CN109062247A - A kind of access method of unmanned plane base station - Google Patents
A kind of access method of unmanned plane base station Download PDFInfo
- Publication number
- CN109062247A CN109062247A CN201810850163.7A CN201810850163A CN109062247A CN 109062247 A CN109062247 A CN 109062247A CN 201810850163 A CN201810850163 A CN 201810850163A CN 109062247 A CN109062247 A CN 109062247A
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- Prior art keywords
- unmanned plane
- base station
- multiple uavs
- arrival time
- access method
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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
Abstract
The invention discloses a kind of access methods of unmanned plane base station, the described method includes: obtaining the essential information of multiple UAVs in preset range, according to the essential information, judge that can the unmanned plane fly to charging base station, if can, open unmanned plane enters the permission of base station；The inbound request information for obtaining multiple UAVs, according to unmanned plane described in the inbound request information answer, and requires unmanned plane to fly with defined speed；Obtain the arrival time of multiple UAVs, the arrival time of multiple UAVs is compared, it is that unmanned plane matches a serial number according to the arrival time, the serial number is stored and be sent to unmanned plane, and regulation unmanned plane numbers land according to the sequence.The control that this unmanned plane base station access method orderly enters the station to unmanned plane according to the transmission information that base station receives unmanned plane makes it have the unmanned plane of demand to arrive safely base station and charge and continues to continue a journey, avoids unmanned plane terminated task execution due to electric energy deficiency.
Description
Technical field
The present invention relates to unmanned plane station technology fields, more specifically, being related to a kind of access method of unmanned plane base station.
Background technique
The abbreviation of unmanned plane i.e. UAV is filled using radio robot and the process control provided for oneself
Set the not manned aircraft of manipulation.With the development of unmanned air vehicle technique, unmanned plane has increasingly been applied to the production of people
Among life, such as mapping, cruise monitoring etc., current most of unmanned plane during flyings provide energy by battery, but battery is primary
The energy that can be provided is limited, and after unmanned plane completes flight, when not enough power supply, just unmanned plane is needed to enter base
Battery is charged or replaced at station could continue execution task of continuing a journey.It unmanned plane base station can be automatic to unmanned plane under artificial control
Charging or replacement battery, although this automatic base station for replacing battery for unmanned plane can make unmanned plane master that need not wait to be charged
Between, but enter this process of base station in unmanned plane still and can have a series of problems and be difficult to solve.
Nowadays, although scientific technological advance is rapid, not extensively, unmanned plane enters base station to the covering surface of unmanned plane base station
It can not obtain strong control, that is to say, that when unmanned plane continuation of the journey electric energy is not enough to complete task, carry out replacement electricity
When the unmanned plane quantity in pond is more, this, which will largely limit unmanned plane and enter base station, carries out replacement battery or charging, more
Unmanned plane also has the danger to collide when entering base station simultaneously.
Summary of the invention
The purpose of the present invention is to solve the problemss of the above-mentioned prior art, provide a kind of unmanned plane base station side of entrance
Method.
The purpose of the present invention is achieved through the following technical solutions:
A kind of access method of unmanned plane base station, which comprises
The essential information for obtaining multiple UAVs in preset range judges the unmanned function according to the essential information
It is no to fly to charging base station, if can, open unmanned plane enters the permission of base station.
The inbound request information for obtaining multiple UAVs, according to unmanned plane described in the inbound request information answer, and is wanted
Unmanned plane is asked to fly with defined speed.
The arrival time for obtaining multiple UAVs, the arrival time of multiple UAVs is compared, is arrived at a station according to described
Time is that unmanned plane matches a serial number, the serial number is stored and be sent to unmanned plane, and provide that unmanned plane is pressed
The serial number is landed.
Preferably, the essential information includes at least: the location information of unmanned plane；Obtain preset range multiple UAVs
Location information, and the unmanned plane is calculated to the base station distance of charging base station, data point are carried out according to acquired location information
Analysis processing, and judge that can the unmanned plane fly to charging base station in the case where low electric energy, if base station can be arrived at, open nothing
The man-machine permission into base station.
Preferably, after the location information of charging base station acquisition multiple UAVs, its location information is subjected to data analysis simultaneously
Calculate the unmanned plane to charging work area work area distance.
Preferably, the solicited message includes: unmanned plane desired content and inbound request；
Charge base station by unmanned plane send acquisition of information identify unmanned plane desired content, obtain desired content after and with certainly
The service content of body is matched.
The inbound request information for obtaining multiple UAVs simultaneously, determines that unmanned plane position is answered according to the inbound request information
Answer the unmanned plane.
