CN109283935A - 一种无人机的管理装置及方法 - Google Patents
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Abstract
本发明公开了一种无人机的管理装置及方法,包括:测定无人机重量以判断飞行后着陆的无人机的配件损失及是否存在异物,根据测定结果分类为故障无人机和正常无人机的一次检查模块;测定分类为正常无人机的污染程度,根据测定无人机的污染程度来清洗并干燥无人机的清洗/干燥模块;用摄像机拍摄无人机的正面、侧面及背面,并以拍摄的图像检测出无人机所装载的配件是否存在异常,分类为故障无人机和正常无人机的二次检查模块;以及二次检查后对分类为正常无人机的电池充电,并对完成充电的无人机进行重量确认的起飞准备模块。
Description
技术领域
本发明涉及无人机的管理装置及方法,具体涉及一种自动安全地管理多台无人机的管理装置及方法。
背景技术
只要未在本说明书另外说明,该部分说明的内容不属于本申请权利要求的现有技术,即使包含在该部分中,也不意味着被认定为现有技术。
无人机(Drone)为无人飞行器,是为了在没有驾驶员的情况下完成指定任务而制作的飞行体。无人机可以与独立的系统或宇宙/地上系统进行联动来加以应用。根据应用的领域,可搭载光学、红外线、雷达传感器等多种设备,执行监视、侦查、精密攻击武器的引导、通信/信息转播、EA/EP、诱饵(Decoy)等任务。另外,可装载炸药,开发并实用化为精密武器本身,作为未来的主要军事手段而备受瞩目。这种无人机除了军事用途外,最近在多种领域的使用也在增加。
但是,由于目前没有管理多台无人机的机构,各个无人机是以箱形形态保管,所以多台无人机的管理并不完善。同时,对飞行后着陆的多台无人机进行自动充电、安全地检查、管理的系统仍是空白。
按照现在管理各个无人机的方式,今后根据社会需求,需要大量无人机时,会很难管理好多台无人机。特别是在军用及社会安全用途等公共场合使用无人机的情况增加时,在对多台无人机的识别,管理是否有异常、充电状态的管理等方面,会很难实现实时监控和管理。
现有技术文献
(专利文献1)1.韩国专利公开第10-2017-0002370号(2017.01.06)
(专利文献2)2.韩国专利公开第10-2015-0189860号(2015.12.30)
发明内容
要解决的课题
本发明公开了无人机管理装置及方法,在无人机降落后,识别各种无人机、检查机器状态、判断无人机的配件损失以及各配件是否存在故障、在发生故障时进行维修、以及清洗各个无人机之后,自动准备安全起飞。
课题解决方法
根据一些实施例的无人机管理装置,包含用于测定无人机的重量以判断飞行后着陆的无人机的配件损失及是否存在异物,根据测定结果分类为故障无人机或正常无人机的一次检查模块;对分类为正常的无人机测定污染度,根据测定的污染度,对该无人机清洗并干燥的清洗/干燥模块;用摄像机拍摄无人机的正面、侧面及背面,并通过拍摄的图像检测无人机搭载的配件是否存在异常,分类为故障无人机或正常无人机的二次检查模块;以及在二次检查后,对分类为正常的无人机进行充电,对完成充电的无人机进行重量确认的起飞准备模块。
根据另外一些实施例的无人机管理方法,包含(A)在一次检查模块中,测定着陆无人机的重量以判断飞行后着陆的无人机配件损失及是否存在异物,并根据测定结果分类为故障无人机或正常无人机的步骤;(B)在二次检查模块中,对分类为正常的无人机进行清洗并干燥的步骤;(C)用摄像机拍摄清洗并干燥后无人机的正面、侧面及背面,通过拍摄的图像检测无人机的配件是否存在异常,分类为故障无人机或正常无人机的步骤;以及(D)在起飞准备模块中,对在二次检查模块中分类为正常的无人机进行充电,以及确认完成充电无人机重量的步骤。
发明效果
