CN109080843A - A kind of alignment methods of unmanned plane charge position - Google Patents
A kind of alignment methods of unmanned plane charge position Download PDFInfo
- Publication number
- CN109080843A CN109080843A CN201810925234.5A CN201810925234A CN109080843A CN 109080843 A CN109080843 A CN 109080843A CN 201810925234 A CN201810925234 A CN 201810925234A CN 109080843 A CN109080843 A CN 109080843A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- charge position
- infrared light
- idle
- charging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- 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
Abstract
The invention discloses a kind of alignment methods of unmanned plane charge position, comprising the following steps: the image information for obtaining charge position on charging base station analyzes the charge position of described image acquisition of information free time；The precise image information for obtaining idle charge position analyzes the picture flag information of the idle charge position, selection and the matched idle charge position of the unmanned plane；The unmanned plane flies to the top of the idle charge position；And it sends and the charging base station is allowed to open the instruction of infrared signal emitter, and open the infrared signal reception device on the unmanned plane；It adjusts the infrared light emission mouth that the infrared light receiving port on the unmanned plane is aligned in the idle charge position and carries out decline charging.The invention has the beneficial effects that align unmanned plane faster more accurately with idle charge position, and the case where be ranked up charging to unmanned plane, avoid some unmanned planes that from cannot charging.
Description
Technical field
The present invention relates to unmanned plane fields, and more specifically, it relates to a kind of alignment methods of unmanned plane charge position.
Background technique
With the improvement of people's living standards, unmanned air vehicle technique has used maturation, has begun in logistics, takes photo by plane, makes an inspection tour
Equal fields play great effect.
When unmanned plane is made in working flight, the supply of power supply all relies on the battery of itself.Therefore, unmanned plane must
It must check the charge condition of cells the moment, when needing to charge, unmanned plane can be charged with Automatic-searching charge position,
In order to prevent various situations caused by not enough power supply, and when unmanned plane automatic charging technology can extend the flight of unmanned plane
Between, increase the range of its working flight, realizes continuous continuous task.
Currently used unmanned plane automatic charging alignment methods, alignment is generally relatively single, and the precision of alignment is not
Height, alignment efficiency is also slow, and charging is easy to cause to fail, also, the unmanned plane for needing to charge since charge position is relatively fewer
More, when unmanned plane finds charge position and charged, usually will appear leads to unmanned plane since unmanned plane does not sort
The case where can not find charge position when needing to charge.
Summary of the invention
The purpose of the present invention is to solve unmanned plane charging alignment precision it is not high, also, charge asking without sequence
Topic, provides a kind of alignment methods of unmanned plane charge position.
The purpose of the present invention is achieved through the following technical solutions: a kind of alignment methods of unmanned plane charge position, packet
Include following steps:
Obtain the location information of charging base station；
Judge whether unmanned plane needs to charge, when the unmanned plane needs to charge, the unmanned plane is filled by what is obtained
The location information of electric base station is flown to above the charging base station；
When the unmanned plane fly to it is described charging base station top when, obtain it is described charging base station on charge position image letter
Breath analyzes the charge position of described image acquisition of information free time；
Obtain the precise image information of idle charge position, analyze the picture flag information of the idle charge position, selection with
The matched idle charge position of the unmanned plane；
The unmanned plane flies to the top of the idle charge position；And it sends and the charging base station is allowed to open infrared signal
The instruction of emitter, and open the infrared signal reception device on the unmanned plane；
Image information by obtaining the idle charge position adjusts the infrared light receiving port on the unmanned plane and is directed at institute
The infrared light emission mouth stated in idle charge position carries out decline charging.
Preferably, the analysis idle charge position picture flag information comprising steps of
Analyze the quantity of the infrared light emission mouth in described image information.By the number for analyzing the infrared light emission mouth
Amount, to make the unmanned plane in single unmanned plane or single course that can only charge in single charge position, is equivalent to institute
It states unmanned plane charging to be sorted, avoids the problem that the unmanned plane can not find charge position.
Preferably, the analysis idle charge position picture flag information comprising steps of
Analyze the position that the infrared light emission mouth in described image information is in the idle charge position.
It is in the position in the idle charge position by the infrared light receiving port in analysis described image information, makes institute
It states unmanned plane and the contraposition of the charge position is more accurate, also, further unmanned plane charging is ranked up, avoid nothing
It is man-machine to cause confusion in charging, make some unmanned planes that cannot charge.
Preferably, it is described judge unmanned plane whether need charge comprising steps of
The fly able distance of remaining capacity institute of the unmanned plane is obtained in real time；
When the fly able distance of the remaining capacity of unmanned plane institute is less than pre-determined distance value S, the unmanned plane is determined
It needs to charge；
When the fly able distance of the remaining capacity of unmanned plane institute is greater than pre-determined distance value S, the unmanned plane is determined
Without charging.
By judging whether unmanned plane needs to charge, avoid unmanned plane when needing to charge, charging of not flying to timely
Position is charged, the case where so as to cause air crash.
Preferably, the image information for obtaining charge position on the charging base station, analysis described image acquisition of information are empty
Not busy charge position comprising steps of
When whether there is or not when man-machine image in charge position, it is determined that for the charge position to charge with unmanned plane；
When haunting in charge position, whether there is or not when man-machine image, it is determined that for idle charge position.