Preferably, unmanned plane base station access method further include:
If the service content successful match of unmanned plane desired content and charging base station, ratifies the unmanned plane and enters the station,
And it requires the unmanned plane to fly by defined speed and arrives at charging base station.
Preferably, unmanned plane base station access method further include:
If the unmanned plane desired content matched with the service content of unmanned plane it is unsuccessful, do not receive unmanned plane into
It stands request, and leaves signal to unmanned plane transmission.
Preferably, according to the flying speed of the unmanned plane and base station distance calculate unmanned plane fly to charging base station when
Between, the arrival time of multiple UAVs is compared, is that unmanned plane matches a serial number according to the arrival time,
The serial number stores and is sent to unmanned plane, and sends control instruction regulation unmanned plane and number according to the sequence and land
Include:
The time that unmanned plane flies to charging base station is calculated according to the flying speed of the unmanned plane and base station distance.
Preferably, unmanned plane base station access method further include:
The time that unmanned plane flies to charging work area is calculated according to the flying speed of the unmanned plane and station distance.
Preferably, by obtaining the arrival time of multiple UAVs, the arrival time of multiple UAVs is compared, root
It is that unmanned plane matches a serial number according to the arrival time, the serial number is stored and be sent to unmanned plane, and advise
Determine unmanned plane number according to the sequence carry out landing include:
It is temporarily numbered in order according to the length of the arrival time, and the interim number is sent to nobody
Machine.
Preferably, by obtaining the arrival time of multiple UAVs, the arrival time of multiple UAVs is compared, root
It is that unmanned plane matches a serial number according to the arrival time, the serial number is stored and be sent to unmanned plane, and advise
Determine unmanned plane and number according to the sequence to land further include:
After unmanned plane reaches charging base station, the interim number is achieved, the interim number is then cancelled
Bring of the present invention is the utility model has the advantages that this unmanned plane base station access method receives the transmission information of unmanned plane according to base station
To the control that unmanned plane is orderly entered the station, the unmanned plane that base station can control multi rack to need to charge or replace battery enters, and makes it
Have the unmanned plane of demand arrive safely base station and charge continue to continue a journey, be avoided that unmanned plane enter base station collide and due to
Electric energy is insufficient and terminated task executes.
Detailed description of the invention
Fig. 1 is the method flow diagram of the embodiment of the present invention；
Fig. 2 is the matching flow chart of the embodiment of the present invention.
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.
As shown in Figs. 1-2, a kind of unmanned plane base station access method is provided, which comprises
S100, the essential information for obtaining multiple UAVs in preset range, according to the essential information, judge it is described nobody
Function is no to fly to charging base station, if can, open unmanned plane enters the permission of base station.
It is S110, further, when automatic search is set to neighbouring charging base when low battery is continued a journey by unmanned plane
It stands, the id information by obtaining a nearest base station enters in the induction region of base station, and unmanned plane enters the induction zone of charging base station
Base station is electrically charged in domain to sense, control centre receive the unmanned plane essential information and to the unmanned plane essential information into
Row identification,
Further, control centre is received the unmanned plane essential information and needs to be executed using mechanics of communication, wherein
Information reception is carried out using GPRS mechanics of communication, WIFI and wireless blue tooth etc. can also be used without limitation and carry out connecing for signal
It receives.
In the embodiment of the present invention, the unmanned plane essential information includes at least the location information of unmanned plane, obtains default model
Enclose the location information of multiple UAVs, and calculate the unmanned plane to charging base station base station distance, according to acquired position
Information carries out Data Analysis Services, and judges that can the unmanned plane fly to charging base station in the case where low electric energy, if can support
Up to base station, then enter the permission of base station for open unmanned plane
Further, the unmanned plane essential information further includes that the sizes and types information of unmanned plane and unmanned plane fly
Row velocity information, the unmanned plane type information include at least unmanned plane battery size information, battery capacity information, charging interface
Structural information.Charging base station determines the size and rotor quantity and shape of unmanned plane according to the unmanned plane size information, in turn
The suitable station is matched for the unmanned plane.For example, some unmanned plane figures are larger, it can be the biggish unmanned plane of the figure
It is matched on the biggish charging station in a space；Although less, rotor is distributed more widely, also needs for the ontology of some unmanned planes
It is matched to the biggish charging station in a space.
Further, the type information of unmanned plane can make requests from charging base station to unmanned plane, specifically, unmanned plane
When flight enters the induction region of charging base station, charging base station sends request unmanned plane to unmanned owner and sends nothing to charging base station
The request of man-machine information, if unmanned owner agrees to, unmanned plane sends this unmanned machine information to charging base station.
