CN111240348A - Unmanned aerial vehicle landing control method based on motion base, computer readable storage medium and control equipment - Google Patents
Unmanned aerial vehicle landing control method based on motion base, computer readable storage medium and control equipment Download PDFInfo
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- G—PHYSICS
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Abstract
The invention belongs to an aviation aircraft control method, and relates to a composite configuration fixed wing unmanned aerial vehicle landing control method based on a moving base, a computer readable storage medium and control equipment, which solve the technical problem that a composite configuration fixed wing unmanned aerial vehicle is difficult to land on a moving base platform by depending on a fixed position point in the taking-off and landing process in the prior art. The computer readable storage medium and the control device take corresponding hardware as a carrier to realize the landing control method of the invention.
Description
Technical Field
The invention belongs to an aviation aircraft control method, and particularly relates to a composite configuration fixed wing unmanned aerial vehicle landing control method based on a motion base, a computer readable storage medium and control equipment.
Background
Conventional drones are generally classified into fixed-wing and multi-rotor types. The fixed-wing unmanned aerial vehicle has the advantages of high flying speed, long endurance time and long range, but needs to run by using a runway in the taking-off and landing process and cannot hover in the air; many rotor unmanned aerial vehicle can carry out VTOL, does not have special requirement to the place of taking off and land, also can hover in the air, but flying speed and duration all are difficult to compare with fixed wing unmanned aerial vehicle.
The derived composite configuration fixed wing unmanned aerial vehicle is additionally provided with a multi-rotor mechanism on the basis of the layout of the conventional fixed wing unmanned aerial vehicle, so that the fixed wing unmanned aerial vehicle has the capability of vertical take-off and landing. Present combined type fixed wing unmanned aerial vehicle takes off and land the in-process all adopts many rotors mode to take off and land, and unmanned aerial vehicle closes at the in-process many rotors of flight in the air, adopts the flight of fixed wing mode, and this kind of unmanned aerial vehicle both possesses the advantage that fixed wing unmanned aerial vehicle flying speed is fast, duration is long and the voyage is far away, possesses the advantage that many rotor unmanned aerial vehicle can take off and land perpendicularly again, and it is nimble convenient to use.
However, in the existing take-off and landing process of the composite-configuration fixed-wing unmanned aerial vehicle, a multi-rotor mode is adopted for take-off and landing, fixed position points are relied on, and in the process that the composite-configuration fixed-wing unmanned aerial vehicle flies in the multi-rotor mode, because the structure of the aircraft is complex, the maximum flying speed in the horizontal direction can only be generally maintained at about 5m/s, and meanwhile, the maneuverability is limited, so that the take-off and landing on a moving base platform are difficult.
Disclosure of Invention
The invention mainly aims to solve the technical problem that a composite configuration fixed wing unmanned aerial vehicle is difficult to land on a moving base platform due to the fact that a fixed position point is relied on in the taking-off and landing process of the composite configuration fixed wing unmanned aerial vehicle in the prior art, and provides a method for controlling the landing of the composite configuration fixed wing unmanned aerial vehicle based on a moving base, a computer readable storage medium and control equipment.
In order to achieve the purpose, the invention provides the following technical scheme:
the unmanned aerial vehicle landing control method based on the motion base is characterized by comprising the following steps of:
The unmanned aerial vehicle flies to the rear of the motion base after receiving the landing instruction, the preset accompanying flying height is maintained until the relative distance between the unmanned aerial vehicle and the motion base reaches the preset distance, and the rotor motor is started to be converted into a composite flying mode;
Keeping the flight course of the unmanned aerial vehicle consistent with the flight course of the motion base, and enabling the unmanned aerial vehicle to fly to be right above a landing point on the motion base; then, the unmanned aerial vehicle maintains a preset accompanying flight height, keeps relatively static with the moving base, and keeps the same course with the moving base until the unmanned aerial vehicle receives a descending instruction;
step 3, the unmanned aerial vehicle is lifted
The rotor wing of the unmanned aerial vehicle controls the attitude, the course, the height and the vertical speed of the unmanned aerial vehicle and the transverse relative position of the unmanned aerial vehicle and the motion base; meanwhile, the engine of the unmanned aerial vehicle controls the longitudinal relative position of the unmanned aerial vehicle and the motion base and the relative speed of the unmanned aerial vehicle and the motion base; the unmanned aerial vehicle vertically lands downwards, keeps relatively static with the moving base in the horizontal direction, and keeps consistent with the moving base in the course until the unmanned aerial vehicle reaches a landing point on the moving base;
After the unmanned aerial vehicle detects to touch to ground, close rotor motor and engine, accomplish to descend.