Whether the image with unmanned plane determines idle charge position in image information by judging the acquisition, can be with
Keep the information of the idle charge position obtained more accurate, so that the unmanned function be made to be directed at charge position faster.
Preferably, the image information by obtaining the idle charge position adjusts the infrared light on the unmanned plane and connects
Infrared light emission mouth in alignment of the closing up idle charge position comprising steps of
The image information of the idle charge position is obtained in real time；
The image information of analysis acquisition in real time and the position for adjusting the unmanned plane make described in the signal receiving port alignment
Signal emission port in idle charge position.
Image information by obtaining the idle charge position constantly is adjusted the position of the unmanned plane, makes the nothing
Infrared light receiving port on man-machine faster can more accurately be directed at the infrared light emission mouth in the idle charge position.
Preferably, the image information by obtaining the charge position of the free time adjusts the infrared light on the unmanned plane
Signal receiving port be directed at the signal emission port in the idle charge position comprising steps of
Infrared light receiving port or nothing when the number of unmanned plane adjustment reaches upper limit value X, on the unmanned plane
When method obtains the infrared signal emitted in the idle charge position, the unmanned plane is alarmed；The upper limit value X is whole
Number.
When reaching upper limit value X by the number that unmanned plane adjusts, the infrared light receiving port on the unmanned plane still can not
When obtaining the infrared signal emitted in the idle charge position, the unmanned plane is alarmed, in this way when on the unmanned plane
Infrared optical receiver apparatus or idle charge position on infrared signal emitter damage or when something goes wrong, it is logical in time
Know that repairman places under repair.
Preferably, the infrared light receiving port when the number of unmanned plane adjustment reaches upper limit value X, on the unmanned plane
Or when the infrared light emission mouth that can not be aligned in the idle charge position, the unmanned plane alarmed comprising steps of
Infrared light receiving port or nothing when the number of unmanned plane adjustment reaches upper limit value X, on the unmanned plane
When method is directed at the infrared light emission mouth in the idle charge position, the unmanned plane sending allows the charging base station to close infrared light
The instruction of sender unit, and close the infrared signal reception device on the unmanned plane；
After waiting for 10 to 30 seconds quietly, the unmanned plane issues again allows the charging base station to open infrared signal emitter
Instruction, and open the infrared signal reception device on the unmanned plane；
Adjusting the unmanned plane again makes infrared light receiving port be directed at the infrared light emission mouth in the idle charge position；
Infrared light receiving port after adjusting again on the unmanned plane still can not be aligned in the idle charge position
When infrared light emission mouth, the unmanned plane is alarmed.
When the infrared light receiving port on the unmanned plane still can not be directed at the infrared light emission in the idle charge position
Mouthful when by closing the infrared signal emitter and the infrared optical receiver apparatus after, be again turned on and be adjusted pair
Position, thus being avoided that leads to nothing since the infrared signal emitter or the infrared optical receiver apparatus single go wrong
Man-machine the problem of can not being aligned.
Preferably, the unmanned plane, which is sent, allows the charging base station to open the instruction of infrared signal emitter, and beats
Open the infrared signal reception device on the unmanned plane comprising steps of
The route distance for obtaining the unmanned plane and the charging base station, when the route distance is less than preset value R, institute
Stating unmanned plane transmission allows the charging base station to open the instruction of infrared signal emitter, and opens red on the unmanned plane
Outer light signal receiving.
So that the unmanned plane is issued instruction by the way that preset value R is arranged, and open the infrared optical receiver apparatus, works as institute in this way
When stating unmanned plane and flying to pre-determined distance value R not yet, the charging base station is not necessarily to opening signal emitter, the unmanned plane
Without opening signal emitter, this avoid the energy consumptions of the charging base station and the unmanned plane, to play section
About effect.
Preferably, it further comprises the steps of:
Obtain the unmanned plane charged state；
When the unmanned plane, which encounters external force, is detached from charged state, contraposition charging is carried out again；
It is described when the number that the unmanned plane carries out contraposition charging again, which reaches preset value N, still can not align charging
Unmanned plane is alarmed；The preset value N is integer.
After unmanned plane is detached from charged state, the unmanned plane can carry out contraposition charging again, and this avoid nobody
Machine can not charge after being detached from charged state, and be also provided with type of alarm, and this avoid unmanned planes to be detached from charging shape
The case where state is positioned again and is not positioned, and unmanned plane management is also resulted in.
Bring of the present invention is the utility model has the advantages that can be accurately and fast by image recognition technology and infrared light technique of alignment
The case where charging of the realization unmanned plane of speed aligns, and is not in charging contraposition failure, also, unmanned plane also passes through the analysis free time
The corresponding idle charge position of the picture flag information matching of charge position carries out contraposition charging, realizes single unmanned plane or single road
The unmanned plane of line uses a charge position, to realize the sequence charging of unmanned plane, avoids unmanned plane charging and causes confusion, make
The problem of some unmanned plane chargings can not find charge position.