As a kind of possible embodiment, the type information of unmanned plane can also be identified automatically by base station of charging, will
Recognition result sends unmanned owner and confirms.Specifically, charging base station captured by camera fly into charge base station nobody
The image of the unmanned plane is stored with various unmanned plane image in charging base station by pattern recognition device by the image of machine
Picture library in compare and analyze, obtain the type information of the unmanned plane.
Further, after charging base station obtains unmanned plane essential information, then pass through control centre's calculating unmanned plane to charging
The work area distance in work area is selected to know that unmanned plane reaches the time required for charging work area according to the type information of unmanned plane
The charging interface selecting suitable charging station and matching.
Further, the charging base station is not provided only with unmanned plane and directly fills station, moreover it is possible to unmanned machine battery into
Row replacement, this can according to carrying out replacement battery or charging under the requirement of unmanned plane owner, it is described directly fill station can be by filling
Electric port charges directly unmanned plane.It should be noted that because the cell production companies of unmanned plane are very more, nothing
A possibility that model of battery on man-machine, is also very more, and therefore, charging base station not necessarily retains the man-machine battery size of being and not being
The battery to match, and directly filling station can make unmanned plane when electricity is low can also be with even if replacing without respective battery
Carry out charging continuation of the journey.
In some possible embodiments, described directly fill on station can be setting USB charge port, be sent out by unmanned plane
The charging interface in essential information or process image recognition to unmanned plane sent, charging base station control center will judge the unmanned plane
Desired content whether match with base station service content, i.e., the charging battery that prestores of base station and whether need replacing battery size
Unanimously, whether USB interface match with unmanned plane charging interface.
S101, the inbound request information for obtaining multiple UAVs, according to unmanned plane described in the inbound request information answer,
And unmanned plane is required to fly with defined speed.
Further, the unmanned inbound request information includes unmanned plane desired content and inbound request；
Charge base station by unmanned plane send acquisition of information identify unmanned plane desired content, obtain desired content after and with certainly
The service content of body is matched.
The inbound request information for obtaining multiple UAVs simultaneously, determines that unmanned plane position is answered according to the inbound request information
Answer the unmanned plane.
If the service content successful match of S112, unmanned plane desired content and charging base station, ratifies the unmanned plane
Enter the station, charging base station can be sent to unmanned plane owner to the control information of unmanned plane, after owner promises request, and by owner or
Charging base station control center controls unmanned plane during flying speed, flies by defined speed and arrives at charging base station.
If S111, the unmanned plane desired content match unsuccessful with the service content of unmanned plane, nobody is not received
The inbound request of machine, and signal is left to unmanned plane transmission.
Certainly, a kind of possible embodiment is done, what unmanned owner had ignored that charging base station issues leaves signal, control centre
Unmanned plane can be interfered when unmanned plane enters control range, obtain the control of unmanned plane, grounded in time, and lead to
Know that unmanned owner claims.
S102, the arrival time for obtaining multiple UAVs, the arrival time of multiple UAVs are compared, according to described
Arrival time is that unmanned plane matches a serial number, the serial number is stored and be sent to unmanned plane, and provide nobody
Machine is numbered according to the sequence to land.
Further, the required unmanned plane quantity serviced may be several framves or more, charging base station needs pair
The time that all unmanned planes reach charging base stations is calculated, and is passed through the location information of unmanned plane and can be obtained the time arrived at a station,
Control centre is ranked up its all unmanned plane arrival time length, then is numbered one by one in order, this number is for nobody
Machine enters the interim number of base station, and corresponding number is sent to unmanned plane again by control centre, by control centre or owner institute
The speed of control is flown, then unmanned plane can land in order.
Further, if unmanned plane reaches after charging base station, charging station can be entered and be charged by the requirement of owner
Or replacement battery, it temporarily numbers at this time archived, controls and select corresponding charging station for unmanned plane, complete charging or replacement electricity
Cancellation will be temporarily numbered behind pond.
In an alternative embodiment of the invention, in order to keep the unmanned plane entered and exited orderly, and the feelings of unmanned plane collision are not
Condition occurs, and induction region as defined in a range is arranged in charging base station, and an induction threshold value also can be set to sense in induction region
The range in region is answered to be provided, such as 100 meters of radius；Unmanned plane into induction region can send networking to charging base station
Request, charging base station agree to unmanned plane networking request after, when unmanned plane enter charging base station control range, represent unmanned plane
It networks, guidance unmanned plane in charging base station enters base station.The induction region can be also possible to pass through thunder by radio influence
Up to induction.
