CN105302150A - Unmanned aircraft infinite endurance system - Google Patents
Unmanned aircraft infinite endurance system Download PDFInfo
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- CN105302150A CN105302150A CN201510851206.XA CN201510851206A CN105302150A CN 105302150 A CN105302150 A CN 105302150A CN 201510851206 A CN201510851206 A CN 201510851206A CN 105302150 A CN105302150 A CN 105302150A
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Abstract
The invention relates to an unmanned aircraft infinite endurance system. An attitude reading module collects attitude information of an unmanned aircraft and sends data to a control unit in the unmanned aircraft. The control unit outputs a control signal to the unmanned aircraft. The unmanned aircraft conducts remote wireless communication with a monitoring vehicle. When the flying unmanned aircraft needs power supplement, a vehicle-mounted unmanned aircraft monitoring system calculates a charging meeting point of the unmanned aircraft and the monitoring vehicle and sends control signals to the unmanned aircraft and the monitoring vehicle. The unmanned aircraft and the monitoring vehicle cooperate to approach each other. When the unmanned aircraft gets close to the position of the monitoring vehicle, the unmanned aircraft identifies an image through an optical flow module, reads height information through an ultrasonic wave module, determines a precise position of the monitoring vehicle, and lands on an assigned area of the ceiling of the monitoring vehicle. The unmanned aircraft monitoring system sends a starting control signal to a wireless charging system to start the wireless charging system to charge the unmanned aircraft. The system can effectively solve the problem of limited endurance of the unmanned aircraft and ensures that the unmanned aircraft can execute flying tasks continuously and dynamically in a large range.
Description
Technical field
The present invention relates to a kind of unmanned plane infinitely to continue a journey system, particularly a kind ofly comprise monitoring car and the monitoring of vehicle-mounted unmanned plane and wireless charging system.
Background technology
Along with the fast development of unmanned plane industry, unmanned plane is applied among the productive life of people just increasingly extensively.But due to the bottleneck of battery industry development, the flying power of unmanned plane in a big way during continuous dynamically execution aerial mission is very limited.Such as patrol and examine line of electric force for a long time at electrical network, the safety and protection monitoring in extensive scope, traffic police executes the task in road network motion, and the application in the fields such as Freeway Conditions exploration receives certain restriction.How can become a problem demanding prompt solution to unmanned plane charging anywhere or anytime.
At present, computer vision technique is widely used in unmanned plane, and the unmanned plane having many moneys to possess view-based access control model location comes into operation.This technology utilizes vision to locate the method combined with GPS and inertial navigation, and unmanned plane is located fast and accurately under complex environment.Meanwhile, existing ripe unmanned plane path planning scheme is by verifying and coming into operation.By unmanned plane path planning, unmanned plane can be made under certain constraint condition accurately according to self residual electricity and current location situation, fly to appointed place with optimal path.
Based on above-mentioned technology, the unlimited continuation of the journey system that combining wireless charging and automobile carry solution propose, effectively can solve the problem that the flying power of unmanned plane is limited, can guarantee that unmanned plane dynamically performs aerial mission continuously in a big way.
Summary of the invention
The present invention is directed to unmanned plane in the process of executing the task, occur that electricity is not enough and the situation of finishing the work cannot be continued, propose a kind of unmanned plane infinitely to continue a journey system, this system coordinates the flight of unmanned plane by monitoring car, electric power supply can be provided in time in the process of unmanned plane during flying interval, improve the flying power of unmanned plane, make unmanned function complete corresponding task at the appointed time.
