CN108121360B - Unmanned aerial vehicle positioning control method and freight system - Google Patents
Unmanned aerial vehicle positioning control method and freight system Download PDFInfo
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- CN108121360B CN108121360B CN201711378069.8A CN201711378069A CN108121360B CN 108121360 B CN108121360 B CN 108121360B CN 201711378069 A CN201711378069 A CN 201711378069A CN 108121360 B CN108121360 B CN 108121360B
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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
- G05D1/12—Target-seeking control
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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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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention discloses an unmanned aerial vehicle positioning control method and a freight system, wherein the unmanned aerial vehicle is used for acquiring a target shutdown pane and the arrangement positions of all shutdown panes when the unmanned aerial vehicle is at a first set height from a horizontal plane; shooting and acquiring an integral image of all the shutdown panes on the top surface of the freight platform, taking the integral image as a current image, dividing the shutdown panes contained in the current image into a plurality of subareas, and determining the subarea where the target shutdown pane is located in the plurality of subareas as a current target subarea; the unmanned aerial vehicle adjusts the flight attitude and makes landing flight towards the direction of the current target subarea; after the unmanned aerial vehicle descends to a set height, shooting and obtaining an overall image of the current target subarea; if the number of the shutdown panes contained in the integral image is less than or equal to the set number, the unmanned aerial vehicle drops to the target shutdown pane; otherwise, repeating the steps until the unmanned aerial vehicle falls to the target shutdown pane; the unmanned aerial vehicle can accurately enter the target shutdown pane.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle positioning control method and a freight system.
Background
Unmanned aerial vehicles, which are emerging consumer electronic products, gradually enter the life and entertainment of common people, and provide a new way for people to observe the world. Meanwhile, at present, the traffic is increasingly congested, and three-dimensional transportation provided by unmanned aerial vehicles also provides a new choice for the express industry, namely aerial delivery. As early as 6 months in 2013, matteret corporation tested unmanned aerial vehicle delivery systems in the parts of the sea and the multi-meter republic, september in the same year, and also completed the unmanned aerial vehicle system internal test of autonomous design, unmanned aerial vehicle delivery is gradually becoming the development direction of the express industry.
During the landing of the unmanned aerial vehicle, the accurate position of the landing pane needs to be determined. Taking a 60 cm-in-arm drone as an example, a drop pane with a side length of 1.5 m by 1.5 m would have a tolerance range of only 45 cm. Accurate stopping cannot be carried out by the positioning precision of the current GPS, WIFI and Bluetooth (the civil highest precision of the GPS is 3 m).
Disclosure of Invention
The invention provides a positioning control method for an unmanned aerial vehicle, which solves the problem that the unmanned aerial vehicle cannot accurately drop to a shutdown pane in the prior art.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
the unmanned aerial vehicle positioning control method comprises the steps that images which can be recognized by the unmanned aerial vehicle are formed on the tops of all the parking panes on the top surface of a freight platform of the unmanned aerial vehicle; the control method comprises the following steps:
(1) When the unmanned aerial vehicle is at a first set height from the horizontal plane, acquiring the target shutdown pane and the arrangement positions of all the shutdown panes;
(2) Shooting and acquiring an integral image of all the shutdown panes on the top surface of the freight platform, taking the integral image as a current image, dividing the shutdown panes contained in the current image into a plurality of subareas, and determining the subarea where the target shutdown pane is located in the plurality of subareas as a current target subarea;
(3) The unmanned aerial vehicle adjusts the flight attitude and makes landing flight towards the direction of the current target subarea;
(4) After the unmanned aerial vehicle descends to a set height, shooting and obtaining an overall image of the current target subarea; judging whether the number of the shutdown panes contained in the integral image is less than or equal to the set number;
if yes, the unmanned aerial vehicle drops to a target shutdown pane;
if not, taking the whole image as a current image, dividing a shutdown pane contained in the current image into a plurality of subareas, and determining a subarea where a target shutdown pane is located in the plurality of subareas as a current target subarea; returning to the step (3).
Further, if there are a plurality of cargo platforms, the step (1) specifically includes: when the unmanned aerial vehicle is at a first set height from the horizontal plane, acquiring the arrangement positions of all the shutdown panes of the target freight platform and the target shutdown panes; and (3) the unmanned aerial vehicle flies to the upper air of the target freight platform through GPS positioning, establishes wireless communication connection with the target freight platform, and then executes the steps (2) to (4).
Still further, all of the shutdown panes of each cargo platform are arranged in a square; the step of dividing the shutdown pane contained in the current image into a plurality of sub-areas specifically comprises the following steps: the shutdown pane contained in the current image is divided into four square subareas on average, and the number of the shutdown panes contained in the four square subareas is equal.
Further, the shutdown panes located at the four corners in each square subregion, wherein one of the shutdown panes is a different color than the other three.
Preferably, the set number is 16.
Still further, after the drone drops to the target shutdown pane, the method further includes: judging whether a maintenance layer below the target shutdown pane is idle or not; if so, the unmanned aerial vehicle falls to the maintenance layer for maintenance, falls to the transportation layer for grabbing goods after maintenance, and then leaves the transportation layer.
Preferably, the unmanned aerial vehicle falls to a maintenance layer for maintenance, and specifically includes: acquiring the current flight course stored in the unmanned aerial vehicle memory, and updating the next flight course; detecting the electric quantity of the unmanned aerial vehicle battery, and judging whether to replace the battery or charge according to the next flight process; overhauling the unmanned aerial vehicle; cooling the unmanned aerial vehicle; and matching and replacing the corresponding transportation suite according to the goods which are grabbed next time.
