CN109050958A - A kind of unmanned plane continuation of the journey base station - Google Patents
A kind of unmanned plane continuation of the journey base station Download PDFInfo
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- CN109050958A CN109050958A CN201810997192.6A CN201810997192A CN109050958A CN 109050958 A CN109050958 A CN 109050958A CN 201810997192 A CN201810997192 A CN 201810997192A CN 109050958 A CN109050958 A CN 109050958A
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- unmanned plane
- subregion
- guide layer
- base station
- journey
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/36—Other airport installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- 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 a kind of unmanned plane continuation of the journey base station, which carries out layer into configuration to unmanned plane drop zone according to service function, obtains the subregion with respective service function；Multiple guide layers are arranged according to different subregions to guide unmanned plane.The present invention enters the unmanned machine information of continuation of the journey base station by obtaining, get the type and required service function of unmanned plane, the service function according to needed for unmanned plane is that the drop zone of unmanned plane carries out layer into configuration, to obtain the respective partition of service function needed for unmanned plane, the guide layer that configuration guidance unmanned plane enters is corresponded to further according to subregion, unmanned plane is made correctly to drop to the subregion of corresponding required service function.
Description
Technical field
The present invention relates to unmanned plane continuation of the journey fields, and more specifically, it relates to a kind of unmanned plane continuation of the journey base stations.
Background technique
With the development of unmanned air vehicle technique, unmanned plane is become increasingly widespread among the production and living applied to people, such as
Mapping, cruise monitoring etc..Current most of unmanned plane during flyings provide energy, but the energy that battery can once provide by battery
It is limited.After unmanned plane completes flight, when not enough power supply, just need to charge to unmanned plane or replace electricity
Pond.
It is charged by user oneself to unmanned plane and is undoubtedly difficult outdoors, therefore be directed to the third party of unmanned plane
Charging base station is suggested, but the unmanned plane quantity for arriving unmanned plane charging base station charging in a certain period of time is uncertain
, if multiple unmanned planes arrive same charging base station charging simultaneously, corresponding measure should be just arranged to avoid nobody in charging base station
Collision between machine, while the unmanned plane for base station of charging may have while the unmanned plane of base station of charging that needs to fly out, if charging
The inlet and outlet of base station are not able to satisfy multiple unmanned planes while entering or flying out, and there is problem to be solved.
Under the premise of such, the security reliability of charging base station is needed while passed in and out to solve multiple unmanned planes, just
A kind of management method for entering and leaving charging base station to unmanned plane is had also been proposed, is occurred with charging base station is passed in and out to avoid multiple unmanned planes
The case where collision.
Summary of the invention
The purpose of the present invention is in view of the above-mentioned drawbacks of the prior art, providing a kind of method of unmanned plane layering landing
And unmanned plane continuation of the journey base station.
The purpose of the present invention is achieved through the following technical solutions:
A kind of unmanned plane layering landing method is provided, the method for third party's unmanned plane continuation of the journey base station apply wing formula nobody
Machine landing, which comprises
Layer is carried out into configuration to unmanned plane drop zone according to service function, obtains the subregion with respective service function；
Multiple guide layers are set according to different subregions, unmanned plane is guided.
Preferably, the continuation of the journey base station according to service function to unmanned plane drop zone carry out layer into configuration include: basis
Annular subregion is arranged in service function from inside to outside；It is the relevant subregion of battery service function by outer annular zone configuration.In this way,
By the way that multiple annular subregions are arranged from inside to outside, each annular subregion is respectively that unmanned plane provides different services, institute
It states the annular subregion outermost layer being arranged from inside to outside and is configured to the relevant subregion of battery service function, the outermost layer annular
Battery service that subregion provides, such as battery lending service, battery charging services etc., and the innermost layer of the annular subregion, in
Interbed is configurable to unmanned plane and provides other respective services, for example the annular subregion middle layer is configured to unmanned plane and provides inspection
The subregion of service is repaired, so that optimizing continuation of the journey base station provides the diversity of service, enables unmanned plane long-time trouble-free flight.
Preferably, it includes: to be set according to different height that multiple guide layers, which are arranged, according to different subregions in the continuation of the journey base station
Set multiple guide layers；Each guide layer is corresponded at least one subregion, and is associated.In this way, the continuation of the journey base station is different
The subregion is that the service that provides of unmanned plane is different, therefore the unmanned plane that required service is different, is entering the continuation of the journey
The guide layer that the subregion that base station is serviced to needed for providing is passed through is different, and the guide layer is provided not according to described
It sets with the subregion of service and is accordingly arranged, the guide layer is layered structure, and the guide layer is arranged at described point
Area top appropriate location, every layer of distance of the guide layer is different at a distance from the annular surface, and unmanned plane is in the continuation of the journey
The service that base station needs can be several, therefore after the guide layer of the entrance continuation of the journey base station, the guide layer must be corresponded to
One or more subregions are provided, and are associated, is associated with, is allowed with the subregion by the guide layer that unmanned plane enters
Unmanned plane reasonably obtains multiple services.
Preferably, it includes: according to the guide layer that multiple guide layers, which are arranged, according to different height in the continuation of the journey base station
Terrain clearance accommodates height and accommodates the length configuration guide layer；The smallest receiving length of guide layer terrain clearance, which is arranged, is
It is minimum.It is layered structure according to the guide layer, effect is exactly that the guidance of different size is arranged in each layer of the guide layer
Layer according to the terrain clearance of the guide layer, accommodates height and accommodates the corresponding guide layer specification of length configuration, by the guidance
The receiving length of the smallest one layer of terrain clearance of layer is set as minimum, thus by being incremented by with terrain clearance, the guide layer
Receiving length be also accordingly incremented by, and the receiving increasing lengths of the guide layer be respectively layered between just to will form certain receiving long
Difference is spent, unmanned plane flies out from the position for accommodating length difference, does not influence the flight of other guide layer unmanned planes.
