CN107069859A - A kind of wireless charging system and method based on unmanned plane base station - Google Patents
A kind of wireless charging system and method based on unmanned plane base station Download PDFInfo
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- CN107069859A CN107069859A CN201710204721.8A CN201710204721A CN107069859A CN 107069859 A CN107069859 A CN 107069859A CN 201710204721 A CN201710204721 A CN 201710204721A CN 107069859 A CN107069859 A CN 107069859A
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Classifications
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- H02J7/0027—
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H02J7/025—
Abstract
The present invention relates to a kind of wireless charging system based on unmanned plane base station.The invention further relates to a kind of method of wireless charging, comprise the following steps：When unmanned electro-mechanical force will exhaust, or when receiving charging continuation of the journey model, pass through GPS cruises to the approximate location of neighbouring base station；By camera registration position, method is that image tagged is set on device, and detecting that the marginal information of image is realized by Sobel operators on airborne DSP is accurately positioned and lands；After landing successfully, four axles open wireless charging with base station communication.The present invention by ground base station, can realize the automatic execution task and automatic charging of unmanned plane, reduce operation cost, improve the flight efficiency of four axles, liberated the cruising time limitation of four axles, realized the distance flight of four axles.
Description
Technical field
The present invention relates to it is a kind of can be with the unmanned plane base station of recharging and wireless charging method.
Background technology
The battery durable ability of general SUAV is limited.In many typical application environments, unmanned plane performs patrol
Task is very common, such as deep woods big fire, chemical leakage, the disaster scenarios it monitoring of earthquake, border patrol, wild life protection law
The tasks such as shield, military surveillance.Limited by cruising time, a Small and micro-satellite goes on patrol scope all within tens kilometers,
And need staff on duty, operation and maintenance unmanned plane., it is necessary to manipulate manual operating when unmanned plane performs task, and need to match somebody with somebody
Standby ground base station.
However, in order to which unmanned plane more adapts to full-automatic flight operation, traditional unmanned aerial vehicle base station, which is all used, to be had
People base station, and it is manual powered, if task coverage is wider, it is necessary to dispose its manpower of unmanned plane base station in every tens kilometers
Cost is very expensive.
The content of the invention
It is an object of the invention to provide a kind of unmanned plane charging system that can realize automatic charging and using the system
Wireless charging method.
In order to achieve the above object, a technical scheme of the invention there is provided a kind of based on the wireless of unmanned plane base station
Charging system, it is characterised in that adopted including unmanned aerial vehicle (UAV) control module, airborne integrated positioning module, ground base station, PC ends, data
Collect processing server, wherein：
Ground base station, for setting up RFDC with airborne integrated positioning module, receives airborne integrated positioning module
The wireless signal and data of transmission, using ranging information therein calculate between airborne integrated positioning module and ground base station away from
From, and range information is delivered into data acquisition process server handled；
Airborne integrated positioning module, for setting up RFDC with ground base station, and receives data acquisition process clothes
Be engaged in device send flare maneuver adjust instruction, flare maneuver adjust instruction is fed back into unmanned aerial vehicle (UAV) control module, meanwhile, for pair
Unmanned plane, which carries out positioning, makes it land on ground base station；
Unmanned aerial vehicle (UAV) control module, it is dynamic according to flight for receiving flare maneuver adjust instruction from airborne integrated positioning module
The velocity of rotation that instruction controls each motor is adjusted, real time correction is carried out to course line；
Data acquisition process server, the range information for gathering ground base station upload, according to the unmanned plane collected
The specific coordinate information of unmanned plane, and the route information progress pair drawn with PC ends are calculated to the distance between each ground base station
Than going out unmanned plane next step according to the error judgment between unmanned plane position and course line needs the adjustment made to act, generation flight
Adjust instruction is acted, flare maneuver adjust instruction is wirelessly sent to the airborne integrated positioning module of unmanned plane, together
When, the coordinate that calculating is obtained, which is uploaded to PC ends, to be used to show the present position of unmanned plane thereon；
PC ends, deliver data acquisition process server, and adopt from data for drawing unmanned plane course line, and by route information
Collection processing server, which obtains corresponding coordinate information, to be used to show thereon.