A cargo system comprising an unmanned aerial vehicle and a cargo platform; the freight platform comprises a main control room, a shutdown layer, a maintenance layer and a transportation layer which are sequentially arranged from top to bottom; the shutdown layer comprises a plurality of square shutdown panes, and the top of each shutdown pane is provided with a top plate which can be opened and closed; a black or white coating is arranged on the upper surface of the top plate; the maintenance layer comprises a plurality of maintenance grids, the plurality of shutdown panes are in one-to-one correspondence with the plurality of maintenance grids, and are arranged up and down; a first turning plate which can be opened and closed is arranged between the shutdown pane and the corresponding maintenance pane below the shutdown pane, and a second turning plate which can be opened and closed is also arranged between the maintenance pane and the transport layer; the unmanned aerial vehicle executes the control method and drops to the shutdown pane.
Further, top tubular motors are respectively fixed at the tops of the two opposite side plates of the shutdown pane, two top plates are designed, the two top plates are in one-to-one correspondence with the two top tubular motors, one end of each top plate is fixedly connected with an output shaft of the corresponding top tubular motor, and the other end of each top plate is a free end; the bottom of the two opposite side plates of the shutdown pane are respectively fixed with a first tubular motor, two first turning plates are designed, the two first turning plates are in one-to-one correspondence with the two first tubular motors, one end of each first turning plate is fixedly connected with an output shaft of the corresponding first tubular motor, and the other end of each first turning plate is a free end; the bottom of two opposite curb plates of maintenance check is fixed with the second tubular motor respectively, the second turns over the board design and has two, two second turns over board and two second tubular motor one-to-one, the one end that the second turned over the board and the output shaft fixed connection of the second tubular motor that corresponds, the other end that the second turned over the board is the free end.
Still further, a top tubular motor is fixed at the top of one side plate of the shutdown pane, one end of the top plate is fixedly connected with an output shaft of the top tubular motor, and the other end of the top plate is a free end; a first tubular motor is fixed at the bottom of one side plate of the shutdown pane, one end of the first turning plate is fixedly connected with an output shaft of the first tubular motor, and the other end of the first turning plate is a free end; the bottom of one side plate of the maintenance grid is fixedly provided with a second tubular motor, one end of the second turning plate is fixedly connected with an output shaft of the second tubular motor, and the other end of the second turning plate is a free end.
Preferably, a controller and an infrared sensor are provided in the shutdown pane, the infrared sensor sending detection signals to the controller, the controller controlling the operation of the top tubular motor and the first tubular motor; the controller is communicated with the master control room; a controller and an infrared sensor are arranged in the maintenance grid, the infrared sensor sends detection signals to the controller, and the controller controls the operation of the second tubular motor; the controller is communicated with the master control room; the controller communicates with a controller in a corresponding shutdown pane; an infrared sensor is arranged in the transport layer below each maintenance grid, and sends a detection signal to a controller in the maintenance grid.
Compared with the prior art, the invention has the advantages and positive effects that: the unmanned aerial vehicle positioning control method and the freight system realize that the unmanned aerial vehicle accurately enters the target shutdown pane, solve the problem that the unmanned aerial vehicle cannot accurately drop to the shutdown pane in the prior art, and realize the rapid and accurate berthing of the unmanned aerial vehicle.
Other features and advantages of the present invention will become apparent upon review of the detailed description of the invention in conjunction with the drawings.
Drawings
FIG. 1 is a schematic structural view of one embodiment of a cargo platform of the cargo system of the present invention;
FIG. 2 is a schematic view of a portion of the structure of FIG. 1;
FIG. 3 is a schematic view of a portion of the structure of FIG. 1;
FIG. 4 is a schematic view of the transport layer of FIG. 1;
FIG. 5 is a flow chart of one embodiment of a method of unmanned aerial vehicle positioning control as set forth in the present invention;
FIG. 6 is a diagram of the aligned positions of all of the shutdown panes of the shutdown platform;
fig. 7 is an image taken by an unmanned aerial vehicle;
fig. 8 is yet another image taken by the drone;
fig. 9 is still another image taken by the drone.
Reference numerals:
p, a freight platform;
1. stopping a layer; 1-1, a shutdown pane; 1-2, an infrared sensor; 1-3, a first turning plate; 1-4, a first tubular motor; 1-5, top plate; 1-6, a top tubular motor;
2. a maintenance layer; 2-1, maintenance grid; 2-2, an infrared sensor; 2-3, a second turning plate; 2-4, a second tubular motor;
3. a transport layer; 3-1, cargo access; 3-2, unmanned plane exit; 3-3, conveying belt.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples.
The embodiment provides an unmanned aerial vehicle positioning control method and a freight system, solves the problem that an unmanned aerial vehicle cannot accurately land to a shutdown pane in the prior art, and achieves accurate berthing of the unmanned aerial vehicle. The following describes a cargo transport system and a method for controlling the positioning of a drone.
