CN107918401A - It is a kind of independently to be maked a return voyage system based on laser-guided unmanned plane - Google Patents
It is a kind of independently to be maked a return voyage system based on laser-guided unmanned plane Download PDFInfo
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- CN107918401A CN107918401A CN201711130167.XA CN201711130167A CN107918401A CN 107918401 A CN107918401 A CN 107918401A CN 201711130167 A CN201711130167 A CN 201711130167A CN 107918401 A CN107918401 A CN 107918401A
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- 238000001514 detection method Methods 0.000 claims abstract description 10
- 238000005183 dynamical system Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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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Abstract
Independently maked a return voyage system based on laser-guided unmanned plane the invention discloses a kind of, it is related to unmanned plane independently to make a return voyage technical field, including unmanned plane body and ship, unmanned plane body is equipped with laser pickoff, ship is equipped with ship control center, laser emitter and unmanned plane landing platform, unmanned plane landing platform is equipped with laser reflection plate, wireless data receipt modules and GPG locating modules two are additionally provided with ship, UAV Flight Control System is equipped with unmanned plane body, unmanned plane dynamical system and GPS positioning module one, height detection module and wireless data sending module are additionally provided with unmanned plane body, it is provided by the invention independently to be maked a return voyage system based on laser-guided unmanned plane, enable unmanned plane accurate, on the stable unmanned plane landing platform dropped on ship.
Description
Technical field
Independently make a return voyage technical field the present invention relates to unmanned plane, and in particular to one kind is autonomous based on laser-guided unmanned plane
Make a return voyage system.
Background technology：
At present, existing unmanned plane with the system of making a return voyage automatically rely solely on GPS and fly control record takeoff point longitude and latitude come
Make a return voyage, its descent is：Unmanned plane makes a return voyage to an overhead of making a return voyage, and hovers several seconds, then lands.Therefore, unmanned plane returns
The precision of destination (takeoff point that i.e. unmanned plane records before taking off) is extremely low, and error reaches two to three meters, sometimes even can be direct
Back to the surface of driver, it is necessary to which driver constantly adjusts the air position of unmanned plane to allow unmanned plane safe falling at certain
On one region, it does not reach the effect of positioning landing at all.
The Chinese patent of Application No. 201510239862.4 discloses the method and system that a kind of unmanned plane makes a return voyage, can
So that unmanned plane makes a return voyage automatically in the case where user clicks on a lower button.Wherein method includes：After unmanned plane takes off, obtain
Flying spot coordinate；Planning flight path simultaneously obtains in-flight by way of the coordinate of location point in real time, forms flight path information；Receive and
From the return instruction of handheld terminal；Sat according to the current position coordinates of unmanned plane, the flight path information and the takeoff point
Mark, calculates the path of making a return voyage for the point coordinates that taken off by the current position coordinates described in；Control path of making a return voyage described in unmanned plane edge
Make a return voyage and land.
The Chinese patent of Application No. 201510984764.3 discloses a kind of fixed point remaining of unmanned plane and control of making a return voyage
System, its main feature is that include GPS positioning module, electronic compass, barometer, memory and control chip, wherein, it is described
GPS positioning module, for detecting the position coordinates of unmanned plane and generating coordinate information；The electronic compass, for identifying nobody
The heading of machine simultaneously generates direction discernment information；The barometer, for detecting the height barometric information of unmanned plane and generating
Elevation information；The memory, for storing location coordinate information when unmanned plane just takes off；The control chip respectively with institute
State GPS positioning module, electronic compass, barometer to connect with memory, the control chip is receiving GPS positioning module generation
Coordinate information, after the direction discernment information of electronic compass generation and the elevation information of barometer generation, by handling and raw
Into the motor driving of control instruction control unmanned plane, to realize to real-time positioning of the unmanned plane in arbitrary height and position；It is described
Control chip receive remote controler make a return voyage instruction when, control chip is according to the unmanned plane position and direction information of Real-time Feedback
Compared with the initial coordinate information preserved in the memory after processing, control unmanned plane makes a return voyage to takeoff setting automatically.
During carrying out unmanned plane and making a return voyage, the landing point thing of unmanned plane immobilizes the technical solution of above-mentioned patent
, unmanned plane only needs to be back to takeoff point originally when making a return voyage, then drops to landing point after complete rear aerial mission,
When the landing point of unmanned plane positioned at traveling when on the ship of Jiang Haizhong, due to ship when river is marine in mobile status,
Landing point which results in unmanned plane is in the state of movement, when the landing platform of unmanned plane is located on ship, if
If unmanned plane is landed in the way of landing is pinpointed, unmanned plane can not then drop to Jiang Haizhong, cause unmanned plane to be scrapped.
The content of the invention
Independently maked a return voyage system based on laser-guided unmanned plane it is an object of the invention to provide a kind of, to solve existing skill
Caused the above-mentioned defects in art.
