implementations for the mentioned landing methods correspond to common landing modes. The present patent describes a method for safe landing, particularly descending with high speed for when the weather conditions or the environment require it.
DESCRIPCION DETALLADA DE LA INVENCIÓN DETAILED DESCRIPTION OF THE INVENTION
Los detalles característicos de la presente invención se muestran claramente en la siguiente descripción y en las figuras que se acompañan, las cuales se mencionan a manera de ejemplo por lo que no deben considerarse como una limitante para dicha invención. The characteristic details of the present invention are clearly shown in the following description and in the accompanying figures, which are mentioned by way of example and should therefore not be considered as a limitation for said invention.
Breve descripción de las figuras: Brief description of the figures:
La figura 1 es un diagrama esquemático de los componentes del sistema de la presente invención, donde se muestra su interconexión referente al envío y recepción de señales. Como se muestra en la Figura 1, el controlador del Dron [2] se comunica con el Sistema de Control de la Plataforma [4] para, con base en la información de sus módulos GPS [3] y [6], respectivamente, se posicione el Dron sobre la plataforma a más de 10 metros de altura. Inmediatamente el sensor de visión colocado en dicho vehículo aéreo [1] identifica un patrón visual impreso en la superficie de aterrizaje iluminado por LEOs con pulsos luminosos específicos [7]. El sensor de proximidad [5] colocado en la plataforma de aterrizaje mide la distancia a la que se encuentra el Dron; estos datos son recibidos por el controlador de la plataforma anteriormente mencionado y son enviados al controlador del Dron para que éste ejecute un algoritmo de control PID para optimizar la velocidad de descenso. Una vez el Dron está a una distancia muy cercana al contacto con la superficie de aterrizaje, se indica activar un electroimán [8] para que sujete la base del Dron, que integra un dispositivo de amortiguamiento y cuya cara inferior es cubierta con una lámina de material ferromagnético. Figure 1 is a schematic diagram of the components of the system of the present invention, showing its interconnection regarding the sending and receiving of signals. As shown in Figure 1, the Drone controller [2] communicates with the Platform Control System [4] for, based on the information of its GPS modules [3] and [6], respectively, will position the drone on the platform more than 10 meters high. Immediately, the vision sensor placed in said aerial vehicle [1] identifies a visual pattern printed on the landing surface illuminated by LEOs with specific light pulses [7]. The proximity sensor [5] placed on the landing platform measures the distance the drone is; This data is received by the above-mentioned platform controller and sent to the drone controller so that it executes a PID control algorithm to optimize the descent speed. Once the drone is at a distance very close to the contact with the landing surface, it is indicated to activate an electromagnet [8] to hold the base of the drone, which integrates a damping device and whose lower face is covered with a sheet of ferromagnetic material.