根据上述的无人机管理装置及方法,在无人机着陆后,会自动进行一次和二次的故障检查以及清洗和干燥过程,可以自动且安全地管理多台无人机。
附图说明
图1示出了本发明实施例提供的无人机管理系统的示意图。
图2示出了本发明实施例提供的无人机管理装置大致构成的示意图。
图3示出了本发明实施例提供的无人机管理装置更具体的构成的框图。
图4示出了本发明实施例提供的无人机管理流程的流程图。
图5示出了本发明实施例提供的无人机管理流程的具体的流程图。
具体实施方式
对本发明的优点、特征以及实现方法,通过参照附图和后述的详细实施例的说明会变得明确。但本发明不限于下述所公开的实施例,可以以不同的多种形态体现出来。这些实施例是为了本发明的公开完整,给本发明技术领域的普通技术人员提供完整的发明范围,且该范围由本发明的权利要求所定义。说明书全体范围内同一示意图符号指同一构成元素。
在说明本发明实施例时,当对于公知功能或关于构成的具体说明被认为可能会不必要地使发明要旨模糊时,将省略其详细说明。而且后述用语是根据考虑本发明实施例中的功能所定义的用语,该用语随着使用者、运用者的意图或者惯例而不同,因此,该定义应基于本说明书整个内容而定义。
图1示出了实施例提供的无人机管理系统的示意图。
如图1所示,所述无人机管理系统是由传送带1,无人机管理装置100以及分类线a、b、c构成的。
传送带1依次把多台无人机10、20、30传送到无人机管理装置100。无人机管理装置100检查所进入的无人机的机器状态以及装载在无人机的配件是否存在故障,根据检查结果将无人机分类。例如,无人机检查装置100检查无人机重量后,分类为故障无人机和正常无人机,将故障无人机输送到维修线a,将正常无人机输送到清洗线c。另外,判断为需要更加精密检查的无人机,会输送到检查线b,并对进入检查线b的无人机进行精密的机器检查。
图2示出了实施例所提供的无人机管理装置100大致结构的示意图。
如图2所示,无人机管理装置100是由数据库(未显示示意图)、一次检查模块110、清洗/干燥模块120、整备模块130、二次检查模块140,电池管理模块150、起飞准备模块160等构成的。在本说明书中使用的"模块"一词,应根据用语所使用的文脉,可以解释为包含软件、硬件或者其组合。例如,软件可以是机器语言、固件(firmware)、嵌入式代码(embeddedcode)和应用程序软件。硬件可以是电路,处理器、计算机、集成电路、集成电路磁芯、传感器、微型机电系统(MEMS:Micro-Electro-Mechanical System)、手动装置或者是其组合。
虽未在图2示出,无人机管理装置100还可以包括控制部。这种控制部可以执行例如像无人机管理装置100的电源供给控制等的各种操作以及控制无人机管理装置100的内部构成间的信号流向和处理数据的数据处理功能。控制部可以至少包含一个处理器或者微控制单元。这种控制部可以是执行上述一次检查模块110、清洗/干燥模块120、整备模块130、二次检查模块140、电池管理模块150及起飞准备模块160中的运算操作乃至判断操作的主体。这种控制部可以是另行构成、或者自身包含在上述无人机管理装置100中等各种构成形态。
在数据库中储存无人机机型各自的机器信息。例如,包括机器信息中储存无人机型号名、无人机机种各自的重量、安装配件的种类、正面、侧面、背面图像等无人机故障判断及设定清洗过程等在本说明书中记载的无人机管理装置运作中所需的一系列数据。根据实施例,数据库可以用存储器来实现。存储器可以存储从控制部或者无人机管理装置100的其他构成部分接收或者生成的数据。存储器可以包含高速缓存(cache)、缓冲器(buffer)等,由软件(例:DB)、固件、硬件(例:RAM)或它们中至少包含两项以上的组合而构成。