It is a kind of independently to be maked a return voyage system, including unmanned plane body and ship based on laser-guided unmanned plane, the unmanned plane
Body is equipped with laser pickoff, and the ship is equipped with ship control center, laser emitter and unmanned plane landing platform, institute
State unmanned plane landing platform and be equipped with laser reflection plate, there is angle between laser reflection plate and unmanned plane landing platform, it is described
Laser emitter is installed on ship and laser emitter is towards laser reflection plate, and wireless data reception is additionally provided with the ship
Module and GPG locating modules two, the GPG locating modules two and wireless data receipt modules are connected with ship control center,
UAV Flight Control System, unmanned plane dynamical system and GPS positioning module one, the GPS are equipped with the unmanned plane body
Locating module and unmanned plane dynamical system are connected with UAV Flight Control System, and height is additionally provided with the unmanned plane body
Detection module and wireless data sending module, the height detection module are connected with UAV Flight Control System, described wireless
Data reception module is connected with UAV Flight Control System, and the wireless data sending module is believed with wireless data receipt modules
Number connection, the laser pickoff is connected with UAV Flight Control System.
Preferably, the laser pickoff is installed on the lower end of unmanned plane body, and the laser emitter is horizontally arranged at
On ship, the angle between laser reflection plate and unmanned plane the landing platform is 135 °.
Preferably, the unmanned plane body lower end is equipped with rangefinder, and rangefinder is connected with height detection module.
Preferably, the GPS positioning module one and GPS positioning module two are specially GPG positioning chips.
The advantage of the invention is that：In use, GPS positioning module one is used to record the position where ship the present invention
Put, GPS positioning module two is used to record the position where unmanned plane body, and ship can be grasped in real time by ship control center
With the specific location and relative position where unmanned plane body, when unmanned plane body needs to drop to the ship that is kept in motion
When upper, unmanned plane body hovers over the upper area of the unmanned plane landing platform on ship, opens laser emitter, laser at this time
The laser of transmitter transmitting can project away by the reflection of laser reflection plate perpendicular to unmanned plane landing platform, pass through control at this time
The motion state and movement angle of unmanned plane body is adjusted in system for flight control computer, keeps laser pickoff to receive
The laser reflected by laser reflection plate, leaves the surface for ensureing that unmanned plane body is located at unmanned plane landing platform with this, leads to
Cross the unmanned plane body that rangefinder measures and adjust the dynamic of unmanned plane dynamical system offer apart from the height of unmanned plane landing platform
Power so that unmanned plane body realizes stable, accurate landing during exercise.
It is provided by the invention independently to be maked a return voyage system based on laser-guided unmanned plane so that unmanned plane can accurately, stablize
The unmanned plane landing platform dropped on ship on.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram for system of independently being maked a return voyage based on laser-guided unmanned plane of the present invention.
Fig. 2 is the scheme of installation of laser reflection plate.
Wherein：1- ships, 2- laser emitters, 3- unmanned plane landing platforms, 4- laser reflection plates.
Embodiment
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention easy to understand, with reference to
Embodiment, the present invention is further explained.
As depicted in figs. 1 and 2, it is a kind of independently to be maked a return voyage system based on laser-guided unmanned plane, including unmanned plane body with
Ship 1, the unmanned plane body are equipped with laser pickoff, and the ship 1 is equipped with ship control center, laser emitter 2
With unmanned plane landing platform 3, the unmanned plane landing platform 3 is equipped with laser reflection plate 4, and laser reflection plate 4 rises with unmanned plane
There is angle between drop platform 3, the laser emitter 2 is on ship 1 and laser emitter 2 is towards laser reflection plate 4,
Wireless data receipt modules and GPG locating modules two, the GPG locating modules two and wireless data are additionally provided with the ship 1
Receiving module is connected with ship control center, UAV Flight Control System is equipped with the unmanned plane body, nobody is motor-driven
Force system and GPS positioning module one, the GPS positioning module and unmanned plane dynamical system connect with UAV Flight Control System
Connect, height detection module and wireless data sending module, the height detection module and nothing are additionally provided with the unmanned plane body
Man-machine flight control system connection, the wireless data receipt modules are connected with UAV Flight Control System, the no line number
It is connected according to sending module with wireless data receipt modules signal, the laser pickoff is connected with UAV Flight Control System.
In the present embodiment, the laser pickoff is installed on the lower end of unmanned plane body, and the laser emitter 2 is horizontal
On ship 1, the angle between the laser reflection plate 4 and unmanned plane landing platform 3 is 135 °.
In the present embodiment, the unmanned plane body lower end is equipped with rangefinder, and rangefinder is connected with height detection module.
In the present embodiment, the GPS positioning module one and GPS positioning module two are specially GPG positioning chips.
The advantage of the invention is that：In use, GPS positioning module one is used to record the place of ship 1 present invention
Position, GPS positioning module two are used to record the position where unmanned plane body, and ship can be grasped in real time by ship control center
Specific location and relative position where oceangoing ship 1 and unmanned plane body, when unmanned plane body needs to drop to what is be kept in motion
When on ship 1, unmanned plane body hovers over the upper area of the unmanned plane landing platform 3 on ship 1, opens Laser emission at this time
Device 2, the laser that laser emitter 2 is launched can project away by the reflection of laser reflection plate 4 perpendicular to unmanned plane landing platform, this
When by controlling system for flight control computer that the motion state and movement angle of unmanned plane body is adjusted, keep laser pick-off
Device can receive the laser reflected by laser reflection plate 4, left with this and ensure that unmanned plane body is located at unmanned plane landing platform 3
Surface, the unmanned plane body measured by rangefinder adjusts unmanned mechanomotive force apart from the height of unmanned plane landing platform 3
The power that system provides so that unmanned plane body realizes stable, accurate landing during exercise.
