CN106628211B - Ground control formula unmanned plane during flying landing system and method based on LED dot matrix - Google Patents

Abstract

The invention discloses ground control formula unmanned plane during flying landing systems and method based on LED dot matrix；It includes: unmanned plane and unmanned plane rises and falls station；Unmanned plane station of rising and falling includes objective table, installs three axis holders above the objective table, installs camera on the three axis holder, the camera remained under three axis cradle head controls camera lens upward, direction it is constant, the camera is connect with ground-based computer；The ground-based computer control camera is taken pictures；Beneficial effects of the present invention: relying on the recognizer of computer vision technique " color+shape ", using multisection type PID control technology, realizes the round-the-clock Centimeter Level of multi-rotor unmanned aerial vehicle and precisely lands function.

Description

Ground control formula unmanned plane during flying landing system and method based on LED dot matrix

Technical field

The invention belongs to unmanned aerial vehicle (UAV) control technical field, it is related to the ground control formula unmanned plane during flying drop based on LED dot matrix Fall system and method.

Background technique

With the development of science and technology, multi-rotor unmanned aerial vehicle is widely used, in Aerial photography, electric inspection process, geographical survey It draws, agricultural plant protection, safety monitoring, the numerous areas such as emergency management and rescue have the application of multi-rotor unmanned aerial vehicle to participate in.Meanwhile with nobody The relevant technology of machine is also rapidly developed, and has pushed the promotion of productivity and living standard energetically.

Currently, scientific worker is quite deep to the flight control technology research of multi-rotor unmanned aerial vehicle itself, and take Obtain great successes.But to the starting stage of multi-rotor unmanned aerial vehicle landing phases being precisely controlled also in research, more rotors without Man-machine accurate landing function is not mature enough reliably, or application restrictive condition is more, round-the-clock can not use, and flexibly Property it is poor, there are no be suitable for different unmanned planes realization precisely landing function general technology.

In computer vision field, single camera vision system is quickly grown, especially in characteristic color identification, ad hoc rules shape Identification aspect technology maturation is reliable.By taking the cross-platform computer vision library OpenCV based on BSD license (open source) distribution as an example, After 1999 are established by Intel, released mostly generation mature computer vision library, can Linux, It runs, realizes many in terms of image procossing and computer vision in the operating systems such as Windows, Android and Mac OS General-purpose algorithm.Computer vision technique is applied to unmanned plane precisely to land, practices well is to pass camera, ultrasonic wave at present Sensor and high speed processor are embedded into inside unmanned plane, capture regular shape by airborne camera and have the black of sharp contrast White marking object identifies level point.This mode in unmanned plane body, cannot have integration of equipments independently of unmanned plane, And be easy to be interfered by factors such as body shake, light intensity, ground environments, it cannot be used at night or low lighting environment, and Recognition accuracy is lower, and the realization effect for function of precisely landing is poor.

Problem of the existing technology is with defect:

First, the prior art is all that camera is mounted on unmanned plane, is captured by the camera of UAV flight The geographic location feature in level point in this way puts forward higher requirements the arithmetic speed of unmanned aerial vehicle onboard processor, need to use height The powerful application specific processor of speed carries out image procossing and algorithm calculates, so that unmanned plane overall power increases, this is big Flying radius when unmanned plane executes task is reduced greatly；

Second, the prior art is that camera is mounted on unmanned plane, and unmanned plane is during flight, the shake of fuselage It will affect the photo angle and clarity of camera, so that image processing algorithm is complicated, difficulty is larger, thus to the essence of unmanned plane Quasi- landing brings adverse effect；

Camera is mounted on unmanned plane by third, the prior art, extraneous illumination is weaker and night approximate zero illumination Cisco unity malfunction under strength environment, the prior art can not achieve round-the-clock accurate landing function.

Summary of the invention

The purpose of the present invention is to solve the above-mentioned problems, provides the ground control formula unmanned plane based on LED dot matrix and flies Row landing system and method, by the recognizer of mature computer vision technique " color+shape ", using multisection type PID Control technology realizes the round-the-clock Centimeter Level of multi-rotor unmanned aerial vehicle and precisely lands function.

To achieve the goals above, the present invention adopts the following technical scheme:

Ground control formula unmanned plane during flying landing system based on LED dot matrix, comprising:

Unmanned plane and unmanned plane rise and fall station；

It includes objective table that the unmanned plane, which rises and falls and stands, the accurate positioning of installation auxiliary unmanned plane landing above the objective table And device is fixed, three axis holders, the three axis holder are installed on the accurate positioning of the auxiliary unmanned plane landing and fixed device Upper installation camera, the camera remained under three axis cradle head controls camera lens upward, direction it is constant, the camera with Ground-based computer connection；The ground-based computer control camera is taken pictures；The ground-based computer is by first without line number It is communicated according to transmission module with unmanned plane；The ground-based computer is also connect with display terminal；

The unmanned plane includes on-board data processing module, and the on-board data processing module and the flight of unmanned plane bottom are controlled System processed, LED dot matrix screen, the second wireless data transfer module are connected, the unmanned plane bottom flight control system and GPS receiver Module connection, during unmanned plane decline, the camera shoots the rectangular LED dot matrix panel immediately below unmanned plane, so The coordinate position of unmanned plane is calculated according to the color characteristic of rectangular LED dot matrix panel and shape feature afterwards；Computer is according to nothing Man-machine current location issues landing instruction to unmanned plane；The unmanned plane finally drops to auxiliary unmanned plane drop according to landing instruction In the accurate positioning fallen and fixed device, the on-board data processing module also passes through the second wireless data transfer module and nobody Machine rise and fall station the first wireless data transfer module communication；

The unmanned plane further includes battery, and the battery is on-board data processing module, LED dot matrix screen, GPS receiver mould Block, unmanned plane bottom flight control system and the power supply of the second wireless data transfer module.

The LED dot matrix screen includes ultrasonic wave module, the power supply termination+5V regulated power supply of the ultrasonic wave module, described The ground terminal of ultrasonic wave module is grounded；The analog signal output of the ultrasonic wave module and the IO1 pin of ARM core processor Connection；IO2 pin, IO3 pin and the IO4 pin of the ARM core processor and the input terminal of power driver module connect；Institute State the power supply termination+5V regulated power supply of ARM core processor, the ground terminal ground connection of the ARM core processor；The power drives Power supply termination+5V the regulated power supply of dynamic model block, the ground terminal ground connection of the power driver module；The power driver module it is defeated Outlet is grounded by several LED light bars；The LED light bar forms LED dot matrix panel.

The ultrasonic sensor is used to acquire the height of LED dot matrix screen, the i.e. relative altitude of unmanned plane current location.

A kind of accurate positioning that auxiliary unmanned plane lands and fixed device, which includes locating slot, passes through multiple limits The wing position of unmanned plane is accurately positioned in the setting of slot.

A kind of accurate positioning that auxiliary unmanned plane lands and fixed device, a kind of auxiliary unmanned plane including at least two drop The bottom of the accurate limiting slot fallen, limiting slot is set on fixed station, identification point is provided in the middle part of fixed station, unmanned plane passes through Identification point positions unmanned plane machine core, and fixed station is groove structure setting, convenient for the receiving to subsequent fixed stake, slide bar, Vertical plane or bracket along fixed station circumferential directions.

In the positioning device, unmanned plane realizes coarse positioning using control system, and coarse positioning is vertical apart from landing platform Free-falling in the section of distance 5--10cm.The bootable unmanned plane of limiting slot in accurate positioning device is reached using inertia landing To being accurately positioned and fixed, in this way between two limiting slots, can manually or using mechanical equipment to the battery of unmanned plane into Row replacement, or carry out other follow-up works.

As in optimal case, the quantity of the limiting slot is identical as the quantity of unmanned plane horn, by each machine The limit of the wing, it is ensured that the precision of unmanned plane position landing is controlled in submillimeter rank.

In another embodiment, when the limiting slot is two, adjacent two limiting slot intervals, one unmanned plane horn is set It sets, such as four wing unmanned planes, limiting slot can be symmetrical arranged two, if six wing unmanned planes, limiting slot settable two or three, It is spaced a wing or two wings is configured.

If unmanned plane carries picture pick-up device, spud pile is set at the middle part of the fixed station, the identification point, which is set to, to be fixed In stake, the imagination equipment that unmanned plane carries identifies that recognition speed is fast to identification point, alternatively, setting is taken the photograph on spud pile surface As equipment, picture pick-up device is connect with controller, to carry out coarse positioning, further, the bottom of the fixed station to unmanned plane machine core Portion and the fixed position to adjust limiting slot by the rotation of fixed station of rotating mechanism, rotating mechanism can be rotating electric machine, Unmanned plane by identification point carry out a point positioning, compared in traditional technology to four points of unmanned plane horn or six Point carries out location control, realizes that sinking speed is fast, the follow-up work after landing has been effectively ensured is carried out.