Preferably, described that multiple guide layers are arranged according to different subregions further include: will be described according to subregion region
Guide layer is set as flight boot segment and landing boot segment, and the surface of corresponding subregion is arranged in the landing boot segment.Institute
Landing boot segment is stated to provide a distance of landing, i.e., the above-mentioned receiving length difference by the unmanned plane of the guide layer
Value is the landing boot segment, and the unmanned plane is flown by the guide layer, is directed to by the landing boot segment described
The boot segment is arranged in the landing precision for optimizing unmanned plane right above the corresponding subregion, while can avoid more by subregion
A unmanned plane collides in landing.
Preferably, the boundary line of the flight boot segment and the landing boot segment is set as the line of demarcation of by stages, passes through
The line of demarcation of the subregion does not interfere with each other the unmanned plane of the receiving service between each subregion, described in unmanned plane entrance
When subregion, due to being provided with the line of demarcation, the unmanned plane of different guide layers landing disorder would not occurs and collide, and
Be it is vertical under fall in its corresponding subregion.
Preferably, described that multiple guide layers are arranged according to different subregions further include: according to unmanned plane approach axis in institute
State guide layer periphery setting guide layer entrance；The guide layer entrance corresponds at least one station in subregion.In this way, by setting
The guide layer entrance in the guide layer periphery is set, the unmanned plane for needing to enter the continuation of the journey base station is guided to corresponding clothes
In the guide layer channel of business, while the guide layer entrance can be used as the detection window that identification unmanned plane enters, by unmanned plane
Information into the guide layer entrance is fed back to the continuation of the journey base station, and the continuation of the journey base station provides corresponding service for unmanned plane
Prepare.
Preferably, described guide to unmanned plane includes: that guidance unmanned plane enters corresponding guidance entrance；Guide nobody
Machine flies in flight boot segment；Guidance unmanned plane lands in landing boot segment.By entire bootup process, this
The corresponding subregion that sample services needed for being directed to unmanned plane, avoids unmanned plane from going to the subregion of mistake.
Preferably, described to be landed to unmanned plane or guidance of taking off includes: to obtain unmanned machine information, according to it is described nobody
Machine information is that unmanned plane matches corresponding subregion；It is that the unmanned plane matches corresponding guide layer according to the subregion；According to choosing
It selects as a result, the unmanned plane is led into the guide layer, the unmanned plane that lands is to the subregion.Pass through the nothing got
Man-machine information is divided according to arrival needed for unmanned plane described in required positioning service to obtain service needed for unmanned plane is said
Area is that unmanned plane configures the corresponding guide layer further according to the subregion, and the unmanned plane passes through the guidance got
Layer information enters the guide layer, guides by the landing boot segment to the corresponding subregion.
Preferably, described to obtain unmanned machine information, it is that unmanned plane matches corresponding subregion packet according to the unmanned machine information
It includes: corresponding subregion is matched according to the service type in the unmanned machine information；According to the unmanned plane class in the unmanned machine information
Type matches the correspondence station in corresponding subregion.In the continuation of the journey base station, it is corresponding that different types of unmanned plane can arrive offer
The subregion of service just needs to match and unmanned plane class since the type of unmanned plane is different in the subregion of corresponding with service
The matched corresponding station of type, therefore unmanned plane is entering the continuation of the journey base station, obtains unmanned plane correlation letter by the continuation of the journey base station
Breath, thus service needed for obtaining unmanned plane, and the corresponding guide layer is configured for unmanned plane, make the drop that unmanned plane is safe and reliable
It falls in the corresponding station of the subregion.
A kind of unmanned plane continuation of the journey base station is also provided, the continuation of the journey base station includes: memory and processor, wherein described to deposit
Reservoir is used to call the executable program of the memory storage for storing executable program code and data, the processor
Code executes following steps:
Layer is carried out into configuration to unmanned plane drop zone according to service function, obtains the subregion with respective service function；
Multiple guide layers are set according to different subregions, unmanned plane is guided.
Preferably, the processor includes: according to the mode that service function carries out layer into configuration to unmanned plane drop zone
Annular subregion is set from inside to outside according to service function；
It is the relevant subregion of battery service function by outer annular zone configuration.
Preferably, the processor includes: according to the mode that multiple guide layers are arranged in different subregions
According to different height, multiple guide layers are set；
Each guide layer is corresponded at least one subregion, and is associated.
Preferably, the processor includes: according to the mode that multiple guide layers are arranged in different height
According to the terrain clearance of the guide layer, accommodates height and accommodate the length configuration guide layer；
It is minimum that the smallest receiving length of guide layer terrain clearance, which is arranged,.
Preferably, after multiple guide layers are arranged according to different subregions in the processor, the processor is also used to adjust
The executable program code stored with the memory executes following steps:
Flight boot segment is set by the guide layer according to subregion region and landing boot segment, the landing are drawn
Lead the surface that corresponding subregion is arranged in section.
Preferably, the boundary line of the flight boot segment and the landing boot segment is set as the line of demarcation of by stages.
Preferably, after multiple guide layers are arranged according to different subregions in the processor, the processor is also used to adjust
The executable program code stored with the memory executes following steps:
Guide layer entrance is set in the guide layer periphery according to unmanned plane approach axis；
The guide layer entrance corresponds at least one station in subregion.
Preferably, the processor includes: to the mode that unmanned plane guides
Unmanned plane is guided to enter corresponding guidance entrance；
Guidance unmanned plane flies in flight boot segment；
Guidance unmanned plane lands in landing boot segment.