一次检查模块110为了判断着陆无人机的配件损失及是否存在异物,测量无人机的重量。例如,一次检查模块110通过比较着陆后无人机的重量和所储存的正常无人机的重量,来判断无人机是否有异常。为此,一次检查模块110可以具备像重量传感器一样可以检测重量的装置和方法。具体为,当无人机重量低于正常无人机重量一定程度时,一次检查模块可以判断为无人机中特定配件的损失。如果测定的无人机重量超过正常无人机重量一定程度,可以判断为有树枝等异物附着在无人机上。
清洗/干燥模块120对于一次检查模块110中分类为正常的无人机,会根据无人机的污染度进行清洗并干燥。
整备模块130维修在一次检查模块110中被分类为故障无人机的无人机。例如,低于正常重量的无人机通过更换破损的配件进行整备,超出正常重量的无人机要进行去除无人机上附着的异物的整备过程,之后再次传送到一次检查模块110检查无人机重量。
二次检查模块140判断安装在无人机上的配件是否存在故障。例如,二次检查模块140用摄像机拍摄无人机的正面、侧面和背面,并将拍摄的图像和已储存的无人机的图像进行比较,根据比较结果,检测出无人机中装载的配件是否存在异常。之后,将没有配件异常的无人机分类为正常无人机。在二次检查模块(140)中,被分类为故障无人机的无人机会传送到整备模块130并进行异常配件的维修过程。
起飞准备模块(160)对二次检查之后被分类为正常的无人机进行充电,然后再次确认已完成充电的无人机的重量。为此,起飞准备模块160具备了用于给电池充电的电源供给装置(未图示)或可能是连接于电源供给装置的状态。
实施例提供的无人机管理装置中的电池管理模块(150)在一次检查模块110进行一次故障检查之前,拆卸飞行后着陆的无人机的电池,对所拆卸电池进行充电后,再装载到起飞准备模块160的正常无人机上。为此,电池管理模块150可以包含用于拆装电池的自动化的机械性拆装控制装置。
虽未在图2中图示,无人机管理装置100还可以包括摄像机模块。这种摄像机模块至少与无人机管理装置100的一部分构成连接,可以搜集有关无人机的影像信息。例如,清洗/干燥模块120,二次检查模块140可以通过上述摄像机模块执行污染度的测定以及配件图像的比较。但是不限于此,摄像机模块也可以是无人机管理装置100的各构成部分中分别具备的形态。
另外,无人机管理装置100还可以包括通信模块(未图示)。这种通信模块例如可以通过无线通信或者有线通信与无人机进行通信。无线通信包含例如,网络、WiFi(wirelessfidelity)、蓝牙(Bluetooth)、近场通信(near field communication)、全球定位系统(global positioning system)紫蜂、RF通信或者红外线通信中至少一项,但是不限定于此。
图3示出了实施例所提供的其他无人机管理装置100的更具体构成的框图。
如图3所示,一次检查模块110是由重量检查部111和故障无人机分类部113构成,清洗/干燥模块120是由污染度测定部121和清洗过程设定部123构成,二次检查模块140是由摄影位置调整部141和判断部143构成。
一次检查模块110中的重量检查部111测定每个着陆后无人机的重量。故障无人机分类部113比较测定的无人机重量和已储存的正常无人机重量,根据比较结果判断无人机是否有异常。在实施例中,无人机分类部113将所测定的无人机重量和正常无人机重量的误差超过一定程度的无人机分类为故障无人机。
清洗/干燥模块120中的污染度测定部121获得无人机表面图像,以通过与无人机表面的清晰度(definition)成反比的方式来计算污染度。例如,测定无人机表面图像颜色的清晰度或通过对无人机表面进行图像识别(graphic recognition)来计算污染度。并且,污染度测定部121可以用有害物质传感器测定无人机表面的污染度。