The picture pick-up device is set on spud pile, is effectively reduced the weight of unmanned plane, is improved the flight of unmanned machine equipment Time, controller positions unmanned plane machine core position by picture pick-up device, to be positioned to unmanned plane machine core, a point Opposite four points of positioning positioning for, positioning is relatively easy, then cooperates the coarse positioning of four horns, landing place accuracy It is higher.

Further, in order to improve the adaptability of the positioning device, the unmanned plane of different horn length is adapted to, described solid The circumference for determining stake is fixed with slide bar, and slide bar is fixed with sliding block, and slidably relative to slide bar, the limiting slot is fixed on cunning to sliding block On block, to pass through the distance between the mobile adjusting limiting slot of sliding block and spud pile.

Fastener is set on the sliding block, fastener passes through sliding block and sliding block is fixed on slide bar, such structure setting, Position of the sliding block relative to slide bar can be adjusted, is also achieved that limiting slot relative to spud pile namely according to the length of horn The position of unmanned plane machine core.

A kind of accurate limiting slot of auxiliary unmanned plane landing, for limiting to unmanned plane horn, limiting slot includes bottom Supporting for portion's setting, supports side and connect with landing face, and plane or curved surface is in face of landing, and landing face is obliquely installed with supporting, nothing After man-machine horn supporting leg and landing face are in contact, are dropped into along landing face and support upper realization accurate positioning, pass through limit The setting in landing face, limits unmanned plane horn in slot, and to improve the precision of landing, the positioning slot structure is simple, positioning Precision is high, can achieve submillimeter level.

In addition, the second landing face is arranged in the other side supported in the limiting slot, the second landing face is set with inclination is supported Set, landing face, support with the second landing face formed V-type shape, it is such two landing face from both direction to the branch of unmanned plane horn Support leg carries out limit control, has widened application range, and the limiting slot is the truncated conical shape of hollow handstand.

Alternatively, the limiting slot be it is U-shaped, when unmanned plane horn supporting leg and U-shaped limiting slot inner wall collide, nobody Machine horn supporting leg slides inside limiting slot to bottom.

Vertical plane is set between the landing face and the second landing face；

Further, it is provided with the card slot for being used to support unmanned plane horn at the top of a vertical plane, passes through card slot Setting, after unmanned plane is fallen into, is fixed unmanned plane, the height of card slot can be adjusted according to the concrete model of unmanned plane Section, under normal circumstances, the height of card slot and the radius for being more than or equal to unmanned plane horn.

The vertical plane is connect with the landing face, and above-mentioned limiting slot constitutes an open-topped accommodation space, alternatively, The vertical plane is set between the landing face and the second landing face, when unmanned plane landing, if unmanned plane horn supports Leg position glances off, and the landing face inner surface in limiting slot is in contact with unmanned plane horn supporting leg bottom, supporting leg by The reason of power falls downward is dropped into support and is supported, and the landing face on both sides namely V-type shape is arranged, to supporting leg It is limited, realizes the accurate positioning of unmanned plane, the card slot of cradle top has horn after the landing of unmanned plane position Effect supports and fixes, the position of effective guarantee unmanned plane landing.

In addition, landing face or the second landing face relative to the angle A supported at 30 degree to 80 degree, limit groove height H can Variation, occurrence depend on the height of unmanned plane supporting leg.

The variable-width that limit trench bottom supports, occurrence depend on the width of unmanned plane supporting leg.

Limiting slot card slot variable-width, occurrence depend on the diameter of unmanned plane horn.

If the floor projection distance in face of landing is L, L=H/tanA, limits groove height H and angle A mutually restricts.

The beneficial effect of above-mentioned technical characteristic is that unmanned plane can accomplish stable landing, avoid nothing during landing It is collided during man-machine decline.The card slot realizes the clamping and fixation to unmanned plane horn, is equipped in institute's card slot tight Gu cushion block and Shockproof gasket avoid the generation of loose phenomenon, there is shockproof function, improve tightness, improve to unmanned plane Protectiveness.

The objective table is a platform that rises and falls, and the objective table is gone up and down relative to automatic replacement cell apparatus, convenient Automatic replacement cell apparatus replaces battery to unmanned plane.

The unmanned plane support plate allows to replace with unmanned plane support frame, and the unmanned plane support frame includes rectangular frame, The diagonal line of the rectangular frame is equipped with connecting rod.

Objective table installation on the ground, on multi-track trolley, AGV trolley or other can carry unmanned plane device In equipment.

The driving mechanism includes rotating electric machine translational drive mechanism, belt translational drive mechanism, cylinder translational driving machine Structure or linear motor translational drive mechanism.

Ground control formula unmanned plane during flying landing method based on LED dot matrix, comprising:

Step (a1): unmanned plane rises and falls the computer starting at station；

Step (a2): computer judges whether to receive unmanned plane initialization and completes instruction, if so, computer is to unmanned plane Send the first feedback command for having received instruction；Computer receives offline mode selection instruction, and by selected offline mode It is sent to unmanned plane, enters step (a4)；If it is not, then entering step (a3)；

Step (a3): computer judges whether to receive the guidance landing request of unmanned plane, if receiving guidance landing request Landing processing is guided, judges whether landing is completed, the return step (a2) if completing；Continue to guide if not completing Landing processing；If not receiving guidance landing request, return step (a2)；

Step (a4): computer judges whether to receive the second feedback command of unmanned plane, if receiving the feedback of unmanned plane second Instruction, then enter step (a5)；If not receiving the second feedback command of unmanned plane, return step (a2) computer continues to fly Row mode selection command；

Step (a5): the input instruction of computer RX path planning point judges whether that input finishes, if then entering step Suddenly (a6)；If otherwise return step (a5)；

Step (a6): path planning point and the input of path planning point are completed instruction and are sent to unmanned plane by computer, are calculated Machine receives check results and checks；Judge whether check results are identical, then sends verification if they are the same and pass through instruction return step (a2)；If otherwise return step (a5)；The check results are the path point sent and number and received path point and number It is whether consistent.

Ground control formula unmanned plane during flying landing method based on LED dot matrix, comprising:

Step (b1): unmanned plane is switched on and initializes；

Step (b2): unmanned plane sends initialization and completes instruction to the computer on ground, and unmanned plane judges whether to receive ground First feedback command of face computer, enters step (b3) if receiving；Step (b2) is returned to if not receiving；

Step (b3): unmanned plane prepares to receive the offline mode selection instruction that computer upload comes, and unmanned plane receives winged Row mode selection command backcasting machine sends the second feedback command；

Step (b4): unmanned plane prepares to receive the planning path point selection instruction that computer upload comes, unmanned plane judgement Whether receive and be sent completely instruction, just sends check results to computer if receiving and being sent completely instruction, enter step (b5)；If It does not receive and is sent completely instruction and is returned to step (b4)；The check results are the path point sent and number and received path Whether point and number are consistent；

Step (b5): judge whether to receive verification by instruction, if so, the flight of unmanned plane Execution plan path point is appointed Business, aerial mission are completed, and request guidance landing terminates；If it is not, then return step (b4).

The step of guidance is landed are as follows:

Step (a30): computer judges whether to receive the guidance landing request of unmanned plane, if receiving guidance landing request Landing processing is guided, (a31) is entered step；Unmanned plane is waited to issue guidance landing request if not receiving；

Step (a31): computer control unmanned plane rise and fall station camera capture picture；

Step (a32): the color characteristic and style characteristic of light emitting region in picture are extracted；Judge color characteristic whether Match, the luminescent color captured in picture is matched with the luminescent color of preset specified altitude assignment；If successful match is just Enter step (a33)；Return step (a31) if it fails to match；

Step (a33): judging whether shape feature matches, and judges that the picture of lighting for capturing the LED dot matrix screen in picture is It is no to be rectangular, if so, calculate the coordinate of rectangular picture central point, the coordinate of center picture point is that unmanned plane precisely lands institute The coordinate needed, and this coordinate is sent to unmanned plane, unmanned plane carries out position adjustment according to coordinate；Return step (a30).

The coordinate of the rectangular picture central point, refers to: the central point for the rectangular light emitting region that LED dot matrix screen is lighted is on ground Face camera captures pixel coordinate locating in picture.