Preferably, the processor includes: to the mode that unmanned plane guides
Unmanned machine information is obtained, is that unmanned plane matches corresponding subregion according to the unmanned machine information；
It is that the unmanned plane matches corresponding guide layer according to the subregion；
According to selection result, the unmanned plane is led into the guide layer, the unmanned plane that lands is to the subregion.
Preferably, the processor obtains unmanned machine information, is that unmanned plane matching is corresponding according to the unmanned machine information
The mode of subregion includes:
Corresponding subregion is matched according to the service type in the unmanned machine information；
The correspondence station in subregion is corresponded to according to the unmanned plane type matching in the unmanned machine information.
Bring of the present invention gets unmanned plane the utility model has the advantages that by obtaining the unmanned machine information into continuation of the journey base station
Type and required service function, the service function according to needed for unmanned plane are the drop zone progress layer of unmanned plane into configuration, thus
The respective partition of service function needed for unmanned plane is obtained, further according to the guide layer that the corresponding configuration guidance unmanned plane of subregion enters, is made
Unmanned plane correctly drops to the subregion of corresponding required service function.
Detailed description of the invention
Fig. 1 is the implement scene schematic diagram of the embodiment of the present invention；
Fig. 2 is another implement scene schematic diagram of the embodiment of the present invention；
Fig. 3 is that the unmanned plane of the embodiment of the present invention goes out base station configuration preference level flow chart of continuing a journey；
Fig. 4 is another implement scene schematic diagram of the embodiment of the present invention；
Fig. 5 is that the unmanned plane of the embodiment of the present invention is layered landing method flow chart；
Fig. 6 is the battery service function division configuration flow figure of the embodiment of the present invention；
Fig. 7 is that the guide layer of the embodiment of the present invention corresponds to zone configuration flow chart；
Fig. 8 is that the guide layer of the embodiment of the present invention accommodates length configuration flow figure；
Fig. 9 is the landing boot segment configuration flow figure of the embodiment of the present invention；
Figure 10 is the subregion line of demarcation configuration flow figure of the embodiment of the present invention；
Figure 11 is that the guide layer of the embodiment of the present invention is associated with the station flow chart of subregion；
Figure 12 is the unmanned plane bootup process flow chart of the embodiment of the present invention；
Figure 13 is that the unmanned plane of the embodiment of the present invention enters respective partition flow chart；
Figure 14 is that the unmanned plane of the embodiment of the present invention enters corresponding station flow chart；
Figure 15 is the structural schematic diagram of the unmanned plane continuation of the journey base station of the embodiment of the present invention.
Wherein, the 1, first guide layer；2, the second guide layer；3, third guide layer；4, the 4th guide layer；5, subregion is demarcated
Line；11, the first guide layer exports；12, first service station；14, the first station draws section；15, first layer outlet is drawn；16,
First guide layer entrance；17, first layer is drawn；21, the second guide layer exports；22, second service station；24, second station is drawn
Section out；25, second layer outlet is drawn；26, the second guide layer entrance；27, second layer is drawn；31, third guide layer exports；32,
Third service station；34,3rd station draws section；35, third draws layer outlet；36, third guide layer entrance；37, third is drawn
Layer out；41, the 4th guide layer entrance；42, it takes off boot section.
Specific embodiment
The preferred embodiment of the present invention is described below, those of ordinary skill in the art will be according to described below with this
The relevant technologies in field are realized, and can be more clearly understood that innovation and bring benefit of the invention.
A kind of method that the present invention provides unmanned planes to be layered landing in continuation of the journey base station.
As shown in Figure 1, the invention for clearer description this programme is intended to, first implement scene of the invention is set
It sets.The implement scene includes: that the first guide layer 1 is set to immediately below the second guide layer 2, and second guide layer 2 is set to
Immediately below third guide layer 3, the third guide layer 3 is set to immediately below the 4th guide layer 4, and the guide layer is corresponding with guidance
Entrance and guidance outlet, the guide layer are provided with the guide layer for introducing unmanned plane and draw the guidance of unmanned plane
Layer, guidance outlet underface are provided with the corresponding subregion, are provided with subregion line of demarcation 5 between the subregion；
Wherein, the guidance entrance includes: the guidance entrance setting in guide layer one end, and setting enters in the first guide layer
The second guide layer entrance right above the second guide layer entrance 26 is arranged in the second guide layer entrance 26 right above mouth 16
36；
The guidance outlet includes: guidance outlet setting in the guide layer other end, and setting is drawn described first
The second guide layer outlet 21 of 2 other end of the second guide layer is arranged in the first guide layer outlet 11 of 1 other end of conducting shell,
The first guide layer outlet 31 of 3 other end of third guide layer is set；
Further, first guide layer 1, the second guide layer 2, third guide layer 3 are that unmanned plane enters the continuation of the journey
The receiving length of the guide layer of base station, each layer of the guide layer is different, successively increases from bottom to top, adjacent upper layer and lower layer
There are difference, one section of landing boot segment as unmanned plane of difference, the landing to draw for the receiving length of the guide layer
It leads section and corresponds to subregion corresponding to the guide layer, under the landing boot segment of the first guide layer outlet 11 corresponds to it just
The landing boot segment of the first service station 12 of side, the second guide layer outlet 21 corresponds to the second service immediately below it
The landing boot segment of station 22, the third guide layer outlet 31 corresponds to the third service station 32 immediately below it, described
Guide layer exports the line of demarcation 5 of corresponding subregion；
Further, the 4th guide layer 4 goes out the guide layer of the continuation of the journey base station as unmanned plane, and the described 4th draws
The 4th guide layer outlet 46 of 4 one end of conducting shell is set to right above the third guide layer entrance 36, the 4th guide layer entrance 41
Underface is provided with unmanned plane, and fourth flies boot section 42, fourth corresponding immediately below it of the 4th guide layer entrance 41 flies
Boot section 42；
As alternatively possible implement scene, as shown in Fig. 2, will be used for that unmanned plane to go out the continuation of the journey base station described the
Four guide layers 4 are arranged immediately below the station, the 4th guide layer outlet 41, described fourth fly boot section 42 with it is described
The line of demarcation of the adjacent side of station is concordant with the 4th guide layer 41 holdings of outlet immediately below it, thus by the nothing
Man-machine disengaging guide layer is separately positioned on two places up and down of station.
