CN110703201A - Ultrasonic unmanned aerial vehicle landing method and unmanned aerial vehicle shutdown system - Google Patents
Ultrasonic unmanned aerial vehicle landing method and unmanned aerial vehicle shutdown system Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- B64U10/00—Type of UAV
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention provides an ultrasonic unmanned aerial vehicle landing method, which comprises a plurality of communication cycles, wherein the communication cycles comprise the following steps: parking apron processing module self-T0The time begins to count and the a-th ultrasonic transmission time T is obtained when the a-th stop signal is receiveda‑T0(ii) a The parking apron processing module calculates the a-th real-time distance D between the ultrasonic unmanned aerial vehicle and the a-th ultrasonic receiving modulea＝v(Ta‑T0) (ii) a The parking apron processing module calculates the T of the ultrasonic unmanned aerial vehicle based on the s a-th real-time distance0Spatial position of time Q0(x0,y0,z0) (ii) a The parking apron processing module is calculated at T0Offset coordinate Q of ultrasonic unmanned aerial vehicle relative to preset landing coordinate Q (x, y, z) at moment△0(x△0,y△0,z△0) (ii) a The apron processing module shifts the coordinate Q based on the apron communication module△0(x△0,y△0,z△0) And sending the ultrasonic wave to the ultrasonic unmanned aerial vehicle. The ultrasonic unmanned aerial vehicle landing method automatically realizes the function that the ultrasonic unmanned aerial vehicle lands at the preset position of the parking apron. Correspondingly, the invention further provides an unmanned aerial vehicle shutdown system.
Description
Technical Field
The invention relates to the field of ultrasonic unmanned aerial vehicles, in particular to an ultrasonic unmanned aerial vehicle landing method and an unmanned aerial vehicle shutdown system.
Background
Along with the expansion in ultrasonic unmanned aerial vehicle market, more and more ultrasonic unmanned aerial vehicle enters into consumer market. Through statistics discovery, ultrasonic wave unmanned aerial vehicle takes place the damage easily when descending, the leading cause is because operator misoperation, when ultrasonic wave unmanned aerial vehicle is descending, the speed too fast takes place too violent collision when leading to ultrasonic wave unmanned aerial vehicle and ground contact, ultrasonic wave unmanned aerial vehicle's balance is broken, because ultrasonic wave unmanned aerial vehicle has contacted with ground, there is not too much gesture adjustment space, ultrasonic wave unmanned aerial vehicle wing directly leads to the damage with ground contact.
Disclosure of Invention
The invention provides an ultrasonic unmanned aerial vehicle landing method and an unmanned aerial vehicle shutdown system, aiming at the problem that the existing ultrasonic unmanned aerial vehicle is easy to damage due to improper manual control when landing to the ground.
Correspondingly, the invention provides an ultrasonic unmanned aerial vehicle landing method, which comprises a plurality of communication cycles, wherein any one of the communication cycles comprises the following steps:
parking apron processing module self-T0Starting timing, and obtaining the a-th ultrasonic transmission time T when receiving the a-th stop signal sent by the a-th ultrasonic receiving modulea-T0；
The a-th stop signal is generated by triggering the a-th ultrasonic receiving module by an ultrasonic signal in a preset frequency range, and the a-th ultrasonic transmission time is the time from the ultrasonic signal sent from the ultrasonic unmanned aerial vehicle to the ultrasonic signal received by the a-th ultrasonic receiving module, wherein a is 1,2, …, s-1, s; s is not less than 3, and s is an integer;
an apron processing module calculates the a real-time distance D between the ultrasonic unmanned aerial vehicle and the a ultrasonic receiving modulea＝v(Ta-T0) Wherein v is the propagation velocity of the ultrasonic signal;
an apron processing module calculates the T-th real-time distance of the ultrasonic unmanned aerial vehicle based on s a0Spatial position of time Q0(x0,y0,z0)；
The parking apron processing module is calculated at T0At the moment, the offset coordinate Q of the ultrasonic unmanned aerial vehicle relative to the preset landing coordinate Q (x, y, z)△0(x△0,y△0,z△0)；
The apron processing module transfers the offset coordinate Q based on the apron communication module△0(x△0,y△0,z△0) And sending the ultrasonic wave unmanned aerial vehicle.
In an optional embodiment, the interval execution time of two adjacent communication cycles in the plurality of communication cycles is t;
the effective propagation distance of ultrasonic signal after sending from ultrasonic wave unmanned aerial vehicle is r, interval execution time t satisfies the condition
In an alternative embodiment, the apron treatment module is from T0The time starting timing comprises the following steps:
the air park processor module corrects the time at T based on the synchronous clock of the air park0Starting timing at the moment;
ultrasonic signal is based on ultrasonic wave unmanned aerial vehicle synchronous clock timing on the ultrasonic wave unmanned aerial vehicle is at T0Sending out at any moment;
and the time calibration of the apron synchronous clock is the same as that of the ultrasonic unmanned aerial vehicle synchronous clock.
In an optional embodiment, the preset frequency range of the ultrasonic signal in the preset frequency range is 40kHz ± 2 kHz.
In an optional embodiment, the apron processing module calculates the T-th real-time distance of the ultrasonic drone based on the s-th real-time distances0Spatial position of time Q0(x0,y0,z0) The method comprises the following steps:
traversing and selecting any three a real-time distances from the s a real-time distances to construct a primary combination, wherein the number of the primary combinations is
The three a real-time distances in each one of the primary combinations are respectively z1，z2，z3；
Solving the ultrasonic unmanned aerial vehicle at T based on the primary combination0Primary spatial position coordinates P (i, j, k) of the time instants;
traversing and solving primary space position coordinates of all primary combinations, wherein the mean value of the primary space position coordinates of all the primary combinations is the sound wave ultrasonic wave unmanned aerial vehicle at T0Spatial position of time Q0(x0,y0,z0)。
In an alternative embodiment, the ultrasonic drone T is determined based on the primary combination0The primary spatial position coordinates P (i, j, k) of a time instant comprise the steps of:
constructing a system of space coordinate distance equations for the primary space position coordinates P (i, j, k):
wherein z is1The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)1,j1,k1)，z2The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)2,j2,k2)，z3The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)3,j3,k3)；
And solving the primary space position coordinate P (i, j, k) based on the space coordinate distance equation system.