清洗过程设定部123是根据污染度测定部121中计算出的污染度,设定无人机清洗过程。例如,清洗过程设定部123可以根据污染度来设定风洗、蒸汽洗、水洗以及洗涤剂清洗中至少包括一项在内的清洗过程。具体的,清洗过程设定部123可以设定为污染程度越高包括越多的清洗过程。
二次检查模块140中的拍摄位置调整部141为拍摄无人机的正面、侧面及背面所安装的无人机配件,对无人机以及摄像机的位置和摄像机的拍摄详细(detail)设定进行调整。例如,为拍摄无人机各方面安装的主要配件,可以调整摄像机的焦距、角度、无人机的角度等。
判断部143可以比较所拍摄的无人机配件图像和已储存的正常配件图像,根据所拍摄的配件图像和正常配件图像的误差率来判断有无故障。这种判断部143是把上述的控制部按照功能性分类来构成,由控制部来操作。
以下,依次说明无人机管理方法。因本发明中所述的无人机管理方法的作用(功能)与无人机管理装置本质上相同,所以省略图1到图3重复的说明。
图4示出了本发明实施例提供的无人机管理流程的流程图。
根据实施例,所述无人机管理方法可以包含,(A)在一次检查模块中,为判断飞行后着陆无人机的配件损失及是否存在异物,测定上述着陆无人机的重量,并根据结果分类为故障无人机或正常无人机的步骤S410;(B)在二次检查模块中分类为正常的无人机进行清洗和干燥的步骤S430;(C)用摄像机拍摄清洗并干燥的无人机的正面、侧面及后面,通过拍摄的图像检测出所述无人机的配件是否存在异常,并分类为故障无人机或正常无人机的步骤S450;及(D)在起飞准备模块中对所述二次检测模块中被分类为正常的无人机的电池进行充电,并确认完成充电的无人机的重量的步骤S470。
图5示出了本发明实施例提供的无人机管理流程的具体的流程图。
在步骤S510,判断一次检查模块110中的无人机重量与正常无人机重量的误差是否超出一定程度。
当误差超过一定程度时,在步骤S515会在整备模块130中补充损失的配件或去除无人机上附着的异物等的无人机的一次修理。
如果无人机重量与已设定重量的误差未达到一定程度,为了清洗无人机,在步骤S520,在清洗/干燥模块120中测定无人机的污染度。在实施例中,无人机的污染度是通过识别无人机表面的清晰度来计算的,或者以有害物质传感器的数据为基础进行计算的。
在步骤S525,根据算出的污染度,清洗/干燥模块120设定包括多项清洗过程中的至少一项的无人机清洗过程。例如,根据污染程度的比例来设定包含多项的清洗过程。在步骤S530,根据所设定的洗涤过程,对无人机进行清洗和干燥。
为了对完成清洗的无人机进行更细致的故障检查,进行步骤S535。在S535,在二次检查模块140中,执行调整无人机和摄像机位置的过程,在步骤S540,拍摄无人机的正面、侧面及背面附着的配件。
在步骤S545,根据比较二次检查模块140中所拍摄的无人机配件图像与已储存的图像的一致程度,来算出误差率,并判断所计算出的误差率是否达到了一定程度以上。误差率超过一定程度时,在步骤S550,执行对超过一定水准误差率的配件进行修理的过程。
误差率未达到一定程度时,将判断为正常无人机,并在步骤S555给判断为正常的无人机的电池进行充电。之后,在步骤S560,可以安装完成充电的电池,或者打开无人机的电源来准备起飞。
根据本公开的无人机管理装置及方法,当无人机着陆之后,识别各种无人机,检查机器状态,判断无人配件损失及各配件是否存在故障,如发现故障可以及时进行维修。另外,清洗每个无人机之后,安全地自动管理多台无人机,以便安全地起飞。
以上公开的内容仅仅是例示,在不脱离权利要求要旨的前提下,对于本领域的普通技术人员来说,还可以进行多样的改进,公开内容的保护范围不限于上述特定的实施例。
【符号的说明】
100:无人机管理装置
110:一次检查模块
120:清洗/干燥模块
130:整备模块
140:二次检查模块