The freight system of this embodiment mainly includes an unmanned plane and a freight platform P. The freight platform P mainly comprises a main control room, a shutdown layer 1, a maintenance layer 2, a transportation layer 3 and the like which are sequentially arranged from top to bottom; the shutdown layer 1 comprises a plurality of square shutdown panes 1-1, and the top of each shutdown pane 1-1 is provided with a top plate 1-5 which can be opened and closed; a black or white coating is arranged on the upper surface of the top plate; the maintenance layer 2 comprises a plurality of square maintenance grids 2-1, a plurality of shutdown panes 1-1 are in one-to-one correspondence with the plurality of maintenance grids 2-1, and are arranged up and down; a first flap 1-3 which can be opened and closed is arranged between the shutdown pane 1-1 and the corresponding maintenance pane 2-1 below, and a second flap 2-3 which can be opened and closed is also arranged between the maintenance pane 2-1 and the transport layer 3, as is shown in fig. 1 to 4.
All the shutdown panes 1-1 of the shutdown layer 1 are distributed at equal intervals and are arranged in a square form, namely in a square form of a plurality of rows and a plurality of columns, and correspondingly, all the maintenance grids 2-1 of the maintenance layer 2 are distributed at equal intervals and are arranged in a square form of a plurality of rows and a plurality of columns.
In the freight system of the embodiment, since the shutdown layer 1 of the freight platform comprises a plurality of shutdown panes 1-1, after the unmanned aerial vehicle returns to the upper air of the platform, the unmanned aerial vehicle can directly fly into the target shutdown pane without waiting for manual dispatch, then falls into the corresponding maintenance pane for maintenance (such as complete machine maintenance, battery replacement, transportation kit replacement and the like), finally falls into the transportation layer, and picks up the cargoes to leave; the freight platform adopts the three-layer superposition design from top to bottom, thereby avoiding the overhead congestion of the platform, improving the passing speed of the unmanned aerial vehicle, ensuring that the whole freight platform runs smoothly and efficiently, solving the problem of low working efficiency in the prior art, improving the working efficiency of the whole freight platform and facilitating maintenance and management; by designing the top plate capable of being opened and closed, the unmanned aerial vehicle is convenient to fly into the shutdown pane when opened, sundries, dust, rainwater and the like can be prevented from entering the shutdown pane when closed, and the safety, the sanitation and the service life of the interior of the shutdown pane are ensured; the first turning plate which can be opened and closed is designed, so that the unmanned aerial vehicle is convenient to fall down to the maintenance grid, and the shutdown pane and the maintenance grid are spaced, so that mutual influence is avoided; through the design can the switching the second turn over the board, both be convenient for unmanned aerial vehicle whereabouts to the transportation layer, spaced maintenance check and transportation layer again.
The upper surface of the top plate 1-5 at the top of each shutdown pane is provided with a black or white coating so as to facilitate the recognition and positioning of the target shutdown pane by the unmanned aerial vehicle.
The top of two opposite side plates of the shutdown pane 1-1 is respectively fixed with a top tubular motor 1-6, two top plates 1-5 are designed, the two top plates 1-5 are in one-to-one correspondence with the two top tubular motors 1-6, one end of each top plate 1-5 is a fixed end, the fixed ends are fixedly connected with output shafts of the corresponding top tubular motors 1-6, and the other ends of the top plates 1-5 are free ends. The free end of the top plate 1-5 is controlled to rotate around the fixed end by the top tubular motor 1-6. When the two top plates 1-5 are closed, i.e. when the two top plates 1-5 are in a horizontal state, the free ends of the two top plates 1-5 abut together. When the two top plates 1-5 are opened, i.e. the two top plates 1-5 are in a vertical state. The two top tubular motors 1-6 and the two top plates 1-5 are adopted, so that the structure is simple, the implementation is convenient, the cost is low, the control is convenient, the unmanned aerial vehicle can fly into the shutdown pane conveniently, and the safety in the shutdown pane is ensured conveniently.
As another preferred design scheme of the embodiment, in order to further simplify the structural design and reduce the cost, only one top tubular motor and one top plate are designed, namely, the top of one side plate of the shutdown pane 1-1 is fixed with the top tubular motor 1-6, one end of the top plate 1-5 is a fixed end, the fixed end is fixedly connected with an output shaft of the top tubular motor 1-6, and the other end of the top plate 1-5 is a free end. The free end of the top plate 1-5 is controlled to rotate around the fixed end through the top tubular motor 1-6, so that the top plate 1-5 is opened or closed. When the top plate 1-5 is closed, i.e. the top plate 1-5 is in a horizontal state, its free end abuts against the opposite side plate of the side plate.
The bottom of two opposite side plates of the shutdown pane 1-1 is respectively fixed with a first tubular motor 1-4, two first turning plates 1-3 are designed, the two first turning plates 1-3 are in one-to-one correspondence with the two first tubular motors 1-4, one end of each first turning plate 1-3 is a fixed end, the fixed end is fixedly connected with an output shaft of the corresponding first tubular motor 1-4, and the other end of each first turning plate 1-3 is a free end. The free end of the first turning plate 1-3 is controlled to rotate around the fixed end through the first tubular motor 1-4. When the two first flaps 1-3 are closed, i.e. when the two first flaps 1-3 are in a horizontal state, the free ends of the two first flaps 1-3 abut together, see fig. 2. When the two first flaps 1-3 are opened, i.e. the two first flaps 1-3 are in a vertical state, see fig. 3. The two first tubular motors 1-4 and the two first turning plates 1-3 are adopted, the structure is simple, the implementation is convenient, the cost is low, the control is convenient, the unmanned aerial vehicle can fall to the maintenance grid conveniently, the shutdown pane and the maintenance grid are spaced, and the mutual influence is avoided.