Detailed description of the invention
Fig. 1 is the overall flow schematic diagram of the first embodiment of the invention；
Fig. 2 is the flow diagram of the first embodiment step S201 of the invention；
Fig. 3 is the flow diagram of the first embodiment step S202 of the invention；
Fig. 4 is the flow diagram of the first embodiment step S301 of the invention；
Fig. 5 is the flow diagram of the first embodiment step S4 of the invention；
Fig. 6 is the flow diagram of the first embodiment step S501 of the invention；
Fig. 7 is the flow diagram of the first embodiment step S601 of the invention；
Fig. 8 is the flow diagram of the first embodiment step S602 of the invention；
Fig. 9 is the flow diagram of the first embodiment step S7 of the invention；
Figure 10 is the overall flow schematic diagram of second of embodiment of the invention；
Figure 11 is the flow diagram of second of embodiment step S6 of the present invention；
Figure 12 is the flow diagram of second of embodiment step S501 of the present invention；
Figure 13 is the application scenarios schematic diagram 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.
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft, or fully or intermittently automatically operated by car-mounted computer.UAV system is many kinds of, purposes
Wide distinct characteristics, cause it in size, quality, voyage, endurance, flying height, flying speed, and task dispatching various aspects have larger
Difference.For example, classifying by flying platform configuration, unmanned plane can be divided into fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, unmanned airship, umbrella
Wing unmanned plane, flapping wing unmanned plane etc..Classification by use, unmanned plane can be divided into military unmanned air vehicle and civilian unmanned plane.By scale point
Class, unmanned plane can be divided into miniature drone, light-duty unmanned plane, small drone and large-scale unmanned plane.Classify by radius of action,
Unmanned plane can be divided into super short range unmanned plane, short range unmanned plane, short distance unmanned plane, intermediate range unmanned plane and long-range unmanned aerial vehicle.By task
Height is classified, and unmanned plane can be divided into extreme low-altitude unmanned plane, low latitude unmanned plane, hollow unmanned plane, High Altitude UAV and superaltitude
Unmanned plane.Compared with manned aircraft, there is small in size, low cost, easy to use, low to operational environment requirement, battlefield to survive for it
The advantages that ability is stronger.Unmanned plane involved in the embodiment of the present invention can in aforementioned one of which or any one nobody
Machine is not construed as limiting here.
As shown in figs 1-9, a kind of alignment methods of unmanned plane charge position are provided, comprising the following steps:
S1, the location information for obtaining charging base station；
S2, judge whether unmanned plane needs to charge, when the unmanned plane needs to charge, the unmanned plane passes through acquisition
The location information of charging base station is flown to above the charging base station；
S3, when the unmanned plane fly to it is described charging base station top when, obtain it is described charging base station on charge position figure
As information, the charge position of described image acquisition of information free time is analyzed；
S4, the precise image information for obtaining idle charge position analyze the picture flag information of the idle charge position, selection
With the matched idle charge position of the unmanned plane；
S5, the unmanned plane fly to the top of the idle charge position；And it sends and the charging base station is allowed to open infrared light
The instruction of sender unit, and open the infrared signal reception device on the unmanned plane；
S6, the alignment of the infrared light receiving port on the unmanned plane is adjusted by obtaining the image information of the idle charge position
Infrared light emission mouth in the free time charge position carries out decline charging.
The present invention can accurately and quickly realize unmanned plane by image recognition technology and infrared light technique of alignment
Charging contraposition, the case where being not in charging contraposition failure, also, unmanned plane also passes through the image mark for analyzing idle charge position
Idle charge position carries out contraposition charging to will information matches accordingly, and the unmanned plane for realizing single unmanned plane or single course uses
One charge position avoids unmanned plane charging and causes confusion, some unmanned planes is made to charge to realize the sequence charging of unmanned plane
The problem of can not find charge position.
In the present embodiment, the unmanned plane by location information fly to it is described charging base station top, when it is described nobody
When machine flies to the top of the charging base station, the precise image information of each idle charge position on the charging base station is obtained, is led to
The flag information on the image for analyzing the idle charge position is crossed, thus acquisition and the matched idle charge position of the unmanned plane,
It thus is avoided that unmanned plane at will selects idle charge position, when next unmanned plane being caused to be charged, can not find charge position progress,
Also, it is charged by obtaining with the matched idle charge position of unmanned plane, the also convenient unmanned plane in single course carries out
Period selection charging thus is avoided that the charging of unmanned plane is chaotic, causes to cannot get when unmanned plane needs to charge in single course
Charging.
In the present embodiment, after the unmanned plane obtains matched idle charge position, the unmanned plane flies to the free time
Then the top of charge position obtains the distance between the unmanned plane and the charging base station, when the route distance is less than 1
Meter Hou, the unmanned plane send the instruction for allowing the charging base station to open infrared signal emitter, open simultaneously the nothing
Infrared signal reception device on man-machine.The infrared signal reception device described in this way can quickly obtain the infrared light letter
The infrared signal that number emitter is emitted, also, will not also be emitted always due to the infrared signal emitter red
Outer optical signal and lead to energy dissipation.
In the present embodiment, the unmanned plane by high-definition camera obtain image information, also, the unmanned plane with
Setting handles chip in order to handle information on the charging base station.
