CN106494632B - The mobile landing system of aircraft and mobile landing method - Google Patents

The mobile landing system of aircraft and mobile landing method Download PDF

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Publication number
CN106494632B
CN106494632B CN201610882804.8A CN201610882804A CN106494632B CN 106494632 B CN106494632 B CN 106494632B CN 201610882804 A CN201610882804 A CN 201610882804A CN 106494632 B CN106494632 B CN 106494632B
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CN
China
Prior art keywords
aircraft
camera
drop target
processor
landing
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CN201610882804.8A
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Chinese (zh)
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CN106494632A (en
Inventor
何春旺
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珠海市磐石电子科技有限公司
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Priority to CN201610804977 priority
Application filed by 珠海市磐石电子科技有限公司 filed Critical 珠海市磐石电子科技有限公司
Publication of CN106494632A publication Critical patent/CN106494632A/en
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Publication of CN106494632B publication Critical patent/CN106494632B/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/04Control of altitude or depth
    • G05D1/06Rate of change of altitude or depth
    • G05D1/0607Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0653Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
    • G05D1/0676Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
    • G05D1/0684Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing on a moving platform, e.g. aircraft carrier
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00Aircraft indicators or protectors not otherwise provided for
    • B64D45/04Landing aids; Safety measures to prevent collision with earth's surface
    • B64D45/08Landing aids; Safety measures to prevent collision with earth's surface optical
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast
    • H04N7/181Closed circuit television systems, i.e. systems in which the signal is not broadcast for receiving images from a plurality of remote sources

Abstract

Make the method for the mobile landing of aircraft the present invention provides a kind of mobile landing system of aircraft and using the system.The mobile landing system of aircraft provided by the invention includes the photographic device being arranged on board the aircraft and the drop target being arranged on landing platform, the light source for issuing the light of predetermined wavelength is provided on drop target, control device controls light source according to preset frequency stroboscopic, photographic device includes the optical filter through the light of predetermined wavelength, it is provided with the first communication module on landing platform, the second communication module with the communication of the first communication module is provided on aircraft.The present invention, which has, can be achieved aircraft steadily mobile landing, the descent advantage small by external interference.

Description

The mobile landing system of aircraft and mobile landing method

Technical field

The present invention relates to vehicle technology fields, the more particularly, to mobile landing system of Multi-axis aircraft and mobile drop Fall method.

Background technique

Currently, the aircraft such as Multi-axis aircraft are usually landed by computer vision system automatically, camera is utilized The image for obtaining drop target, passes through Computer Vision Recognition and is directed at drop target, so that safe falling is on landing platform. Usual computer vision utilizes color or shape Division identification object, common using infrared lamp source as identification target, still In the sun, it is easy interference by environment infrared ray, by multiple identification objects when leading to Computer Vision Recognition target Interference.Furthermore when Multi-axis aircraft is close to drop target, due to flow perturbation or external interference etc., it may cause Multi-axis aircraft fuselage shakes, and then camera is caused to shake, and computer vision system is difficult to and is aligned the landing shaken Target image, to can not steadily drop on landing platform.Further, when drop target is located at mobile landing platform When upper, drop target itself is also being shaken, so that the landing difficulty of Multi-axis aircraft further increases, may cause aircraft Accidental damage.

Summary of the invention

An object of the present disclosure is to provide a kind of mobile landing system of stable landing of the high discrimination of achievable aircraft.

The present invention second is designed to provide a kind of method for making aircraft steadily move landing.

In order to realize above-mentioned first purpose, the mobile landing system of aircraft provided by the invention includes being arranged on board the aircraft First processor and photographic device connected to it and the drop target being arranged on landing platform.Wherein, on drop target It is provided with the light source for issuing the light of predetermined wavelength, photographic device includes the optical filter through the light of predetermined wavelength, on drop target It is provided with the first communication module, the second communication module with the communication of the first communication module is provided on aircraft, on drop target It is additionally provided with second processor, second processor is connect with light source, power supply and the first communication module respectively;Second processor is used for Light source is controlled according to preset frequency stroboscopic;Second processor is used to the numerical value of preset frequency passing through the first communication module and second Communication module is sent to first processor;First processor is according to the numerical identification drop target of preset frequency.