In an alternative embodiment, the tarmac processing module calculates at T0At the moment, the offset coordinate Q of the ultrasonic unmanned aerial vehicle relative to the preset landing coordinate Q (x, y, z)△0(x△0,y△0,z△0) The method comprises the following steps:
Q△0(x△0,y△0,z△0)＝Q0(x0,y0,z0)-Q(x,y,z)。
in an optional embodiment, the method for landing an ultrasonic drone further includes the steps of:
the offset coordinate Q△0(x△0,y△0,z△0) The ultrasonic unmanned aerial vehicle communication module of the ultrasonic unmanned aerial vehicle receives the signal and transmits the signal to the ultrasonic unmanned aerial vehicle processing module;
ultrasonic unmanned aerial vehicle processing module is based on offset coordinate Q△0(x△0,y△0,z△0) Generating a control signal and sending the control signal to the ultrasonic unmanned aerial vehicle flight control of the ultrasonic unmanned aerial vehicle;
ultrasonic wave unmanned aerial vehicle flies to control based on control signal generates the drive signal who is used for driving ultrasonic wave unmanned aerial vehicle drive module, drive signal is so that ultrasonic wave unmanned aerial vehicle drive module drives ultrasonic wave unmanned aerial vehicle is according to presetting acceleration to presetting the direction motion.
Correspondingly, the invention provides an unmanned aerial vehicle shutdown system, which comprises:
parking apron: the ultrasonic unmanned aerial vehicle is used for landing at a preset landing coordinate Q (x, y, z);
the parking apron processing module: a at T for calculating ultrasonic wave unmanned aerial vehicle0Spatial position of time Q0(x0,y0,z0) And superOffset coordinate Q of acoustic drone with respect to preset landing coordinate Q (x, y, z)△0(x△0,y△0,z△0)；
The a-th ultrasonic wave receiving module: the ultrasonic unmanned aerial vehicle is triggered by an ultrasonic signal sent by the ultrasonic unmanned aerial vehicle to generate an a-th stop signal, wherein a is 1,2, …, s-1, s; s is not less than 3, and s is an integer;
parking apron communication module: for aligning the offset coordinate Q△0(x△0,y△0,z△0) And sending the ultrasonic wave to the ultrasonic unmanned aerial vehicle.
The invention provides an ultrasonic unmanned aerial vehicle landing method and an unmanned aerial vehicle shutdown system, the ultrasonic unmanned aerial vehicle landing method utilizes ultrasonic signals to enable an apron to obtain offset coordinates of an ultrasonic unmanned aerial vehicle relative to a preset landing position, and sends the cheap coordinates to the ultrasonic unmanned aerial vehicle so as to enable the ultrasonic unmanned aerial vehicle to automatically land to the preset landing position of the apron as reference, and the shutdown system adopting the ultrasonic unmanned aerial vehicle landing method has good safety and reliability, can ensure the smooth landing of the ultrasonic unmanned aerial vehicle, and has good practicability.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 shows a schematic three-dimensional structure of an ultrasonic unmanned aerial vehicle according to an embodiment of the invention;
FIG. 2 is a schematic diagram of an ultrasonic unmanned aerial vehicle circuit configuration according to an embodiment of the invention;
FIG. 3 is a schematic circuit diagram of an ultrasonic generating module according to an embodiment of the present invention;
FIG. 4 illustrates an ultrasonic tarmac configuration of an embodiment of the present invention;
FIG. 5 illustrates an ultrasonic tarmac module configuration of an embodiment of the present invention;
FIG. 6 is a schematic diagram of an ultrasonic receiving module according to an embodiment of the present invention;
fig. 7 shows a reference structure diagram of an ultrasonic unmanned aerial vehicle landing method according to an embodiment of the invention;
FIG. 8 is a schematic flow chart illustrating an ultrasonic UAV landing method according to an embodiment of the present invention;
FIG. 9 shows spatial location Q of an embodiment of the present invention0(x0,y0,z0) And the flow of the calculation method is schematic.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Since the unmanned aerial vehicle landing method described in the embodiment of the present invention needs to be implemented by relying on a material carrier, for convenience of understanding, the material carrier is first described below.
Ultrasonic unmanned aerial vehicle:
fig. 1 shows a schematic three-dimensional structure of an ultrasonic unmanned aerial vehicle according to an embodiment of the present invention.
The invention provides an ultrasonic unmanned aerial vehicle, which comprises an unmanned aerial vehicle body 1, wherein the ultrasonic unmanned aerial vehicle body 1 can be selected from various unmanned aerial vehicles, the structure of the unmanned aerial vehicle body 1 can refer to the unmanned aerial vehicle structure in the prior art, and modules except the unmanned aerial vehicle body 1 of the ultrasonic unmanned aerial vehicle provided by the embodiment of the invention can be arranged on the existing unmanned aerial vehicle in a plug-in arrangement mode, and can also be integrated into the unmanned aerial vehicle to form a new unmanned aerial vehicle structure.
In the prior art, a complete unmanned aerial vehicle body at least comprises an electric power storage module, an unmanned aerial vehicle flight control module, a remote control module and an unmanned aerial vehicle driving module, wherein the electric power storage module is used for supplying power to other modules on the unmanned aerial vehicle body, the remote control module is used for receiving a remote control signal of a user, and the unmanned aerial vehicle flight control module is used for driving the unmanned aerial vehicle driving module according to the remote control signal, so that the unmanned aerial vehicle body can move according to the control direction of the user.