Preferably, the unmanned aerial vehicle (UAV) control module includes power module, microprocessing unit and motor control module, by power supply
Module is that microprocessing unit and motor control module provide operating voltage, and microprocessing unit receives the flare maneuver adjustment and referred to
Order, by microprocessing unit according to flare maneuver adjust instruction motor control module.
Preferably, described airborne integrated positioning module includes INS/GPS integrated navigation and locations module, DSP framing
Module, wireless transmitter module, power supply unit, microprocessing unit, power supply unit are INS/GPS integrated navigation and locations module, DSP figures
As locating module, wireless transmitter module and microprocessing unit offer operating voltage, microprocessing unit connects INS/GPS combinations respectively
Navigation positioning module, DSP framing module and wireless transmitter module, wireless transmitter module and the ground base station and the number
Data communication is set up according to acquisition process server.
Preferably, the DSP framing module includes image acquisition units, DSP graphics processing units, result output list
Member, control unit, wherein：
Image acquisition units are made up of camera and video image acquisition chip, and image acquisition units are gathered by camera
A/D conversions are carried out to it to analog picture signal, and by video capture processor, output digital image signal is delivered at DSP images
Unit is managed, the marginal information of image is detected by Sobel operators by DSP graphics processing units, determines ground basestation marker
Changing coordinates, then by result output unit to after calculation process signal operation export, and by the result launch to it is described nobody
Machine flight control modules.
Preferably, the ground base station is marked provided with characteristic image, and this feature image tagged profile is solid red isosceles three
It is angular, there is a smaller black circular in its center of gravity, when unmanned plane and ground base station are distant, first position Red Triangle region shape,
When closer to the distance, positioning black is circular.
Another technical scheme of the present invention there is provided a kind of unmanned plane wireless charging method, using above-mentioned wireless charging
Electric system, it is characterised in that comprise the following steps：
Step 1：Earthward base station sends wireless communication to INS/GPS integrated navigation and locations module in airborne integrated positioning module
Number and data, receive ground base station return wireless signal and data, transmitting/receiving wireless signal and data are handled, and receives
The flare maneuver adjust instruction that data acquisition process server is sent, and feed back to unmanned aerial vehicle (UAV) control module and handled；
Step 2：The flare maneuver adjust instruction that unmanned aerial vehicle (UAV) control module is collected according to airborne integrated positioning module is controlled
The velocity of rotation of each motor, real time correction is carried out to course line, to ensure that unmanned plane is flown in specified boat with the speed specified
On line；
Step 3：Ground base station receives wireless signal and the data that airborne integrated positioning module is sent, and utilizes ranging therein
Information computer carries the distance between integrated positioning module and ground base station, and range information is delivered into data acquisition process service
Device is handled；
Step 4：Data acquisition server will be sent after data acquisition to data acquisition process server, data acquisition process
Server calculates the specific coordinate information of unmanned plane according to the unmanned plane collected to the distance between each ground base station, and with
The route information that PC ends are drawn is contrasted, and unmanned plane next step needs are gone out according to the error judgment between unmanned plane position and course line
The adjustment action made, generates flare maneuver adjust instruction, flare maneuver adjust instruction is wirelessly sent into nobody
The airborne integrated positioning module of machine, is used to show unmanned plane now thereon while will calculate obtained coordinate and be uploaded to PC ends
Position；
Step 5：PC ends are used to draw unmanned plane course line, and route information delivered into data acquisition process server, and from
Data acquisition process server, which obtains corresponding coordinate information, to be used to show thereon；
Step 6：DSP framing modules in airborne integrated positioning module are positioned and landed by camera.