As can be seen from the above scheme, the optical filter through predetermined wavelength is installed, so as to pass through perception light on photographic device The special wavelength light that source issues determines the relative position between Multi-axis aircraft and drop target.In actual external environment, Sunlight is mixed by the light that the surface reflection of a variety of materials, refraction and various illuminators issue, and the light of various wavelength all may It can emit to photographic device, so as to cause photographic device to capture the target of mistake, and light source of the invention is at second It manages under the control of device with specific frequency stroboscopic, photographic device and first processor can further be made accurately to perceive and identify landing mesh Mark, even if wavelength is identical, but strobing frequency is different, and photographic device and first processor can identify the object of this light of sending simultaneously It is not drop target, to be less prone to misidentify, safety is stablized in aircraft landing.

More specific scheme is that range sensor directed downwardly is both provided at left and right sides of aircraft.It can by above scheme See, range sensor is all arranged in aircraft two sides, when the distance difference that the range sensor of two sides perceives, illustrates aircraft one Side exceed landing platform, aircraft landing it is dangerous, only two sides range sensor perceive range difference in preset range When interior, it is believed that be located in landing platform in aircraft width direction, aircraft just can safe falling.

More specific scheme is that range sensor has setting in the front side of the left and right sides of aircraft and rear side.By with Upper scheme is as it can be seen that the setting all around of aircraft is both provided with range sensor directed downwardly, when the distance of each sensor perception Difference within a predetermined range when, illustrate the position of aircraft within the scope of landing platform, aircraft can safe falling.

Another more specific scheme is the range sensor that downside outwardly is both provided at left and right sides of aircraft.By with Upper scheme is as it can be seen that range sensor is towards outer downside, and the region of perception is greater than sensor region, so that it is safer to land.

Preferably, photographic device includes camera lens the first camera directed downwardly, camera lens towards front lower place second camera and For camera lens towards the third camera of the back lower place, the first camera, second camera and third camera are respectively arranged with optical filter. As seen from the above, the application of three cameras can increase the visual angle of camera, convenient for capturing drop target, in order to flight Device is adjusted with respect to the position of drop target.

To realize above-mentioned second purpose, the present invention provides the mobile landing methods of aircraft, wherein realizing the shifting of aircraft The mobile landing system of the aircraft of dynamic landing includes: the first processor being arranged on board the aircraft and connect with first processor Photographic device and the drop target being arranged on landing platform, be wherein provided on drop target issue predetermined wavelength light and by The light source of second processor control on drop target is set, photographic device includes the optical filter through the light of predetermined wavelength, It is provided with the first communication module on landing platform, the second communication module with the communication of the first communication module is provided on aircraft, Second processor is used to the numerical value of preset frequency being sent to first processor by the first communication module and the second communication module. The mobile landing method of aircraft includes: the light that photographic device receives the stroboscopic that light source issues, and first processor is according to preset frequency Numerical identification drop target, photographic device by receive light source issue light perception its with respect to drop target position, first Processor is according to the numerical identification drop target of preset frequency, when drop target is located in its angular field of view, aircraft according to The relative position of photographic device and light source adjusts the position of its own, and makes light source close to its visual angle center;Reduce aircraft Highly, drop to aircraft on landing platform.

As can be seen from the above scheme, the optical filter through predetermined wavelength is installed on photographic device, so as to by perception with The light that the luminous light source of specific frequency issues, to accurately determine the relative position between aircraft and drop target, to carry out It is not easy the vision positioning by flow perturbation or external interference, and adjusts flying speed and the direction of aircraft at any time, passes through first The communication of communication module and the second communication module timely updates accurate relative position between aircraft and drop target, makes to fly Device is close to drop target and steadily movement is landed.

More specific scheme is range sensor directed downwardly to be both provided at left and right sides of aircraft, in the left and right sides The range difference of range sensor perception within a predetermined range when, the height of aircraft is reduced to land.As seen from the above, when When the distance difference of the range sensor perception of two sides, illustrate the side of aircraft beyond landing platform, aircraft landing is uneasy Entirely, only two sides range sensor perceive range difference within a predetermined range when, it is believed that aircraft width direction is upper In in landing platform, aircraft just can safe falling.

More specific scheme is that range sensor has setting in the front side of the left and right sides of aircraft and rear side, in institute The range difference for thering is range sensor to perceive all within a predetermined range when, the height of aircraft is reduced to land.By above may be used See, when each sensor perception range difference within a predetermined range when, illustrate within the scope of the position landing platform of aircraft, aircraft It can safe falling.