Such as: camera capture entire image resolution ratio be 800*600, then entire image center point coordinate be (400, 300)。

A kind of method of automatic replacement battery, includes the following steps:

Step (1): unmanned plane lands according to guidance landing instruction；

Step (2): objective table rises, and is higher than automatic replacement cell apparatus, and unmanned plane drops in unmanned plane support plate；

Step (3): computer receives unmanned plane and has dropped to the signal in unmanned plane support plate；

Step (4): objective table decline is highly equal to automatic replacement cell apparatus, and automatic cell apparatus of replacing is to unmanned plane Carry out the movement of replacement battery or wireless charging.

The automatic replacement cell apparatus includes: battery clamp device；

The battery clamp device, including clip claw mechanism, the clip claw mechanism include clamping jaw ontology, and the clamping jaw ontology connects It is connected to the first gripper jaw part and the second gripper jaw part, first gripper jaw part is fixedly connected with the first handgrip, second folder Tine and the second handgrip are fixedly connected；The opposite face of first handgrip and the second handgrip is equipped with zigzag block.

Battery clamp device of the invention drives handle component to clamp battery by clip claw mechanism, clamping jaw and battery Clamping cooperation is more reliable；By the way that zigzag block, contact friction of the handgrip with battery when clamping battery are arranged on two handgrips Power is bigger, and clamping is more firm, avoids the problem that battery clamping glances off.

Further, the clamping jaw ontology is chimeric is set in fixture block, and the fixture block is with the card with clamping jaw body fits Slot.Card slot is set on fixture block, realizes the embedded combination of card slot and clamping jaw ontology, fast and reliable can connect.

Further, the clamping jaw ontology also passes through fastener and is fixedly connected with fixture block.Pass through card slot clamping in fixture block Under the premise of clamping jaw ontology, it can be fixedly secured clamping jaw ontology using fastener, effectively keep clamping jaw in mobile replacement cell process The stabilization of mechanism.

Further, the clip claw mechanism is connect with power device.Clip claw mechanism folding is driven by power device, in turn Realize that the folding of two handgrips, realization grip or lay down battery.

Further, first handgrip with the first gripper jaw part cooperation at be arranged the first groove, the first gripper jaw part It is entrenched in the first groove.First groove is set on the first handgrip, embedded group for realizing the first handgrip and the first gripper jaw part It closes, fast and reliable can connect.

Further, first gripper jaw part also passes through fastener and is fastenedly connected with the first handgrip.In the first handgrip Under the premise of first the first gripper jaw part of groove clamping, it can be fixedly secured the first gripper jaw part using fastener, effectively protected Hold the stabilization of the first handgrip in mobile replacement cell process.

Further, second handgrip with the second gripper jaw part cooperation at be arranged the second groove, the second gripper jaw part It is entrenched in the second groove.Second groove is set on the second handgrip, embedded group for realizing the second handgrip and the second gripper jaw part It closes, fast and reliable can connect.

Further, second gripper jaw part also passes through fastener and is fastenedly connected with the second handgrip.In the second handgrip Under the premise of second the second gripper jaw part of groove clamping, it can be fixedly secured the second gripper jaw part using fastener, effectively protected Hold the stabilization of the second handgrip in mobile replacement cell process.

Preferably, first handgrip or the second handgrip, which are equipped with, presses motion block, the setting of battery side with what cell switch cooperated With the sawtooth sheet body of zigzag block cooperation.Motion block is pressed by being arranged on the first handgrip or the second handgrip, it can be in replacement electricity Cell switch is first closed before pond, avoids plugging the damage to battery；Setting and zigzag block on handgrip in battery side The zigzag sheet body of cooperation, it is ensured that the cooperation stability of handgrip and battery effectively solves battery and glances off on the move The problem of.

In order to overcome the problems, such as that prior art battery altering low efficiency, the present invention provide one kind and independently continue applied to unmanned plane The battery replacement device of boat, including battery clamp device as described above, the battery clamp device are equipped with mobile in Y-axis In mechanism, the Y-axis moving mechanism is equipped in Z axis mobile mechanism, and the Z axis mobile mechanism is equipped in X-axis shifting On motivation structure.

In order to overcome the problems, such as that battery altering precision is not high in the prior art, the present invention provides one kind and is applied to unmanned plane certainly The working method of the battery replacement device of main continuation of the journey, comprising the following steps:

(1) X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism successively operate, and drive battery clamp device mobile To unmanned plane battery location；

Cell switch is touched by motion block on (2) first handgrips or the second handgrip, closes battery；

(3) clip claw mechanism drives the first handgrip and the second handgrip to clamp battery, the sawtooth of zigzag block and battery side Sheet body cooperation；

(4) X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism successively operate, and drive battery clamp device mobile To battery compartment, battery is returned and is put in battery compartment；

(5) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism drive battery clamp device to be moved to battery compartment another The position of one battery repeats step (3), battery is taken out；

(6) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism drive battery clamp device to be moved to unmanned electromechanics Chi Cangweizhichu touches cell switch by motion block, opens battery；

(7) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism return initial position.

The unmanned plane is multi-rotor unmanned aerial vehicle.

The camera is from zoom vision camera.

The unmanned plane bottom flight control system responds airborne number for realizing unmanned plane stabilized flight task itself According to the instruction of processing module, realize to the roll angle (Roll) of body, pitch angle (Pitch), yaw angle (Yaw) control and The control of the component velocity of each axis, displacement component under cartesian coordinate system.It is mainly by Inertial Measurement Unit (IMU), electronic compass (magnetic compass), electronic barometer composition.IMU can continuously provide the information such as displacement, speed, posture, but error can with when Between passage and accumulate；GPS receiver module can receive the information such as longitude and latitude and the speed of GPS system offer, can be realized The coarse localization of multi-rotor unmanned aerial vehicle；Electronic compass (magnetic compass) can determine unmanned plane compared to due north or due south direction Yaw angle；Electronic barometer can provide elevation information for unmanned plane.

The core of on-board data processing module is the arm processor of Cortex M4 kernel, constitutes ARM in conjunction with peripheral circuit Processor minimum system.It is communicated by the second wireless data transfer module and unmanned plane station of rising and falling, and is compiled to information flow Code and coordinate key instruction when after decoding process, parsing path planning instruction and accurate landing.In addition, on-board data is handled Module is connected by USART interface with unmanned plane bottom flight control system, and the position to unmanned plane is realized in the form of serial communication It moves, the control of speed and posture.

ARM core processor minimum system is matched with ultrasonic sensor, can acquire the relative altitude of current location. Rectangular color LED dot matrix panel can arbitrarily change light emitting region and light-emitting area under the control of ARM core processor.

When work, when unmanned plane is greater than 4 meters compared to the height on ground, ARM core processor controls rectangular color LED Dot matrix panel all light, makes it have maximum light-emitting area, and color is red；

When unmanned plane is greater than 3 meters when less than 4 meters compared to the height on ground, color LED dot matrix panel closes surrounding LED Lampet, reduces its light-emitting area, and luminous component color becomes yellow；

With the continuous decline of unmanned plane height, the light-emitting area of LED dot matrix panel also reduces therewith, and color also changes therewith Become.

After unmanned plane height is lower than 0.5 meter, if error amount enters the error threshold range of allowance, unmanned plane just lands To ground.

Light-emitting area proportion in camera view is setting value, and the big of light-emitting area is determined according to setting value It is small.Resolving in order to ground-based computer to unmanned plane real-time coordinates.Meanwhile vision camera is in a disguised form increased in unmanned plane height Field range when spending lower.

Second wireless data transfer module, which is on-board data processing module, and unmanned plane rises and falls stands the bridge of information flow, is responsible for The transmitting of information.Second wireless data transfer module is made of the wireless data sending submodule matched, using asynchronous serial communication mould Formula is relatively transmitting terminal and receiving end.Power supply mode is 5V direct current, and carrier frequency 433MHz, serial port baud rate is 9600bps。

Unmanned plane, which rises and falls to stand, completes the parsing of unmanned plane real-time coordinates and drone status monitor task.

In order to overcome the problems, such as and solve described in background technique, the present invention, which is used, calculates identification LED point by ground-based computer Battle array screen center position coordinates, that is, unmanned plane coordinate, then by codes co-ordinates and pass through the first wireless data transfer module, the second nothing Line data transmission module is sent to on-board data processing module, realizes the guidance precisely landed to unmanned plane.Display terminal can be with The information such as the coordinate information of unmanned plane and boot state in real-time display bootup process are grasped accurate convenient for ground-based administrators The situation that descent is realized.Camera is connected to a computer by data line, and bottom is mounted on three axis from steady holder, In bootup process, camera is remained vertically upward in three axis under the assistance of steady holder, and the lens plane of camera is kept Level, and camera lens flutter catch LED dot matrix screen image coordinate system it is consistent with the world coordinate system of unmanned plane horizontal movement, and energy Automatic focusing.It flutters that catch picture clear, is convenient for ground-based computer real time processed images, parses unmanned plane coordinate.