Technical scheme of the present invention is: a kind of unmanned plane is infinitely continued a journey system, comprise unmanned plane, the attitude read module of unmanned plane inside, control module, GPS module, light stream and ultrasonic wave module, monitoring car, vehicle-mounted unmanned plane monitoring system, wireless charging system, described attitude read module gathers the attitude information of unmanned plane, and control module data delivered in unmanned plane, carry out data analysis and process, control module exports control signal to unmanned plane, makes unmanned plane keep stabilized flight; Described unmanned plane and monitoring car long-distance radio communication, for obtaining unmanned plane and monitoring car positional information each other, when the unmanned plane flown needs supply electric power, vehicle-mounted unmanned plane monitoring system is according to the current location of road network information and unmanned plane, calculate and charge behind meeting point between unmanned plane and monitoring car, send control signal to unmanned plane and monitoring car, make unmanned plane coordinate close to each other with monitoring car; When the position of unmanned plane close monitoring car, unmanned plane is by light stream and ultrasonic wave module recognition image and read elevation information, determine the exact position monitoring car, and drop to the appointment charged area of monitoring car roof, vehicle-mounted unmanned plane monitoring system sends and starts control signal to wireless charging system, wireless charging system is made to open as unmanned plane supply electric power, to realize unlimited continuation of the journey.
Described unmanned plane determines by GPS module the position monitoring car.
Described unmanned plane is can by the rotary wind type of preset program autonomous flight or flapping wings type or fixed-wing or helicopter or dirigible.
In described monitoring car, vehicle-mounted unmanned plane monitoring system and wireless charging system are installed, and wireless charging system is installed on monitoring car roof.
Described vehicle-mounted unmanned aerial vehicle monitoring system is by the unmanned plane during flying state of Real-time Obtaining and positional information input monitoring terminal, and described monitor terminal is any one in computing machine, smart mobile phone, hand-held monitor.
Beneficial effect of the present invention is: unmanned plane is kept in communication with monitoring car while completing appointed task, by image acquisition, process and location, returns monitoring car, utilize vehicle-mounted wireless charging system to supplement electric power to unmanned plane before power drain.
This system is equivalent to, for unmanned plane provides the mobile charging stake that adopts wireless charging pattern, effectively to solve the problem that the flying power of unmanned plane is limited, can guarantee that unmanned plane dynamically performs aerial mission continuously in a big way.
Accompanying drawing explanation
Fig. 1 is that unmanned plane of the present invention is infinitely continued a journey system architecture schematic diagram;
Fig. 2 monitors car when unmanned plane is close in unmanned plane of the present invention infinitely continuation of the journey system, needs to drop to ceiling and supplements the aerial schematic top plan view before electric power by wireless charging.
Embodiment
As shown in Figure 1, a kind of unmanned plane infinitely the system of continuing a journey comprise: the attitude read module 1 of unmanned plane inside, control module 2, GPS module 3, light stream and ultrasonic wave module 4, vehicle-mounted unmanned plane monitoring system 5, wireless charging system 6, unmanned plane 7 and monitoring car 8.Attitude read module 1 mainly gathers the attitude information of unmanned plane 7, and the control module 2 data delivered in unmanned plane 7 carries out data analysis and process, keeps the stabilized flight of unmanned plane 7.GPS module 3 mainly obtains the GPS location of unmanned plane 7, and is sent to unmanned aerial vehicle (UAV) control unit 2.The positional information of monitoring car 8, by the state of flight of the communication Real-time Obtaining unmanned plane 7 between unmanned plane 7 and positional information, is passed to unmanned plane 7 by unmanned plane monitoring system 4 simultaneously.When unmanned plane 7 needs supply electric power, can according to current positional information, calculate optimum charge position by navigation and path planning algorithm accordingly, unmanned plane 7 is joined in this position with monitoring car 8.Light stream and ultrasonic wave module 4 mainly unmanned plane 7 with monitoring car 8 apart from the horizontal shift gathered time quite near between the two and perpendicular displacement, and send data to unmanned aerial vehicle (UAV) control unit 2, be convenient to the appointed area that unmanned plane 7 drop to monitoring car 8 ceiling, monitoring car 8 is afterwards unmanned plane 7 supply electric power by automatic open wireless charging system 6.Unmanned plane 7 can, by preset program autonomous flight, can be the multiple different versions such as rotary wind type, flapping wings type, fixed-wing, helicopter, dirigible.The embedding transmitting terminal having Wireless charging coil of monitoring car 8 ceiling, receiving end coil is built in bottom unmanned plane 7.