Implement scene as shown in Figs. 1-2, the 4th guide layer 4 are used as the outbound guide layer of unique unmanned plane, save
The cost of the continuation of the journey base station, but it has a problem that, and if multiple unmanned planes need the continuation of the journey base station out, passing through
When crossing four guide layer 4, it may occur that collision accident, therefore to solve this problem with regard to needing to do corresponding unmanned plane
The management method of continuation of the journey excessively described 4th guide layer 4 in base station out.
As shown in figure 3, in embodiments of the present invention, drawing as unmanned plane is guided out the described 4th of the continuation of the journey base station
Conducting shell management method:
S120, continuation of the journey base station obtain the unmanned machine information of the service of completion；
The unmanned plane of service function, institute is completed in each subregion in the continuation of the journey base station in a certain period of time
It states and is referred in certain time period in a shorter period, such as 1 minute, each subregion, which may have, have been completed to take
The unmanned plane of business, continuation of the journey base station get the information that service unmanned plane is completed.
S121, continuation of the journey base station obtain the unmanned machine information of the service of completion, extract nothing from the unmanned machine information got
The time of man-machine completion service and place partition information；
The unmanned machine information for the service of being completed is got, the continuation of the journey base station extracts the unmanned plane for the service of being completed, and
Extract the partition information that unmanned plane completes service place.
The time for completing service is configured the first priority by S122, continuation of the journey base station, and continuation of the journey base station is by place zone configuration
For the second priority；
The time order and function that service is completed in the continuation of the journey base station configures the first priority, i.e., in a certain period of time, such as
There is a batch that the unmanned plane of service is completed between morning 9:40~9:41, there is a batch to be completed again between morning 9:41~9:42
The unmanned plane of service, using the unmanned plane between 9:40~9:41 as the first highest priority grade；
Further, in filtering out the first highest priority grade, the subregion distance of service in the continuation of the journey base station
The extraction section distance of unmanned plane is different, is the second highest priority by the zone configuration nearest from the extraction section
Grade, filters out the second highest priority grade, after filtering out the second highest priority grade,
Further, may in the second highest priority grade unmanned plane quantity more than one, it can be considered to set
Set a third priority.
S123, continuation of the journey base station filter out the second highest priority grade unmanned plane and guide to corresponding position, then draw another
Second highest priority grade unmanned plane；
In a certain period of time, it is more that the unmanned plane that service is completed waits the quantity for being directed out the continuation of the journey base station to have
A, multiple unmanned planes, which are waited, is guided out the continuation of the journey base station by the extraction layer, for example, first filter out second preferentially
The highest unmanned plane of grade flies out to after corresponding position, the corresponding position is provided with sensing device, sensing device will acquire nothing
It is man-machine by information feedback to it is described continuation of the journey base station control centre, control centre issue unmanned plane wait be guided out second
Frame unmanned plane flies out.
Certainly, it as another possible implement scene, is corresponded to as shown in figure 4, being arranged immediately below each station
Extraction layer, the extraction layer and the station, the first extraction layer 17 is set to right above the second extraction layer 27, and described second draws
Layer 27 is set to third and draws right above layer 37 out, each concordant setting in extraction layer outlet for drawing layer, each extraction layer
Entrance is concordant with the line of demarcation 5 of adjacent two subregions, the difference of the neighbouring two receiving length for drawing layer
Extraction section as upper layer station uses；
Further, it is correspondingly arranged on corresponding first station immediately below first station 12 and draws section 14, institute
It states and is correspondingly arranged on the corresponding second station extraction section 24 immediately below second station 22, it is right immediately below the 3rd station 32
The corresponding 3rd station should be provided with and draw section 34；
Further, the first extraction layer outlet 15, the second extraction layer outlet 25, the first extraction layer go out
The concordantly setting of mouth 35, is the corresponding extraction layer of each zone configuration, each corresponding subregion of extraction layer extraction
Unmanned plane, optimization unmanned plane go out the order of the continuation of the journey base station and pass through efficiency.
The implement scene figure as shown in Fig. 1,2,4, the number of plies being guided out can be other multilayered structures, the guidance
The number of plies of layer can be arranged according to the quantity that the continuation of the journey base station can be provided service function, for example unmanned plane continuation of the journey base station can mention
It is serviced for four kinds, so that it may set 4 layers for the number of plies of the guide layer.
The purpose of the present invention is achieved through the following technical solutions: as shown in figure 5, a kind of unmanned plane continuation of the journey base station point
The method of layer landing, the method is for third party's unmanned plane continuation of the journey base station, which comprises
S100, continuation of the journey base station obtain the information of unmanned plane, extract service function needed for unmanned plane and unmanned plane type letter
Breath；
The unmanned plane wants to enter into the continuation of the journey base station and obtains service, and the continuation of the journey base station, which acquires, gets nobody
The authorization of the information of machine, information and unmanned plane the type letter of the service needed for extracting unmanned plane in the unmanned machine information got
Breath；
Further, about the information for obtaining the unmanned plane, can be also possible to by base station client registers of continuing a journey
Unmanned plane enters continuation of the journey base station induction region, reads unmanned machine information by induction region.