The ultrasonic unmanned aerial vehicle of the embodiment of the invention also comprises an unmanned aerial vehicle processing module, an ultrasonic generating module and an unmanned aerial vehicle communication module; optionally, the ultrasonic unmanned aerial vehicle further comprises a power supply module.
The power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module are respectively arranged on the unmanned aerial vehicle body, and the power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module are not unique in arrangement form and in arrangement position, the arrangement positions of the power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module are not shown in the attached figure 1 of the embodiment of the invention, and in specific implementation, the power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module can be respectively arranged at any position on the unmanned aerial; generally, power module, unmanned aerial vehicle processing module, ultrasonic wave generation module and unmanned aerial vehicle communication module are the same with the setting position that unmanned aerial vehicle flies the accuse.
The power supply module is used for being the unmanned aerial vehicle processing module the ultrasonic wave generation module and the unmanned aerial vehicle communication module carry out direct power supply or indirect power supply, wherein, direct power supply means that the power supply module is direct to the unmanned aerial vehicle processing module, and/or the ultrasonic wave generation module and/or the unmanned aerial vehicle communication module supplies power, and indirect power supply means that the power supply module supplies power to the unmanned aerial vehicle processing module one of them or more module in ultrasonic wave generation module and the unmanned aerial vehicle communication module supplies power, supplies power to the module of not supplying power through the module that has supplied power again. In the embodiment of the present invention, the output terminal of the power supply module in the embodiment of the present invention is 5V.
Optionally, the power module can set up as an organic whole with the power storage module of unmanned aerial vehicle body, promptly by the power storage module of unmanned aerial vehicle body to unmanned aerial vehicle processing module the ultrasonic wave takes place module and unmanned aerial vehicle communication module and supplies power.
Specifically, the ultrasonic wave generation module comprises an ultrasonic wave emitting head 201, and the ultrasonic wave emitting head 201 is arranged at the bottom of the unmanned aerial vehicle body 1; the reason why the ultrasonic wave generating head 201 is arranged at the bottom of the unmanned aerial vehicle body 1 is that when the unmanned aerial vehicle body 1 flies, the shutdown platform is positioned below the unmanned aerial vehicle body 1, and correspondingly, the ultrasonic wave receiving head arranged on the shutdown platform faces the air; in order to guarantee that the ultrasonic receiving head can be better the receipt ultrasonic signal, ultrasonic wave generating head 201 sets up 1 bottom of unmanned aerial vehicle body. Optionally, the surface of the ultrasonic wave generating head 201 is a hemisphere surface, so as to obtain an ultrasonic wave spatial emission angle close to 180 °.
Fig. 2 is a schematic diagram illustrating an ultrasonic unmanned aerial vehicle circuit structure according to an embodiment of the present invention, and it should be noted that there are many implementation manners of the ultrasonic unmanned aerial vehicle circuit structure according to the embodiment of the present invention, and fig. 2 illustrates only one implementation structure.
The power supply module is electrically connected with the ultrasonic wave generation module, and the ultrasonic wave generation module is used for sending an ultrasonic wave signal to the outside through the ultrasonic wave generation head 201; the unmanned aerial vehicle communication module is used for receiving the position signal sent by the apron communication module and feeding back the corresponding position signal to the unmanned aerial vehicle processing module; the power supply module is electrically connected with the unmanned aerial vehicle processing module, the unmanned aerial vehicle processing module is used for receiving position information which is transmitted by the wireless communication module and is related to the unmanned aerial vehicle, the unmanned aerial vehicle processing module processes the position information of the unmanned aerial vehicle, calculates the offset direction and the offset distance between the unmanned aerial vehicle and an accurate landing position, and sends a corresponding control signal to the unmanned aerial vehicle flight control according to the offset direction and the offset distance, so that the unmanned aerial vehicle flight control is separated from a manual control mode, and the unmanned aerial vehicle body 1 is controlled to move to the accurate landing position according to the control signal. This ultrasonic wave unmanned aerial vehicle breaks away from manual control at the descending in-process, but on the automatic landing set position to the air park, make this ultrasonic wave unmanned aerial vehicle have higher security in the stage of descending.
The following describes modules related to the ultrasonic unmanned aerial vehicle in an embodiment of the present invention one by one.
A power supply module: the power module is the battery generally, and is concrete, and the power module can integrate to the power storage module of unmanned aerial vehicle body in, generally, battery voltage is 5V or 12V. In concrete implementation, the power supply module can be of the same structure as the power storage module of the unmanned aerial vehicle body.
An ultrasonic wave generation module: fig. 3 is a schematic circuit diagram of an ultrasonic generating module according to an embodiment of the present invention. The ultrasonic wave generation module of the embodiment of the invention also comprises a pulse signal generator, a switching triode Q1 and a middle-period transformer TS
One end of a first primary of the middle transformer TS is a low-voltage input end, the low-voltage input end is electrically connected with the power supply module (5V), and the other end of the first primary of the middle transformer TS is electrically connected with a collector of the switching triode Q1;
the base electrode of the switching triode Q1 is connected with the output end of the pulse signal generator, the emitter electrode of the switching triode Q1 is grounded, and in order to adjust the base electrode conducting voltage of the switching triode Q1, a first protective resistor R1 is connected to the base electrodes of the pulse signal generator and the switching triode Q1.
The two ends of the second primary winding of the middle transformer TS are electrically connected to the two poles of the ultrasonic transmitter 201.