As another preferred design scheme of the embodiment, in order to further simplify the structural design and reduce the cost, only one first tubular motor and one first turning plate are designed, namely, the first tubular motor 1-4 is fixed at the bottom of one side plate of the shutdown pane 1-1, one end of the first turning plate 1-3 is a fixed end, the fixed end is fixedly connected with an output shaft of the first tubular motor 1-4, and the other end of the first turning plate 1-3 is a free end. The free end of the first turning plate 1-3 is controlled to rotate around the fixed end through the first tubular motor 1-4, so that the first turning plate is opened or closed. When the first turning plate 1-3 is closed, namely, the first turning plate 1-3 is in a horizontal state, the free end of the first turning plate is abutted against the opposite side plate of the side plate.
The bottoms of two opposite side plates of the maintenance grid 2-1 are respectively fixed with two second tubular motors 2-4, two second turning plates 2-3 are designed, the two second turning plates 2-3 are in one-to-one correspondence with the two second tubular motors 2-4, one end of each second turning plate 2-3 is a fixed end, the fixed end is fixedly connected with an output shaft of the corresponding second tubular motor 2-4, and the other end of each second turning plate 2-3 is a free end. The free end of the second turning plate 2-3 is controlled to rotate around the fixed end through the second tubular motor 2-4. When the two second turning plates 2-3 are closed, i.e. when the two second turning plates 2-3 are in a horizontal state, the free ends of the two second turning plates 2-3 are abutted together. When the two second turning plates 2-3 are opened, namely, the two second turning plates 2-3 are in a vertical state. The two second tubular motors 2-4 and the two second turning plates 2-3 are adopted, the structure is simple, the implementation is convenient, the cost is low, the control is convenient, the unmanned aerial vehicle can fall to the transportation layer conveniently, and the maintenance grid and the transportation layer are spaced.
As another preferred design scheme of the embodiment, in order to further simplify the structural design and reduce the cost, only one second tubular motor and one second turning plate are designed, namely, the bottom of one side plate of the maintenance grid 2-1 is fixed with the second tubular motor 2-4, one end of the second turning plate 2-3 is a fixed end, the fixed end is fixedly connected with an output shaft of the second tubular motor 2-4, and the other end of the second turning plate 2-3 is a free end. The free end of the second turning plate 2-3 is controlled to rotate around the fixed end through the second tubular motor 2-4, so that the second turning plate is opened or closed. When the second turning plate 2-3 is closed, namely, the second turning plate 2-3 is in a horizontal state, the free end of the second turning plate is abutted with the opposite side plate of the side plate.
In this embodiment, a controller and an infrared sensor 1-2 are disposed in each shutdown pane 1-1, the infrared sensor 1-2 detects whether a unmanned aerial vehicle is present in the shutdown pane 1-1, and sends a detection signal to the controller, and the controller controls the operation of the top tubular motor 1-6 according to the received signal, and then controls the opening and closing of the top plate 1-5. By designing the infrared sensor 1-2 to detect whether an unmanned aerial vehicle exists in the shutdown pane 1-1, when no unmanned aerial vehicle exists, the top plate 1-5 is controlled to be opened, the unmanned aerial vehicle above the platform can fall to the shutdown pane 1-1, the occurrence of a collision event in the shutdown pane 1-1 is avoided, and the safety of the unmanned aerial vehicle is improved.
The controller within the shutdown pane 1-1 also controls the operation of the first tubular motor 1-4; the controller also communicates with the master control room, sends information to the master control room, and receives control of the master control room.
The master control room is communicated with each controller in a connecting way and controls the operation of the whole platform. The master control room communicates with other controllers through wired or wireless communication modes (such as WIFI or Bluetooth).
In this embodiment, a controller and an infrared sensor 2-2 are disposed in each maintenance grid 2-1, the infrared sensor 2-2 detects whether an unmanned aerial vehicle is present in the maintenance grid 2-1, and sends a detection signal to the controller, the controller sends a received signal to a controller in a shutdown pane 1-1 corresponding to the upper side of the maintenance grid 2-1, and the controller in the shutdown pane 1-1 controls the first tubular motor 1-4 to operate according to the received signal, so as to control the opening and closing of the first flap 1-3. When no unmanned aerial vehicle exists in the maintenance grid 2-1, the first turning plate 1-3 is controlled to be opened, the unmanned aerial vehicle in the shutdown pane 1-1 can fall, a collision event in the maintenance grid 2-1 is avoided, and the safety of the unmanned aerial vehicle is improved.
The controller in the maintenance grid 2-1 also controls the operation of the second tubular motor 2-4; the controller also communicates with the master control room, sends information to the master control room, and receives control of the master control room.
In this embodiment, an infrared sensor is disposed in the transport layer 3 below each maintenance cell 2-1, and the infrared sensor detects whether an unmanned aerial vehicle exists in the transport layer below the maintenance cell 2-1, and sends a detection signal to a controller in the maintenance cell 2-1, and the controller in the maintenance cell 2-1 controls the second tubular motor 2-4 to operate according to the received signal, so as to control the opening and closing of the second flap 2-3. When no unmanned aerial vehicle exists in the transport layer below the maintenance grid 2-1, the second turning plate 2-3 is controlled to be opened, the unmanned aerial vehicle in the maintenance grid 2-1 can fall, a collision event in the transport layer is avoided, and the safety of the unmanned aerial vehicle is improved.