Further, charging base station is generated requests about the networking of the unmanned plane, and charging base station is according to the described unmanned plane
Networking request, obtain the information of unmanned plane, and confirm base station with the presence or absence of need charge and battery altering condition, entirely ask
The process asked carries out between charging base station and unmanned owner, reduces the electric quantity consumption of unmanned plane.
It should be noted that charging base station is the website for providing continuation of the journey for unmanned plane and being arranged, around charging base station
The order of unmanned plane during flying should be kept, so that the event for avoiding unmanned plane from colliding occurs.When unmanned plane enters induction region,
When charging base station confirms that unmanned owner does not need continuation of the journey service, in order to keep the order of unmanned plane during flying around charging base station,
The alarm left is issued to unmanned owner, and unmanned owner is reminded to control the induction zone that unmanned plane flies away from charging base station in time.
Charge the base station setting networking threshold value, determines the allowed band of charging base station, the allowed band in charging base station
Interior, unmanned plane should be the unmanned plane continued a journey, and can safeguard the order of unmanned plane inside and outside charging base station in this way, avoid
The unordered flight bring accident of unmanned plane.
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)
1. a kind of access method of unmanned plane base station, which is characterized in that the described method includes:
The essential information for obtaining multiple UAVs in preset range judges that can the unmanned plane fly according to the essential information
Electric base station is taken out, if can, open unmanned plane enters the permission of base station；
The inbound request information for obtaining multiple UAVs, according to unmanned plane described in the inbound request information answer, and requires nothing
It is man-machine to be flown with defined speed；
The arrival time for obtaining multiple UAVs, the arrival time of multiple UAVs is compared, according to the arrival time
A serial number is matched for unmanned plane, the serial number is stored and be sent to unmanned plane, and provide unmanned plane by described
Serial number is landed.
2. a kind of access method of unmanned plane base station according to claim 1, which is characterized in that the essential information is at least
Location information including unmanned plane；
The essential information for obtaining preset range multiple UAVs judges that can the unmanned plane according to the essential information
Charging base station is flown to, if can, the permission that open unmanned plane enters base station includes:
Obtain multiple UAVs location information, and calculate the unmanned plane to charge base station base station distance.
3. a kind of access method of unmanned plane base station according to claim 2, which is characterized in that obtain multiple UAVs
Location information, and calculate the unmanned plane to charging work area work area distance.
4. a kind of access method of unmanned plane base station according to claim 1, which is characterized in that the request packet
It includes: unmanned plane desired content and inbound request；
The inbound request information for obtaining multiple UAVs, according to unmanned plane described in the inbound request information answer, and requires nothing
It is man-machine to include: with the flight of defined speed
It identifies unmanned plane desired content, and is matched with the service content of itself.
5. a kind of access method of unmanned plane base station according to claim 4, which is characterized in that the described method includes: such as
The service content successful match of fruit unmanned plane desired content and charging base station, then ratify the unmanned plane and enter the station, and described in requirement
Unmanned plane flies by defined speed.
6. a kind of access method of unmanned plane base station according to claim 4, which is characterized in that the described method includes:
If the unmanned plane desired content matched with the service content of unmanned plane it is unsuccessful, to unmanned plane transmission leave letter
Number.
7. a kind of access method of unmanned plane base station according to claim 1, which is characterized in that obtain multiple UAVs
The arrival time of multiple UAVs is compared by arrival time, is that unmanned plane matches a sequence according to the arrival time
Number stores and is sent to unmanned plane the serial number, and regulation unmanned plane numbers land according to the sequence and includes:
The time that unmanned plane flies to charging base station is calculated according to the flying speed of the unmanned plane and base station distance.
8. a kind of access method of unmanned plane base station according to claim 7, which is characterized in that the described method includes:
The time that unmanned plane flies to charging work area is calculated according to the flying speed of the unmanned plane and station distance.
9. a kind of access method of unmanned plane base station described in claim 1, which is characterized in that obtain arriving at a station for multiple UAVs
The arrival time of multiple UAVs is compared by the time, is that unmanned plane matches a serial number according to the arrival time,
The serial number is stored and is sent to unmanned plane, and regulation unmanned plane numbers land according to the sequence and includes:
It is temporarily numbered in order according to the length of the arrival time, and the interim number is sent to unmanned plane.
10. a kind of access method of unmanned plane base station described in claim 1, which is characterized in that obtain arriving for multiple UAVs
It stands the time, the arrival time of multiple UAVs is compared, be that unmanned plane matches a sequence volume according to the arrival time
Number, the serial number is stored and is sent to unmanned plane, and regulation unmanned plane numbers land according to the sequence and includes:
After unmanned plane reaches charging base station, the interim number is achieved, the interim number is then cancelled.
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Application publication date: 20181221 |