S101, continuation of the journey base station service function according to needed for the unmanned plane got are service function pair needed for unmanned plane configures
The subregion answered；
Unmanned plane is entering in the continuation of the journey base station, and the continuation of the journey base station is according to required in the unmanned machine information got
Unmanned plane is associated with by information on services with relevant partitions, to just be to service function needed for being configured in service function needed for unmanned plane
Subregion corresponding to energy；
Further, the continuation of the journey base station is provided with control centre, and the control centre will enter the continuation of the journey base station
Unmanned plane is temporarily managed, so that unmanned plane and the subregion of service needed for it are associated, and then controls unmanned plane
Into the correspondence subregion.
S102, continuation of the journey base station according to the subregion where unmanned plane service function needed for corresponding, for unmanned plane configuration with it is described
The corresponding guide layer of subregion；
After unmanned plane is associated with the subregion for providing required service function, corresponding unmanned plane is obtained according to subregion
Into guide layer；
Further, after unmanned plane gets the corresponding guide layer, the guide layer entrance is open to the unmanned plane,
Unmanned plane just leads to the landing guide layer that can be reached right above the subregion by the guide layer of the opening, to land
To the subregion；
Further, the guide layer is mostly through type, can be led to the guide layer in certain circumstances
To bend is set as, the guide layer can pass through efficiency in guide layer to avoid unmanned plane using through type channel.
S103, the corresponding guide layer of subregion is corresponded to by service function needed for unmanned plane, unmanned plane is directed to required clothes
Subregion where function of being engaged in；
Subregion of the guide layer corresponding with the subregion unmanned plane to be led into service needed for unmanned plane leads to
The guide layer corresponding with the subregion is crossed, unmanned plane is accurate to enter the corresponding subregion of required service, in turn
Get required service；
Further, the guide layer outlet is correspondingly arranged on the landing boot segment of corresponding subregion, the landing boot segment
Length is corresponding with subregion, thus in the corresponding subregion of service needed for make that unmanned plane more enters drop to.
S104, unmanned plane are guided to the corresponding subregion of required service, are unmanned plane class from the unmanned plane type got
Type configures corresponding station, and unmanned plane is configured to receive in corresponding station and is serviced；
Unmanned plane enters in the subregion of required service, corresponding for unmanned plane configuration according to the different type of unmanned plane
Unmanned plane station, by unmanned plane sending to corresponding station receive needed for service function；
Further, service function needed for different types of unmanned plane can be the same, therefore, in the same subregion
It is interior to provide corresponding station for the difference of unmanned plane type, it is just such as required to service identical unmanned plane, battery capacity
The station of difference, the receiving service needed for them is just different.
After the completion of service needed for S105, unmanned plane obtain, unmanned plane is drawn by guide layer；
For unmanned plane after the subregion obtains the corresponding service of completion, the unmanned plane needs to draw the continuation of the journey base station,
Therefore the guide layer of corresponding extraction channel is set for unmanned plane, the extraction channel cannot be and subregion where unmanned plane
Corresponding to be associated the guide layer, the guide layer associated with subregion is to enter drawing for the subregion for unmanned plane
It is conducting to, therefore, unmanned plane enters the guide layer corresponding to the subregion and unmanned plane goes out guidance used in the subregion and leads to
To being different, the service partition thing that front is bumped against in the guide layer needed for can thus being passed in and out to avoid multiple UAVs
Therefore.
As shown in fig. 6, in embodiments of the present invention, the continuation of the journey base station according to service function to unmanned plane drop zone into
Row layer includes: into configuration
S110, annular subregion is set from inside to outside according to service function；
As shown in Figure 1, the continuation of the journey base station is provided with the first, second, third subregion, the guide layer outlet side is outer
Side, therefore first subregion is outermost subregion；
Further, the subregion is set as annular subregion, and in other embodiments, the subregion can be not configured to ring
Shape subregion, such as square partition etc. can be set by the subregion.
S111, by outer annular zone configuration be the relevant subregion of battery service function；
Further, the relevant subregion of battery service, the main service function in continuation of the journey base station are set by outer layer subregion
It can be exactly that battery durable ability is provided for unmanned plane, other function is mostly that additional function is arranged in other subregions, therefore will provide
The station setting of battery service is in outermost, after guaranteeing that unmanned plane battery capacity is sufficient, such as it is next to overhaul station, nobody
Machine powers off, and cannot open, and just cannot achieve maintenance.
As shown in fig. 7, in embodiments of the present invention, multiple guide layer packets are arranged according to different subregions in the continuation of the journey base station
It includes:
S130, multiple guide layers are arranged according to different height；
Further, the guide layer is arranged according to different height, and the guide layer is arranged above station, most
The guide layer of lower layer corresponds to first station, the corresponding subregion outermost edges in guide layer outlet.
S131, each guide layer is corresponded at least one subregion, and be associated；
Further, service function needed for unmanned plane may be multiple, therefore the guide layer corresponds at least one subregion,
After the continuation of the journey base station gets multiple functions needed for unmanned plane, unmanned plane is associated with, convenient for unmanned plane in a station
It obtains service and enters the acquisition service of next subregion after the completion, wherein unmanned plane is moved to next subregion by institute by a subregion
State control centre's control.
Further, guidance unmanned plane fly out the station guide layer be arranged on the inside of most inner side station, unmanned plane
A service priority should be arranged by obtaining multiple services, and the service priority is that highest is preferential according to service partition outermost
Grade, complete after service unmanned plane by outermost subregion inwardly it is nearest it is another needed for service partition it is mobile, such unmanned plane exists
It obtains multiple services to be just not required to make to move back and forth, but directly walks, it is known that obtain after completing all required services, then existed by setting
On the inside of most inner side service area take off boot segment guidance unmanned plane to the station out guide layer, and then from flying out.