Claims

REIVINDICACIONES La presente invención reclama: CLAIMS The present invention claims:
1. Una plataforma de aterrizaje automático con alta velocidad de descenso para drones con sujeción al contacto, constituido por los siguientes elementos y etapas: a. - Una pista de aterrizaje que integra un módulo para obtención de su posicionamiento mediante GPS, se comunica con el dron para indicar su posición absoluta y relativa. Dicha pista de aterrizaje cuenta con un patrón visual unidireccional de rápido reconocimiento impreso en su superficie, con un arreglo de diodos emisores de luz (LED) que encienden con una frecuencia específica de pulsos y apuntan hacia el patrón visual. b. - Debajo de la superficie de aterrizaje se encuentra una bobina que fungirá como electroimán durante el descenso de tal forma que el dron, al ser provisto de una base ligera que integra un dispositivo de amortiguamiento y cuya cara inferior es cubierta con una lámina de material ferromagnético, podrá ser sujetado a la pista de aterrizaje justo al aproximarse a la superficie. c- Un sensor de visión situado en el dron captura imágenes hacia la dirección ¿le descenso donde se encuentra la pista de aterrizaje. d.-Un sensor de proximidad situado en el dron mide la distancia entre el dron y la pista de aterrizaje en tiempo real durante el descenso. e.- El controlador incluido en el dron le indica posicionarse sobre la plataforma de aterrizaje mediante información de su GPS, seguidamente ejecuta un algoritmo de reconocimiento de patrones visuales mediante Transformada Rápida de Fourier con superposición de imágenes e identificación de frecuencia de pulsos luminosos para verificar la dirección y orientación de descenso correctos. Mediante la entrada de ios valores del estado dinámico del dron referentes a velocidad y aceleración, complementado con la distancia medida por el sensor de proximidad, se ejecuta un método de control PID para lograr un descenso óptimo en relación distancia/tiempo hasta llegar a una distancia cercana a cero con una velocidad también cercana a cero. f.- Una vez que el dron está lo suficientemente cerca de la pista de aterrizaje, será atraído por el electroimán anteriormente mencionado para fijarlo y evitar movimiento provocado por la misma inercia del movimiento, por viento o gravedad debido a inclinación de la superficie. 1. An automatic landing platform with high descent speed for drones subject to contact, consisting of the following elements and stages: a. - An airstrip that integrates a module to obtain its positioning by GPS, communicates with the drone to indicate its absolute and relative position. Said runway has a unidirectional visual pattern of rapid recognition printed on its surface, with an array of light-emitting diodes (LEDs) that light with a specific pulse frequency and point towards the visual pattern. b. - Below the landing surface is a coil that will function as an electromagnet during the descent so that the drone, being provided with a light base that integrates a damping device and whose lower face is covered with a sheet of ferromagnetic material , may be attached to the runway just as it approaches the surface. c- A vision sensor located in the drone captures images towards the direction ¿will you descend where the airstrip is located. d.-A proximity sensor located on the drone measures the distance between the drone and the runway in real time during the descent. e.- The controller included in the drone tells you to position yourself on the landing platform using information from your GPS, then execute a visual pattern recognition algorithm using Fast Fourier Transform with image overlay and frequency identification of light pulses to verify the correct direction and descent orientation. By entering the values of the dynamic state of the drone referring to speed and acceleration, complemented with the distance measured by the proximity sensor, a PID control method is executed to achieve an optimal decrease in distance / time ratio until reaching a distance close to zero with a speed also close to zero. f.- Once the drone is close enough to the landing strip, it will be attracted by the aforementioned electromagnet to fix it and avoid movement caused by the same inertia of the movement, by wind or gravity due to surface inclination.
2.- Una plataforma de aterrizaje como la indicada en Reivindicación 1, donde se incluye una estación meteorológica portátil que señala al menos una de las siguientes condiciones atmosféricas: i) temperatura, ii) velocidad del viento iii) condiciones de humedad, en el punto de aterrizaje. 2. A landing platform as indicated in Claim 1, which includes a portable weather station that signals at least one of the following atmospheric conditions: i) temperature, ii) wind speed iii) humidity conditions, at the point of landing.
3.- Una plataforma de aterrizaje como la especificada en Reivindicación 1, donde la pista de aterrizaje cuenta con un arreglo de LEDs RGB y LEDs IR para adecuarse a las condiciones climatológicas del escenario de aterrizaje. 3.- A landing platform as specified in Claim 1, wherein the landing strip has an arrangement of RGB LEDs and IR LEDs to adapt to the weather conditions of the landing stage.
4.- Una plataforma de aterrizaje como la especificada en Reivindicación 1, donde el sensor de proximidad utilizado puede ser: i) ultrasónico, ii) infrarrojo o iii) magnético. 4.- A landing platform as specified in Claim 1, wherein the proximity sensor used can be: i) ultrasonic, ii) infrared or iii) magnetic.
5.- Una plataforma de aterrizaje como la especificada en Reivindicación 1, que tiene un sistema de acoplamiento mecánico con un automóvil o camioneta. 5.- A landing platform as specified in Claim 1, which has a mechanical coupling system with a car or van.
6.- Una plataforma de aterrizaje como la especificada en Reivindicación 4, donde la pista de aterrizaje cuenta con un sistema estabilizador de nivel, a través del uso de acelerómetros, para cuando el terreno no se encuentre nivelado. 6. An landing platform as specified in Claim 4, wherein the landing strip has a level stabilization system, through the use of accelerometers, for when the ground is not level.
7.- Un sistema como el especificado en Reivindicación 1, donde los datos del dron son cargados a un servidor de red para poder desplegar el estado del aterrizaje mediante alguna de las siguientes interfaces: i) una aplicación multi-dispositivo, ii) una página web, iii) una pantalla posicionada en la misma plataforma de aterrizaje. 7.- A system as specified in Claim 1, where the drone data is uploaded to a network server in order to display the status of the landing through any of the following interfaces: i) a multi-device application, ii) a page web, iii) a screen positioned on the same landing platform.
PCT/MX2016/000157 2016-12-16 2016-12-16 Automatic landing system with high-speed descent for drones WO2018111075A1 (en)

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Cited By (4)

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CN110221625A (en) * 2019-05-27 2019-09-10 北京交通大学 The Autonomous landing guidance method of unmanned plane exact position
CN110377046A (en) * 2019-09-04 2019-10-25 哈尔滨工业大学 The control method that unmanned plane lands on naval vessel
CN110418464A (en) * 2019-07-26 2019-11-05 深圳依炮尔科技有限公司 A kind of control method and system of LED emergency lighting control device
CN113759984A (en) * 2021-11-09 2021-12-07 山东天亚达新材料科技有限公司 Intelligent data interaction method, device and equipment for racing unmanned aerial vehicle

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110221625A (en) * 2019-05-27 2019-09-10 北京交通大学 The Autonomous landing guidance method of unmanned plane exact position
CN110221625B (en) * 2019-05-27 2021-08-03 北京交通大学 Autonomous landing guiding method for precise position of unmanned aerial vehicle
CN110418464A (en) * 2019-07-26 2019-11-05 深圳依炮尔科技有限公司 A kind of control method and system of LED emergency lighting control device
CN110377046A (en) * 2019-09-04 2019-10-25 哈尔滨工业大学 The control method that unmanned plane lands on naval vessel
CN110377046B (en) * 2019-09-04 2022-03-11 哈尔滨工业大学 Control method for landing of unmanned aerial vehicle on ship
CN113759984A (en) * 2021-11-09 2021-12-07 山东天亚达新材料科技有限公司 Intelligent data interaction method, device and equipment for racing unmanned aerial vehicle
CN113759984B (en) * 2021-11-09 2022-02-08 山东天亚达新材料科技有限公司 Intelligent data interaction method, device and equipment for racing unmanned aerial vehicle

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