150:电池管理模块
160:起飞准备模块
Claims (10)
1.一种无人机管理装置,包括:
一次检查模块,测定所述无人机重量以判断飞行后着陆的无人机的配件损失及是否存在异物,根据测定结果将所述无人机分类为故障无人机或正常无人机;
清洗/干燥模块,测定分类为正常无人机的无人机的污染度,并根据测定的污染度,清洗所述无人机并干燥;
二次检查模块,用摄像机拍摄所述无人机的正面、侧面及背面,并通过拍摄的图像检测无人机搭载的配件是否存在异常,分类为故障无人机或正常无人机;
起飞准备模块,对二次检查后分类为正常无人机的无人机进行电池充电,并对完成充电的无人机进行重量确认。
2.根据权利要求1所述的无人机管理装置,其特征在于,所述一次检查模块用于在所测定的无人机重量和已储存的正常无人机重量的误差超过一定程度时,分类为故障无人机。
3.根据权利要求1所述的无人机管理装置,其特征在于,还包括用于对所述一次检查模块中被分类的故障无人机进行修理的整备模块。
4.根据权利要求3所述的无人机管理装置,其特征在于,所述二次检查模块中被分类的故障无人机在所述整备模块被修理。
5.根据权利要求1所述的无人机管理装置,其特征在于,还包括管理模块,用于对上述着陆的无人机在测定重量前拆卸电池,并用于将拆卸的电池进行充电后,把完成充电的电池装载在所述起飞准备模块中的正常无人机上。
6.根据权利要求1所述的无人机管理装置,其特征在于,所述清洗/干燥模块用于以无人机表面的清晰度测定结果或以污染度测定传感器所测得的污染度为基础,设定包括风洗、蒸汽洗、水洗以及洗涤剂清洗中至少一项的清洗过程,根据所设定的清洗过程,清洗所述着陆的无人机,并进行干燥。
7.根据权利要求1所述的无人机管理装置,其特征在于,所述二次检查模块包括:
拍摄位置调整部,用于调整无人机和摄像机的位置以拍摄安装在无人机的正面、侧面及背面的配件,和控制所述摄像机拍摄设置;及
判断部,用于将拍摄的无人机配件图像和已储存的正常配件图像进行比较,根据所述拍摄的无人机配件图像和所述正常配件图像的误差情况,来判断所述无人机中装载的配件是否存在故障。
8.无人机管理方法,其特征在于,包括:
(A)分类步骤,在一次检查模块中,为判断飞行后着陆无人机的配件损失及是否存在异物,测定上述着陆无人机的重量,根据测定结果分类为故障无人机或正常无人机;
(B)清洗干燥步骤,对一次检查模块中分类为正常的无人机进行清洗和干燥;
(C)分类步骤,用摄像机拍摄清洗并干燥后的无人机的正面、侧面及背面,通过拍摄的图像检测出所述无人机的配件是否存在异常,并分类为故障无人机或正常无人机;和
(D)在起飞准备模块中对所述二次检测模块中被分类的正常无人机的电池进行充电,并确认完成充电的无人机的重量的步骤。
9.根据权利要求8所述的无人机管理方法,其特征在于,所述步骤
(A)中测定所述着陆无人机的重量,并分类为故障无人机或正常无人机的步骤包括:
将所述着陆无人机的重量与已设定值进行比较的步骤;
当比较结果为所述着陆无人机的重量和已设定值的误差超过一定程度时,判断为故障无人机的步骤;
将判断为故障无人机的所述无人机传送到整备模块的步骤。
10.根据权利要求8所述的无人机管理方法,其特征在于,所述步骤(C)检测出所述无人机的配件是否存在异常,并分类为故障无人机或正常无人机的步骤包括:
调整无人机和摄像机的位置以拍摄安装在无人机的正面、侧面及背面的配件,并调整所述摄像机摄影详细设定的调整步骤;
比较所拍摄的无人机配件图像和已储存的正常配件图像,根据所述拍摄的无人机配件图像和所述正常配件图像的误差情况,来判断无人机是否存在故障的步骤;及
将判断为存在故障的无人机传送到整备模块的步骤。
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