As a result of above-mentioned technical scheme, the present invention compared with prior art, has the following advantages that and actively imitated
Really：The present invention realizes the automatic execution task and automatic charging of unmanned plane, reduces operation cost, improves the flight effect of four axles
Rate, relieves the cruising time limitation of four axles, realizes the distance flight of four axles.
Brief description of the drawings
Fig. 1 is the working-flow figure of the present invention；
Fig. 2 is the system structural framework figure of the present invention；
Fig. 3 is the DSP framing module frame structure figures of the present invention；
Fig. 4 is the DSP framing module fundamental diagrams in the present invention；
Fig. 5 is the ground charging station characteristic image mark schematic diagram in the present invention.
Embodiment
With reference to specific embodiment, the present invention is expanded on further.It should be understood that these embodiments are merely to illustrate the present invention
Rather than limitation the scope of the present invention.In addition, it is to be understood that after the content of the invention lectured has been read, people in the art
Member can make various changes or modifications to the present invention, and these equivalent form of values equally fall within the application appended claims and limited
Scope.
Embodiment：As shown in Figures 1 and 2, alignment system of the present invention includes unmanned aerial vehicle (UAV) control module, airborne integrated positioning mould
Block, ground base station, PC ends, data acquisition process server.
When unmanned electro-mechanical force will exhaust, or when receiving charging continuation of the journey model, pass through GPS cruises to neighbouring base station
Approximate location；By camera registration position, method is that image tagged is set on device, is passed through on airborne DSP
Sobel operators detect that the marginal information of image is realized and are accurately positioned and land；After landing successfully, four axles are opened with base station communication
Wireless charging.
Earthward base station sends wireless signal sum to INS/GPS integrated navigation and locations module in airborne integrated positioning module
According to wireless signal and data that reception ground base station is returned handle transmitting/receiving wireless signal and data, and receive data and adopt
Collect the flare maneuver adjust instruction that processing server is sent, and feed back to motor control unit and carry out processing motor control unit root
The instruction collected according to airborne integrated positioning module controls the velocity of rotation of each motor to carry out real time correction to course line, to ensure
Unmanned plane is flown on specified course line with the speed specified.Ground base station receives the wireless communication that airborne integrated positioning module is sent
Number and data, calculate the distance between airborne integrated positioning module and ground base station using ranging information therein, and by distance
Information is delivered.Data acquisition process server carries out processing data acquisition process server and arrives each according to the unmanned plane collected
Distance between base station calculates the specific coordinate information of unmanned plane, and the route information drawn with PC ends is contrasted, according to nothing
Error judgment between man-machine position and course line goes out the adjustment action that unmanned plane next step needs to make, and adjust instruction is passed through wireless
Mode is sent to the positioning acquisition module of unmanned plane, is used to show nobody upper while the coordinate that calculating is obtained is uploaded to PC ends
The present position of machine.PC ends are used to draw unmanned plane course line, and route information delivered into data acquisition process server, and from number
Obtaining corresponding coordinate information according to acquisition process server is used in upper display.DSP images in airborne integrated positioning module are determined
Position module is positioned and landed by camera.
Airborne integrated positioning module is by INS/GPS integrated navigation and locations module, DSP framing module, wireless transmission mould
Block, power supply unit, microprocessing unit composition.Wireless transmitter module microprocessor unit effect under by antenna earthward each
Base Transmitter wireless data signal or reception wireless signal are handled, and receive the control of data acquisition process server transmission
System instruction, is handed over to flight control units.