Optionally, when the switching transistor Q1 is turned on, the second primary stage of the middle transformer TS generates a positive voltage correspondingly due to a rising edge of the first primary stage, and when the switching transistor Q1 is turned off, the second primary stage of the middle transformer TS generates a negative voltage correspondingly due to a falling edge of the first primary stage, at this time, the ultrasonic transmitter 201 driven by the positive voltage and the negative voltage generates a positive step signal and a negative step signal instead of generating an ideal ultrasonic signal composed of unidirectional step signals, in order to enable the ultrasonic transmitter 201 to transmit an ideal ultrasonic signal, optionally, the ultrasonic generating module further includes a ground resistor R3, and one of poles of the ultrasonic transmitter 201 is grounded through the ground resistor R3. With this embodiment, the voltage in one direction of the second primary side of the intermediate transformer TS is grounded, so that the ultrasonic transmitter head 201 cannot be driven, and the ultrasonic transmitter head 201 can transmit an ideal ultrasonic signal.
Similarly, in order to regulate the voltage across the ultrasound transmitter head 201 and protect the ultrasound transmitter head 201, a second protection resistor R2 is connected in parallel to the two poles of the ultrasound transmitter head 201.
Optionally, the pulse signal generator according to the embodiment of the present invention is configured to generate a unidirectional pulse signal, and the pulse signal controls the on/off of the switching transistor Q1. Alternatively, the pulse signal generator may be a conventional pulse signal generator, and in addition, the pulse signal generator may be integrated into the drone processing module. Specifically, a base electrode of the switching triode Q1 is connected to one of the general input/output interfaces of the unmanned aerial vehicle processing module, and the high and low levels of the general input/output interface are controlled in a software control mode of the unmanned aerial vehicle processing module; in order to ensure the switching speed of the general input/output interface, the processing speed of the unmanned aerial vehicle processing module needs to reach a certain level, and the bus speed needs to meet corresponding conditions. Optionally, correspondingly, the ultrasonic emission frequency of the ultrasonic emission head 201 of the embodiment of the present invention is 40 ± 2KHz, and therefore, the frequency of the pulse signal should also be 40 ± 2 KHz.
Unmanned aerial vehicle communication module: the unmanned aerial vehicle communication module is used for receiving the position information about the ultrasonic unmanned aerial vehicle sent by the apron communication module. Specifically, unmanned aerial vehicle communication module can be short range communication module, also can be long-range communication module. It is common, short range communication module has bluetooth communication module, WIFI communication module, loRa wireless communication module etc. and long-range communication module has satellite communication module, cellular communication module etc.. Unmanned aerial vehicle communication module and unmanned aerial vehicle processing module electric connection will be about the information transmission to unmanned aerial vehicle processing module of ultrasonic wave unmanned aerial vehicle position.
Optionally, the unmanned aerial vehicle communication module of the embodiment of the invention is mainly used for receiving the position information about the ultrasonic unmanned aerial vehicle sent by the apron communication module, so that the unmanned aerial vehicle communication module can be a wireless receiving module to save the manufacturing cost.
Unmanned aerial vehicle processing module: unmanned aerial vehicle processing module is used for receiving the position information about ultrasonic wave unmanned aerial vehicle that unmanned aerial vehicle communication module sent, the accessible position information sends control signal to unmanned aerial vehicle flight control, replaces manual remote control operation, makes ultrasonic wave unmanned aerial vehicle can land on the predetermined position on air park. Optionally, unmanned aerial vehicle processing module includes the treater, and the treater can be for STM32, 51 singlechip etc. have enough general purpose input/output interface's equipment, and is specific, the treater model is STM32F407VGT singlechip chip for the model.
In specific implementation, the unmanned aerial vehicle processing module can be integrated into unmanned aerial vehicle flight control, and as the unmanned aerial vehicle processing module only needs to be electrically connected with the unmanned aerial vehicle communication module and is electrically connected with the ultrasonic module when the pulse generator is integrated into the unmanned aerial vehicle processing module, the unmanned aerial vehicle processing module provided by the embodiment of the invention needs fewer interfaces and can be easily integrated into unmanned aerial vehicle flight control.
It should be noted that, the position information about the ultrasonic unmanned aerial vehicle, specifically, the position information about the ultrasonic unmanned aerial vehicle may be the absolute coordinate of the current ultrasonic unmanned aerial vehicle, and may also be the relative coordinate of the current ultrasonic unmanned aerial vehicle.
According to the ultrasonic unmanned aerial vehicle provided by the embodiment of the invention, when the ultrasonic unmanned aerial vehicle approaches an apron and needs to land, the ultrasonic generation module transmits an ultrasonic signal to the direction of the apron, the apron judges the position of the ultrasonic unmanned aerial vehicle according to the ultrasonic signal, and the relative coordinate of the ultrasonic unmanned aerial vehicle is calculated according to the preset landing position of the ultrasonic unmanned aerial vehicle; then the ultrasonic unmanned aerial vehicle receives information which is from an apron and is related to relative coordinates of the ultrasonic unmanned aerial vehicle through an unmanned aerial vehicle communication module, and generates a corresponding control signal based on the relative coordinates, wherein the control signal is used for replacing a remote control signal generated in manual control; and after the unmanned aerial vehicle flight control receives the control signal, the ultrasonic unmanned aerial vehicle is controlled to move towards the corresponding direction. The above process is repeated until the ultrasonic unmanned aerial vehicle descends the ultrasonic unmanned aerial vehicle descending position of predetermineeing on the parking apron.
It should be noted that, the air park is when carrying out the position guide to ultrasonic wave unmanned aerial vehicle, still can be according to ultrasonic wave unmanned aerial vehicle's corresponding position control ultrasonic wave unmanned aerial vehicle's acceleration of motion, and the more close to the air park, ultrasonic wave unmanned aerial vehicle's acceleration of motion is lower to make ultrasonic wave unmanned aerial vehicle land as steady as possible.