Be illustrated in figure 2 in unmanned plane of the present invention infinitely continuation of the journey system and monitor car when unmanned plane is close, need to drop to ceiling by the aerial vertical view before the supplementary electric power of unlimited charging.This visual angle is unmanned aerial vehicle onboard camera visual angle, and now unmanned plane will obtain external information by light stream and ultrasonic wave module, drop to the fixed appointed area of cross via vision positioning system under the manipulation of internal control unit simultaneously.
The beneficial effect of the present embodiment is, for unmanned plane provides the monitoring car that adopts wireless charging pattern, effectively to solve the limited problem of flying power, in the process of this unmanned plane during flying interval, provide electric power supply in time.
Claims (5)
1. a unmanned plane is infinitely continued a journey system, comprise unmanned plane (7), the attitude read module (1) of unmanned plane inside, control module (2), GPS module (3), light stream and ultrasonic wave module (4), monitoring car (8), vehicle-mounted unmanned plane monitoring system (5), wireless charging system (6), described attitude read module (1) gathers the attitude information of unmanned plane (7), and the control module (2) data delivered in unmanned plane, carry out data analysis and process, control module (2) exports control signal to unmanned plane (7), unmanned plane (7) is made to keep stabilized flight, described unmanned plane (7) and monitoring car (8) long-distance radio communication, for obtaining unmanned plane (7) and monitoring car (8) positional information each other, it is characterized in that: when the unmanned plane (7) flown needs supply electric power, vehicle-mounted unmanned plane monitoring system (5) is according to the current location of road network information and unmanned plane (7), after calculating meeting point of charging between unmanned plane (7) and monitoring car (8), send control signal to unmanned plane (7) and monitoring car (8), unmanned plane (7) is made to coordinate close to each other with monitoring car (8), when the position of unmanned plane (7) close monitoring car (8), unmanned plane (7) is by light stream and ultrasonic wave module (4) recognition image and read elevation information, determine the exact position monitoring car (8), and drop to the appointment charged area of monitoring car (8) ceiling, vehicle-mounted unmanned plane monitoring system (5) sends and starts control signal to wireless charging system (6), wireless charging system (6) is made to open as unmanned plane (7) supply electric power, to realize unlimited continuation of the journey.
2. unmanned plane according to claim 1 is infinitely continued a journey system, it is characterized in that: described unmanned plane (7) determines by GPS module (3) position monitoring car (8).
3. unmanned plane according to claim 1 is infinitely continued a journey system, it is characterized in that: described unmanned plane (7) is for can by the rotary wind type of preset program autonomous flight or flapping wings type or fixed-wing or helicopter or dirigible.
4. unmanned plane according to claim 1 is infinitely continued a journey system, it is characterized in that: in described monitoring car (8), vehicle-mounted unmanned plane monitoring system (5) and wireless charging system (6) are installed, and wireless charging system (6) is installed on monitoring car (8) ceiling.
5. unmanned plane according to claim 1 is infinitely continued a journey system, it is characterized in that: described vehicle-mounted unmanned plane monitoring system (5) is by unmanned plane (7) state of flight of Real-time Obtaining and positional information input monitoring terminal, and described monitor terminal is any one in computing machine, smart mobile phone, hand-held monitor.