The left or right side plate of the transport layer 3 has a cargo inlet 3-1, and the front end of the transport layer has an unmanned aerial vehicle outlet 3-2, as shown in fig. 4, i.e., cargo "left/right in, front out". A plurality of conveyor belts 3-3 are provided in the transport layer 3, and goods are placed on the conveyor belts 3-3. The plurality of conveyor belts 3-3 are horizontally and equally spaced, so that the uniformity of goods placement is improved, and the unmanned aerial vehicle is convenient to pick up goods. The number of conveyor belts 3-3 is equal to the number of rows of maintenance panes (i.e. the number of rows of shutdown panes). Namely, a conveyor belt 3-3 is arranged below each row of maintenance grids, so that the unmanned aerial vehicle can pick up goods conveniently. After the unmanned aerial vehicle falls to the transport layer from the maintenance grid, the goods on the driving belt 3-3 are picked up and then leave from the unmanned aerial vehicle outlet 3-2.
To further improve the safety in the shutdown pane 1-1, an alarm is provided in the shutdown pane 1-1, and a controller in the shutdown pane 1-1 controls the operation of the alarm. In order to further improve the safety in the maintenance grid 2-1, an alarm is arranged in the maintenance grid 2-1, and a controller in the maintenance grid 2-1 controls the operation of the alarm.
The freight platform of this embodiment can satisfy many unmanned aerial vehicle and stop fast, overhaul the requirement of picking up the goods, satisfies the express delivery trade and to the demand of empty transportation high efficiency accuracy.
Based on the design of the freight system, the embodiment also provides an unmanned aerial vehicle positioning control method, wherein a black or white coating is distributed on the top plate at the top of each shutdown pane to form an image which can be identified by the unmanned aerial vehicle. That is, black coating is laid on the tops of some of the shutdown panes, white coating is laid on the tops of some of the shutdown panes, and all of the shutdown panes form large-area color patches for the unmanned aerial vehicle to recognize.
The control method specifically includes the following steps, as shown in fig. 5. The drone accurately drops to the target shutdown pane by performing the following steps.
Step S11: and when the unmanned aerial vehicle is at a first set height from the horizontal plane, acquiring the target shutdown pane and the arrangement positions of all the shutdown panes.
The unmanned aerial vehicle is guided by the GPS to fly above the target freight platform on the way of returning to the target freight platform. And when the unmanned aerial vehicle is at a first set height from the horizontal plane, for example, 300 meters away from the top surface of the target freight platform, the unmanned aerial vehicle is communicated with the general control room of the target freight platform through WIFI connection, so that the target shutdown pane and the arrangement positions of all shutdown panes are obtained.
If there are a plurality of freight platforms, this step comprises in particular: the unmanned aerial vehicle flies to the upper air of the cargo platform, and when the unmanned aerial vehicle is at a first set height from the horizontal plane, the target cargo platform, the arrangement positions of all the shutdown panes of the target cargo platform and the target shutdown panes are obtained; and then the unmanned aerial vehicle flies to the upper air of the target freight platform through GPS positioning, and establishes wireless communication connection with the target freight platform. Because the freight platform has a large area, the air can accurately fly above the target freight platform through GPS positioning.
The wireless communication connection between the unmanned aerial vehicle and the target freight platform can be realized through WIFI or Bluetooth.
Step S12: the unmanned aerial vehicle shoots and acquires the whole image of all the shutdown panes on the top surface of the freight platform, takes the whole image as a current image, divides the shutdown panes contained in the current image into a plurality of subareas, and determines the subarea where the target shutdown pane is located in the plurality of subareas as a current target subarea.
And identifying the current image according to an image identification technology, and identifying all shutdown panes contained in the current image. The shutdown pane contained in the current image is divided into a plurality of sub-areas, and the sub-area where the target shutdown pane is located can be determined from the plurality of sub-areas as the current target sub-area because the arrangement positions of the target shutdown pane and all the shutdown panes are already known.
Step S13: the unmanned aerial vehicle adjusts the flight attitude, and lands and flies towards the direction of the current target subarea.
Step S14: after the unmanned aerial vehicle descends to a set height, shooting and obtaining the whole image of the current target subarea.
The unmanned aerial vehicle descends to fly towards the direction of the current target subarea, descends to set height, descends by 150m, is 150m away from the top surface of the freight platform, is located above the current target subarea, and shoots and acquires the whole image of the current target subarea.
Step S15: the unmanned aerial vehicle judges whether the number of the shutdown panes contained in the integral image is less than or equal to the set number.
If so, it is indicated that the number of the shutdown panes included in the overall image is small, and the unmanned aerial vehicle can accurately position the target shutdown pane through the machine vision positioning algorithm, so step S16 is executed: the drone lands to the target shutdown pane.
If not, the number of the shutdown panes contained in the overall image is larger, and the unmanned aerial vehicle cannot accurately position the target shutdown pane directly through the machine vision positioning algorithm, then step S17 is executed.
The machine vision positioning algorithm is a prior art and will not be described in detail herein.
In this embodiment, the set number is 16, i.e. the number of shutdown panes is 4×4. When the number of the shutdown panes contained in the integral image is less than or equal to 4 multiplied by 4, the unmanned aerial vehicle can accurately position the target shutdown panes through a machine vision positioning algorithm, the integral image does not need to be continuously divided into subareas, the time for positioning the unmanned aerial vehicle to the target shutdown panes is shortened, and the unmanned aerial vehicle can accurately and rapidly stop the target shutdown panes.
Step S17: the unmanned aerial vehicle takes the whole image as a current image, divides the shutdown pane contained in the current image into a plurality of subareas, determines the subarea where the target shutdown pane is located in the plurality of subareas as the current target subarea because the arrangement positions of the target shutdown pane and all the shutdown panes are already known, and returns to step S13.