The course of work of the invention is: unmanned plane booting after, first computer by the first wireless data transfer module to Unmanned plane transmission plan path point, in transmission process, on-board data processing module is decoded and is verified to the information flow of transmission, really It is identical as received path point to protect the path point sent.After end of transmission, surface personnel's mentioning according to display terminal is needed Show and confirmed, unmanned plane just carries out aerial mission under the control of on-board data processing module later.Executing aerial mission Period, by the flight attitude of the bottom flight control system control unmanned plane of unmanned plane itself and the stabilization of body.In unmanned plane After the path point aerial mission for having executed planning, just enter landing state.The calculating of on-board data processing module to the ground first Machine sends landing boot request, while controlling unmanned plane compared to the height on ground is 6 meters, and makes rectangular color LED dot matrix Panel all light, makes it have maximum light-emitting area, and color is red.Computer receives the landing boot request from unmanned plane Afterwards, it just begins through ground camera and flutters and catch the airborne multi-colored led dot matrix screen of variable illumination area, pass through the view of " color+shape " Feel Processing Algorithm, parse the center position coordinates of LED dot matrix panel, and encode to it, is passed finally by the first wireless data Guidance information stream is sent to on-board data processing module by defeated module, the second wireless data transfer module.On-board data handles mould After block receives coordinate guidance information, be decoded verification operation, parse the changing coordinates of unmanned plane, and by changing coordinates with set It is poor that position fixing make, and finds out error amount, calculates the input control quantity of unmanned plane movement by pid algorithm to reduce error. Entire control process frequency is 10Hz.With the continuous decline of unmanned plane height, the light-emitting area of LED dot matrix panel also subtracts therewith Small, color also changes correspondingly, meanwhile, pid parameter value also gradually changes, and constitutes multisection type PID control.It is lower than in unmanned plane height After 0.5 meter, if error amount enters the error threshold range of allowance, unmanned plane just drop to ground, while locked motor.

Compared with prior art, the beneficial effects of the present invention are: the present invention is by the way of ground control, camera bottom Three axis are mounted on from steady holder, camera remains vertically upward, and lens plane keeps horizontal, this can make full use of letter Clean sky background also can be avoided the interference of the factors such as body shake, ground environment.Meanwhile marker (LED dot matrix screen) Fly control independently of unmanned plane bottom with control module (on-board data processing module) to exist, different model and pattern can be suitable for Multi-rotor unmanned aerial vehicle, realize technical versatility, can promote the use of on a large scale.Signature object of the invention is using variable The LED dot matrix screen of light-emitting area and color, can be according to the reduction adaptively changing light-emitting area and color of present level, just Image procossing is carried out in computer, solves the problems, such as to reduce because of height so that marker is easy to overflow camera view, in a disguised form It improves flutterring for ground camera and catches range.Simultaneously as LED dot matrix screen can self-luminous, enable accurate landing function In night use, achieve the effect that round-the-clock use.The present invention is in terms of unmanned plane coordinate identification, using computer vision technique The mature recognizer of " color+shape " improves computer vision system to the recognition accuracy of signature object, subtracts significantly It cannot be identified or the frequency of occurrences of wrong identification problem caused by having lacked the interference because of background environment, improve the work of identifying system Reliability.In terms of unmanned plane body movement control, different pid parameters is used according to different height, constitutes multisection type PID control Algorithm processed, improves the stationarity of unmanned plane motion control, but also the precision precisely landed greatly improves, has great practical Value.The present invention provides a kind of modular battery clamp device, can be applicable in the machine for being cooperated to any unmanned plane replacement battery It in construction system, has wide range of applications, and can efficient, reliable, high-precision realization battery altering.

Detailed description of the invention

Fig. 1 is structure composition block diagram of the invention；

Fig. 2 is unmanned plane inner function module figure；

Fig. 3 is unmanned plane mechanical structure schematic diagram；

Fig. 4 is the airborne multi-colored led dot matrix panel schematic diagram of variable illumination area of the present invention；

Fig. 5 is the airborne multi-colored led dot matrix panel itself connection figure of variable illumination area of the present invention；

Fig. 6 (a) is ground station workflow schematic diagram of the present invention；

Fig. 6 (b) is unmanned plane workflow schematic diagram of the present invention；

Fig. 7 is " color+shape " computer vision algorithms make flow chart of the invention；

Fig. 8 is battery clamp device top view of the present invention；

Fig. 9 is battery clamp device main view of the present invention；

Figure 10 is fixture block schematic diagram of the present invention；

Figure 11 is the overall structure diagram of the fixed device of the present invention；

Figure 12 is the schematic diagram of limiting slot of the present invention；

Figure 13 is the overall structure diagram two of the fixed device of the present invention；

Wherein, 1. fixed station, 2. first limiting slots, 3. sliding blocks, 4. slide bars, 5. spud piles, 6. landing faces, 7. support, and 8. First card slot, 9. vertical planes, 10. second limiting slots, 11. brackets；

Wherein, 1-1 clamping jaw ontology, the first gripper jaw part of 1-2, the second gripper jaw part of 1-3, the first handgrip of 1-4,1-5 second Handgrip, 1-6 zigzag block, 1-7 fixture block, 1-8 fastener, 1-9 servo motor, the first groove of 1-10,1-11 press motion block, 1-12 Second card slot, 1-13 screw slider.

Specific embodiment

The invention will be further described with embodiment with reference to the accompanying drawing.

As shown in Figure 1, the ground control formula unmanned plane during flying landing system based on LED dot matrix, comprising: unmanned plane and nobody Machine rises and falls station, and unmanned plane station of rising and falling includes objective table, accurate the determining of installation auxiliary unmanned plane landing above the objective table Three axis holders, the three axis cloud are installed on position and fixed device, the accurate positioning for assisting unmanned plane to land and fixed device Camera is installed on platform, the camera remained under cradle head control camera lens upward, direction it is constant, the camera and ground The connection of face computer；The ground-based computer control camera is taken pictures；The ground-based computer passes through the first wireless data Transmission module is communicated with unmanned plane；The computer is also connect with display terminal；

As shown in Fig. 2, the unmanned plane includes on-board data processing module, the on-board data processing module and unmanned plane Bottom flight control system, LED dot matrix screen, the second wireless data transfer module are connected, the unmanned plane bottom flight control system System is connect with GPS receiver module, rectangular LED during unmanned plane decline, immediately below the camera shooting unmanned plane Then dot matrix screen calculates the coordinate position of unmanned plane according to the color characteristic of rectangular LED dot matrix screen and shape feature；The machine Carry that data processing module also passes through the second wireless data transfer module and unmanned plane rises and falls first wireless data transfer module at station Communication；

The unmanned plane further includes battery, and the battery is on-board data processing module, LED dot matrix screen, unmanned plane bottom Flight control system and the power supply of the second wireless data transfer module.As shown in figure 3, under the LED dot matrix screen is located at unmanned plane just Side.

As shown in figure 4, the LED dot matrix screen includes ultrasonic wave module.As shown in figure 5, the LED dot matrix screen includes ultrasound Wave module, the power supply termination+5V regulated power supply of the ultrasonic wave module, the ground terminal ground connection of the ultrasonic wave module；It is described super The analog signal output of sound wave module is connect with the IO1 pin of ARM core processor；The IO2 of the ARM core processor draws The connection of the input terminal of foot, IO3 pin and IO4 pin and power driver module；Power supply termination+the 5V of the ARM core processor Regulated power supply, the ground terminal ground connection of the ARM core processor；Power supply termination+5V the regulated power supply of the power driver module, The ground terminal of the power driver module is grounded；The output end of the power driver module is grounded by several LED light bars；Institute State LED light bar composition LED dot matrix panel.The ultrasonic sensor is for acquiring LED dot matrix screen, i.e. unmanned plane current location Relative altitude.

