CN106896828B - A kind of unmanned plane automated wireless charging method and system - Google Patents
A kind of unmanned plane automated wireless charging method and system Download PDFInfo
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Abstract
The present invention relates to unmanned plane wireless charging technical fields.The invention discloses a kind of unmanned plane automated wireless charging method and systems, wherein in unmanned plane automated wireless charging method, are positioned using four step positioning modes: firstly, carrying out thick step positioning by satellite, obtaining slightly walking localization region；Secondly, carrying out fine positioning using infra-red intensity in slightly step localization region, fine positioning region is obtained；Then, more fine positioning is carried out using the laser for enclosing certain area in fine positioning region, obtains more fine positioning region；Finally, finally being positioned in more fine positioning region detection dot laser.Automated wireless charging is carried out again after final positioning.Positioning accuracy of the invention is very high, and algorithm is simple, and calculation amount is few, and locating speed is fast, substantially increases wireless charging efficiency and unmanned plane cruising ability, low to hardware performance requirements, greatly reduces cost.
Description
Technical field
The invention belongs to unmanned plane wireless charging technical fields, more particularly to a kind of unmanned plane automated wireless charging method
And system.
Background technique
Unmanned plane is that one kind is dynamic, controllable, can carry multiple-task equipment, executes multiple-task and can reuse
Aircraft.The not manned vehicle that can be controlled using wireless remote control device and the control device of itself, such as nobody
Helicopter, unmanned fixed-wing aircraft, unmanned parasol etc..It is widely used in the fields such as take photo by plane, monitor, investigate.
But it is limited by battery technology and charging technique, unmanned plane continuous working period is extremely short, so that it is upper in application
It receives and greatly restricts.Unmanned plane during flying just must return to after for a period of time carries out electric energy supplement, and existing unmanned electromechanical
Energy supplement is most of all to be realized using battery or plug wire charging is changed, and operation is more troublesome in this way, and cannot achieve nobody
The full autonomous control of machine.For this purpose, there is the unmanned plane using wireless charging, solve that unmanned plane charging needs manually to participate in is asked
Topic.
But during wireless charging, then requires unmanned plane that precise positioning is wanted to drop to wireless charging point, nothing could be improved
Line charging effect.And most of the unmanned plane of existing full autonomous control is positioned using GPS, such as publication:
CN205958757U, but the positioning accuracy of GPS is not high enough, and error can achieve several meters, existing in order to improve unmanned plane positioning accuracy
In some using infrared carry out auxiliary positioning, such as publication: CN106371463A, also some assist using icon fixed
Position, although improving positioning accuracy to a certain extent, precision or not high enough can not make wireless charging transmitting module and nothing
Line charge electricity receiving module exactitude position, to reduce wireless charging efficiency, in addition, existing unmanned plane is in order to improve registration
Degree, algorithm is complicated, computationally intensive.
Summary of the invention
It is an object of the invention to provide that a kind of positioning accuracy is very high, and algorithm is simple in order to solve the above problem, calculate
Amount is few, greatly improves the unmanned plane automated wireless charging method and system of wireless charging efficiency.
For this purpose, including the following steps: the invention discloses a kind of unmanned plane automated wireless charging method
S1, at fixed point be arranged infrared transmitting device and make infrared transmitting device with certain light emitting angle straight up
Emit infrared ray, laser beam emitting device is set at fixed point, and laser beam emitting device is made to emit collimation laser straight up, it is described
Collimation laser includes that a central point and one enclose the enclosing line of the central point in the projection pattern of horizontal plane, the central point and fixed
Point is located at same vertical line；
S2, unmanned plane are flown by satellite positioning to the thick step positioning area of fixed point top according to the satellite positioning coordinate of fixed point
Domain；
S3, unmanned plane detects the intensity of infrared ray in the slightly horizontal plane of step localization region, and flies to infra-red intensity most
Big region；
S4, unmanned plane detect the laser for enclosing line in the horizontal plane in the maximum region of infra-red intensity, and according to detection
The anticipation position of central point is determined to the laser for enclosing line；
S5, unmanned plane fly to the anticipation position of central point, in the laser of anticipation position detection central point；
S6, unmanned plane detect after the laser of central point vertical landing to pinpointing；
S7, the wireless charging transmitting module transmitting radio energy at fixed point are to the wireless charging receiving module of unmanned plane
Unmanned plane wireless charging.
Further, the satellite positioning module includes GPS positioning module or big-dipper satellite locating module.