According to the unmanned aerial vehicle positioning control method, when the unmanned aerial vehicle is at a first set height from a horizontal plane, the target shutdown pane and the arrangement positions of all the shutdown panes are obtained; (2) Shooting and acquiring an integral image of all the shutdown panes on the top surface of the freight platform, taking the integral image as a current image, dividing the shutdown panes contained in the current image into a plurality of subareas, and determining the subarea where the target shutdown pane is located in the plurality of subareas as a current target subarea; (3) The unmanned aerial vehicle adjusts the flight attitude and makes landing flight towards the direction of the current target subarea; (4) After the unmanned aerial vehicle descends to a set height, shooting and obtaining an overall image of the current target subarea; judging whether the number of the shutdown panes contained in the integral image is less than or equal to the set number; if yes, the unmanned aerial vehicle drops to a target shutdown pane; if not, taking the whole image as a current image, dividing a shutdown pane contained in the current image into a plurality of subareas, determining the subarea where the target shutdown pane is positioned in the plurality of subareas as a current target subarea, returning to the step (3), and repeatedly executing the steps (3) and (4) until the unmanned aerial vehicle falls to the target shutdown pane; the unmanned aerial vehicle accurately enters the target shutdown pane, the problem that the unmanned aerial vehicle cannot accurately drop to the shutdown pane in the prior art is solved, and rapid and accurate berthing of the unmanned aerial vehicle is realized.
In this embodiment, all of the shutdown panes of each cargo platform are arranged in a square. In steps S12 and S17, the dividing the shutdown pane included in the current image into a plurality of sub-areas specifically includes: and equally dividing the shutdown panes contained in the current image into four square sub-areas, wherein the four square sub-areas contain the same number of the shutdown panes, so that the subsequent further division is facilitated, and the unmanned aerial vehicle is conveniently positioned.
In this embodiment, the machine panes located at four corners in each square sub-area are colored differently from the other three, so that the unmanned aerial vehicle adjusts the flight attitude according to the characteristic, determines the flight direction, and drops and flies toward the current target sub-area.
Next, the control method of the present embodiment will be described in detail with an example in which the cargo conveyance platform includes 16×16 shutdown panes.
Assuming that the freight platform comprises a total of 16 x 16 shutdown panes, arranged in 16 rows and 16 columns, each pane being square, the pane size being 1.5 m x 1.5 m, with a set spacing (e.g. 60 cm) between adjacent panes. The arrangement positions of all shutdown panes are: the pane numbers are arranged in a left-to-right and top-to-bottom order, e.g., the 1 st row pane numbers are D1-D16, the 2 nd row pane numbers are D17-D32, … …, and so on, the 16 th row pane numbers are D241-D256. The target shutdown pane is the D49 pane, located in row 4, column 1, see FIG. 6.
Step S21: when the unmanned aerial vehicle is at a first set height from the horizontal plane, for example, 300 meters from the top surface of the freight platform, the unmanned aerial vehicle is connected with the main control room of the freight platform through WIFI, and the target shutdown pane (namely, the D49 pane) sent by the main control room of the freight platform and the arrangement positions of all shutdown panes are obtained, as shown in fig. 6.
Step S22: the unmanned aerial vehicle shoots and acquires the whole images of all the shutdown panes on the top surface of the freight platform. The image acquired is shown in fig. 7, as the drone flight height is now high, farther from the top surface of the cargo platform. As can be seen from fig. 7, in the shutdown panes at the four corners, one of the panes is different in color from the other three, the drone adjusts its attitude accordingly, flies to the center positions of all the panes, and has pane D1 located above the left of the drone nose. The shutdown pane contained in fig. 7 is divided on average into four square sub-areas: upper left subregion, upper right subregion, lower left subregion, lower right subregion. Since the target shutdown pane D49 and the arrangement positions of all shutdown panes have been known, it is determined that the D49 pane is located in the upper left sub-region, which is taken as the current target sub-region.
Step S23: the unmanned aerial vehicle adjusts the flight attitude, and lands and flies towards the direction of the current target subarea.
Step S24: the unmanned aerial vehicle flies to a position 150m away from the top surface of the freight platform and is located above the target subarea, and the whole image of the current target subarea is shot and acquired, as shown in fig. 8.
Step S25: the number of shutdown panes contained in the overall image is 8 x 8, greater than the set number 16. The execution of step S26 is continued.
Step S26: as can be seen from fig. 8, in the shutdown panes at the four corners, one of the panes is colored differently from the other three, the drone adjusts its attitude accordingly, flies to the center position of the 64 panes, and has pane D1 located above the left of the drone nose. The shutdown pane contained in fig. 8 is divided on average into four square sub-areas: upper left subregion, upper right subregion, lower left subregion, lower right subregion. Since the target shutdown pane D49 and the arrangement positions of all shutdown panes have been known, it is determined that the D49 pane is located in the upper left sub-region, which is taken as the current target sub-region.
Step S28: the unmanned aerial vehicle adjusts the flight attitude, and lands and flies towards the direction of the current target subarea.
Step S29: the unmanned aerial vehicle flies to a position 50m away from the top surface of the freight platform and is located above the target subarea, and the whole image of the current target subarea is shot and acquired, as shown in fig. 9.