As shown in figure 3, DSP framing module by image acquisition units, DSP graphics processing units, result output unit,
Control unit is constituted.Described image acquisition units are made up of camera, video image acquisition chip.As shown in figure 4, camera
Real-time Simulation image information is gathered, video image acquisition chip carries out A/D conversions.Described DSP graphics processing units select TI
642 chips of (Texas Instruments) company's T MS320C6000 series.The model chip clock frequency is high, with higher
Arithmetic speed and operational precision.It is furnished with data storage of Large Copacity, direct memory access controller DMA and abundant
Inside peripheral hardware.In the unit, original digital image carries out compression of images, gradation of image conversion, image filtering, image two-value
A series of basic picture processings such as change, then rim detection is carried out, identification earth station mark determines its relative coordinate.Described knot
Fruit output unit, with reference to the preset course line of unmanned plane and velocity amplitude, judges that unmanned plane is next according to earth station's changing coordinates
The heading of step, computing exports the flight course planning of unmanned plane, and sends it to UAV Flight Control module.Described control
Unit processed is connected with above-mentioned image acquisition units, DSP graphics processing units, result output unit, and task tune is carried out to each unit
Degree.
Motor control unit is made up of sensor unit microprocessor unit flying power system and power supply unit.Sensor
Unit is used to gather the attitude informations such as the inclination direction and geomagnetic declination acceleration of unmanned plane.Microcontroller is fixed according to airborne combination
The control information that position module is received adjusts each motor speed and regulated the speed and posture for calibrating course line.
Ground base station cell distribution measures ground base station to the distance of unmanned plane everywhere, wirelessly in ground, will
Obtained range information reports data acquisition server.
As shown in figure 5, ground charging base station image tagged profile be solid red isosceles triangle, have in its center of gravity one compared with
Small black is circular.Unmanned plane and base station distance farther out when, first position Red Triangle region shape；When closer to the distance, positioning black is circular.
The image tagged has stronger interference free performance, and is advantageously implemented and is accurately positioned and lands.
Data acquisition process server is collected the information that each base station is gathered, and is obtained unmanned plane by calculating and existed
Coordinate information in map.And contrasted with preset course line and velocity amplitude, according to circumstances judge unmanned plane next step
Heading, and be wirelessly sent to unmanned plane.The coordinate information of unmanned plane is uploaded to PC ends simultaneously.
PC ends are mainly used in the preset course line of map making, and receive the coordinate information of data acquisition process server upload,
Then real time position of the unmanned plane in map is shown at PC ends.
In summary, the present invention realizes the automatic execution task and automatic charging of unmanned plane.The automatic charging side of proposition
Method, can effectively lift the flight efficiency of four axles, relieve the cruising time limitation of four axles and realize the distance flight of four axles.
Claims (6)
1. a kind of wireless charging system based on unmanned plane base station, it is characterised in that including unmanned aerial vehicle (UAV) control module, airborne combination
Locating module, ground base station, PC ends, data acquisition process server, wherein：
Ground base station, for setting up RFDC with airborne integrated positioning module, receives airborne integrated positioning module and sends
Wireless signal and data, calculate the distance between airborne integrated positioning module and ground base station using ranging information therein,
And range information is delivered into data acquisition process server handled；
Airborne integrated positioning module, for setting up RFDC with ground base station, and receives data acquisition process server
The flare maneuver adjust instruction of transmission, unmanned aerial vehicle (UAV) control module is fed back to by flare maneuver adjust instruction, meanwhile, for nobody
Machine, which carries out positioning, makes it land on ground base station；
Unmanned aerial vehicle (UAV) control module, for receiving flare maneuver adjust instruction from airborne integrated positioning module, is adjusted according to flare maneuver
Whole instruction controls the velocity of rotation of each motor, and real time correction is carried out to course line；
Data acquisition process server, the range information for gathering ground base station upload, according to the unmanned plane collected to respectively
Distance between individual ground base station calculates the specific coordinate information of unmanned plane, and the route information drawn with PC ends is contrasted,
The adjustment action that unmanned plane next step needs to make is gone out according to the error judgment between unmanned plane position and course line, flare maneuver is generated
Adjust instruction, flare maneuver adjust instruction is wirelessly sent to the airborne integrated positioning module of unmanned plane, meanwhile, will
Calculate obtained coordinate and be uploaded to PC ends for showing the present position of unmanned plane thereon；
PC ends, data acquisition process server is delivered for drawing unmanned plane course line, and by route information, and at data acquisition
Reason server, which obtains corresponding coordinate information, to be used to show thereon.