Further, the station is provided with unmanned plane Transfer pipe, and it is for unmanned plane to exist that the transmission, which is led to,
Transmission between multiple stations, but direction of transfer is that inside station, such as pair serviced needed for unmanned plane are transmitted to by outside station
Answer subregion in outermost subregion and most inner side subregion, the effect in the channel is exactly to be sent to unmanned plane most by outermost subregion
Inside subregion.
As shown in figure 8, in embodiments of the present invention, multiple guide layer packets are arranged according to different height in the continuation of the journey base station
It includes:
S140, the guide layer is configured according to the terrain clearance, receiving height and receiving length of the guide layer；
Further, the guide layer is the guiding channel for guiding unmanned plane to enter the subregion, will be in setting
The corresponding subregion is corresponding to be arranged, and the unmanned plane outlet of the guide layer is arranged in corresponding subregion outer ledge position
It sets, to provide one section of landing boot segment for unmanned plane.
Further, the channel sized of the guide layer setting is much larger than the unmanned plane body, the guidance
The receiving length of layer just needs to be configured according to corresponding subregion.
S141, the setting the smallest receiving length of guide layer terrain clearance are minimum；
Further, the receiving length that the guide layer is configured by the terrain clearance, in order to it is described nobody
Machine obtains the straight-through efficiency of multiple services, so that the smallest receiving length of the guide layer terrain clearance is set as minimum, thus
The smallest guide layer of length will be accommodated and correspond to outermost subregion, obtain the mobile efficiency of service ecto-entad convenient for unmanned plane.
As shown in figure 9, in embodiments of the present invention, it is described that multiple guide layers are arranged according to different subregions further include:
S150, flight boot segment and landing boot segment, the landing are set for guide layer according to subregion region
The surface of corresponding subregion is arranged in boot segment；
The flight boot segment is the receiving length of the guide layer, when unmanned plane can be entered by the guide layer
The top of the corresponding subregion serviced needed for providing for unmanned plane also needs to drop to after unmanned plane passes through the guide layer
The corresponding subregion, therefore the surface of corresponding subregion should just be arranged corresponding landing boot segment and provide vertically for unmanned plane
The boot segment of decline；
Further, unmanned plane is by after the guide layer, reaching the landing boot segment, corresponding guide layer and adjacent
There are differences for the receiving length of upper layer boot segment, and the length of the landing boot segment of lower layer's guide layer is the difference.
S151, flight boot segment are concordant on the outside of the boundary line of landing boot segment and corresponding subregion to be arranged；
The exit of the flight boot segment is just provided with the landing boot segment, therefore the flight boot segment and drop
Falling boot segment just has boundary line.
Further, the landing boot segment is located at the surface of the corresponding subregion, it is worth noting that, described point
Area is arranged to annular in some cases, and the landing boot segment two sides are arranged to and subregion outermost edges, most interior
Side edge is concordant, and effect is when guaranteeing that unmanned plane vertical drop can drop to subregion, and the work of each subregion is not interfere with each other；
Further, if the landing boot segment two sides are not arranged to and subregion outermost edges, most inner side edge
Concordantly, two side length of subregion is set greater than or is less than the landing boot segment, and unmanned plane just has during decline can
It can be exactly other subregions vertically declining corresponding, so that the work of other subregions is influenced, generally speaking, by the landing
Boot segment two sides are arranged to subregion outermost edges, concordant most inner side edge be optimal setting.
S152, two layers neighbouring of guide layer, landing boot segment one end of lower layer's guide layer and going out for upper layer guide layer
The concordant setting of mouth；
The landing guide layer accommodates length difference by neighbouring two layers of guide layer and provides, therefore, lower layer's guide layer
The corresponding landing guide layer, just adjacent with the guide layer upper one layer of non-conterminous landing guide layer one end of the guide layer
The exit of guide layer keeps concordant.
As shown in Figure 10, in embodiments of the present invention, the boundary line of the flight boot segment and the landing boot segment is arranged
Include: for the line of demarcation of by stages
S160, flight boot segment one end adjacent with corresponding landing boot segment are the first boundary line, and the first boundary is corresponding subregion
Outermost line of demarcation；
The flight boot segment outlet is landing boot segment one end adjacent thereto, and the flight boot segment is exported one
End is set as the first boundary, and the outermost of the first boundary subregion corresponding with the guide layer is concordantly arranged, thus will be described
It is separated on the outside of subregion with other subregions.
S161, the landing boot segment other end are the second boundary line, and the second boundary line is the corresponding innermost line of demarcation of subregion；
Described landing boot segment one end corresponding with subregion is set as the second boundary, second boundary and the guidance
The most inner side of the corresponding subregion of layer is concordantly arranged, thus by separating on the inside of the subregion with other subregions.
S162, corresponding subregion and adjacent subregion are separated with the second boundary line according to the first boundary line.
It is as shown in figure 11, in embodiments of the present invention, described that multiple guide layers are arranged according to different subregions further include:
S170, guide layer entrance is arranged in the guide layer periphery according to unmanned plane approach axis；
By the way that guide layer entrance is arranged in the guide layer periphery, continuation of the journey base station passes through service needed for the unmanned plane got
Information is that unmanned plane opens corresponding guide layer entrance, so that unmanned plane be guided to fly into the station that guide layer reaches respective service.
Further, corresponding window can be set in the guide layer entrance, obtains the letter for the license that road unmanned plane enters
Window is opened after breath to fly by unmanned plane.