The number of shutdown panes contained in the overall image is 4×4=16, i.e. equal to the set number. The unmanned aerial vehicle can accurately position the D49 number pane through a machine vision positioning algorithm, identifies the target shutdown pane and accurately drops to the target shutdown pane.
Therefore, through the control method, the sub-areas are divided step by step, the target shutdown pane of the unmanned aerial vehicle is locked step by step, the positioning accuracy is improved, and the unmanned aerial vehicle can accurately stop to the target shutdown pane.
After the unmanned aerial vehicle locates the target shutdown pane, a signal is sent to a controller in the target shutdown pane, and the controller controls the top tubular motor 1-6 to operate so as to drive the target shutdown pane top plate 1-5 to open, and the unmanned aerial vehicle drops to the target shutdown pane. After the unmanned aerial vehicle falls to the target shutdown pane, the controller controls the top tubular motor 1-6 to operate so as to drive the target shutdown pane top plate 1-5 to be closed. After the drone has landed in the target shutdown pane, the control method further includes the following steps, see fig. 5.
Step S31: it is determined whether a maintenance layer below the target shutdown pane is idle.
A controller and an infrared sensor are disposed in a maintenance grid of the maintenance layer below the target shutdown pane, and the infrared sensor detects whether the maintenance grid is idle.
If not, the unmanned aerial vehicle is always positioned in the target shutdown pane, floats in the air, and continues to wait until the lower maintenance grid is idle.
If yes, go to step S32.
Step S32: the unmanned aerial vehicle falls to the maintenance layer to maintain, falls to the transportation layer after maintaining and snatchs goods, then leaves the transportation layer.
The infrared sensor in the maintenance grid detects whether the maintenance grid is idle or not, and sends a detection signal to the controller in the maintenance grid, the controller sends the received signal to the controller in the target shutdown pane, the controller in the target shutdown pane controls the first tubular motor 1-4 to operate, the first turning plate 1-3 is driven to be opened, and the unmanned aerial vehicle falls into the maintenance grid of the maintenance layer from the target shutdown pane. After the unmanned aerial vehicle falls to the maintenance layer, a controller in the target shutdown pane controls the first tubular motor 1-4 to operate so as to drive the first turning plate 1-3 to be closed.
The unmanned aerial vehicle falls to the maintenance layer and maintains, specifically includes:
(11) After the unmanned aerial vehicle falls to the maintenance grid of the maintenance layer, a controller in the maintenance grid acquires the current flight course stored in the unmanned aerial vehicle memory, analyzes and archives the current flight course, updates the next flight course, and stores the next flight course into the unmanned aerial vehicle memory.
(12) The controller in the maintenance grid detects the electric quantity of the unmanned aerial vehicle battery and judges whether to replace the battery or charge according to the next flight process. The battery is replaced or charged as required to ensure that the unmanned aerial vehicle has sufficient electric quantity to return to the voyage and ensure the safety of the unmanned aerial vehicle.
(13) And overhauling the unmanned aerial vehicle. Various sensors are arranged in the maintenance grid, whether the state of the whole unmanned aerial vehicle is abnormal or not is detected, the abnormal whole unmanned aerial vehicle is maintained, and the safety problem in the flight process of the unmanned aerial vehicle is avoided.
(14) The unmanned aerial vehicle is cooled, so that overheating of heating parts of the unmanned aerial vehicle is avoided, and flight safety is guaranteed.
(15) And matching corresponding transportation kits according to the goods which are grabbed next time, and assembling the transportation kits on the unmanned aerial vehicle. The transportation external member includes big, well, little and abnormal shape snatch external member, snatchs the goods according to next time and matches the change.
After the unmanned aerial vehicle is maintained in the maintenance grid, the infrared sensor of the transport layer below the maintenance grid detects whether the unmanned aerial vehicle exists below the maintenance grid, and sends a detection signal to the controller in the maintenance grid, if no unmanned aerial vehicle exists below, the controller controls the second tubular motor 2-4 to operate, the second turning plate 2-3 is driven to be opened, the unmanned aerial vehicle falls to the transport layer from the maintenance grid, and after goods are grabbed, the unmanned aerial vehicle leaves from the unmanned aerial vehicle outlet 3-2. After the unmanned aerial vehicle falls to the transportation layer, the controller in the maintenance grid controls the second tubular motor 2-4 to run, and the second turning plate 2-3 is driven to be closed.
Because the shutdown panes are arranged in 16 rows and 16 columns, the conveyor belt has 16 strips, and one conveyor belt is arranged below each row of shutdown panes, so that the unmanned aerial vehicle can conveniently grasp goods.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. The unmanned aerial vehicle positioning control method is characterized by comprising the following steps of: the tops of all the shutdown panes on the top surface of the freight platform of the unmanned aerial vehicle form images which can be identified by the unmanned aerial vehicle;
the control method comprises the following steps:
(1) When the unmanned aerial vehicle is at a first set height from the horizontal plane, acquiring the target shutdown pane and the arrangement positions of all the shutdown panes;
(2) Shooting and acquiring an integral image of all the shutdown panes on the top surface of the freight platform, taking the integral image as a current image, dividing the shutdown panes contained in the current image into a plurality of subareas, and determining the subarea where the target shutdown pane is located in the plurality of subareas as a current target subarea;
(3) The unmanned aerial vehicle adjusts the flight attitude and makes landing flight towards the direction of the current target subarea;
(4) After the unmanned aerial vehicle descends to a set height, shooting and obtaining an overall image of the current target subarea; judging whether the number of the shutdown panes contained in the integral image is less than or equal to the set number;
if yes, the unmanned aerial vehicle drops to a target shutdown pane;
if not, taking the whole image as a current image, dividing a shutdown pane contained in the current image into a plurality of subareas, and determining a subarea where a target shutdown pane is located in the plurality of subareas as a current target subarea; returning to the step (3).