As shown in Fig. 6 (a), the ground control formula unmanned plane during flying landing method based on LED dot matrix panel, comprising:

Step (a1): unmanned plane rises and falls the computer starting at station；

Step (a2): computer judges whether to receive unmanned plane initialization and completes instruction, if so, computer is to unmanned plane Send the first feedback command for having received instruction；Computer receives offline mode selection instruction, and by selected offline mode It is sent to unmanned plane, enters step (a4)；If it is not, then entering step (a3)；

Step (a3): computer judges whether to receive the guidance landing request of unmanned plane, if receiving guidance landing request Landing processing is guided, judges whether landing is completed, the return step (a2) if completing；Continue to guide if not completing Landing processing；If not receiving guidance landing request, return step (a2)；

Step (a4): computer judges whether to receive the second feedback command of unmanned plane, if receiving the feedback of unmanned plane second Instruction, then enter step (a5)；If not receiving the second feedback command of unmanned plane, return step (a2) computer continues to fly Row mode selection command；

Step (a5): the input instruction of computer RX path planning point judges whether that input finishes, if then entering step Suddenly (a6)；If otherwise return step (a5)；

Step (a6): path planning point and the input of path planning point are completed instruction and are sent to unmanned plane by computer, are calculated Machine receives check results and checks；Judge whether check results are identical, then sends verification if they are the same and pass through instruction return step (a2)；If otherwise return step (a5)；The check results are the path point sent and number and received path point and number It is whether consistent.

As shown in Fig. 6 (b), the ground control formula unmanned plane during flying landing method based on LED dot matrix, comprising:

Step (b1): unmanned plane is switched on and initializes；

Step (b2): unmanned plane sends initialization and completes instruction to the computer on ground, and unmanned plane judges whether to receive ground First feedback command of face computer, enters step (b3) if receiving；Step (b2) is returned to if not receiving；

Step (b3): unmanned plane prepares to receive the offline mode selection instruction that computer upload comes, and unmanned plane receives winged Row mode selection command backcasting machine sends the second feedback command；

Step (b4): unmanned plane prepares to receive the planning path point selection instruction that computer upload comes, unmanned plane judgement Whether receive and be sent completely instruction, just sends check results to computer if receiving and being sent completely instruction, enter step (b5)；If It does not receive and is sent completely instruction and is returned to step (b4)；The check results are the path point sent and number and received path Whether point and number are consistent；

Step (b5): judge whether to receive verification by instruction, if so, the flight of unmanned plane Execution plan path point is appointed Business, aerial mission are completed, and request guidance landing terminates；If it is not, then return step (b4).

As shown in fig. 7, the step of guidance is landed are as follows:

Step (a30): computer judges whether to receive the guidance landing request of unmanned plane, if receiving guidance landing request Landing processing is guided, (a31) is entered step；Unmanned plane is waited to issue guidance landing request if not receiving；

Step (a31): computer control unmanned plane rise and fall station camera capture picture；

Step (a32): the color characteristic and style characteristic of light emitting region in picture are extracted；Judge color characteristic whether Match, the luminescent color captured in picture is matched with the luminescent color of preset specified altitude assignment；If successful match is just Enter step (a33)；Return step (a31) if it fails to match；

Step (a33): judging whether shape feature matches, and judges that the picture of lighting for capturing the LED dot matrix screen in picture is It is no to be rectangular, if so, calculate the coordinate of rectangular picture central point, the coordinate of center picture point is that unmanned plane precisely lands institute The coordinate needed, and this coordinate is sent to unmanned plane, unmanned plane carries out position adjustment according to coordinate；Return step (a30).

The coordinate of the rectangular picture central point, refers to: the central point for the rectangular light emitting region that LED dot matrix screen is lighted is on ground Face camera captures pixel coordinate locating in picture.The resolution ratio that camera captures entire image is 800*600, then whole picture figure Inconocenter point coordinate is (400,300).

In a kind of typical embodiment of the application, as shown in Fig. 8, Fig. 9 and Figure 10, provide a kind of applied to nobody The battery clamp device that machine is independently continued a journey, including clip claw mechanism, clip claw mechanism include clamping jaw ontology 1-1, the 1-1 connection of clamping jaw ontology There are the first gripper jaw part 1-2 and the second gripper jaw part 1-3, the first gripper jaw part 1-2 is fixedly connected with the first handgrip 1-4, and second Gripper jaw part 1-3 and the second handgrip 1-5 are fixedly connected；The opposite face of first handgrip 1-4 and the second handgrip 1-5 are equipped with saw Dentation block 1-6.Handle component is driven by clip claw mechanism to clamp battery, and the clamping cooperation of clamping jaw and battery is more reliable；It is logical The setting zigzag block on two handgrips is crossed, the contact friction force of handgrip and battery is bigger when clamping battery, clamps more steady Gu avoiding the problem that battery clamping glances off.

Clip claw mechanism effectively can drive handgrip to be opened and closed, while can pass through using electronic clamping jaw or Pneumatic clamping jaw etc. Control module controls it, and guarantees the precision of battery altering, and when use can be according to clamping required by task chucking power selection Suitable electronic clamping jaw or Pneumatic clamping jaw save cost.

Clamping jaw ontology 1-1 is chimeric to be set in fixture block 1-7, and fixture block 1-7 is with the second card slot 1- with clamping jaw body fits 12.Second card slot is set on fixture block, realizes the embedded combination of the second card slot and clamping jaw ontology, fast and reliable can connect.

In order to more firm stationary jaw ontology, clamping jaw ontology 1-1, which also passes through fastener 1-8 and fixture block 1-7, to be fixed Connection, fastener 1-8 can be using screws etc.；Wire hole is all set on clamping jaw ontology 1-1 and fixture block 1-7, by screw or screw The wire hole that equal fasteners pass through the two completes being fastened and fixed for the two.Pass through the second card slot clamping clamping jaw ontology premise in fixture block Under, it can be fixedly secured clamping jaw ontology using fastener, effectively keep the stabilization of clip claw mechanism in mobile replacement cell process.

Clip claw mechanism is connect with power device, and power device uses servo motor 1-9 in the present embodiment.Pass through power device Clip claw mechanism folding is driven, and then realizes the folding of two handgrips, realization grips or lays down battery.When needing to clamp battery, lead to It crosses controller and sends a signal to driver, servo motor 1-9 running driving clip claw mechanism drives the first handgrip and the second handgrip folder Battery is taken to be replaced.First handgrip 1-4 with the first gripper jaw part 1-2 cooperation at be arranged the first groove 1-10, the first clamping jaw Component 1-2 is entrenched in the first groove 1-10.First groove is set on the first handgrip, realizes the first handgrip and the first clamping jaw portion The embedded combination of part fast and reliable can connect.In order to more firm the first gripper jaw part of fixing, the first gripper jaw part 1- 2 are also fastenedly connected by fastener and the first handgrip 1-4, and silk is all arranged on the first gripper jaw part 1-2 and the first handgrip 1-4 The wire hole that the fasteners such as screw or screw pass through the two is completed being fastened and fixed for the two by hole.It is recessed by first in the first handgrip Under the premise of the first gripper jaw part of slot clamping, it can be fixedly secured the first gripper jaw part using fastener, effectively keep mobile replacement The stabilization of first handgrip in cell process.

Second handgrip 1-5 with the second gripper jaw part 1-3 cooperation at the second groove is set, the second gripper jaw part 1-3 is chimeric In the second groove.Second groove is set on the second handgrip, realizes the embedded combination of the second handgrip and the second gripper jaw part, it can With fast and reliable connection.In order to more firm the second gripper jaw part of fixing, the second gripper jaw part 1-3 also pass through fastener with Second handgrip 1-5 is fastenedly connected, and wire hole is all arranged on the second gripper jaw part 1-3 and the second handgrip 1-5, by screw or screw etc. The wire hole that fastener passes through the two completes being fastened and fixed for the two.Pass through second the second gripper jaw part of groove clamping in the second handgrip Under the premise of, it can be fixedly secured the second gripper jaw part using fastener, effectively keep the second handgrip in mobile replacement cell process Stabilization.

First handgrip 1-4 or the second handgrip 1-5 be equipped with cell switch cooperate by motion block 1-11, the setting of battery side and The sawtooth sheet body of zigzag block 1-6 cooperation.Motion block is pressed in setting on the first handgrip or the second handgrip, can be before replacing battery Cell switch is first closed, avoids plugging the damage to battery；In battery side, setting cooperates with zigzag block on handgrip Zigzag sheet body, it is ensured that the cooperation stability of handgrip and battery effectively solves asking of glancing off on the move of battery Topic, the sawtooth sheet body of battery side are also possible to integrally formed with battery either be affixed on battery.On the inside of handgrip With zigzag block, with the dentation piece mates on battery, in effective solution actual motion, under clamping battery occurs The problem of sliding, battery caused to clamp deflection.