S171, the guide layer entrance correspond at least one station in subregion；
The guide layer is corresponding with subregion, and the subregion is correspondingly arranged on multiple stations, therefore by the guide layer entrance
It is to establish to have corresponding relationship with the subregion, to be associated with the station in corresponding subregion, layering landing method can be optimized
Reliability.
As shown in figure 12, in embodiments of the present invention, described guide to unmanned plane includes:
S180, guidance unmanned plane enter corresponding guidance entrance；
The relevant information for the unmanned plane that unmanned plane can be obtained into the continuation of the journey base station, the continuation of the journey base station, according to
Service function needed for the unmanned plane extracted needs for unmanned plane to be transmitted to corresponding subregion, and wants to reach corresponding subregion
Will corresponding guide layer guide, to avoid multiple unmanned planes, unordered flight causes adverse consequences in continuation of the journey base station, therefore,
A guidance entrance is provided for unmanned plane, unmanned plane is guided to guidance entrance.
S181, guidance unmanned plane fly in flight boot segment；
Unmanned plane is after entering guidance entrance, into the guide layer, in guide layer, to guarantee that the correct of unmanned plane flies
Row, guides the flight of unmanned plane.
S182, guidance unmanned plane land in landing boot segment；
Unmanned plane flies out after guide layer, and to landing boot segment, the landing boot segment guides unmanned plane to drop to pair for flight
In the subregion answered.
Further, unmanned plane enter continue a journey base station after, by continue a journey base station unmanned plane is temporarily controlled, at this time without
For man-machine motion profile by the control of continuation of the journey base station, the continuation of the journey base station is to carry out related clothes to unmanned plane according to unmanned machine information
Unmanned plane after completing service, is drawn station by guide layer by business, after unmanned aerial vehicle (UAV) control is moved to corresponding position, base of continuing a journey
It stands and temporarily controls unmanned plane cancellation.
As shown in figure 13, in embodiments of the present invention, described guide to unmanned plane includes:
It S190, is that the unmanned plane matches corresponding guide layer according to the subregion；
By the information of the unmanned plane got to obtain service needed for unmanned plane is said, according to required positioning service
The subregion reached needed for unmanned plane is that unmanned plane configures the corresponding guide layer further according to the subregion.
S191, according to selection result, the unmanned plane is led into the guide layer, the unmanned plane that lands is to described
Subregion；
According to the selection result of unmanned plane function services, the unmanned plane passes through the guide layer information got and enters
The guide layer entrance corresponding with service function selection result is drawn by the landing boot segment corresponding after the guide layer
It is directed at the corresponding subregion.
Further, the selection result of service needed for unmanned plane can be multiple, be nobody according to the service priority
Machine configures the sequencing of subregion, and the guide layer corresponds to first subregion that unmanned plane enters the service of acquisition, at the first point
After the completion of the service in area, the guiding channel between subregion is by second subregion of unmanned plane corresponding with service, until completing complete
After portion's service, drawn into unmanned plane.
As shown in figure 14, in embodiments of the present invention, described to obtain unmanned machine information, it is nothing according to the unmanned machine information
The corresponding subregion of man-machine matching includes:
S200, corresponding subregion is matched according to the service type in the unmanned machine information；
Further, each subregion is set corresponding with service function by the continuation of the journey base station, according to the unmanned machine information
In unmanned plane type matching correspond to the correspondence station in subregion, different types of unmanned plane obtains nobody of same service function
Machine is pooled to same subregion.
S201, correspondence station in subregion is corresponded to according to the unmanned plane type matching in the unmanned machine information；
Further, different types of unmanned plane to provide respective service same subregion, due to unmanned plane type not
Together, matching and the corresponding station of unmanned plane type matching are just needed in the subregion of corresponding with service, therefore unmanned plane is entering
The continuation of the journey base station obtains unmanned plane relevant information by the continuation of the journey base station, thus service needed for obtaining unmanned plane, and be nobody
Machine configures the corresponding guide layer, makes unmanned plane is safe and reliable to drop in the corresponding station of the subregion.
The embodiment of the present invention also provides a kind of unmanned plane continuation of the journey base station, can be used for executing nobody of previous embodiment offer
Machine is layered landing method.As shown in figure 15, which at least may include: memory 10 and at least one processor 20,
Such as CPU (Central Processing Unit, central processing unit), wherein memory 10 and processor 20 can be by total
Line is communicatively coupled.It will be understood by those skilled in the art that the structure for base station of continuing a journey shown in Figure 15 is not constituted to this
The restriction of inventive embodiments, it is also possible to hub-and-spoke configuration either busbar network, can also include than illustrate it is more or
Less component perhaps combines certain components or different component layouts.
Wherein, memory 10 can be high speed RAM memory, be also possible to non-labile memory (non-
Volatile memory), a for example, at least magnetic disk storage.It is remote that memory 10 optionally can also be that at least one is located at
Storage device from aforementioned processor 20.Memory 10 can be used for storing executable program code and data, and the present invention is implemented
Example is not construed as limiting.
In continuation of the journey base station shown in figure 15, processor 20 can be used for calling the executable program generation of the storage of memory 10
Code executes following steps:
Layer is carried out into configuration to unmanned plane drop zone according to service function, obtains the subregion with respective service function；
Multiple guide layers are set according to different subregions, unmanned plane is guided.
Optionally, processor 20 can wrap according to the mode that service function carries out layer into configuration to unmanned plane drop zone
It includes:
Annular subregion is set from inside to outside according to service function；
It is the relevant subregion of battery service function by outer annular zone configuration.
Optionally, processor 20 may include: according to the mode that multiple guide layers are arranged in different subregions
According to different height, multiple guide layers are set；
Each guide layer is corresponded at least one subregion, and is associated.