Ultrasonic parking apron:
fig. 4 shows a structural schematic diagram of an ultrasonic apron according to an embodiment of the present invention, and fig. 5 shows a structural schematic diagram of an ultrasonic apron module according to an embodiment of the present invention.
The ultrasonic parking apron 2 comprises a parking platform 401, a parking apron processing module, more than three ultrasonic receiving modules and a parking apron communication module;
the more than three ultrasonic receiving modules are respectively and electrically connected with the apron processing module, and the apron communication module is electrically connected with the apron processing module;
any one of the three or more ultrasonic receiving modules includes an ultrasonic receiving head 301;
the ultrasonic receiving heads 301 are arranged on the shutdown platform, and the ultrasonic receiving heads 301 of the more than three ultrasonic receiving modules are not arranged on the same straight line.
Fig. 6 is a schematic circuit diagram of an ultrasonic receiving module according to an embodiment of the present invention. The ultrasonic receiving module of the embodiment of the invention is established based on the CX20106A chip. Specifically, the resistance of pin 5 of CX20106A determines the center frequency of the received ultrasonic signal, and the resistance of R5 may be 200k, and the center frequency of the ultrasonic signal received by the ultrasonic receiving head 301 is 40 KHz. When the ultrasonic receiving head 301 receives a 40KHz signal, a low level down pulse is generated at the 7 th pin of the CX20106A chip, and because the 7 th pin of the CX20106A chip is electrically connected with the apron processing module, the low level down pulse can be acquired by the apron processing module, namely when the ultrasonic receiving head receives a 40KHz signal, the apron processing module can acquire a trigger signal on the corresponding general input/output pin.
Specifically, the apron processing module can be built based on stm32, arm and other processor chips, and can refer to related data in the prior art.
Specifically, the apron communication module may be a short-range communication module or a long-range communication module. It is common, short range communication module has bluetooth communication module, WIFI communication module, loRa wireless communication module etc. and long-range communication module has satellite communication module, cellular communication module etc..
The parking apron processing module judges the distance between the ultrasonic unmanned aerial vehicle and the ultrasonic receiving heads through the trigger signal, and can acquire the relative position between the ultrasonic unmanned aerial vehicle and the parking platform by synthesizing the feedback data of the plurality of ultrasonic receiving heads; the relative position is then sent to the ultrasonic drone through the apron communication module.
Optionally, the wireless communication actions related to the ultrasonic apron are all sending instructions, so that the apron communication module is a wireless sending module, and the manufacturing cost of the ultrasonic apron is saved.
The ultrasonic unmanned aerial vehicle landing method comprises the following steps:
fig. 7 shows a reference structure diagram of the landing method of the ultrasonic unmanned aerial vehicle according to the embodiment of the invention.
Fig. 8 shows a schematic flow chart of an ultrasonic unmanned aerial vehicle landing method according to an embodiment of the invention.
The embodiment of the invention provides an ultrasonic unmanned aerial vehicle landing method, which comprises a plurality of communication cycles, wherein any one of the communication cycles comprises the following steps:
s101: parking apron processing module self-T0Starting to time at the moment and receiving the message from the firsta ultrasonic wave transmission time T is obtained when the a-th stop signal sent by the a ultrasonic wave receiving modulea-T；
At the beginning of each communication cycle, the apron processing module is from T0Start timing at all times, synchronous, ultrasonic unmanned aerial vehicle is at T0The ultrasonic signal is transmitted from time to time.
In order to ensure the time synchronization between the apron processing module and the ultrasonic unmanned aerial vehicle, optionally, the apron processing module is calibrated at T based on the apron synchronous clock0Starting timing at the moment; ultrasonic signal is based on ultrasonic wave unmanned aerial vehicle synchronous clock timing on the ultrasonic wave unmanned aerial vehicle is at T0Sending out at any moment; and the time calibration of the apron synchronous clock is the same as that of the ultrasonic unmanned aerial vehicle synchronous clock. Through the consistency of the time of the parking apron synchronous clock and the ultrasonic unmanned aerial vehicle synchronous clock, the T of the parking apron processing module for starting timing is ensured0T for starting to send ultrasonic waves with ultrasonic unmanned aerial vehicle at any moment0The time is the same. Through this mode of setting up, can guarantee the time synchronization of ultrasonic wave unmanned aerial vehicle and air park treater, and the time synchronization is not established on the basis of intercommunication, can break away from the communication among the concrete implementation and carry out the time synchronization, has good practicality.
Ultrasonic unmanned plane at T0Ultrasonic signals sent at any moment are diffused in a fan shape and are received by an ultrasonic receiving module on the apron, specifically, the ultrasonic receiving module comprises an ultrasonic receiving head, and the ultrasonic receiving head can be used for acquiring the ultrasonic signals; the ultrasonic wave module acquires an ultrasonic wave signal based on the ultrasonic wave receiving head, then converts the ultrasonic wave signal into a stop signal through modes such as analog-to-digital conversion and sends the stop signal to the apron processing module, and the apron processing module obtains the ultrasonic wave transmission time after receiving the stop signal.
In order to confirm the position of the ultrasonic unmanned aerial vehicle, the number of the ultrasonic receiving modules is more than three groups, and for convenience of description, in the embodiment of the invention, the number of the ultrasonic receiving modules is s groups, s is greater than or equal to 3, and s is an integer. The s groups of ultrasonic modules comprise a first ultrasonic receiving module, a second ultrasonic receiving module, … … and an a-th ultrasonic receiving module, wherein a is 1,2, …, s-1, s. It should be noted that, in order to prevent ambiguity of naming by applying arabic numerals, a in the a-th ultrasonic wave receiving module in the embodiment of the present invention is replaced by a chinese lowercase number.