Further, infrared transmitting device is infrared light-emitting diode.
Further, the step S3 specifically: unmanned plane uses video camera or infrared receiving diode in the horizontal plane
The intensity of infrared ray is detected, and is flown to the maximum region of infra-red intensity.
Further, the enclosing line is circle, and the central point is located at the center point.
Further, in the step S4, unmanned plane detects in the horizontal plane in the maximum region of infra-red intensity to be enclosed
The laser of zygonema, and according to the anticipation position for detecting that the laser for enclosing line determines central point method particularly includes: unmanned plane exists
Rectilinear flight is carried out in the horizontal plane in the maximum region of infra-red intensity and detects laser, is swashed if point-blank detecting three
Luminous point, then point centered on intermediate laser point, determines the anticipation position of central point；If point-blank only detecting one
Or two laser points, then this one or two laser point is the laser for enclosing line, is converted by geometry, can determine central point
Anticipation position.
Further, the enclosing line is regular polygon, and the central point is located at the center of regular polygon.
The invention also discloses a kind of automatic nothings of unmanned plane for realizing above-mentioned unmanned plane automated wireless charging method
Line charge electric system, including the first charging unit at fixed point is arranged in and the second charging unit of unmanned plane is arranged in, described the
One charging unit includes main control module, wireless charging transmitting module, the first satellite positioning module, infrared transmitting device and swashs
Light emitting devices, the wireless charging transmitting module, the first satellite positioning module, infrared transmitting device and laser beam emitting device
It is connect respectively with main control module, second charging unit includes unmanned plane main control module, wireless charging receiving module,
Two satellite positioning modules, infra-red intensity detection device and laser detector, the wireless charging receiving module, the second satellite
Locating module, infra-red intensity detection device and laser detector are connect with unmanned plane main control module respectively, and described first
Satellite positioning module be used for obtains pinpoint satellite positioning coordinate, the infrared transmitting device with certain light emitting angle vertically to
Upper transmitting infrared ray, the laser beam emitting device emit collimation laser, projection of the collimation laser in horizontal plane straight up
Pattern includes a central point and one encloses the enclosing line of the central point, and the central point and fixed point are located at same vertical line, described
Second satellite positioning module is for providing the satellite positioning coordinate of unmanned plane, and the infra-red intensity detection device is for detecting water
The intensity of infrared ray in plane, the laser detector is for detecting laser, and the wireless charging transmitting module is for sending out
Radio energy is penetrated, the wireless charging receiving module is used to receive the radio energy of wireless charging transmitting module transmitting.
Advantageous effects of the invention:
Fixed point location is realized in present invention combination GPS positioning, infrared ray positioning and laser positioning, gradually reduces positioning model
It encloses, positioning accuracy is very high, and algorithm is simple, and calculation amount is few, and locating speed is fast, to substantially increase wireless charging efficiency and nothing
Man-machine cruising ability, it is low to hardware performance requirements, it realizes simply, greatly reduces cost.
Detailed description of the invention
Fig. 1 is the method flow diagram of the embodiment of the present invention；
Fig. 2 is that the infrared ray of the embodiment of the present invention emits schematic diagram；
Fig. 3 is projection pattern schematic diagram of the collimation laser in horizontal plane of the embodiment of the present invention；
Fig. 4 is projection pattern schematic diagram of the collimation laser in horizontal plane of other embodiments of the present invention；
Fig. 5 is projection pattern schematic diagram of the collimation laser in horizontal plane of other embodiments of the present invention；
Fig. 6 is the system structure diagram of the embodiment of the present invention.
Specific embodiment
Now in conjunction with the drawings and specific embodiments, the present invention is further described.
As shown in figure 1-3, a kind of unmanned plane automated wireless charging method, includes the following steps:
S1, setting satellite positioning module obtains the satellite positioning coordinate of fixed point B on the fixed point B of airplane parking area 1, this is specific real
It applies in example, satellite positioning module is GPS positioning module, certainly, in other embodiments, is also possible to big-dipper satellite positioning mould
Block, in some embodiments, if airplane parking area be it is fixed, can also not have to setting GPS positioning module, as long as setting shut down
Its GPS positioning coordinate is determined when level ground.
Infrared transmitting device is set at fixed point B and sends out infrared transmitting device straight up with certain light emitting angle
Infrared ray is penetrated, it is specific as shown in Fig. 2, the normal direction axis 3 and fixed point B of infrared ray 2 are on same vertical line, in this way, on fixed point B
In the horizontal plane (plane vertical with vertical line) of side, 2 maximum intensity of infrared ray in the region of fixed point B is faced.This is specific real
It applies in example, infrared transmitting device is infrared light-emitting diode.Light emitting angle can be selected according to actual needs, this is this
What field technical staff can realize easily, no longer it is described in detail.