Optionally, processor 20 may include: according to the mode that multiple guide layers are arranged in different height
The guide layer is configured according to the terrain clearance of guide layer, receiving height and receiving length；
It is minimum that the smallest receiving length of guide layer terrain clearance, which is arranged,.
Optionally, after multiple guide layers are arranged according to different subregions in processor 20, processor 20 can be also used for adjusting
The executable program code stored with memory 10 executes following steps:
Flight boot segment and landing boot segment, landing boot segment setting are set by guide layer according to subregion region
In the surface of corresponding subregion.
Optionally, the boundary line of flight boot segment and landing boot segment is set as the line of demarcation of by stages.
Optionally, after multiple guide layers are arranged according to different subregions in processor 20, processor 20 can be also used for adjusting
The executable program code stored with memory 10 executes following steps:
Guide layer entrance is set in guide layer periphery according to unmanned plane approach axis；
Guide layer entrance corresponds at least one station in subregion.
Optionally, processor 20 may include: to the mode that unmanned plane guides
Unmanned plane is guided to enter corresponding guidance entrance；
Guidance unmanned plane flies in flight boot segment；
Guidance unmanned plane lands in landing boot segment.
Optionally, processor 20 may include: to the mode that unmanned plane guides
Unmanned machine information is obtained, is that unmanned plane matches corresponding subregion according to the unmanned machine information；
It is that unmanned plane matches corresponding guide layer according to the subregion；
According to selection result, unmanned plane is led into the guide layer, landing unmanned plane to the subregion.
Optionally, processor 20 obtains unmanned machine information, is that unmanned plane matches corresponding subregion according to the unmanned machine information
Mode may include:
Corresponding subregion is matched according to the service type in unmanned machine information；
The correspondence station in subregion is corresponded to according to the unmanned plane type matching in the unmanned machine information.
Implement unmanned plane continuation of the journey shown in figure 15 base station, the unmanned machine information of continuation of the journey base station is entered by obtaining, is got
The type of unmanned plane and required service function, the service function according to needed for unmanned plane are that the drop zone of unmanned plane carries out layer into matching
It sets, to obtain the respective partition of service function needed for unmanned plane, draws further according to what the corresponding configuration guidance unmanned plane of subregion entered
Conducting shell makes unmanned plane correctly drop to the subregion of corresponding required service function.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
A specific embodiment of the invention is only limited to these instructions.General technical staff of the technical field of the invention is come
It says, without departing from the inventive concept of the premise, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to this hair
Bright protection scope.
Claims (10)
- The base station 1. a kind of unmanned plane is continued a journey, which is characterized in that the continuation of the journey base station includes: memory and processor, wherein described Memory is used to call the executable journey of the memory storage for storing executable program code and data, the processor Sequence code executes following steps:Layer is carried out into configuration to unmanned plane drop zone according to service function, obtains the subregion with respective service function；Multiple guide layers are set according to different subregions, unmanned plane is guided.
- The base station 2. unmanned plane as described in claim 1 is continued a journey, which is characterized in that the processor is according to service function to nobody Machine drop zone carry out layer into configuration mode include:Annular subregion is set from inside to outside according to service function；It is the relevant subregion of battery service function by outer annular zone configuration.
- The base station 3. unmanned plane as described in claim 1 is continued a journey, which is characterized in that the processor is arranged according to different subregions The mode of multiple guide layers includes:According to different height, multiple guide layers are set；Each guide layer is corresponded at least one subregion, and is associated.
- The base station 4. unmanned plane as claimed in claim 3 is continued a journey, which is characterized in that the processor is arranged according to different height The mode of multiple guide layers includes:According to the terrain clearance of the guide layer, accommodates height and accommodate the length configuration guide layer；It is minimum that the smallest receiving length of guide layer terrain clearance, which is arranged,.
- The base station 5. unmanned plane as described in Claims 1-4 is any is continued a journey, which is characterized in that the processor is according to different Subregion is arranged after multiple guide layers, and the processor is also used to call the executable program code of the memory storage, holds Row following steps:Flight boot segment and landing boot segment, the landing boot segment are set by the guide layer according to subregion region The surface of corresponding subregion is set.
- The base station 6. unmanned plane as claimed in claim 5 is continued a journey, which is characterized in that the flight boot segment and the landing guide The boundary line of section is set as the line of demarcation of by stages.
- The base station 7. unmanned plane as claimed in claim 6 is continued a journey, which is characterized in that the processor is arranged according to different subregions After multiple guide layers, the processor is also used to call the executable program code of the memory storage, executes following step It is rapid:Guide layer entrance is set in the guide layer periphery according to unmanned plane approach axis；The guide layer entrance corresponds at least one station in subregion.
- The base station 8. unmanned plane as claimed in claim 7 is continued a journey, which is characterized in that the processor guided unmanned plane Mode includes:Unmanned plane is guided to enter corresponding guidance entrance；Guidance unmanned plane flies in flight boot segment；Guidance unmanned plane lands in landing boot segment.
- The base station 9. unmanned plane as described in Claims 1-4 is any is continued a journey, which is characterized in that the processor to unmanned plane into Row guidance mode include:Unmanned machine information is obtained, is that unmanned plane matches corresponding subregion according to the unmanned machine information；It is that the unmanned plane matches corresponding guide layer according to the subregion；According to selection result, the unmanned plane is led into the guide layer, the unmanned plane that lands is to the subregion.
- The base station 10. unmanned plane as claimed in claim 9 is continued a journey, which is characterized in that the processor obtains unmanned machine information, root Include: according to the mode that the unmanned machine information matches corresponding subregion for unmanned planeCorresponding subregion is matched according to the service type in the unmanned machine information；The correspondence station in subregion is corresponded to according to the unmanned plane type matching in the unmanned machine information.
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