Another more specific scheme is, photographic device includes camera lens the first camera directed downwardly, and camera lens is towards front lower place The third camera of second camera and camera lens towards the back lower place, the first camera, second camera and third camera difference It is provided with optical filter, aircraft adjusts its height with respect to drop target, so that drop target is located at the visual angle of any camera In range.As seen from the above, the setting of three cameras makes camera be easier to capture drop target, to fly as early as possible The mobile landing of device.

Preferably, when first processor judges that it is located within predetermined altitude and predeterminated level distance with respect to drop target When, aircraft power stops, and aircraft is drop on landing platform by gravity and inertia.As seen from the above, aircraft with Relative position between drop target in a certain range when, can by stop aircraft power landing.It is leaned in aircraft When nearly drop target, due to flow perturbation, external interference, landing platform itself movement etc., aircraft can not accurate place Point is dropped on landing platform, so that mobile landing is difficult to carry out, and when aircraft is located at certain model with respect to drop target In enclosing, then it is easier to control, that is, realizes point-to-area landing, aircraft can drop in the range of landing platform.

Detailed description of the invention

Fig. 1 is the schematic diagram of the mobile landing system embodiment of aircraft of the present invention;

When Fig. 2 to Fig. 5 is that camera captures target and is adjusted in the mobile landing system embodiment of aircraft of the present invention Schematic diagram;

Fig. 6 is that aircraft of the invention moves the video pictures of camera capture in landing system embodiment on a display screen The schematic diagram of display;

Fig. 7 is the relational graph in the mobile landing system embodiment of aircraft of the present invention between each device;

Fig. 8 is the flow chart of the mobile landing method embodiment of aircraft of the present invention.

Specific embodiment

As shown in Figure 1, being provided with photographic device 10 below aircraft 1, photographic device 10 may include camera lens conduct directed downwardly The camera 11 of first camera, camera lens towards front lower place as second camera camera 12 and camera lens towards the back lower place The camera 13 as third camera, it is preferable that three cameras are linearly arranged and are located in same vertical plane, and each Optical filter is both provided on camera, wherein optical filter is set as can pass through the light of predetermined wavelength, such as infrared ray.Work as aircraft 1 to when the flight of front, and camera 12 can be towards front lower place and camera 13 is towards the back lower place.Camera 12 and camera 11 it Between angle, the angle between camera 13 and camera 11 be preferably set to equal, which can be in the range of 0 to 90 degree It is inside selected, it is further preferred that the angle can select in the range of 30 degree to 60 degree, may be, for example, 45 degree.Wherein, fly Row device 1 can be the various aircraft of known type, such as helicopter, rotor craft, Fixed Wing AirVehicle.On drop target 2 May be provided with the first communication module, settable second communication module on aircraft 1, two intermodules can communicate with each other, with into The relative position to timely update between aircraft 1 and drop target 21 when the movement landing of row aircraft.The setting of landing platform 2 is can In mobile device 3, movable fixture 3 can be the tracker actions such as vehicle, ship.Obviously, landing platform 2 can also be composition mobile device 3 part, such as roof, boat deck.Drop target 21 is arranged on landing platform 2, and it is predetermined that sending is provided on drop target 3 The light source of the light of wavelength is provided with the first processor connecting with photographic device 1 on aircraft, is provided on drop target 3 point The second processor not connecting with light source, power supply and the first communication module, second processor control light source according to preset frequency frequency Dodge, to issue the light of predetermined wavelength preset frequency, second processor by the numerical value of preset frequency by the first communication module and Second communication module is sent to first processor, first processor drop target according to the numerical identification of preset frequency, no It is easy to maloperation occur.

The first geographical coordinate acquisition device just like GPS etc. is set on landing platform 2 or movable fixture 3, on aircraft 1 It is provided with the second geographical coordinate acquisition device, when drop target 21 is not in the sight of photographic device, aircraft 1 and landing mesh Positional relationship between mark 21 can also be determined by geographical coordinate acquisition device, so that aircraft 1 can follow movable fixture 3 Flight.When drop target enters in the range of visibility of photographic device, vision positioning can be carried out.When aircraft is in decline process In, when being detached from all camera range of visibility there is a situation where drop target, aircraft rises, until drop target reenters The sight of photographic device.