In the typical embodiment of another kind of the application, a kind of battery independently continued a journey applied to unmanned plane is provided more Changing device, including battery clamp device as above, battery clamp device is equipped in Y-axis moving mechanism, Y-axis moving mechanism It is equipped in Z axis mobile mechanism, Z axis mobile mechanism is equipped in X-axis mobile mechanism.Fixture block 1-7 can be I-shaped Type, upside block stationary jaw ontology 1-1 with the second card slot 1-12, have another card slot on the downside of fixture block 1-7 and block fixed wire Thick stick sliding block 1-13, screw slider 1-13 are connect with Y-axis moving mechanism.Certainly, three axis mobile mechanisms in battery replacement device It can replace and be able to drive the mechanism that battery clamp device moves in cubic space using other.

The region that fixed point is maked an inspection tour is often needed to some needs, the automatic inspection of unmanned plane, tour personnel can be carried out Or other staff only need to send corresponding instruction in control room, unmanned plane will automatic takeoff corresponding region is maked an inspection tour, work as nothing When man-machine electricity is lower than setting value, unmanned plane can drop to the unmanned plane station being disposed about, and carry out autonomous battery altering, continued At the task of tour.This process is very stringent to the clamp device requirement of battery, according to the mechanical gripper of the prior art, in reality During border is tested, by taking three axis mobile mechanisms as an example, X-axis mobile mechanism, Y-axis moving mechanism, Z axis mobile mechanism is all in accordance with setting The position of battery is changed in fixed operation to unmanned plane, insecure due to clamp device clamping after clamping battery is extracted, battery not by The side of clamping glides, even if only passing through Y-axis moving mechanism handle in the case where X-axis mobile mechanism and constant Z axis mobile mechanism Battery is pacified to unmanned plane battery compartment, also cannot achieve installation.And after using battery clamp device of the invention, X-axis mobile mechanism, Y-axis moving mechanism, Z axis mobile mechanism can be replaced with clip claw mechanism cooperation with reliable retention battery, be not in that battery is inclined Tiltedly, replacement battery that can be quick, stable, and can guarantee the precision of battery altering.

In the typical embodiment of another of the application, a kind of battery independently continued a journey applied to unmanned plane is provided more The working method of changing device, comprising the following steps: (1) X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism are successively transported Make, battery clamp device is driven to be moved at unmanned plane battery location；Being touched by motion block on (2) first handgrips or the second handgrip Cell switch closes battery；(3) clip claw mechanism drives the first handgrip and the second handgrip to clamp battery, zigzag block and battery The sawtooth sheet body of side cooperates；(4) X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism successively operate, and drive battery folders It takes device to be moved at battery compartment, battery is returned and is put in battery compartment；(5) X-axis mobile mechanism, Y-axis moving mechanism and Z axis are mobile Mechanism drives battery clamp device to be moved to the position of another battery of battery compartment, repeats step (3), battery is taken out；(6) X-axis Mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism drive battery clamp device to be moved at unmanned plane battery bin location, press Motion block touches cell switch, opens battery；(7) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism return initial bit It sets.In order to enable those skilled in the art can clearly understand the technical solution of the application, below with the work of the present apparatus The present invention is described in detail for industry process: battery clamp device is equipped in Y-axis moving mechanism, and Y-axis moving mechanism is matched Conjunction is set in Z axis mobile mechanism, and Z axis mobile mechanism is equipped in X-axis mobile mechanism.Unmanned plane drops to fixed bracket On, drive Z axis mobile mechanism, X-axis mobile mechanism moves to the position of unmanned plane battery compartment in x-axis direction.It acts and completes in x-axis Afterwards, Z axis mobile mechanism drives Y-axis moving mechanism to be moved downwardly in the z-axis direction with unmanned plane battery compartment with high.It is dynamic in z-axis After the completion of work, Y-axis moving mechanism drives battery clamp device to move forwards on the y axis.

Cell switch is touched by motion block 1-11, closes battery, clip claw mechanism is closed later, and the first handgrip 1-4 and second is grabbed Hand 1-5 catches battery, the sawtooth sheet body snap-fit of the zigzag block on the first handgrip 1-4 and battery side, the second handgrip The sawtooth sheet body snap-fit of zigzag block and the battery other side on 1-5.

Y-axis moving mechanism drives battery clamp device to withdraw in y-axis direction, and after the completion of movement, Z axis mobile mechanism drives Y Axis mobile mechanism is promoted in the z-axis direction, and after the completion of movement, X-axis mobile mechanism drives Z axis mobile mechanism to return in the direction of the x axis It backhauls dynamic.X-axis mobile mechanism, Y-axis moving mechanism, the cooperation running of Z axis mobile mechanism put battery into battery compartment, and from next Battery compartment takes battery, gets battery and moves to unmanned plane battery bin location, installs battery, opens unmanned machine battery by motion block 1-11 Switch.X-axis mobile mechanism, Y-axis moving mechanism, Z axis mobile mechanism return initial position.

In a kind of typical embodiment of the application, as shown in figure 12, a kind of accurate positioning of auxiliary unmanned plane landing And fixed device, including the first limiting slot for being limited to unmanned plane horn, the two sides of the first limiting slot opposition are V-shaped Arrangements, the another two sides of the first limiting slot are respectively vertically arranged as vertical plane, wherein the side that the first limiting slot is vertically arranged is set There is the first card slot for being used to support unmanned plane horn, the first card slot 8 is circle-arc profile, rubber pad is set in the first card slot, To be protected to horn, meanwhile, nothing can be further fixedly secured because of the elastic reaction of rubber pad by the setting of rubber pad Man-machine, the height of the first card slot can be adjusted according to the concrete model of unmanned plane, under normal circumstances, the height of the first card slot Be more than or equal to unmanned plane horn radius, therefore the shape of the first card slot and the shape of unmanned plane horn be it is similar, for circle Arc shape.

First limiting slot 2 includes supporting 7, supports and supports 7 two sides in strip rectangle shape and be respectively arranged a landing face 6, and another two The vertical plane 9 is respectively arranged in side.

Above-mentioned first limiting slot 2 constitutes an open-topped accommodation space, when unmanned plane landing, in the first limiting slot 6 inner surface of landing face be in contact with unmanned plane horn supporting leg bottom, supporting leg stress falls downward, which drops into, to be supported Be supported, and the landing face on both sides 6 namely V-type shape be arranged the reason of, supporting leg is limited, effective guarantee nobody The position of machine landing.

In addition, landing face relative to the angle A supported at 30 degree to 80 degree, accordingly even when unmanned plane horn bottom supporting leg From deviating from the position farther out, also can guarantee that effective drop into supports, and ensure that the precision approach of unmanned plane, limit groove height H are variable Change, occurrence depends on the height of unmanned plane supporting leg.

The variable-width that limit trench bottom supports, occurrence depend on the width of unmanned plane supporting leg, it is preferable that The width is identical as the diameter of unmanned plane supporting leg.

Limiting slot the first card slot variable-width, occurrence depend on the diameter of unmanned plane horn, it is preferable that the width It spends identical as the diameter of unmanned plane horn.

If the floor projection distance in face of landing is L, L=H/TanA, limits groove height H and angle A mutually restricts.

In order to realize the limitation to wing bottom supporting leg, the limiting slot be U-shaped shape or funnel shaped or on Portion be it is rectangular, lower part is funnel shaped.

For overcome the deficiencies in the prior art, the present invention also provides it is a kind of auxiliary unmanned plane landing accurate positioning slot, The locating slot limits unmanned plane horn by the setting of limiting slot, to improve the precision of landing, the positioning slot structure letter Single, positioning accuracy is high.

A kind of accurate positioning of auxiliary unmanned plane landing and fixed device, including for being limited to unmanned plane horn Second limiting slot 10, the second limiting slot include supporting, and a landing face is respectively arranged in the two sides for supporting opposition, and two landing faces constitute V-type Shape is vertically arranged bracket 11 in the side supported, and bracket is L-type shape, and convenient for fixing, cradle top is provided with for branch for bottom The first card slot of unmanned plane horn is supportted, in addition, in order to avoid landing generates interference, a face in face of landing in face of replacement battery Bending is divided to be arranged towards horn, as shown in figure 13.Above-mentioned second limiting slot constitutes an open-topped accommodation space, when nobody When machine lands, the landing face inner surface in the second limiting slot is in contact with unmanned plane horn supporting leg bottom, supporting leg stress Falls downward is dropped into support and is supported, and the landing face on both sides namely V-type shape be arranged the reason of, to supporting leg into Row limit, the first card slot of cradle top effectively support horn, effective guarantee unmanned plane after the landing of unmanned plane position The position of landing, bracket connect setting with described supporting.In addition, the application another embodiment, additionally provides a kind of auxiliary The accurate positioning for helping unmanned plane to land and fixed device, which includes the locating slot in above-mentioned two scheme, passes through multiple limits The setting of position slot, is accurately positioned the wing position of unmanned plane.