Laser beam emitting device is set at fixed point B, and laser beam emitting device is made to emit collimation laser, the standard straight up
Straight laser includes that a central point and one enclose the enclosing line of the central point, the central point and fixed point in the projection pattern of horizontal plane
B is located at same vertical line.In this specific embodiment, the collimation laser horizontal plane projection pattern as shown in figure 3, including one
It is a it is circular enclose line 4 and positioned at the circular center of circle central point B ', central point B ' and fixed point B be located at same vertical line.Certainly,
In other embodiments, the enclosing line can be regular polygon, and the central point is located at the center of regular polygon, just polygon
Shape can be equilateral triangle and square as shown in Figure 4 and Figure 5, it is of course also possible to be regular pentagon, regular hexagon etc..
S2, unmanned plane are flown by GPS positioning to the thick step positioning area above fixed point B according to the GPS positioning coordinate of fixed point B
Domain (i.e. satellite positioning region), since GPS location precision is lower, error can achieve several meters, so slightly step localization region area
It is larger, also need further fine positioning.
S3, unmanned plane detects the intensity of infrared ray 3 in the slightly horizontal plane of step localization region, and flies to infra-red intensity most
Big region.
Specifically, unmanned plane detects the intensity of infrared ray using video camera or infrared receiving diode in the horizontal plane, and
Fly to the maximum region of infra-red intensity, detailed process are as follows: unmanned plane is mobile towards a direction in the horizontal plane and detects infrared
Line intensity changes direction flight if the infra-red intensity detected is less than the infra-red intensity of last position detection, if
The infra-red intensity detected is greater than the infra-red intensity of last position detection, then continues to fly towards former direction, until some position
It when setting, flies toward any direction, the infra-red intensity that the next position detects is less than the infra-red intensity of the position detection, then should
Position is the maximum region of infra-red intensity.This is that those skilled in the art can realize easily, is no longer described in detail.
But since infrared ray has the limit of accuracy property of certain diversity and infra-red intensity detection device, infrared ray
The region of maximum intensity does not face a point of fixed point B, the region with certain area, at this point, can't be accurate
Positioning.But this region is smaller than thick step localization region area, has further reduced orientation range.
S4, unmanned plane detect the laser for enclosing line in the horizontal plane in the maximum region of infra-red intensity, and according to detection
The anticipation position of central point is determined to the laser for enclosing line.
Specifically, detecting the laser for enclosing line using laser detector, in this specific embodiment, the area for enclosing line is excellent
Choosing is less than the area in the maximum region of infra-red intensity.
Method particularly includes: unmanned plane carries out rectilinear flight detection in the horizontal plane in the maximum region of infra-red intensity and swashs
Light as shown in figure 3, unmanned plane flies along straight line L1, then can detect three if point-blank detecting three laser points
It is a, respectively A, B ' and C, then point centered on intermediate laser point B ', so that it may determine the anticipation position of central point B '；Such as
Fruit point-blank only detects two laser points and successively detects point D and point if unmanned plane flies from left to right along straight line L2
E, and the distance for the range points D that flown out is greater than the diameter for enclosing line 4, then illustrates point D and point E is to enclose opposite on line 4 two
Then point is returned and is turned left flight along straight line L3 from the right side, detect and enclosing point G and point F on line, then by this four point D, E, G,
It can be converted by geometry with F, obtain the anticipation position of central point B '；If point-blank only detecting a laser point,
If unmanned plane flies from left to right along straight line L4, point H is detected, and the distance for the range points H that flown out is greater than the straight of enclosing line 4
Diameter then illustrates that point H is the point of contact for enclosing line 4 and straight line L4, then detects again and encloses the other points of line 4, it can passes through geometry
Conversion, obtains the anticipation position of central point B ', this is that those skilled in the art can realize easily, is no longer described in detail.
Line 4 is enclosed using first detection, then obtains the anticipation position of central point B ', central point B ' can be quickly found out, improved
Locating speed.
It is other regular polygon shapes for enclosing line 4, testing principle is similar with circle, this is those skilled in the art
It can realize, no longer be described in detail easily.