2. a kind of wireless charging system based on unmanned plane base station as claimed in claim 1, it is characterised in that the unmanned plane
Control module includes power module, microprocessing unit and motor control module, is microprocessing unit and motor control by power module
Molding block provides operating voltage, and microprocessing unit receives the flare maneuver adjust instruction, dynamic according to flight by microprocessing unit
Adjust order-driven motor control module.
3. a kind of wireless charging system based on unmanned plane base station as claimed in claim 1, it is characterised in that described is airborne
Integrated positioning module includes INS/GPS integrated navigation and locations module, DSP framing module, wireless transmitter module, power supply list
Member, microprocessing unit, power supply unit are INS/GPS integrated navigation and locations module, DSP framing module, wireless transmitter module
And microprocessing unit provides operating voltage, microprocessing unit connects INS/GPS integrated navigation and locations module, DSP images respectively to be determined
Position module and wireless transmitter module, wireless transmitter module set up number with the ground base station and the data acquisition process server
According to communication.
4. a kind of wireless charging system based on unmanned plane base station as claimed in claim 3, it is characterised in that the DSP figures
Picture locating module includes image acquisition units, DSP graphics processing units, result output unit, control unit, wherein：
Image acquisition units are made up of camera and video image acquisition chip, and image acquisition units collect mould by camera
Intend picture signal, and A/D conversions are carried out to it by video capture processor, output digital image signal delivers to DSP image procossing lists
Member, the marginal information of image is detected by DSP graphics processing units by Sobel operators, determines the current of ground basestation marker
Coordinate, then the signal operation after calculation process is exported by result output unit, and the result is launched to the unmanned plane flown
Row control module.
5. a kind of wireless charging system based on unmanned plane base station as claimed in claim 3, it is characterised in that the ground base
Stand provided with characteristic image mark, this feature image tagged profile is solid red isosceles triangle, there is one smaller black in its center of gravity
Color is circular, when unmanned plane and ground base station are distant, first positions Red Triangle region shape, when closer to the distance, and positioning black is circular.
6. a kind of unmanned plane wireless charging method, using wireless charging system as claimed in claim 1, it is characterised in that bag
Include following steps：
Step 1：INS/GPS integrated navigation and locations module in airborne integrated positioning module earthward base station send wireless signal and
Data, receive wireless signal and data that ground base station is returned, transmitting/receiving wireless signal and data are handled, and receive data
The flare maneuver adjust instruction that acquisition process server is sent, and feed back to unmanned aerial vehicle (UAV) control module and handled；
Step 2：The flare maneuver adjust instruction that unmanned aerial vehicle (UAV) control module is collected according to airborne integrated positioning module controls each
The velocity of rotation of motor, real time correction is carried out to course line, to ensure that unmanned plane is flown on specified course line with the speed specified；
Step 3：Ground base station receives wireless signal and the data that airborne integrated positioning module is sent, and utilizes ranging information therein
Calculate the distance between airborne integrated positioning module and ground base station, and range information delivered into data acquisition process server
Row processing；
Step 4：Data acquisition process server is by after data acquisition, according to the unmanned plane collected between each ground base station
Distance calculates the specific coordinate information of unmanned plane, and the route information drawn with PC ends is contrasted, according to unmanned plane position
Error judgment between course line goes out the adjustment action that unmanned plane next step needs to make, and generates flare maneuver adjust instruction, will fly
Action adjusts the airborne integrated positioning module that instruction is wirelessly sent to unmanned plane, while obtained coordinate will be calculated
Being uploaded to PC ends is used to show the present position of unmanned plane thereon；
Step 5：PC ends are used to draw unmanned plane course line, and route information delivered into data acquisition process server, and from data
Acquisition process server, which obtains corresponding coordinate information, to be used to show thereon；
Step 6：DSP framing modules in airborne integrated positioning module are positioned and landed by camera.