A kind of accurate positioning of auxiliary unmanned plane landing and fixed device, including a kind of auxiliary described at least two nobody The bottom of the accurate positioning slot of machine landing, the limiting slot is set on fixed station, is supported and is fixed by bolt and fixed station, Fixed station is groove structure setting, convenient for the receiving to subsequent fixed stake, slide bar, as illustrated in figures 11 and 13.

In the positioning device, unmanned plane realizes coarse positioning using control system, and coarse positioning is vertical apart from landing platform Free-falling in the section of distance 5--10cm.The bootable unmanned plane of limiting slot in accurate positioning device is reached using inertia landing To being accurately positioned and fixed, in this way between two limiting slots, can manually or using mechanical equipment to the battery of unmanned plane into Row replacement, or carry out other follow-up works.As optimum embodiment, the quantity of the limiting slot and the number of unmanned plane horn It measures identical, passes through the limit to each wing, it is ensured that the precision of unmanned plane position landing is controlled in submillimeter rank.Separately In one embodiment, when limiting slot is two, adjacent two limiting slot intervals, one unmanned plane horn setting, such as four wings nobody Machine, limiting slot can be symmetrical arranged two, if six wing unmanned planes, limiting slot settable two or three, be spaced a wing Or two wings are configured.

Spud pile 5 is set at the middle part of the fixed station 1, spud pile, the mark are set at the middle part of the fixed station Point is set to the middle part of spud pile, by the setting of an identification point, it can be achieved that the coarse positioning of unmanned plane machine core, on spud pile surface Picture pick-up device is set, and picture pick-up device is connect with controller, to carry out coarse positioning to unmanned plane, then cooperates the setting of limiting slot, real Now to the positioning of unmanned plane horn supporting leg position, and effectively unmanned plane horn is supported by the first card slot, it is described The bottom of fixed station and the fixed position to adjust limiting slot by the rotation of fixed station of rotating mechanism, rotating mechanism can be Rotating electric machine.

Controller is set in the housing, and windproof and dustproof to carry out, controller is connect with meteorological sensor, and meteorological sensor is real-time Measure external environment, including wind direction, wind speed, precipitation, temperature and humidity are sent to station internal controller, by with network weather Element control, analyzing environment in real time influences, whether determining unmanned plane landing control.Controller passes through in cloud server and monitoring Central server is in communication with each other, and monitoring central server is also connected with display module, is monitored in real time by monitoring central server The work state information of intelligent landing station system.In addition, adapting to different horn length to improve the adaptability of the positioning device Unmanned plane, be fixed with slide bar 4 in the circumference of the spud pile, slide bar 4 and sliding block 3 are fixed, and sliding block 3 can be slided relative to slide bar 4 Dynamic, limiting slot is fixed on sliding block 3；

Fastener is set on the sliding block, and fastener passes through sliding block 3 and sliding block 3 is fixed on slide bar 4, and such structure is set It sets, can adjust position of the sliding block 3 relative to slide bar 4 according to the length of horn, also be achieved that limiting slot relative to machine core position Adjustment.Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.

Claims (10)

1. the ground control formula unmanned plane during flying landing system based on LED dot matrix, characterized in that include:

Unmanned plane and unmanned plane rise and fall station；

Unmanned plane station of rising and falling includes objective table, the accurate positioning of installation auxiliary unmanned plane landing and solid above the objective table Determine device, three axis holders are installed on the accurate positioning of the auxiliary unmanned plane landing and fixed device, are pacified on the three axis holder Fill camera, the camera remained under three axis cradle head controls camera lens upward, direction it is constant, the camera and ground Computer connection；The ground-based computer control camera is taken pictures；The ground-based computer is passed by the first wireless data Defeated module is communicated with unmanned plane；The ground-based computer is also connect with display terminal；

The unmanned plane includes on-board data processing module, the on-board data processing module and unmanned plane bottom flight control system System, LED dot matrix screen, the second wireless data transfer module are connected, the unmanned plane bottom flight control system and GPS receiver module Connection, during unmanned plane decline, the camera shoots the rectangular LED dot matrix screen immediately below unmanned plane, then basis The color characteristic and shape feature of rectangular LED dot matrix screen calculate the coordinate position of unmanned plane；Computer is current according to unmanned plane Position issues landing instruction to unmanned plane；The unmanned plane finally drops to the accurate of auxiliary unmanned plane landing according to landing instruction On positioning and fixing device, the on-board data processing module also passes through the second wireless data transfer module and unmanned plane rises and falls station The first wireless data transfer module communication；

The unmanned plane further includes battery, and the battery is on-board data processing module, LED dot matrix screen, GPS receiver module, nothing Man-machine bottom flight control system and the power supply of the second wireless data transfer module.

2. the ground control formula unmanned plane during flying landing system based on LED dot matrix as described in claim 1, characterized in that

The LED dot matrix screen includes ultrasonic wave module, the power supply termination+5V regulated power supply of the ultrasonic wave module, the ultrasound The ground terminal of wave module is grounded；The analog signal output of the ultrasonic wave module and the IO1 pin of ARM core processor connect It connects；IO2 pin, IO3 pin and the IO4 pin of the ARM core processor and the input terminal of power driver module connect；It is described Power supply termination+5V the regulated power supply of ARM core processor, the ground terminal ground connection of the ARM core processor；The power drive Power supply termination+5V the regulated power supply of module, the ground terminal ground connection of the power driver module；The output of the power driver module End is grounded by several LED light bars；The LED light bar forms LED dot matrix panel.

3. the ground control formula unmanned plane during flying landing system based on LED dot matrix as described in claim 1, characterized in that

The accurate positioning of the auxiliary unmanned plane landing and fixed device, which includes locating slot, passes through multiple limiting slots Setting, is accurately positioned the wing position of unmanned plane.

4. the ground control formula unmanned plane during flying landing system based on LED dot matrix as claimed in claim 3, characterized in that

The accurate positioning of the auxiliary unmanned plane landing and fixed device, a kind of auxiliary unmanned plane including at least two land The bottom of accurate limiting slot, limiting slot is set on fixed station, identification point is provided in the middle part of fixed station, unmanned plane passes through mark Point positions unmanned plane machine core, and fixed station is groove structure setting, convenient for the receiving to subsequent fixed stake, slide bar, vertically Face or bracket along fixed station circumferential directions；Spud pile is arranged in the middle part of the fixed station；

Be fixed with slide bar in the circumference of the spud pile, slide bar is fixed with sliding block, sliding block relative to slide bar slidably, the limit Position slot is fixed on sliding block, to pass through the distance between the mobile adjusting limiting slot of sliding block and spud pile；

Fastener is set on the sliding block, and fastener passes through sliding block and sliding block is fixed on slide bar.

5. the ground control formula unmanned plane during flying landing system based on LED dot matrix as claimed in claim 4, characterized in that limit Position slot, for limiting to unmanned plane horn, limiting slot includes supporting for bottom setting, supports side and connect with landing face, Landing face is plane or curved surface, and landing face and supporting is obliquely installed, suitable after unmanned plane horn supporting leg is in contact with landing face Landing face drop into support realization be accurately positioned, by limiting slot land face setting, unmanned plane horn is limited Position, to improve the precision of landing, the positioning slot structure is simple, and positioning accuracy is high, can achieve submillimeter level；

In addition, the other side that supports in the limiting slot is arranged the second landing face, the second landing face and supporting is obliquely installed, drop Fall face, support and form V-type shape with the second landing face, such two landing face from both direction to the supporting leg of unmanned plane horn into Row limit control, has widened application range, and the limiting slot is the truncated conical shape of hollow handstand；

Alternatively, the limiting slot be it is U-shaped, when unmanned plane horn supporting leg and U-shaped limiting slot inner wall collide, unmanned plane machine Arm supporting leg slides inside limiting slot to bottom；

Vertical plane is set between the landing face and the second landing face；

Further, the card slot for being used to support unmanned plane horn is provided at the top of a vertical plane, by the setting of card slot, After unmanned plane is fallen into, unmanned plane is fixed, the height of card slot can be adjusted according to the concrete model of unmanned plane, generally In the case of, the height of card slot and the radius for being more than or equal to unmanned plane horn；

The vertical plane is connect with the landing face, and above-mentioned limiting slot constitutes an open-topped accommodation space, alternatively, described Vertical plane is set between the landing face and the second landing face, when unmanned plane landing, if unmanned plane horn supporting leg position Set and glance off, the landing face inner surface in limiting slot is in contact with unmanned plane horn supporting leg bottom, supporting leg stress to The reason of decline, which drops into support, to be supported, and the landing face on both sides namely V-type shape is arranged, carries out supporting leg Limit, realizes the accurate positioning of unmanned plane, and the card slot of cradle top effectively props up horn after the landing of unmanned plane position Support and fixed, the position of effective guarantee unmanned plane landing.