2. The method according to claim 1, characterized in that: if there are a plurality of cargo platforms, the step (1) specifically includes:
when the unmanned aerial vehicle is at a first set height from the horizontal plane, acquiring the arrangement positions of all the shutdown panes of the target freight platform and the target shutdown panes; and (3) the unmanned aerial vehicle flies to the upper air of the target freight platform through GPS positioning, establishes wireless communication connection with the target freight platform, and then executes the steps (2) to (4).
3. The method according to claim 1, characterized in that: all the shutdown panes of each freight platform are arranged in a square shape;
the step of dividing the shutdown pane contained in the current image into a plurality of sub-areas specifically comprises the following steps: the shutdown pane contained in the current image is divided into four square subareas on average, and the number of the shutdown panes contained in the four square subareas is equal.
4. A method according to claim 3, characterized in that: the shutdown panes located at the four corners in each square subregion, with one of the shutdown panes being of a different color than the other three.
5. The method according to claim 1, characterized in that: the set number is 16.
6. The method according to claim 1, characterized in that: after the drone drops to the target shutdown pane, the method further includes:
judging whether a maintenance layer below the target shutdown pane is idle or not;
if so, the unmanned aerial vehicle falls to a maintenance layer for maintenance, falls to a transport layer for grabbing goods after maintenance, and then leaves the transport layer;
the unmanned aerial vehicle falls to the maintenance layer to be maintained, specifically includes:
acquiring the current flight course stored in the unmanned aerial vehicle memory, and updating the next flight course;
detecting the electric quantity of the unmanned aerial vehicle battery, and judging whether to replace the battery or charge according to the next flight process;
overhauling the unmanned aerial vehicle;
cooling the unmanned aerial vehicle;
and matching and replacing the corresponding transportation suite according to the goods which are grabbed next time.
7. A shipping system, characterized by: the system comprises an unmanned plane and a freight platform;
the freight platform comprises a main control room, a shutdown layer, a maintenance layer and a transportation layer which are sequentially arranged from top to bottom; the shutdown layer comprises a plurality of square shutdown panes, and the top of each shutdown pane is provided with a top plate which can be opened and closed; a black or white coating is arranged on the upper surface of the top plate; the maintenance layer comprises a plurality of maintenance grids, the plurality of shutdown panes are in one-to-one correspondence with the plurality of maintenance grids, and are arranged up and down; a first turning plate which can be opened and closed is arranged between the shutdown pane and the corresponding maintenance pane below the shutdown pane, and a second turning plate which can be opened and closed is also arranged between the maintenance pane and the transport layer;
the drone performs the method of claim 1, dropping to a shutdown pane.
8. The shipping system of claim 7, wherein:
the top of the two opposite side plates of the shutdown pane are respectively fixed with a top tubular motor, the two top plates are designed to be in one-to-one correspondence with the two top tubular motors, one end of each top plate is fixedly connected with an output shaft of the corresponding top tubular motor, and the other end of each top plate is a free end;
the bottom of the two opposite side plates of the shutdown pane are respectively fixed with a first tubular motor, two first turning plates are designed, the two first turning plates are in one-to-one correspondence with the two first tubular motors, one end of each first turning plate is fixedly connected with an output shaft of the corresponding first tubular motor, and the other end of each first turning plate is a free end;
the bottom of two opposite curb plates of maintenance check is fixed with the second tubular motor respectively, the second turns over the board design and has two, two second turns over board and two second tubular motor one-to-one, the one end that the second turned over the board and the output shaft fixed connection of the second tubular motor that corresponds, the other end that the second turned over the board is the free end.
9. The shipping system of claim 7, wherein:
a top tubular motor is fixed at the top of one side plate of the shutdown pane, one end of the top plate is fixedly connected with an output shaft of the top tubular motor, and the other end of the top plate is a free end;
a first tubular motor is fixed at the bottom of one side plate of the shutdown pane, one end of the first turning plate is fixedly connected with an output shaft of the first tubular motor, and the other end of the first turning plate is a free end;
the bottom of one side plate of the maintenance grid is fixedly provided with a second tubular motor, one end of the second turning plate is fixedly connected with an output shaft of the second tubular motor, and the other end of the second turning plate is a free end.
10. Freight system according to claim 8 or 9, characterized in that:
a controller and an infrared sensor are arranged in the shutdown pane, the infrared sensor sends detection signals to the controller, and the controller controls the operation of the top tubular motor and the first tubular motor; the controller is communicated with the master control room;
a controller and an infrared sensor are arranged in the maintenance grid, the infrared sensor sends detection signals to the controller, and the controller controls the operation of the second tubular motor; the controller is communicated with the master control room; the controller communicates with a controller in a corresponding shutdown pane;
an infrared sensor is arranged in the transport layer below each maintenance grid, and sends a detection signal to a controller in the maintenance grid.
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| CN109459552B (en) * | 2018-12-29 | 2021-08-27 | 宁波高新区阶梯科技有限公司 | Node monitoring device putting and recycling method and system |
| CN112987766B (en) * | 2021-05-07 | 2021-08-27 | 北京三快在线科技有限公司 | Unmanned aerial vehicle landing control method and device, storage medium and electronic equipment |
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