In the step S4 of the present embodiment, as shown in figure 5, the picture flag information packet of the analysis idle charge position
Include step S401:
Analyze the quantity of the infrared light emission mouth in described image information.By the number for analyzing the infrared light emission mouth
Amount, to make the unmanned plane in single unmanned plane or single course that can only charge in single charge position, is equivalent to institute
It states unmanned plane charging to be sorted, avoids the problem that the unmanned plane can not find charge position.
In the present embodiment, it by obtaining the precise image information of idle charge position, analyzes described infrared in described image
The quantity of light emitting mouth, to select and the matched idle charge position of the unmanned plane.Directly pass through infrared light on analysis image
The quantity of emission port is described with the matched idle charge position of unmanned plane to obtain, so just without again to filling on charging base station
Current potential is marked.
In the step S4 of the present embodiment, as shown in figure 5, the picture flag information packet of the analysis idle charge position
Include step S402:
Analyze the position that the infrared light emission mouth in described image information is in the idle charge position.
It is in the position in the idle charge position by the infrared light receiving port in analysis described image information, makes institute
It states unmanned plane and the contraposition of the charge position is more accurate, also, further unmanned plane charging is ranked up, avoid nothing
It is man-machine to cause confusion in charging, make some unmanned planes that cannot charge.
In the step S402 of the present embodiment, the free time is in by infrared light emission mouth in analysis described image information
Position in charge position can make infrared light emission mouth and the infrared light receiving port contraposition on unmanned plane more accurate in this way.
In the step S2 of the present embodiment, judge whether unmanned plane needs to charge including step as shown in Fig. 2, described
S201:
The fly able distance of remaining capacity institute of the unmanned plane is obtained in real time；
When the fly able distance of the remaining capacity of unmanned plane institute is less than pre-determined distance value S, the unmanned plane is determined
It needs to charge；
When the fly able distance of the remaining capacity of unmanned plane institute is greater than pre-determined distance value S, the unmanned plane is determined
Without charging.
By judging whether unmanned plane needs to charge, avoid unmanned plane when needing to charge, charging of not flying to timely
Position is charged, the case where so as to cause air crash.
In the step S2 of the present embodiment, as shown in figure 3, it is described judge unmanned plane whether need charge further include step
S202:
The fly able distance of remaining capacity institute of the unmanned plane is obtained in real time；
The route distance that the unmanned plane flies up to the charging base station is obtained in real time；
When the unmanned plane remaining capacity fly able distance be equal to the unmanned plane and fly up to the charging base station
Route apart from when, the unmanned plane needs to charge.
In the present embodiment, by obtaining the fly able distance of remaining capacity institute of the unmanned plane and obtaining the nothing
The man-machine route distance for flying up to the charging base station, so that the fly able distance of remaining capacity institute for obtaining the unmanned plane is equal to
The unmanned plane fly up to the route of the charging base station apart from when, then need the position charged for the unmanned plane.
In the present embodiment S2, the pre-determined distance value S is the route distance that the unmanned plane flies up to the charging base station
In addition route distance of the unmanned plane around one circle of charging base station flight.Because the unmanned plane flies up to the charging base
It is also aligned after standing, so pre-determined distance value S adds for the route distance that the unmanned plane flies up to the charging base station
Route distance of the unmanned plane around one circle of charging base station flight.
In the step S3 of the present embodiment, as shown in figure 4, the image letter for obtaining charge position on the charging base station
The charge position of breath, analysis described image acquisition of information free time includes step S301:
When whether there is or not when man-machine image in charge position, it is determined that for the charge position to charge with unmanned plane；
When haunting in charge position, whether there is or not when man-machine image, it is determined that for idle charge position.
Whether the image with unmanned plane determines idle charge position in image information by judging the acquisition, can be with
Keep the information of the idle charge position obtained more accurate, so that the unmanned function be made to be directed at charge position faster.
In the present embodiment step S6, as shown in fig. 7, the image information by obtaining the idle charge position adjusts
The infrared light emission mouth that infrared light receiving port on the unmanned plane is aligned in the idle charge position includes step S601:
The image information of the idle charge position is obtained in real time；
The image information of analysis acquisition in real time and the position for adjusting the unmanned plane；
The signal receiving port is set to be directed at the signal hair in the idle charge position so as to adjust the position of the unmanned plane
Loophole.
Image information by obtaining the idle charge position constantly is adjusted the position of the unmanned plane, makes the nothing
Infrared light receiving port on man-machine faster can more accurately be directed at the infrared light emission mouth in the idle charge position.
In the step S6 of the present embodiment, as shown in figure 8, the image information by obtaining the charge position of the free time
Adjusting the signal emission port that the infrared signal receiving port on the unmanned plane is aligned in the idle charge position includes step
S602:
Infrared light receiving port or nothing when the number of unmanned plane adjustment reaches upper limit value X, on the unmanned plane
When method obtains the infrared signal emitted in the idle charge position, the unmanned plane is alarmed；The upper limit value X is whole
Number.
When reaching upper limit value X by the number that unmanned plane adjusts, the infrared light receiving port on the unmanned plane still can not
When obtaining the infrared signal emitted in the idle charge position, the unmanned plane is alarmed, in this way when on the unmanned plane
Infrared optical receiver apparatus or idle charge position on infrared signal emitter damage or when something goes wrong, it is logical in time
Know that repairman places under repair.