Each camera has certain angular field of view, and when object is in its angular field of view, camera can capture this Object simultaneously forms image.As shown in Fig. 2, opposed vertical line, camera lens camera 11 directed downwardly is 2 α at the visual angle of its width direction, Since the working face of 11 sensor of camera is in distributed rectangular, camera 11 is that 2 β (do not show in figure at the visual angle of its length direction Out).Remoter apart from camera lens along vertically downward direction, the range fallen into camera 11 is bigger.Stablized in aircraft 1 Before landing, photographic device 10 determines whether drop target 21 can fall into according to the relative position between aircraft 1 and landing platform 2 In the angular field of view of camera 11, and the light that the light source being arranged on the drop target 21 being located on horizontal plane h issues is captured, in phase Adjust the distance should in range of visibility camera 11 when not capturing light, situation as shown in Figure 2 can adjust aircraft 1 Highly, the camera that direction or switching are captured, until light source is captured by one of camera.

As shown in figure 3, aircraft 1 increases, the light that drop target 21 issues is captured by camera 11, and the light is in camera 11 Hot spot is formed on the video pictures of capture.The center of the video pictures captured positioned at the camera 11 of height H1 corresponds to camera 11 The intersection point of center line and horizontal plane h, drop target 21 is relatively H2 height, then between camera 11 and drop target 21 Height difference H=H1-H2, as shown in Figure 4.The boundary of video pictures width direction corresponds to camera 11 in the maximum of width direction Visible angle.Assuming that in the width direction of video pictures, hot spot that light is formed on the video pictures that camera 11 captures away from It is s with a distance from video pictures center, video pictures width is 2W, then camera 11 and landing can be calculated by way of estimation The angle in width direction of line and vertical line between target 21 is α × s/W, and horizontal distance is H × tan(α × s/W). If on the length direction of video pictures, the hot spot that light is formed on the video pictures that camera 11 captures is apart from video pictures center Distance be e, video pictures width be 2L, the company between camera 11 and drop target 21 is similarly calculated by way of estimation Line and vertical line are β × e/L in the angle of length direction, and horizontal distance is H × tan(β × e/L), visual H × tan(α × s/ W) and H × tan(β × e/L) be two right-angle sides, the horizontal distance difference of camera 11 and drop target 21 is bevel edge, passes through and hooks stock Theorem can clear out the horizontal distance difference D of camera 11 and drop target 21, and in storage facility predetermined height difference and Predeterminated level range difference is compared, and establishes flight path according to aircraft itself speed, drop target movement speed etc..

For with the vertical line camera at 45 ° towards front lower place, light source and the camera are in its longitudinal direction Floor projection distance can pass through H × tan(45 ° of+β × e/L) it is estimated.For with vertical line at -45 ° towards the back lower place Camera, light source and the floor projection distance of the camera in its longitudinal direction can pass through H × tan(-45 ° of+β × e/ L it) is estimated.

When aircraft is moved to another location, the difference in height between camera 11 and drop target 21 is H2 at this time, can Horizontal distance difference D2 is calculated according to above-mentioned algorithm, as shown in Figure 5.Certain horizontal distance difference can also be estimated by other methods Or it calculates.

Another exemplary algorithm is as follows.As shown in figure 3, aircraft 1 increases, the light that drop target 21 issues is by camera 11 It captures, according to the position for the hot spot that the light is formed on the display screen of camera, adjusts position of the aircraft 1 with respect to drop target 21 It sets, the first processor for making hot spot closer to the center line of camera, while being arranged on aircraft is in display screen according to hot spot On position calculate the angle δ 1 of line and vertical line between camera and drop target 21, according to hot spot in video pictures With the relationship of the proportionate relationship k of video pictures center distance p, display screen and camera imaging sensor, the focal length f of camera 1=the arctan of δ [p/ (k × f)] that converts to obtain is carried out, and height difference H is calculated according to the elevation information of aircraft 1 and drop target, It can calculate horizontal distance difference D=H × [p/ (k × f)] of aircraft and drop target using angle δ 1 and height difference H, and with Predetermined height difference and predeterminated level range difference in storage facility are compared, and are moved according to aircraft itself speed, drop target Dynamic speed etc. establishes flight path, as shown in Figure 4.

Then, aircraft flies by flight path, while reducing height of the aircraft with respect to drop target, first processor The angle δ 2 of the line and vertical line between camera and drop target 21 is calculated according to the position that hot spot is on display screen, And height difference H 2 is calculated according to the elevation information of aircraft 1 and drop target, it can be calculated using angle δ 2 and height difference H 2 The horizontal distance difference D2 of aircraft and drop target out, and in storage facility predetermined height difference and predeterminated level range difference into Row compares, and updates flight path, as shown in Figure 5.