Further, the landing command and the descending command are both sent by a ground control station.
Further, step 1 specifically does, carry on motion base location guidance equipment on the motion base, motion base location guidance equipment receives unmanned aerial vehicle and motion base's position, speed and course information, motion base location guidance equipment obtains unmanned aerial vehicle and real-time relative position information of motion base and relative velocity information through calculation, send to the ground control station, send to unmanned aerial vehicle through the data link system by the ground control station again, unmanned aerial vehicle is according to the relative position information and the relative velocity information who receive, rotor and the engine control flight through unmanned aerial vehicle, make unmanned aerial vehicle maintain and predetermine companion's height, fly to reaching the relative distance with the motion base and predetermine relative distance, it converts into compound flight mode to open rotor motor.
Further, in step 2, unmanned aerial vehicle flies to specifically do directly over the landing point on the motion base, carry on motion base location guide equipment on the motion base, motion base location guide equipment receives unmanned aerial vehicle and motion base's position, speed and course information, motion base location guide equipment obtains unmanned aerial vehicle and the real-time relative position of motion base and speed information through calculating, sends to ground control station, again by ground control station through the data link system to unmanned aerial vehicle sending, unmanned aerial vehicle is according to the relative position and the speed information of receiving, through unmanned aerial vehicle's rotor and engine control flight, make unmanned aerial vehicle fly to directly over the landing point on the motion base.
Further, in step 2, the specific method that the unmanned aerial vehicle flies and butts to the position right above the landing point on the motion base is that the flying is controlled by the rotor and the engine of the unmanned aerial vehicle: the rotor wing of the unmanned aerial vehicle controls the attitude, the course and the flying height of the unmanned aerial vehicle and the transverse relative position of the unmanned aerial vehicle and the motion base; meanwhile, the engine of the unmanned aerial vehicle controls the longitudinal relative position of the unmanned aerial vehicle and the motion base and the relative speed of the unmanned aerial vehicle and the motion base; the unmanned aerial vehicle flies to the position right above a landing point on the motion base from the rear part of the motion base, then keeps relatively static with the motion base, the heading of the unmanned aerial vehicle is consistent with that of the motion base, and the unmanned aerial vehicle keeps horizontal flight and maintains a preset accompanying flight height.
Further, in step 2, the specific method of controlling the flight through the rotor and the engine of the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly to the position right above the landing point on the motion base is as follows: the rotor wing of the unmanned aerial vehicle controls the attitude, the course and the flying height of the unmanned aerial vehicle and the transverse relative position of the unmanned aerial vehicle and the motion base; meanwhile, the engine of the unmanned aerial vehicle controls the longitudinal relative position of the unmanned aerial vehicle and the motion base and the relative speed of the unmanned aerial vehicle and the motion base; the rotor wing of the unmanned aerial vehicle controls the unmanned aerial vehicle to roll to move to a preset transverse relative distance with the moving base, and then the unmanned aerial vehicle is controlled by the engine to fly towards the moving base, so that the unmanned aerial vehicle flies to the right side of the landing point of the moving base; after the unmanned aerial vehicle arrives at the right side of the falling point of the moving base, the engine controls the longitudinal relative position and the relative speed of the unmanned aerial vehicle and the moving base to be within the range of the preset threshold value and maintain the state, then the unmanned aerial vehicle controls the unmanned aerial vehicle to roll over to move right above the falling point on the moving base by utilizing the rotor wing, then the unmanned aerial vehicle and the moving base keep relatively static, and the course of the unmanned aerial vehicle and the moving base keep consistent.
Further, unmanned aerial vehicle's rotor control unmanned aerial vehicle's gesture, course, height, vertical speed to and unmanned aerial vehicle and motion base's horizontal relative position are closed-loop control, by unmanned aerial vehicle's engine control unmanned aerial vehicle and motion base's vertical relative position, and unmanned aerial vehicle and motion base's relative speed are closed-loop control, can carry out real-time control, control more accurately.