In particular, the apron treatment module is self-T0Starting timing, and obtaining the a-th ultrasonic transmission time T when receiving the a-th stop signal sent by the a-th ultrasonic receiving modulea-T; since the value number of a is s, s ultrasonic transmission times are obtained in the process, and specifically, each ultrasonic transmission time corresponds to one group of ultrasonic modules corresponding to the s groups of ultrasonic modules.
S102: an apron processing module calculates the a real-time distance D between the ultrasonic unmanned aerial vehicle and the a ultrasonic receiving modulea＝v(Ta-T0) Wherein v is the propagation velocity of the ultrasonic signal;
according to the transmission principle of the sound wave, the transmission distance of the sound wave is related to the propagation time and the propagation medium, in the embodiment of the invention, the ultrasonic signal is propagated in the air, and the sound velocity v propagation speed can be set to be 340 m/s; in specific implementation, the actual propagation speed may slightly deviate according to the air composition difference, and the actual propagation speed may be adjusted according to actual conditions in specific implementation.
Corresponding to the a-th ultrasonic receiving module, the transmission distance (namely the a-th real-time distance) from the ultrasonic wave emitted by the ultrasonic unmanned aerial vehicle to the ultrasonic wave receiving head of the a-th ultrasonic receiving module is Da＝v(Ta-T0)。
In the specific calculation, the a-th real-time distances of all the ultrasonic receiving modules need to be calculated in a traversing mode so as to obtain the theoretical distance from the ultrasonic unmanned aerial vehicle to each ultrasonic receiving module.
S103: an apron processing module calculates the number of the ultrasonic unmanned aerial vehicle at T according to the a-th real-time distance of s0Spatial position of time Q0(x0,y0,z0)；
In step S102, the theoretical distance from the ultrasonic drone to each ultrasonic receiving module, that is, the number of the a-th real-time distances, is calculated to be S.
FIG. 9 shows spatial location Q of an embodiment of the present invention0(x0,y0,z0) And the flow of the calculation method is schematic. Optionally, the apron processing module calculates the T-th distance of the ultrasonic unmanned aerial vehicle based on the s-th real-time distance0Spatial position of time Q0(x0,y0,z0) The method comprises the following steps:
s201: traversing and selecting any three a real-time distances from the s a real-time distances to construct a primary combination, wherein the number of the primary combinations is CS3；
In the three-dimensional space, the distance from an unknown point to three other non-collinear known points can be known, and the unknown point in the space can be obtained, so that in the embodiment of the invention, any three a real-time distances are selected from the a real-time distances with the total number of s in a traversing manner to construct a primary combination, and according to the combination principle, the number of the combinations of the primary combination is C in totalS3, the number of the cells is 3; for ease of reference, the three a-th real-time distances in a time combination are named z1，z2，z3。
S202: solving the ultrasonic unmanned aerial vehicle at T based on the primary combination0Primary spatial position coordinates P (i, j, k) of the time instants;
specifically, the ultrasonic unmanned aerial vehicle is obtained at T based on the primary combination0The primary spatial position coordinates P (i, j, k) of a time instant comprise the steps of:
constructing a system of space coordinate distance equations for the primary space position coordinates P (i, j, k):
wherein z is1The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)1,j1,k1)，z2The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)2,j2,k2)，z3The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)3,j3,k3)；
And solving the primary space position coordinate P (i, j, k) based on the space coordinate distance equation system.
It should be noted that, since the source of the operation data of P (i, j, k) is the a-th real-time distance obtained in step S102, on one hand, the a-th real-time distance is affected by the time accuracy of the synchronous clock, and the a-th real-time distance has data errors in most cases, on the other hand, the transmission of the ultrasonic signal and the related electric signal in the circuit also takes time, and the a-th ultrasonic transmission time T obtained by the processor module is the a-th ultrasonic transmission time TaT is also not absolutely exact, so that it can be seen that if the ultrasonic drone position is found by means of only one primary spatial position coordinate, it is not exact, and therefore, optionally, the number of ultrasonic receiving modules should be greater than or equal to 4 groups, and when the number of ultrasonic receiving modules is 4 groups, 4 primary spatial position coordinates can be provided; when the number of the ultrasonic wave receiving modules is 5 groups, 10 primary spatial position coordinates can be provided.
S203: traversing and solving primary space position coordinates of all primary combinations, wherein the mean value of the primary space position coordinates of all the primary combinations is the sound wave ultrasonic wave unmanned aerial vehicle at T0Spatial position of time Q0(x0,y0,z0)。
In order to reduce errors, the embodiment of the present invention obtains the sound wave ultrasonic wave unmanned aerial vehicle at T by averaging all the primary spatial position coordinates obtained in step S202, where the primary spatial position coordinates all have errors0Spatial position of time Q0(x0,y0,z0)。
S104: the parking apron processing module is calculated at T0At the moment, the offset coordinate Q of the ultrasonic unmanned aerial vehicle relative to the preset landing coordinate Q (x, y, z)△0(x△0,y△0,z△0)；
Specifically, a preset landing coordinate Q (x, y, z) is set in the space in a preset manner. In general, the apron plane may be taken as the 0 plane in the z direction, and thus, optionally, the preset landing coordinates are Q (x, y, 0).
Therefore, the calculation formula of the offset coordinate is as follows
Q△0(x△0,y△0,z△0)＝Q0(x0,y0,z0)-Q(x,y,z)
The offset coordinate is represented at T0The relative position of ultrasonic wave unmanned aerial vehicle for predetermineeing the descending position constantly.
S105: the apron processing module transfers the offset coordinate Q based on the apron communication module△0(x△0,y△0,z△0) And sending the ultrasonic wave unmanned aerial vehicle.
It should be noted that the apron processing module of the embodiment of the present invention only shifts the coordinate Q△0(x△0,y△0,z△0) And sending the data to the ultrasonic unmanned aerial vehicle, and processing subsequent execution operation by the ultrasonic unmanned aerial vehicle.