The algorithm of obvious horizontal distance difference is not that uniquely, can also be obtained by following algorithm.Due in video pictures There are similarity relations for space length between image spacing and real standard face, according to similar proportion algorithm it can be concluded that in video On picture width direction, light source distance camera 11 is (s × H × tan α)/W in the distance of real standard face subpoint;Similarly Can obtain, on the length direction of video pictures, light source distance camera 11 real standard face subpoint distance be (e × H × Tan β)/L, also according to Pythagorean theorem can camera 11 and drop target 21 horizontal distance it is poor.

When the calculated difference in height of first processor judgement institute be less than or equal to predetermined height difference and horizontal distance difference be less than or Equal to predeterminated level range difference, power can be closed and carry out throwing drop, it is further preferred that drop target 21 is in the aobvious of photographic device When the hot spot that display screen 14 is formed is fallen in the region S at middle part, as shown in fig. 6, the power of aircraft 1 stops, by self gravity With inertia landing, i.e. throwing drop on landing platform 2.

From the correlation that can be appreciated that in Fig. 7 on aircraft 1 and drop target 21 between each device, can be appreciated that from Fig. 8 The process of the mobile landing of aircraft 1.

The photographic device of aircraft 1 is generally located on by paracentral position below aircraft, in the left and right of aircraft two The settable range sensor directed downwardly in side, the range sensor are also normally positioned at the left and right sides of photographic device, and two distances pass Whether the distance of the appreciable left and right sides of sensor is roughly the same, i.e., within a predetermined range whether difference.When the distance of two sides passes When the difference of the distance of sensor perception is greater than predetermined value, aircraft side is judged beyond landing platform, aircraft landing is dangerous, Only two sides range sensor perceive range difference within a predetermined range when, it is believed that in aircraft width direction be located at drop It falls in platform, aircraft just can safe falling.

More than two range sensors can perceive aircraft whether within the scope of landing platform, when range sensor perceives Range difference when i.e. perception is within the scope of the landing platform within a predetermined range, the landing of aircraft is just safely.

Wherein the setting of predetermined altitude can be flat according to aircraft own wt, the flying speed of aircraft and direction, landing The movement speed of platform and direction, the size of landing platform, aircraft foot prop width etc. determine.Such as: the biggish aircraft of weight Lesser predetermined altitude is needed, avoids drop impact excessively fierce, the biggish aircraft of landing flying speed needs lesser pre- Fixed height avoids the speed difference of aircraft and drop target excessive and generates biggish throwing drop error, the flight that 5 kilograms of weight Device, when being landed with the speed of 2 meter per seconds, predetermined altitude may be configured as 30 centimetres.

Preset distance can be according to the minimum widith M of the landing platform where drop target and the maximum branch of aircraft foot prop Depending on holding width A, it is preferred that take 0.5 × (M-A)/2 as preset distance.Certainly, preset distance reference may also be made to flying for aircraft Scanning frequency degree and direction, the movement speed of landing platform and direction are determined.

After aircraft power stops, with certain initial velocity flight forward, the speed advanced still is influenced by air drag for aircraft Degree gradually becomes smaller, and is affected by gravity simultaneously, and aircraft can accelerate downwards, so that aircraft can be dropped to substantially along parabola It, be in view of horizontal direction of the aircraft after power stopping when determining predetermined altitude and preset distance on landing platform Displacement, falls in the foot prop of aircraft all in the preset range of landing platform.When landing platform is mobile, aircraft power stops When initial velocity will consider landing platform movement speed.

For example, the camera shooting of aircraft fills when predetermined altitude is set as 30 centimetres, preset distance is set as 20 centimetres The light for capturing drop target sending is set, and adjusts itself position with respect to drop target, if aircraft is with respect to drop target Height is at 0 to 30 centimetre, while in the range of being 0 to 20 centimetre, and drop target is in the acquired of photographic device at this time The hot spot formed on video pictures should be located in the region S of video pictures, can close the power of aircraft, rely on aircraft Self gravity and inertia drop on landing platform.

Certainly, aircraft with respect to drop target height 0 to 30 centimetre, distance be 0 to 20 centimetre in the range of when, can So that aircraft is opened the throttle, accelerate along drop target moving direction, be then shut off flying power, stop working and throw drop, aircraft relies on Gravity and inertia are drop on landing platform.It thus can further improve the precision of landing.

The high material of settable coefficient of friction on the surface of landing platform, with prevent aircraft drop on landing platform with Afterwards, the region of landing platform is gone out or is thrown out of under inertia force effect.It may be provided with magnetic devices on landing platform, flying After row device drops on landing platform, magnetive attraction is applied to it.Sucker can also be set on landing platform to be buffered.