In the step S602 of the present embodiment, it is preferably 4 to 8 times that the number of the unmanned plane adjustment, which reaches upper limit value X, because
For that still can not be aligned after unmanned plane is carried out and repeatedly being adjusted, this illustrates that infrared signal emitter obtains infrared light letter
Number reception device has been damaged, and is placed under repair by timely alert notice technical staff, be cannot get when unmanned plane being avoided to need to charge
Charging, and lead to unmanned plane air crash.
In the step S602 of the present embodiment, as shown in figure 8, when the number of unmanned plane adjustment reaches upper limit value X,
When infrared light receiving port on the unmanned plane still can not be directed at the infrared light emission mouth in the idle charge position, the nothing
It is man-machine alarmed comprising steps of
Infrared light receiving port or nothing when the number of unmanned plane adjustment reaches upper limit value X, on the unmanned plane
When method is directed at the infrared light emission mouth in the idle charge position, the unmanned plane sending allows the charging base station to close infrared light
The instruction of sender unit, and close the infrared signal reception device on the unmanned plane；
After waiting for 10 to 30 seconds quietly, the unmanned plane issues again allows the charging base station to open infrared signal emitter
Instruction, and open the infrared signal reception device on the unmanned plane；
Adjusting the unmanned plane again makes infrared light receiving port be directed at the infrared light emission mouth in the idle charge position；
Infrared light receiving port after adjusting again on the unmanned plane still can not be aligned in the idle charge position
When infrared light emission mouth, the unmanned plane is alarmed.
When the infrared light receiving port on the unmanned plane still can not be directed at the infrared light emission in the idle charge position
Mouthful when by closing the infrared signal emitter and the infrared optical receiver apparatus after, be again turned on and be adjusted pair
Position, thus being avoided that leads to nothing since the infrared signal emitter or the infrared optical receiver apparatus single go wrong
Man-machine the problem of can not being aligned.
In the step S5 of the present embodiment, as shown in fig. 6, unmanned plane transmission allows the charging base station to open infrared light
The instruction of sender unit, and opening the infrared signal reception device on the unmanned plane includes step S501:
The route distance for obtaining the unmanned plane and the charging base station, when the route distance is less than preset value R, institute
Stating unmanned plane transmission allows the charging base station to open the instruction of infrared signal emitter, and opens red on the unmanned plane
Outer light signal receiving.
So that the unmanned plane is issued instruction by the way that preset value R is arranged, and open the infrared optical receiver apparatus, works as institute in this way
When stating unmanned plane and flying to pre-determined distance value R not yet, the charging base station is not necessarily to opening signal emitter, the unmanned plane
Without opening signal emitter, this avoid the energy consumptions of the charging base station and the unmanned plane, to play section
About effect.
In the present embodiment, the preset value is preferably 1 meter.
In the present embodiment, as shown in figure 9, further including step S7:
S701, the unmanned plane charged state is obtained；
S702, when the unmanned plane encounter external force be detached from charged state when, carry out contraposition charging again；
S703, when the number that the unmanned plane carries out contraposition charging again reaches preset value N and still can not align charging,
The unmanned plane is alarmed；The preset value is integer.
After unmanned plane is detached from charged state, the unmanned plane can carry out contraposition charging again, and this avoid nobody
Machine can not charge after being detached from charged state, and be also provided with type of alarm, and this avoid unmanned planes to be detached from charging shape
The case where state is positioned again and is not positioned, and unmanned plane management is also resulted in.
In the step S7 of the present embodiment, number of the preset value N equal to upper limit value X, preferably 4 to 9 times.
Another embodiment of the invention is as follows:
As shown in Figure 10 to 12, a kind of alignment methods of unmanned plane charge position, comprising the following steps:
S1, the location information for obtaining charging base station；
S2, judge whether unmanned plane needs to charge, when the unmanned plane needs to charge, the unmanned plane passes through acquisition
The location information of charging base station is flown to above the charging base station；
S3, when the unmanned plane fly to it is described charging base station top when, obtain it is described charging base station on charge position figure
As information, the charge position of described image acquisition of information free time is analyzed；
S4, the precise image information for obtaining idle charge position analyze the image digitization information in the idle charge position, choosing
It selects and the matched idle charge position of the unmanned plane；
S5, the unmanned plane fly to the top of the idle charge position；And it sends and the charging base station is allowed to open infrared light
The instruction of sender unit, and open the infrared signal reception device on the unmanned plane；
S6, the alignment of the infrared light receiving port on the unmanned plane is adjusted by obtaining the image information of the idle charge position
Infrared light emission mouth in the free time charge position carries out decline charging.
This embodiment is obtained and the unmanned plane by analyzing the image digitization information in the idle charge position
The idle charge position matched.The mode of this acquisition and the matched idle charge position of unmanned plane relative to a kind of upper acquisition modes more
Fast and easy.