S5, unmanned plane fly to the anticipation position of central point, in the laser of anticipation position detection central point.Due to prejudging position
Range it is very small, in the laser of anticipation position detection central point B ', then speed is quickly.
In order to improve central point B ' laser detection accuracy, can make central point B ' laser intensity and enclose line 4
Laser intensity it is different, when the laser intensity using central point B ' and when enclosing the laser intensity difference of line 4, enclosing line 4 can be with
It is arbitrary shape, central point B ' can not also be in the central point for enclosing line 4, then, and unmanned plane is used to be swept line by line in enclosing line 4
The laser that flight carrys out inspection center point B ' is retouched, algorithm is simple, but detection time is longer.
S6, unmanned plane detect after the laser of central point B ' vertical landing to pinpointing.
Since laser is to project in one direction, the divergence of light beam is minimum, only about 0.001 radian, close parallel,
So the basic still dot laser of the laser of central point B ', faces fixed point B, at this point, unmanned plane vertical landing, it can precision approach
To fixed point B, it is very accurate to position.
S7 is arranged in the wireless charging transmitting module transmitting radio energy at fixed point B and receives to the wireless charging of unmanned plane
Module is unmanned plane wireless charging, completes the charging of unmanned plane automated wireless.
Fixed point location is realized in present invention combination GPS positioning, infrared ray positioning and laser positioning, gradually reduces positioning model
It encloses, positioning accuracy is very high, and algorithm is simple, and calculation amount is few, and locating speed is fast, to substantially increase wireless charging efficiency and nothing
Man-machine cruising ability, it is low to hardware performance requirements, it realizes simply, greatly reduces cost.
As shown in fig. 6, the invention also discloses a kind of nothings for realizing above-mentioned unmanned plane automated wireless charging method
Man-machine automated wireless charging system, including at fixed point 1 the first charging unit is arranged in and the second charging of unmanned plane 2 is arranged in
Device, first charging unit include the first satellite positioning module 11, infrared transmitting device 12, laser beam emitting device 14,
Main control module 13, wireless charging transmitting module 16 and first communication module 15, first satellite positioning module 11, infrared ray
Emitter 12, laser beam emitting device 14, wireless charging transmitting module 16 and first communication module 15 respectively with main control module
13 connections, second charging unit include the second satellite positioning module 21, infra-red intensity detection device 22, laser detection dress
Set 24, second communication module 25, wireless charging receiving module 26 and unmanned plane main control module 23, the second satellite positioning mould
Block 21, infra-red intensity detection device 22, laser detector 24, wireless charging receiving module 26 and second communication module 25 divide
It not being connect with unmanned plane main control module 23, first satellite positioning module 11 is used to obtain the satellite positioning coordinate of fixed point,
The infrared transmitting device 12 emits infrared ray with certain light emitting angle straight up, the laser beam emitting device 14 vertically to
Upper transmitting collimation laser, the collimation laser include that a central point and one enclose enclosing for the central point in the projection pattern of horizontal plane
Zygonema, the central point and fixed point are located at same vertical line, and second satellite positioning module 21 is for providing defending for unmanned plane
Star positions coordinate, intensity of the infra-red intensity detection device 22 for the infrared ray in detection level face, the laser inspection
Device 24 is surveyed for detecting laser, the first communication module 15 is communicatively coupled with second communication module 25, described wireless
Charging transmitting module 16 is for emitting radio energy, and the wireless charging receiving module 26 is for receiving wireless charging transmitting module
The radio energy of 16 transmittings.Unmanned plane uses above-mentioned automated wireless charging side by the first charging unit and the second charging unit
Method realizes the charging of unmanned plane automated wireless.
In this specific embodiment, wireless charging transmitting module 16 is arranged in the bracket of unmanned plane, certainly, in other implementations
In example, it is also possible to that other places of wing or unmanned plane are arranged in.