Claims (9)

1. aircraft moves landing system, including
First processor, setting is on board the aircraft;
Photographic device, setting are connect on the aircraft with the first processor;
Drop target is arranged on landing platform on the move;
It is characterized by:
The light source for issuing the light of predetermined wavelength is provided on the drop target;
The photographic device includes the optical filter through the light of the predetermined wavelength;
It is provided with the first communication module on the drop target, is provided on the aircraft and is communicated with first communication module The second communication module;
Be additionally provided with second processor on the drop target, the second processor respectively with the light source, power supply and described The connection of first communication module;
The second processor controls the light source according to preset frequency stroboscopic;
The numerical value of the preset frequency is passed through first communication module and second communication module by the second processor It is sent to the first processor;
First processor drop target according to the numerical identification of the preset frequency;
When the first processor judges that its relatively described drop target is located within predetermined altitude and predeterminated level distance, institute It states aircraft power to stop or be then shut off flying power along drop target moving direction acceleration, the aircraft is by weight Power and inertia are drop on the landing platform.
2. the mobile landing system of aircraft according to claim 1, it is characterised in that:
Range sensor directed downwardly is both provided at left and right sides of the aircraft.
3. the mobile landing system of aircraft according to claim 2, it is characterised in that:
Range sensor directed downwardly is both provided in the front side of the left and right sides of the aircraft and rear side.
4. the mobile landing system of aircraft according to claim 2, it is characterised in that:
The range sensor of downside outwardly is both provided at left and right sides of the aircraft.
5. the mobile landing system of aircraft according to any one of claims 1 to 4, it is characterised in that:
The photographic device includes camera lens the first camera directed downwardly, second camera and camera lens direction of the camera lens towards front lower place The third camera of the back lower place, first camera, the second camera and the third camera are respectively set State optical filter.
6. aircraft moves landing method, the mobile landing of aircraft is realized using the mobile landing system of aircraft, it is described to fly The mobile landing system of row device includes: that the carry-on first processor is arranged in and takes the photograph with what the first processor was connect As device and the drop target being arranged on landing platform on the move, pre- standing wave is issued wherein being provided on the drop target The light source of long light, the light source are controlled by the second processor being arranged on the drop target, and the photographic device includes Through the optical filter of the light of the predetermined wavelength, it is provided with the first communication module on the landing platform, is set on the aircraft It is equipped with the second communication module with first communication module communication, the second processor leads to the numerical value of the preset frequency It crosses first communication module and second communication module is sent to the first processor,
The aircraft moves landing method
The photographic device receives the light for the stroboscopic that the light source issues, and the first processor is according to the number of the preset frequency Value identifies the drop target, and when the drop target is located in its angular field of view, the aircraft is filled according to the camera shooting The position for adjusting its own with the relative position of the light source is set, and makes the light source close to its visual angle center;
The height for reducing the aircraft drops to the aircraft on the landing platform;
When the first processor judges that its relatively described drop target is located within predetermined altitude and predeterminated level distance, institute It states aircraft power to stop or be then shut off flying power along drop target moving direction acceleration, the aircraft is by weight Power and inertia are drop on the landing platform.
7. the mobile landing method of aircraft according to claim 6, it is characterised in that:
Range sensor directed downwardly is both provided at left and right sides of the aircraft, the range sensor sense in the left and right sides The range difference known within a predetermined range when, the height of the aircraft is reduced to land.
8. the mobile landing method of aircraft according to claim 7, it is characterised in that:
The range sensor has setting in the front side of the left and right sides of the aircraft and rear side, in all range sensors The range difference of perception all within a predetermined range when, the height of the aircraft is reduced to land.
9. the mobile landing method of aircraft according to claim 6, it is characterised in that:
The photographic device includes camera lens the first camera directed downwardly, second camera and camera lens direction of the camera lens towards front lower place The third camera of the back lower place, first camera, the second camera and the third camera are respectively set Optical filter is stated, the aircraft adjusts the height of its relatively described drop target, so that the drop target is located at any camera shooting In the angular field of view of head.
CN201610882804.8A 2016-09-05 2016-10-07 The mobile landing system of aircraft and mobile landing method CN106494632B (en)

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CN110402421A (en) * 2017-12-26 2019-11-01 深圳市道通智能航空技术有限公司 A kind of aircraft landing guard method, device and aircraft

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