In the step S6 of the present embodiment, as shown in figure 11, the image by obtaining the charge position of the free time is believed
The infrared signal receiving port that breath adjusts on the unmanned plane be directed at the signal emission port in the idle charge position comprising steps of
S601, when the number of unmanned plane adjustment reaches upper limit value X, the infrared light receiving port on the unmanned plane is also
When being the infrared light emission mouth that can not be aligned in the idle charge position, it is red that the unmanned plane sending allows the charging base station to close
The instruction of outer optical signal launcher, and close the infrared signal reception device on the unmanned plane；
S602, after waiting for 10 to 30 seconds quietly, the unmanned plane issues again allows the charging base station to open infrared signal hair
The instruction of injection device, and open the infrared signal reception device on the unmanned plane；
S603, the unmanned plane is adjusted again infrared light receiving port is made to be directed at the infrared light emission in the idle charge position
Mouthful；
When the infrared light receiving port for adjusting the unmanned plane again is directed at the infrared light emission mouth in the idle charge position
When, carry out decline charging；
When the unmanned plane is directed at infrared light receiving port in the idle charge position by adjusting the unmanned plane again
Infrared light emission mouth still can not be aligned after, the unmanned plane is alarmed and is dropped in the free time charge position.
When reaching upper limit value X by the number that unmanned plane adjusts, the infrared light receiving port on the unmanned plane still can not
When obtaining the infrared signal emitted in the idle charge position, by closing the infrared signal emitter and described
It after infrared optical receiver apparatus, is again turned on and is adjusted contraposition, thus be avoided that by the infrared signal emitter or institute
State the problem of infrared optical receiver apparatus single goes wrong and causes unmanned plane that can not be aligned.It is adjusted if be again turned on
Whole contraposition or when can not be aligned, the unmanned plane is alarmed and is dropped in the free time charge position, in this way when it is described nobody
Infrared optical receiver apparatus on machine or the infrared signal emitter damage in idle charge position or when something goes wrong, and
Shi Tongzhi repairman places under repair, and unmanned plane also drops in the charge position that damage goes wrong, such repairman
Can learn it is which charge position needs places under repair when coming over to repair in time.
In the present embodiment, it is 4 to 8 times that the number of the unmanned plane adjustment, which reaches upper limit value X,.When the unmanned plane adjusts
Number reach upper limit value X it is very few when, false alarm can be led to due to error.And when the number of unmanned plane adjustment reaches
When upper limit value X is excessive, will lead to unmanned plane since electric power is insufficient leads to air crash.Therefore, the number of unmanned plane adjustment reaches
It is preferred embodiment that limit value X, which is 4 to 8 times,.
In the step S5 of the present embodiment, as shown in figure 12, it is infrared that the unmanned plane transmission allows the charging base station to open
The instruction of optical signal launcher, and opening the infrared signal reception device on the unmanned plane includes step S501:
The route distance for obtaining the unmanned plane and the charging base station, when the route distance is less than 1 meter, the nothing
Man-machine transmission allows the charging base station to open the instruction of infrared signal emitter, and opens the infrared light on the unmanned plane
Signal receiving device.
By when the route distance of the unmanned plane and the charging base station is less than 1 meter, unmanned plane transmission allows described fill
The instruction of infrared signal emitter is opened in electric base station, and opens the infrared optical receiver apparatus, in this way when the unmanned plane
When there are no flying to distance 1 meter of base station of charging, the charging base station without opening signal emitter, the unmanned plane without
Opening signal emitter, this avoid the energy consumptions of the charging base station and the unmanned plane, to play saving effect
Fruit.
As shown in figure 13, unmanned plane has been flown to by charging base station, and there are two infrared light receiving ports for tool on unmanned plane, with institute
State that unmanned plane matches is the intermediate idle charge position on base station that charges, on the charging base station and with a unmanned plane
It is charging.
At this moment the image information of charging base station is obtained when unmanned plane reaches by charging base station, then, passes through analysis image letter
There is the charge position for ceasing the upper left corner of available charging base station unmanned plane to charge, remaining charge position is idle charge position.
Unmanned plane passes through the precise image information for obtaining each idle charge position again, by analyzing in the base station that can must charge
Between position charge position on there are two infrared light emission mouth, also, two infrared light emission mouths connect with the infrared light on unmanned plane
Closing in can be docked, so the charge position for obtaining the middle position of charging base station is matched with the unmanned plane.
Unmanned plane adjusts position by real-time image acquisition information, until the two infrared light receiving ports and nothing of the charge position
Man-machine two infrared light emission mouths alignment, last unmanned plane carry out decline charging.
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 alignment methods of unmanned plane charge position, which comprises the following steps:
Obtain the location information of charging base station；
Judge whether unmanned plane needs to charge, when the unmanned plane needs to charge, the unmanned plane passes through the charging base obtained
The location information stood is flown to above the charging base station；
When the unmanned plane fly to it is described charging base station top when, obtain it is described charging base station on charge position image information,
Analyze the charge position of described image acquisition of information free time；
Obtain the precise image information of idle charge position, analyze the picture flag information of the idle charge position, selection with it is described
The matched idle charge position of unmanned plane；
The unmanned plane flies to the top of the idle charge position；And it sends and the charging base station is allowed to open infrared signal transmitting
The instruction of device, and open the infrared signal reception device on the unmanned plane；
Image information by obtaining the idle charge position adjusts the infrared light receiving port on the unmanned plane and is directed at the sky
Infrared light emission mouth in not busy charge position carries out decline charging.
2. a kind of alignment methods of unmanned plane charge position according to claim 1, which is characterized in that the analysis sky
The picture flag information of not busy charge position comprising steps of
Analyze the quantity of the infrared light emission mouth in described image information.