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| CN105973239A (en) * | 2016-07-06 | 2016-09-28 | 深圳市高巨创新科技开发有限公司 | Method for searching shortest path of unmanned aerial vehicle |
| CN106786956A (en) * | 2017-01-11 | 2017-05-31 | 河北省自动化研究所 | Colony's unmanned plane electric supply installation |
| CN106786991A (en) * | 2017-02-16 | 2017-05-31 | 刘崇朴 | A kind of vehicle-mounted unmanned aerial vehicle charging system |
| CN106813666A (en) * | 2017-02-13 | 2017-06-09 | 中国人民解放军国防科学技术大学 | The double-deck path construction method and system of vehicle boarded unmanned plane |
| CN106970649A (en) * | 2017-04-25 | 2017-07-21 | 华南农业大学 | A kind of unmanned plane wireless charging automatic control platform and control method |
| CN106985977A (en) * | 2017-03-31 | 2017-07-28 | 武汉理工大学 | A kind of unmanned plane, ship wireless charging device and joint cruise rescue method |
| CN107161350A (en) * | 2017-04-11 | 2017-09-15 | 西南科技大学 | Accident handling aircraft is independently continued a journey method and its system |
| WO2017166724A1 (en) * | 2016-03-30 | 2017-10-05 | 乐视控股（北京）有限公司 | Aircraft apron device, aircraft, and aircraft parking system |
| CN107264786A (en) * | 2017-06-08 | 2017-10-20 | 北京化工大学 | A kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier |
| CN107727997A (en) * | 2016-08-10 | 2018-02-23 | 吕忠华 | A kind of transmission line of electricity makes an inspection tour flight monitoring system online |
| CN107765710A (en) * | 2016-08-23 | 2018-03-06 | 比亚迪股份有限公司 | The automatic homing method and system of vehicle-mounted aircraft |
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| CN108990947A (en) * | 2018-07-31 | 2018-12-14 | 佛山市高明曦逻科技有限公司 | Can real-time feed pesticide spraying system |
| CN109000664A (en) * | 2018-09-25 | 2018-12-14 | 宁夏大学 | A kind of the robot search and rescue system and rescue method of air-ground coordination |
| CN109733220A (en) * | 2018-12-11 | 2019-05-10 | 福州臻美网络科技有限公司 | Method, unmanned plane and the computer-readable medium of unmanned plane charging |
| CN110785721A (en) * | 2018-11-30 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Control method of unmanned equipment and unmanned vehicle |
| CN110888458A (en) * | 2019-12-31 | 2020-03-17 | 广州极飞科技有限公司 | Unmanned aerial vehicle flight control method, unmanned aerial vehicle, system and storage medium |
| CN111782388A (en) * | 2020-06-19 | 2020-10-16 | 上海交通大学 | Resource circulation cooperation system and method based on small unmanned aerial vehicle |
| CN111845430A (en) * | 2019-04-22 | 2020-10-30 | 上海汽车集团股份有限公司 | Method and system for replacing unmanned aerial vehicle battery |
| CN113954664A (en) * | 2021-10-29 | 2022-01-21 | 深圳技术大学 | Vehicle-mounted unmanned aerial vehicle wireless charging method and system |
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| WO2017166724A1 (en) * | 2016-03-30 | 2017-10-05 | 乐视控股（北京）有限公司 | Aircraft apron device, aircraft, and aircraft parking system |
| CN105828049A (en) * | 2016-05-20 | 2016-08-03 | 国网山东省电力公司日照供电公司 | Intelligent remote viewing system of transformer substation |
| CN105973239A (en) * | 2016-07-06 | 2016-09-28 | 深圳市高巨创新科技开发有限公司 | Method for searching shortest path of unmanned aerial vehicle |
| CN105973239B (en) * | 2016-07-06 | 2019-01-18 | 深圳市高巨创新科技开发有限公司 | Unmanned plane method for searching shortest route |