Different processing methods may be available for different ultrasonic drones.
Optionally, in the embodiment of the present invention, the ultrasonic drone pair offset coordinate Q△0(x△0,y△0,z△0) The processing method comprises the following steps:
the offset coordinate Q△0(x△0,y△0,z△0) The ultrasonic unmanned aerial vehicle communication module of the ultrasonic unmanned aerial vehicle receives the signal and transmits the signal to the ultrasonic unmanned aerial vehicle processing module;
ultrasonic unmanned aerial vehicle processing module is based on offset coordinate Q△0(x△0,y△0,z△0) Generating a control signal and sending the control signal to the ultrasonic unmanned aerial vehicle flight control of the ultrasonic unmanned aerial vehicle; it should be noted that, there are many ways to generate the control signal,the setting can be performed according to different ultrasonic unmanned aerial vehicles, and optionally, the generation logic of the control signal in the embodiment of the invention is as follows:
judging the offset coordinate Q△0(x△0,y△0,z△0) X of△0And y△0Is it 0?
At said x△0And y△0When not 0, the control signal comprises a translation control signal; at said x△0And y△0And when the value is 0, the control signal comprises a falling control signal.
Specifically, the translation control signal can control an ultrasonic unmanned aerial vehicle driving module of the ultrasonic unmanned aerial vehicle through the flight control of the ultrasonic unmanned aerial vehicle, so that the ultrasonic unmanned aerial vehicle can translate to a set position; descending control signal accessible ultrasonic wave unmanned aerial vehicle flies to control ultrasonic wave unmanned aerial vehicle drive module to ultrasonic wave unmanned aerial vehicle, makes ultrasonic wave unmanned aerial vehicle descend to setting for on the position.
Correspondingly, in corresponding control signal, still include the acceleration logic that generates based on presetting the logic to guarantee the stationarity of ultrasonic wave unmanned aerial vehicle in the motion process.
Ultrasonic wave unmanned aerial vehicle flies to control based on control signal generates the drive signal who is used for driving ultrasonic wave unmanned aerial vehicle drive module, drive signal is so that ultrasonic wave unmanned aerial vehicle drive module drives ultrasonic wave unmanned aerial vehicle is according to presetting acceleration to presetting the direction motion.
As can be seen from the above description, in one communication cycle, the apron receives the ultrasonic signal sent by the ultrasonic unmanned aerial vehicle, and calculates the offset coordinate of the ultrasonic unmanned aerial vehicle relative to the preset landing position, where the offset coordinate can provide a reference for the ultrasonic unmanned aerial vehicle to move when the ultrasonic unmanned aerial vehicle lands, and accordingly, in order to avoid that the ultrasonic signal in one communication cycle is received in the subsequent communication cycles, an appropriate time interval is maintained between two adjacent communication cycles, specifically, the interval execution time of two adjacent communication cycles in the plurality of communication cycles is t; after the ultrasonic signal is sent from the ultrasonic unmanned aerial vehicle, the ultrasonic signal is sent outThe effective propagation distance is r, and the interval execution time t meets the condition
Usually, the effective propagation distance of the ultrasonic signal emitted by the ultrasonic wave generating head applied to the civil-grade ultrasonic unmanned aerial vehicle is about 10m, correspondingly,
as the subsequent processing of the apron processor module and the interaction between the apron and the ultrasonic drone are also involved, optionally t is 0.1 s.
Unmanned aerial vehicle shutdown system:
the embodiment of the invention also provides an unmanned aerial vehicle shutdown system, which comprises:
parking apron: the ultrasonic unmanned aerial vehicle is used for landing at a preset landing coordinate Q (x, y, z);
the parking apron processing module: a at T for calculating ultrasonic wave unmanned aerial vehicle0Spatial position of time Q0(x0,y0,z0) And offset coordinates Q of the ultrasonic drone with respect to preset landing coordinates Q (x, y, z)△0(x△0,y△0,z△0)；
The a-th ultrasonic wave receiving module: the ultrasonic unmanned aerial vehicle is triggered by an ultrasonic signal sent by the ultrasonic unmanned aerial vehicle to generate an a-th stop signal, wherein a is 1,2, …, s-1, s; s is not less than 3, and s is an integer;
parking apron communication module: for aligning the offset coordinate Q△0(x△0,y△0,z△0) And sending the ultrasonic wave to the ultrasonic unmanned aerial vehicle.
In particular, reference may be made to the above description regarding the specific structure of the unmanned aerial vehicle parking system.
The invention provides an ultrasonic unmanned aerial vehicle landing method and an unmanned aerial vehicle shutdown system, the ultrasonic unmanned aerial vehicle landing method utilizes ultrasonic signals to enable an apron to obtain offset coordinates of an ultrasonic unmanned aerial vehicle relative to a preset landing position, and sends the cheap coordinates to the ultrasonic unmanned aerial vehicle so as to enable the ultrasonic unmanned aerial vehicle to automatically land to the preset landing position of the apron as reference, and the shutdown system adopting the ultrasonic unmanned aerial vehicle landing method has good safety and reliability, can ensure the smooth landing of the ultrasonic unmanned aerial vehicle, and has good practicability.