3. a kind of alignment methods of unmanned plane charge position according to claim 1, which is characterized in that the analysis sky
The picture flag information of not busy charge position comprising steps of
Analyze the position that the infrared light emission mouth in described image information is in the idle charge position.
4. according to a kind of alignment methods of unmanned plane charge position described in claim 1, which is characterized in that the judgement nothing
It is man-machine whether need charge comprising steps of
The fly able distance of remaining capacity institute of the unmanned plane is obtained in real time；
When the fly able distance of the remaining capacity of unmanned plane institute is less than pre-determined distance value S, the unmanned plane needs are determined
Charging；
When the fly able distance of the remaining capacity of unmanned plane institute is greater than pre-determined distance value S, determine that the unmanned plane is not necessarily to
Charging.
5. according to a kind of alignment methods of unmanned plane charge position described in claim 1, which is characterized in that the analysis institute
State the charge position of image information acquisition free time comprising steps of
When whether there is or not when man-machine image in charge position, it is determined that for the charge position to charge with unmanned plane；
When haunting in charge position, whether there is or not when man-machine image, it is determined that for idle charge position.
6. according to a kind of alignment methods of unmanned plane charge position described in claim 1, which is characterized in that described by obtaining
The image information of the idle charge position is taken to adjust in the idle charge position of the infrared light receiving port alignment on the unmanned plane
Infrared light emission mouth comprising steps of
The image information of the idle charge position is obtained in real time；
The image information of analysis acquisition in real time and the position for adjusting the unmanned plane, make the infrared light receiving port be directed at the sky
Infrared light emission mouth in not busy charge position.
7. according to a kind of alignment methods of unmanned plane charge position described in claim 1, which is characterized in that described by obtaining
Taking the image information of the idle charge position to adjust the unmanned plane is directed at infrared light receiving port in the idle charge position
Infrared light emission mouth comprising steps of
When the number of unmanned plane adjustment reaches upper limit value X, the infrared light receiving port on the unmanned plane still can not be right
When infrared light emission mouth in the quasi- idle charge position, the unmanned plane is alarmed；The upper limit value X is integer.
8. according to a kind of alignment methods of unmanned plane charge position as claimed in claim 7, which is characterized in that when it is described nobody
When the number of machine adjustment reaches upper limit value X, the infrared light receiving port on the unmanned plane still can not be directed at the idle charging
When infrared light emission mouth on position, the unmanned plane alarmed comprising steps of
When the number of unmanned plane adjustment reaches upper limit value X, the infrared light receiving port on the unmanned plane still can not be right
When infrared light emission mouth in the quasi- idle charge position, the unmanned plane sending allows the charging base station closing infrared signal
The instruction of emitter, and close the infrared signal reception device on the unmanned plane；
After waiting for 10 to 30 seconds quietly, the unmanned plane issues the finger for allowing the charging base station to open infrared signal emitter again
It enables, and opens the infrared signal reception device on the unmanned plane；
Adjusting the unmanned plane again makes infrared light receiving port be directed at the infrared light emission mouth in the idle charge position；
Infrared light receiving port after adjusting again on the unmanned plane still can not be aligned infrared in the idle charge position
When light emitting mouth, the unmanned plane is alarmed.
9. according to a kind of alignment methods of any unmanned plane charge position of the claim 1-8, which is characterized in that described
Unmanned plane, which is sent, allows the charging base station to open the instruction of infrared signal emitter, and opens infrared on the unmanned plane
Light signal receiving comprising steps of
The route distance for obtaining the unmanned plane and the charging base station, when the route distance is less than preset value R, the nothing
Man-machine transmission allows the charging base station to open the instruction of infrared signal emitter, and opens the infrared light on the unmanned plane
Signal receiving device.