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| CN201710204721.8A CN107069859A (en) | 2017-03-30 | 2017-03-30 | A kind of wireless charging system and method based on unmanned plane base station |
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| CN201710204721.8A CN107069859A (en) | 2017-03-30 | 2017-03-30 | A kind of wireless charging system and method based on unmanned plane base station |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108081991A (en) * | 2017-12-19 | 2018-05-29 | 武汉星巡智能科技有限公司 | Wireless mobile charging method, device and unmanned vehicle system |
| CN109017379A (en) * | 2018-07-28 | 2018-12-18 | 深圳市旭发智能科技有限公司 | A kind of unmanned plane enters the method that charging base station is charged |
| CN110176955A (en) * | 2019-07-01 | 2019-08-27 | 北京有感科技有限责任公司 | UAV Communication base station, communication system and communication system construction method |
| CN110329101A (en) * | 2019-05-30 | 2019-10-15 | 成都尚德铁科智能科技有限公司 | A kind of wireless sensing system based on integrated wireless electrical transmission and unmanned plane |
| CN110333735A (en) * | 2019-07-02 | 2019-10-15 | 余姚市浙江大学机器人研究中心 | A kind of system and method for realizing the secondary positioning in unmanned plane land and water |
| CN112930279A (en) * | 2018-07-24 | 2021-06-08 | 比姆全球公司 | Charging network for unmanned aerial vehicle |
| CN114518107A (en) * | 2022-02-16 | 2022-05-20 | 中国地质大学（北京） | Wireless synchronous control system based on unmanned aerial vehicle remote control seismic source |
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| CN105425208A (en) * | 2015-12-21 | 2016-03-23 | 深圳思科尼亚科技有限公司 | Positioning system and method used for accurate navigation of unmanned aerial vehicle |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105425208A (en) * | 2015-12-21 | 2016-03-23 | 深圳思科尼亚科技有限公司 | Positioning system and method used for accurate navigation of unmanned aerial vehicle |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108081991A (en) * | 2017-12-19 | 2018-05-29 | 武汉星巡智能科技有限公司 | Wireless mobile charging method, device and unmanned vehicle system |
| CN112930279A (en) * | 2018-07-24 | 2021-06-08 | 比姆全球公司 | Charging network for unmanned aerial vehicle |
| CN109017379A (en) * | 2018-07-28 | 2018-12-18 | 深圳市旭发智能科技有限公司 | A kind of unmanned plane enters the method that charging base station is charged |
| CN110329101A (en) * | 2019-05-30 | 2019-10-15 | 成都尚德铁科智能科技有限公司 | A kind of wireless sensing system based on integrated wireless electrical transmission and unmanned plane |
| CN110176955A (en) * | 2019-07-01 | 2019-08-27 | 北京有感科技有限责任公司 | UAV Communication base station, communication system and communication system construction method |
| CN110176955B (en) * | 2019-07-01 | 2023-08-25 | 合肥有感科技有限责任公司 | Unmanned aerial vehicle communication base station, communication system and method for constructing communication system |
| CN110333735A (en) * | 2019-07-02 | 2019-10-15 | 余姚市浙江大学机器人研究中心 | A kind of system and method for realizing the secondary positioning in unmanned plane land and water |
| CN114518107A (en) * | 2022-02-16 | 2022-05-20 | 中国地质大学（北京） | Wireless synchronous control system based on unmanned aerial vehicle remote control seismic source |
| CN114518107B (en) * | 2022-02-16 | 2023-05-23 | 中国地质大学（北京） | Wireless synchronous control system based on unmanned aerial vehicle remote control seismic source |
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