6. as the ground control formula unmanned plane during flying landing system of any one of claim 1-5 based on LED dot matrix it is corresponding nobody Machine flight landing method, characterized in that include:

Step (a1): unmanned plane rises and falls the computer starting at station；

Step (a2): computer judges whether that receiving unmanned plane initialization completes instruction, if so, computer is sent to unmanned plane The first feedback command of instruction is received；Computer receives offline mode selection instruction, and selected offline mode is sent To unmanned plane, (a4) is entered step；If it is not, then entering step (a3)；

Step (a3): computer judges whether to receive the guidance landing request of unmanned plane, carry out if receiving guidance landing request Landing processing is guided, judges whether landing is completed, the return step (a2) if completing；Continue guidance landing if not completing Processing；If not receiving guidance landing request, return step (a2)；

Step (a4): computer judges whether to receive the second feedback command of unmanned plane, if receiving the second feedback command of unmanned plane, Then enter step (a5)；If not receiving the second feedback command of unmanned plane, return step (a2) computer continues to flight mould Formula selection instruction；

Step (a5): the input instruction of computer RX path planning point judges whether that input finishes, if then entering step (a6)；If otherwise return step (a5)；

Step (a6): path planning point and the input of path planning point are completed instruction and are sent to unmanned plane by computer, and computer connects It receives check results and checks；Judge whether check results are identical, then sends verification if they are the same and pass through instruction return step (a2)；If Otherwise return step (a5)；The check results be the path point sent and number and received path point and number whether one It causes.

7. as the ground control formula unmanned plane during flying landing system of any one of claim 1-5 based on LED dot matrix it is corresponding nobody Machine flight landing method, characterized in that

Step (b1): unmanned plane is switched on and initializes；

Step (b2): unmanned plane sends initialization and completes instruction to the computer on ground, and unmanned plane judges whether to receive ground meter First feedback command of calculation machine, enters step (b3) if receiving；Step (b2) is returned to if not receiving；

Step (b3): unmanned plane prepares to receive the offline mode selection instruction that computer upload comes, and unmanned plane receives flight mould Formula selection instruction backcasting machine sends the second feedback command；

Step (b4): unmanned plane prepares to receive the planning path point selection instruction that computer upload comes, and unmanned plane judges whether It receives and is sent completely instruction, just send check results to computer if receiving and being sent completely instruction, enter step (b5)；If not receiving Step (b4) is returned to instruction is sent completely；The check results be the path point sent and number and received path point and Whether number is consistent；

Step (b5): judge whether to receive verification by instruction, if so, unmanned plane Execution plan path point aerial mission, flies Row task is completed, and request guidance landing terminates；If it is not, then return step (b4).

8. method as claimed in claim 6, characterized in that

The step of guidance is landed are as follows:

Step (a30): computer judges whether to receive the guidance landing request of unmanned plane, carry out if receiving guidance landing request Landing processing is guided, (a31) is entered step；Unmanned plane is waited to issue guidance landing request if not receiving；

Step (a31): computer control unmanned plane rise and fall station camera capture picture；

Step (a32): the color characteristic and style characteristic of light emitting region in picture are extracted；Judge whether color characteristic matches, it will The luminescent color captured in picture is matched with the luminescent color of preset specified altitude assignment；If successful match enters step Suddenly (a33)；Return step (a31) if it fails to match；

Step (a33): judging whether shape feature matches, judge capture picture in LED dot matrix screen light picture whether be Rectangular, if so, calculating the coordinate of rectangular picture central point, the coordinate of center picture point is required for unmanned plane precisely lands Coordinate, and this coordinate is sent to unmanned plane, unmanned plane carries out position adjustment according to coordinate；Return step (a30).

9. method as claimed in claim 8, characterized in that

The coordinate of the rectangular picture central point, refers to: the central point for the rectangular light emitting region that LED dot matrix screen is lighted is taken the photograph on ground As head captures pixel coordinate locating in picture.

10. a method of automatic replacement battery, characterized in that include the following steps:

Step (1): unmanned plane lands according to guidance landing instruction；

Step (2): objective table rises, and is higher than automatic replacement cell apparatus, and unmanned plane drops in unmanned plane support plate；

Step (3): computer receives unmanned plane and has dropped to the signal in unmanned plane support plate；

Step (4): objective table decline is highly equal to automatic replacement cell apparatus, and automatic cell apparatus of replacing carries out unmanned plane Replace battery movement or wireless charging；The automatic replacement cell apparatus includes: battery clamp device；

The battery clamp device, including clip claw mechanism, the clip claw mechanism include clamping jaw ontology, and the clamping jaw ontology is connected with First gripper jaw part and the second gripper jaw part, first gripper jaw part are fixedly connected with the first handgrip, second clamping jaw portion Part and the second handgrip are fixedly connected；The opposite face of first handgrip and the second handgrip is equipped with zigzag block；

Battery clamp device drives handle component by clip claw mechanism to clamp battery, and the clamping cooperation of clamping jaw and battery more may be used It leans on；By the way that zigzag block is arranged on two handgrips, when clamping battery, the contact friction force of handgrip and battery is bigger, and clamping is more Add it is firm, avoid the problem that battery clamping glance off；

Further, the clamping jaw ontology is chimeric is set in fixture block, and the fixture block is with the card slot with clamping jaw body fits；? Card slot is set on fixture block, realizes the embedded combination of card slot and clamping jaw ontology, fast and reliable can connect；

Further, the clamping jaw ontology also passes through fastener and is fixedly connected with fixture block；Pass through card slot clamping clamping jaw in fixture block Under the premise of ontology, it can be fixedly secured clamping jaw ontology using fastener, effectively keep clip claw mechanism in mobile replacement cell process Stabilization；

Further, the clip claw mechanism is connect with power device；Clip claw mechanism folding is driven by power device, and then is realized The folding of two handgrips, realization grip or lay down battery；

Further, first handgrip with the first gripper jaw part cooperation at the first groove is set, the first gripper jaw part is chimeric In the first groove；First groove is set on the first handgrip, realizes the embedded combination of the first handgrip and the first gripper jaw part, it can With fast and reliable connection；

Further, first gripper jaw part also passes through fastener and is fastenedly connected with the first handgrip；Pass through in the first handgrip Under the premise of first the first gripper jaw part of groove clamping, it can be fixedly secured the first gripper jaw part using fastener, effectively keep moving The stabilization of first handgrip in dynamic replacement cell process；

Further, second handgrip with the second gripper jaw part cooperation at the second groove is set, the second gripper jaw part is chimeric In the second groove；Second groove is set on the second handgrip, realizes the embedded combination of the second handgrip and the second gripper jaw part, it can With fast and reliable connection；

Further, second gripper jaw part also passes through fastener and is fastenedly connected with the second handgrip；Pass through in the second handgrip Under the premise of second the second gripper jaw part of groove clamping, it can be fixedly secured the second gripper jaw part using fastener, effectively keep moving The stabilization of second handgrip in dynamic replacement cell process；

First handgrip or the second handgrip, which are equipped with, presses motion block, the setting of battery side and zigzag block with what cell switch cooperated The sawtooth sheet body of cooperation；Motion block is pressed by being arranged on the first handgrip or the second handgrip, electricity can be first closed before replacing battery Pond switch, avoids plugging the damage to battery；The zigzag of setting and zigzag block cooperation on handgrip in battery side Sheet body, it is ensured that the cooperation stability of handgrip and battery effectively solves the problems, such as that battery glances off on the move；

The method of automatic replacement battery, further comprising the steps of:

(1) X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism successively operate, and battery clamp device is driven to be moved to nothing At man-machine battery location；

Cell switch is touched by motion block on (2) first handgrips or the second handgrip, closes battery；

(3) clip claw mechanism drives the first handgrip and the second handgrip to clamp battery, the sawtooth sheet body of zigzag block and battery side Cooperation；

(4) X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism successively operate, and battery clamp device is driven to be moved to electricity Battery is returned and is put in battery compartment by Chi Cangchu；

(5) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism drive battery clamp device to be moved to another electricity of battery compartment The position in pond repeats step (3), battery is taken out；

(6) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism drive battery clamp device to be moved to unmanned plane battery compartment At position, cell switch is touched by motion block, opens battery；

(7) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism return initial position.