10. according to a kind of alignment methods of any unmanned plane charge position of the claim 1-8, which is characterized in that also
Comprising steps of
Obtain the unmanned plane charged state；
When the unmanned plane, which encounters external force, is detached from charged state, contraposition charging is carried out again；
When the number that the unmanned plane carries out contraposition charging again reaches preset value N and still can not align charging, it is described nobody
Machine is alarmed；The preset value N is integer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810925234.5A CN109080843A (en) | 2018-08-14 | 2018-08-14 | A kind of alignment methods of unmanned plane charge position |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810925234.5A CN109080843A (en) | 2018-08-14 | 2018-08-14 | A kind of alignment methods of unmanned plane charge position |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109080843A true CN109080843A (en) | 2018-12-25 |
Family
ID=64793385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810925234.5A Pending CN109080843A (en) | 2018-08-14 | 2018-08-14 | A kind of alignment methods of unmanned plane charge position |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109080843A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110310520A (en) * | 2019-06-14 | 2019-10-08 | 西安理工大学 | The aerial virtual fence method of the wireless ultraviolet light on unmanned plane recharging level ground |
| CN110979673A (en) * | 2019-12-18 | 2020-04-10 | 武汉飞流智能技术有限公司 | Unmanned aerial vehicle aligning device |
| CN112416013A (en) * | 2019-08-20 | 2021-02-26 | 顺丰科技有限公司 | Unmanned aerial vehicle take-off and landing control method and device and unmanned aerial vehicle take-off and landing equipment |
| CN113682162A (en) * | 2021-08-05 | 2021-11-23 | 南京理工大学 | Multi-unmanned aerial vehicle aerial mobile charging platform with dynamically adjusted charging position |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105226836A (en) * | 2015-10-20 | 2016-01-06 | 杨珊珊 | A kind of can the unmanned plane of automatic charging, unmanned plane charging system and charging method |
| CN106774408A (en) * | 2016-12-30 | 2017-05-31 | 易瓦特科技股份公司 | It is applied to the method and system of unmanned plane |
| CN106896828A (en) * | 2017-04-18 | 2017-06-27 | 厦门领夏智能科技有限公司 | A kind of unmanned plane automated wireless charging method and system |
| CN107479573A (en) * | 2017-08-07 | 2017-12-15 | 深圳市华琥技术有限公司 | A kind of flight charging method of unmanned plane |
| US20180074485A1 (en) * | 2016-05-27 | 2018-03-15 | Qualcomm Incorporated | Autonomous Vehicle Charging Station Management |
| CN108121360A (en) * | 2017-12-19 | 2018-06-05 | 歌尔科技有限公司 | A kind of unmanned plane position control method and freight transport system |
-
2018
- 2018-08-14 CN CN201810925234.5A patent/CN109080843A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105226836A (en) * | 2015-10-20 | 2016-01-06 | 杨珊珊 | A kind of can the unmanned plane of automatic charging, unmanned plane charging system and charging method |
| US20180074485A1 (en) * | 2016-05-27 | 2018-03-15 | Qualcomm Incorporated | Autonomous Vehicle Charging Station Management |
| CN106774408A (en) * | 2016-12-30 | 2017-05-31 | 易瓦特科技股份公司 | It is applied to the method and system of unmanned plane |
| CN106896828A (en) * | 2017-04-18 | 2017-06-27 | 厦门领夏智能科技有限公司 | A kind of unmanned plane automated wireless charging method and system |
| CN107479573A (en) * | 2017-08-07 | 2017-12-15 | 深圳市华琥技术有限公司 | A kind of flight charging method of unmanned plane |
| CN108121360A (en) * | 2017-12-19 | 2018-06-05 | 歌尔科技有限公司 | A kind of unmanned plane position control method and freight transport system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110310520A (en) * | 2019-06-14 | 2019-10-08 | 西安理工大学 | The aerial virtual fence method of the wireless ultraviolet light on unmanned plane recharging level ground |
| CN112416013A (en) * | 2019-08-20 | 2021-02-26 | 顺丰科技有限公司 | Unmanned aerial vehicle take-off and landing control method and device and unmanned aerial vehicle take-off and landing equipment |
| CN110979673A (en) * | 2019-12-18 | 2020-04-10 | 武汉飞流智能技术有限公司 | Unmanned aerial vehicle aligning device |
| CN113682162A (en) * | 2021-08-05 | 2021-11-23 | 南京理工大学 | Multi-unmanned aerial vehicle aerial mobile charging platform with dynamically adjusted charging position |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109080843A (en) | A kind of alignment methods of unmanned plane charge position | |
| US11091043B2 (en) | Multi-zone battery exchange system | |
| CN101866180A (en) | Flight control system | |
| CN104503462A (en) | Unmanned aerial vehicle express deliver unit remotely controlled and received by mobile phone | |
| CN106494612B (en) | Improve the method and unmanned plane patrol system of rotor craft autonomous flight stability | |
| CN105739512A (en) | Unmanned aerial vehicle automatic tour inspection system and method | |
| CN109062078A (en) | VTOL fixed-wing system for flight control computer simulation test platform | |
| CN204184578U (en) | A kind of charged aircraft device of unmanned plane searching line defct and hidden danger | |
| CN106843263B (en) | Unmanned aerial vehicle flight control method and system | |
| CN206954520U (en) | SUAV air-drop drop point instruction system | |
| CN108803633A (en) | A kind of unmanned plane low latitude monitoring system based on mobile communications network | |
| CN203673535U (en) | Power line inspection device and system | |
| CN106989728A (en) | A kind of building ground mapping system based on unmanned plane | |
| AU2019101129A4 (en) | Coaxial Reverse Rotary Wing Mini UAV | |
| Nahar et al. | Autonomous UAV forced graffiti detection and removal system based on machine learning | |
| CN109080842A (en) | A kind of unmanned plane to be charged | |
| CN113602488B (en) | Disaster area personnel rescue method and system based on tilt rotor aircraft | |
| KR20190102487A (en) | Drone containment and method using marine light buoy | |
| CN208314570U (en) | A kind of novel unmanned plane bridge machinery flight course planning system | |
| CN109885079A (en) | A kind of unmanned plane system for tracking and flight control method | |
| CN108646784A (en) | A kind of unmanned plane night Regional Atmospheric Environment monitoring method | |
| Van Asares et al. | Design of an unmanned aerial vehicle blimp for indoor applications | |
| CN109030510A (en) | A kind of unmanned plane highway flexure measuring system | |
| CN206332488U (en) | A kind of unmanned plane automatic remote charging system | |
| CN110387795A (en) | A kind of airfield pavement detection system based on unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181225 |
|
| WD01 | Invention patent application deemed withdrawn after publication |