| CN107727997A (en) * | 2016-08-10 | 2018-02-23 | 吕忠华 | A kind of transmission line of electricity makes an inspection tour flight monitoring system online |
| CN107765710A (en) * | 2016-08-23 | 2018-03-06 | 比亚迪股份有限公司 | The automatic homing method and system of vehicle-mounted aircraft |
| CN106786956A (en) * | 2017-01-11 | 2017-05-31 | 河北省自动化研究所 | Colony's unmanned plane electric supply installation |
| CN106813666A (en) * | 2017-02-13 | 2017-06-09 | 中国人民解放军国防科学技术大学 | The double-deck path construction method and system of vehicle boarded unmanned plane |
| CN106813666B (en) * | 2017-02-13 | 2019-10-18 | 中国人民解放军国防科学技术大学 | The double-deck path construction method and system of vehicle loading unmanned plane |
| CN106786991A (en) * | 2017-02-16 | 2017-05-31 | 刘崇朴 | A kind of vehicle-mounted unmanned aerial vehicle charging system |
| CN106985977A (en) * | 2017-03-31 | 2017-07-28 | 武汉理工大学 | A kind of unmanned plane, ship wireless charging device and joint cruise rescue method |
| CN106985977B (en) * | 2017-03-31 | 2019-08-23 | 武汉理工大学 | A kind of unmanned plane, the wireless combined cruise rescue method of ship |
| CN107161350A (en) * | 2017-04-11 | 2017-09-15 | 西南科技大学 | Accident handling aircraft is independently continued a journey method and its system |
| WO2018196641A1 (en) * | 2017-04-24 | 2018-11-01 | 菜鸟智能物流控股有限公司 | Aerial vehicle |
| CN106970649A (en) * | 2017-04-25 | 2017-07-21 | 华南农业大学 | A kind of unmanned plane wireless charging automatic control platform and control method |
| CN107264786A (en) * | 2017-06-08 | 2017-10-20 | 北京化工大学 | A kind of two-stage balanced control device of multi-rotor unmanned aerial vehicle aircraft carrier |
| CN108990947A (en) * | 2018-07-31 | 2018-12-14 | 佛山市高明曦逻科技有限公司 | Can real-time feed pesticide spraying system |
| CN109000664A (en) * | 2018-09-25 | 2018-12-14 | 宁夏大学 | A kind of the robot search and rescue system and rescue method of air-ground coordination |
| CN110785721A (en) * | 2018-11-30 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Control method of unmanned equipment and unmanned vehicle |
| WO2020107468A1 (en) * | 2018-11-30 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Control method for unmanned device, and unmanned vehicle |
| CN109733220A (en) * | 2018-12-11 | 2019-05-10 | 福州臻美网络科技有限公司 | Method, unmanned plane and the computer-readable medium of unmanned plane charging |
| CN109733220B (en) * | 2018-12-11 | 2021-10-22 | 山东省地质矿产勘查开发局第八地质大队(山东省第八地质矿产勘查院) | Method for charging unmanned aerial vehicle, unmanned aerial vehicle and computer readable medium |
| CN111845430A (en) * | 2019-04-22 | 2020-10-30 | 上海汽车集团股份有限公司 | Method and system for replacing unmanned aerial vehicle battery |
| CN111845430B (en) * | 2019-04-22 | 2021-11-16 | 上海汽车集团股份有限公司 | Method and system for replacing unmanned aerial vehicle battery |
| CN110888458A (en) * | 2019-12-31 | 2020-03-17 | 广州极飞科技有限公司 | Unmanned aerial vehicle flight control method, unmanned aerial vehicle, system and storage medium |
| CN111782388A (en) * | 2020-06-19 | 2020-10-16 | 上海交通大学 | Resource circulation cooperation system and method based on small unmanned aerial vehicle |
| CN111782388B (en) * | 2020-06-19 | 2022-09-09 | 上海交通大学 | Resource circulation cooperation system and method based on small unmanned aerial vehicle |
| CN113954664A (en) * | 2021-10-29 | 2022-01-21 | 深圳技术大学 | Vehicle-mounted unmanned aerial vehicle wireless charging method and system |
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