The ultrasonic unmanned aerial vehicle landing method and the unmanned aerial vehicle shutdown system provided by the embodiment of the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. An ultrasonic unmanned aerial vehicle landing method is characterized by comprising a plurality of communication periods, wherein any one of the communication periods comprises the following steps:
parking apron processing module self-T0Starting timing, and obtaining the a-th ultrasonic transmission time T when receiving the a-th stop signal sent by the a-th ultrasonic receiving modulea-T0；
The a-th stop signal is generated by triggering the a-th ultrasonic receiving module by an ultrasonic signal in a preset frequency range, and the a-th ultrasonic transmission time is the time from the ultrasonic signal sent from the ultrasonic unmanned aerial vehicle to the ultrasonic signal received by the a-th ultrasonic receiving module, wherein a is 1,2, …, s-1, s; s is not less than 3, and s is an integer;
an apron processing module calculates the a real-time distance D between the ultrasonic unmanned aerial vehicle and the a ultrasonic receiving modulea＝v(Ta-T0) Wherein v is the propagation velocity of the ultrasonic signal;
parking apron processing module is based on s a real-timeDistance calculation ultrasonic unmanned aerial vehicle is at T0Spatial position of time Q0(x0,y0,z0)；
The parking apron processing module is calculated at T0At the moment, the offset coordinate Q of the ultrasonic unmanned aerial vehicle relative to the preset landing coordinate Q (x, y, z)△0(x△0,y△0,z△0)；
The apron processing module transfers the offset coordinate Q based on the apron communication module△0(x△0,y△0,z△0) And sending the ultrasonic wave unmanned aerial vehicle.
2. An ultrasonic drone landing method according to claim 1, wherein the interval of two adjacent ones of the plurality of communication cycles is performed at time t;
the effective propagation distance of ultrasonic signal after sending from ultrasonic wave unmanned aerial vehicle is r, interval execution time t satisfies the condition
3. An ultrasonic drone landing method according to claim 1, wherein the apron treatment module is from T0The time starting timing comprises the following steps:
the air park processor module corrects the time at T based on the synchronous clock of the air park0Starting timing at the moment;
ultrasonic signal is based on ultrasonic wave unmanned aerial vehicle synchronous clock timing on the ultrasonic wave unmanned aerial vehicle is at T0Sending out at any moment;
and the time calibration of the apron synchronous clock is the same as that of the ultrasonic unmanned aerial vehicle synchronous clock.
4. An ultrasonic drone landing method according to claim 1, wherein the preset frequency range of ultrasonic signals within the preset frequency range is 40kHz ± 2 kHz.
5. The ultrasonic drone landing method of claim 1, wherein the apron processing module calculates the ultrasonic drone at T based on the s a-th real-time distances0Spatial position of time Q0(x0,y0,z0) The method comprises the following steps:
traversing and selecting any three a real-time distances from the s a real-time distances to construct a primary combination, wherein the number of the primary combinations is
；
The three a real-time distances in each one of the primary combinations are respectively z1，z2，z3；
Solving the ultrasonic unmanned aerial vehicle at T based on the primary combination0Primary spatial position coordinates P (i, j, k) of the time instants;
traversing and solving primary space position coordinates of all primary combinations, wherein the mean value of the primary space position coordinates of all the primary combinations is the sound wave ultrasonic wave unmanned aerial vehicle at T0Spatial position of time Q0(x0,y0,z0)。
6. An ultrasonic drone landing method according to claim 5, wherein the finding of the ultrasonic drone at T based on the first combination is based on0The primary spatial position coordinates P (i, j, k) of a time instant comprise the steps of:
constructing a system of space coordinate distance equations for the primary space position coordinates P (i, j, k):
wherein z is1The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)1,j1,k1)，z2The corresponding a-th ultrasonic wave is connectedThe coordinate of the ultrasonic receiving head of the receiving module in a space coordinate system is (i)2,j2,k2)，z3The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)3,j3,k3)；
And solving the primary space position coordinate P (i, j, k) based on the space coordinate distance equation system.
7. An ultrasonic drone landing method according to claim 5, wherein the tarmac processing module calculates at T0At the moment, the offset coordinate Q of the ultrasonic unmanned aerial vehicle relative to the preset landing coordinate Q (x, y, z)△0(x△0,y△0,z△0) The method comprises the following steps:
Q△0(x△0,y△0,z△0)＝Q0(x0,y0,z0)-Q(x,y,z)。
8. an ultrasonic drone landing method according to claim 1, further comprising the steps of:
the offset coordinate Q△0(x△0,y△0,z△0) The ultrasonic unmanned aerial vehicle communication module of the ultrasonic unmanned aerial vehicle receives the signal and transmits the signal to the ultrasonic unmanned aerial vehicle processing module;
ultrasonic unmanned aerial vehicle processing module is based on offset coordinate Q△0(x△0,y△0,z△0) Generating a control signal and sending the control signal to the ultrasonic unmanned aerial vehicle flight control of the ultrasonic unmanned aerial vehicle;
ultrasonic wave unmanned aerial vehicle flies to control based on control signal generates the drive signal who is used for driving ultrasonic wave unmanned aerial vehicle drive module, drive signal is so that ultrasonic wave unmanned aerial vehicle drive module drives ultrasonic wave unmanned aerial vehicle is according to presetting acceleration to presetting the direction motion.
9. An unmanned aerial vehicle system of halting, its characterized in that, unmanned aerial vehicle system of halting includes:
parking apron: the ultrasonic unmanned aerial vehicle is used for landing at a preset landing coordinate Q (x, y, z);
the parking apron processing module: a at T for calculating ultrasonic wave unmanned aerial vehicle0Spatial position of time Q0(x0,y0,z0) And offset coordinates Q of the ultrasonic drone with respect to preset landing coordinates Q (x, y, z)△0(x△0,y△0,z△0)；
The a-th ultrasonic wave receiving module: the ultrasonic unmanned aerial vehicle is triggered by an ultrasonic signal sent by the ultrasonic unmanned aerial vehicle to generate an a-th stop signal, wherein a is 1,2, …, s-1, s; s is not less than 3, and s is an integer;
parking apron communication module: for aligning the offset coordinate Q△0(x△0,y△0,z△0) And sending the ultrasonic wave to the ultrasonic unmanned aerial vehicle.
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