Although specifically showing and describing the present invention in conjunction with preferred embodiment, those skilled in the art should be bright
It is white, it is not departing from the spirit and scope of the present invention defined by the appended claims, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (5)
1. a kind of unmanned plane automated wireless charging method, which comprises the steps of:
Infrared transmitting device is arranged at fixed point and emits infrared transmitting device straight up with certain light emitting angle by S1
Laser beam emitting device is arranged at fixed point, and laser beam emitting device is made to emit collimation laser, the collimation straight up for infrared ray
Laser includes that a central point and one enclose the enclosing line of the central point, the central point and fixed point position in the projection pattern of horizontal plane
In same vertical line；
S2, unmanned plane are flown by satellite positioning to the thick step localization region of fixed point top according to the satellite positioning coordinate of fixed point；
S3, unmanned plane detects the intensity of infrared ray in the slightly horizontal plane of step localization region, and flies maximum to infra-red intensity
Region；
S4, unmanned plane detects the laser for enclosing line in the horizontal plane in the maximum region of infra-red intensity, and encloses according to detecting
The laser of zygonema determines the anticipation position of central point, method particularly includes: the enclosing line is circle, and the central point is located at the center of circle
Place, unmanned plane carries out rectilinear flight detection laser in the horizontal plane in the maximum region of infra-red intensity, if in straight line
Three laser points of upper detection, then point centered on intermediate laser point, determines the anticipation position of central point；If in straight line
On only detect one or two laser point, then this one or two laser point be enclose line laser, converted by geometry, determine
The anticipation position of central point out；
S5, unmanned plane fly to the anticipation position of central point, in the laser of anticipation position detection central point；
S6, unmanned plane detect after the laser of central point vertical landing to pinpointing；
S7, wireless charging transmitting module transmitting radio energy at fixed point to unmanned plane wireless charging receiving module, for nobody
Machine wireless charging.
2. unmanned plane automated wireless charging method according to claim 1, it is characterised in that: the satellite positioning coordinate packet
Include GPS positioning coordinate or big-dipper satellite positioning coordinate.
3. unmanned plane automated wireless charging method according to claim 1, it is characterised in that: infrared transmitting device is red
UV light-emitting diode.
4. unmanned plane automated wireless charging method according to claim 1, which is characterized in that the step S3 specifically:
Unmanned plane detects the intensity of infrared ray using video camera or infrared receiving diode in the horizontal plane, and flies to infra-red intensity most
Big region.
5. a kind of unmanned plane for realizing unmanned plane automated wireless charging method described in claim 1-4 any one is automatic
Wireless charging system, it is characterised in that: filled including the first charging unit at fixed point is arranged in and is arranged in the second of unmanned plane
Electric installation, first charging unit includes main control module, wireless charging transmitting module, the first satellite positioning module, infrared
Line emitter and laser beam emitting device, the wireless charging transmitting module, the first satellite positioning module, infrared transmitting device
It is connect respectively with main control module with laser beam emitting device, second charging unit includes unmanned plane main control module, wireless
Charging receiving module, the second satellite positioning module, infra-red intensity detection device and laser detector, the wireless charging connect
Receive module, the second satellite positioning module, infra-red intensity detection device and laser detector respectively with unmanned plane master control molding
Block connection, first satellite positioning module are used to obtain the satellite positioning coordinate of fixed point, and the infrared transmitting device is with one
Determine light emitting angle and emit infrared ray straight up, the laser beam emitting device emits collimation laser straight up, and the collimation swashs
Light includes that a central point and one enclose the enclosing line of the central point in the projection pattern of horizontal plane, and the central point is located at fixed point
Same vertical line, second satellite positioning module is for providing the satellite positioning coordinate of unmanned plane, the infra-red intensity inspection
Intensity of the device for the infrared ray in detection level face is surveyed, the laser detector is for detecting laser, the wireless charging
Electric transmitting module is used to receive the transmitting of wireless charging transmitting module for emitting radio energy, the wireless charging receiving module
Radio energy.
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| CN108445916A (en) * | 2018-04-01 | 2018-08-24 | 成都远致科技有限公司 | A kind of servo-actuated landing system of unmanned plane |
| CN108710381A (en) * | 2018-04-01 | 2018-10-26 | 成都远致科技有限公司 | A kind of servo-actuated landing method of unmanned plane |
| CN109080843A (en) * | 2018-08-14 | 2018-12-25 | 深圳市烽焌信息科技有限公司 | A kind of alignment methods of unmanned plane charge position |
| CN112256012B (en) * | 2019-07-05 | 2022-05-17 | 苏州宝时得电动工具有限公司 | Regression method and device for autonomous mobile device, autonomous mobile device and storage medium |
| CN112987712B (en) * | 2019-12-13 | 2022-05-17 | 苏州宝时得电动工具有限公司 | Autonomous robot, wireless charging docking method and device thereof, and storage medium |
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| 无人机光电侦测平台目标定位误差分析;徐诚 等;《仪器仪表学报》;20131031;全文 |
| 无人机激光扫描作业杆塔位置提取算法;彭向阳 等;《电网技术》;20171130;全文 |
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| CN106896828A (en) | 2017-06-27 |
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