It is provided by the invention independently to be maked a return voyage system based on laser-guided unmanned plane so that unmanned plane can accurately, stablize
The unmanned plane landing platform dropped on ship on.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized.Therefore, embodiment disclosed above, all things considered, is all merely illustrative, not the only.Institute
Have within the scope of the present invention or be included in the invention in the change being equal in the scope of the present invention.
Claims (4)
1. a kind of independently maked a return voyage system based on laser-guided unmanned plane, including unmanned plane body and ship (1), its feature exist
In the unmanned plane body is equipped with laser pickoff, and the ship (1) is equipped with ship control center, laser emitter (2)
With unmanned plane landing platform (3), the unmanned plane landing platform (3) is equipped with laser reflection plate (4), laser reflection plate (4) with
There is angle, the laser emitter (2) is installed on ship (1) and laser emitter (2) between unmanned plane landing platform (3)
Towards laser reflection plate (4), wireless data receipt modules and GPG locating modules two, the GPG are additionally provided with the ship (1)
Locating module two and wireless data receipt modules are connected with ship control center, are flown in the unmanned plane body equipped with unmanned plane
Row control system, unmanned plane dynamical system and GPS positioning module one, the GPS positioning module and unmanned plane dynamical system with
UAV Flight Control System connects, and height detection module and wireless data sending module are additionally provided with the unmanned plane body,
The height detection module is connected with UAV Flight Control System, the wireless data receipt modules and UAV Flight Control
System connects, and the wireless data sending module is connected with wireless data receipt modules signal, the laser pickoff and nobody
Machine flight control system connects.
A kind of independently maked a return voyage system based on laser-guided unmanned plane 2. according to claim 1, it is characterised in that：It is described
Laser pickoff is installed on the lower end of unmanned plane body, and the laser emitter (2) is horizontally arranged on ship (1), described to swash
Angle between light reflecting board (4) and unmanned plane landing platform (3) is 135 °.
A kind of independently maked a return voyage system based on laser-guided unmanned plane 3. according to claim 1, it is characterised in that：It is described
Unmanned plane body lower end is equipped with rangefinder, and rangefinder is connected with height detection module.
A kind of independently maked a return voyage system based on laser-guided unmanned plane 4. according to claim 1, it is characterised in that：It is described
GPS positioning module one and GPS positioning module two are specially GPG positioning chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711130167.XA CN107918401A (en) | 2017-11-15 | 2017-11-15 | It is a kind of independently to be maked a return voyage system based on laser-guided unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711130167.XA CN107918401A (en) | 2017-11-15 | 2017-11-15 | It is a kind of independently to be maked a return voyage system based on laser-guided unmanned plane |
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Cited By (6)
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| CN108545204A (en) * | 2018-06-04 | 2018-09-18 | 苏州市启献智能科技有限公司 | A kind of laser projecting apparatus of unmanned plane and its carry |
| CN109032169A (en) * | 2018-06-15 | 2018-12-18 | 岭南师范学院 | A kind of unmanned plane landing-gear based on laser conduction |
| CN109186542A (en) * | 2018-10-12 | 2019-01-11 | 重庆大学 | A kind of automatic sedimentation monitoring system |
| CN109677627A (en) * | 2019-01-11 | 2019-04-26 | 苏州全波通信技术股份有限公司 | It is tethered at unmanned plane precision approach control system and method |
| CN109878746A (en) * | 2019-01-10 | 2019-06-14 | 国耀量子雷达科技有限公司 | A kind of aircraft landing auxiliary system based on laser beacon |
| CN111123964A (en) * | 2019-12-24 | 2020-05-08 | 浙江大学 | Unmanned aerial vehicle landing method and device and computer readable medium |
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| CN105786018A (en) * | 2016-04-19 | 2016-07-20 | 清远市巨劲科技有限公司 | Automatic return flight laser positioning system for unmanned plane and unmanned plane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109878746B (en) * | 2019-01-10 | 2021-09-10 | 山东国耀量子雷达科技有限公司 | Airplane landing auxiliary system based on laser beacon |
| CN109677627A (en) * | 2019-01-11 | 2019-04-26 | 苏州全波通信技术股份有限公司 | It is tethered at unmanned plane precision approach control system and method |
| CN111123964A (en) * | 2019-12-24 | 2020-05-08 | 浙江大学 | Unmanned aerial vehicle landing method and device and computer readable medium |
| CN111123964B (en) * | 2019-12-24 | 2021-07-06 | 浙江大学 | Unmanned aerial vehicle landing method and device and computer readable medium |
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Application publication date: 20180417 |