A computer-readable storage medium, on which a computer program is stored, which is characterized in that the computer program realizes the steps of the method as described above when executed by a processor.
A control device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor implements the steps of the method as described above when executing said computer program.
Compared with the prior art, the invention has the beneficial effects that:
1. the unmanned aerial vehicle landing control method based on the motion base can realize that the combined type fixed wing unmanned aerial vehicle lands on the medium and low speed motion base, and can expand the application environment of the combined type fixed wing unmanned aerial vehicle. The landing is divided into four steps of approaching a motion base, guiding accompanying flight, lowering height and finishing the landing: in the approaching process, the unmanned aerial vehicle firstly flies behind the motion base after receiving a landing instruction until reaching a preset relative distance and then starts a rotor motor; then, the composite state flight is carried out under the common control of the rotor wing and the engine, and simultaneously the flight is carried out after the flight is abutted to the position right above a landing point on the motion base; and after receiving a descending command, vertically descending to a descending point, and then closing the rotor motor and the engine to finish the descending. At unmanned aerial vehicle from the flight to the in-process of descending the landing point on descending to the motion base, through the hybrid control of rotor and engine, make full use of combined type fixed wing unmanned aerial vehicle utilizes the rotor to carry out the advantage of VTOL, utilized fixed wing unmanned aerial vehicle's high-speed flight ability simultaneously to the landing of combined type fixed wing unmanned aerial vehicle on well low-speed motion base has been realized.
2. Two modes are arranged right above the landing point which is landed on the motion base, so that the landing under various environments can be adapted, the landing point can be landed from the rear of the motion base or the side of the motion base according to the peripheral obstacle condition during landing, and the landing application range of the unmanned aerial vehicle is wider.
3. The control method can be realized by depending on a ground control station, the motion base positioning and guiding equipment and a data chain, and the control method is accurately realized.
4. The rotor and the engine of the invention carry out closed-loop control on the unmanned aerial vehicle in the processes of approaching the motion base, guiding accompanying flight and descending, and carry out real-time control according to the real-time information of the unmanned aerial vehicle, so that the control is more accurate.
5. The computer readable storage medium of the invention can store the control method as a program, and the control method can be realized when the computer program is executed by the processor, so that the aim of controlling the landing of the unmanned aerial vehicle is finally achieved.
6. The control device of the invention can store the control method as a program, and the processor can execute the program to realize the control of the unmanned aerial vehicle.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment and a second embodiment of the present invention;
fig. 2 is a dynamic schematic diagram of a first embodiment and a second embodiment of the present invention (the dotted line in the figure is the motion trajectory of the unmanned aerial vehicle, and the arrow in the figure is the advancing direction of the motion base);
fig. 3 is a schematic diagram of two ways of landing the drone to the motion base in the first and second embodiments of the invention (the arrow in the figure is the forward direction of the motion base);
FIG. 4 is a schematic flow chart of FIG. 1 according to the present invention;
fig. 5 is a schematic flow chart of the unmanned aerial vehicle directly above a landing point of a motion base;
fig. 6 is a schematic flow chart of the second embodiment of the present invention, in which the unmanned aerial vehicle flies to a position right above the landing point of the motion base;
wherein, 1-a motion base; 2-unmanned plane.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings, and it is obvious that the described embodiments do not limit the present invention.
Example one
As shown in fig. 1, fig. 2 and fig. 4, the method for controlling the landing of the unmanned aerial vehicle based on the motion base comprises the following steps:
s1 unmanned aerial vehicle approaching motion base
The unmanned aerial vehicle 2 flies behind the motion base 1 after receiving the landing instruction, maintains the preset accompanying flying height until the distance between the unmanned aerial vehicle 2 and the motion base 1 reaches the preset relative distance, and starts a rotor motor to convert to a composite flying mode;
s2, guiding and accompanying by unmanned aerial vehicle
As in fig. 5, the rotor of the drone 2 controls the attitude, heading, flying height of the drone, and the lateral relative position of the drone 2 and the motion base 1; meanwhile, the longitudinal relative position of the unmanned aerial vehicle 2 and the motion base 1 and the relative speed of the unmanned aerial vehicle 2 and the motion base 1 are controlled by an engine of the unmanned aerial vehicle 2; unmanned aerial vehicle 2 flies to support directly over the landing point of 1 on the motion base by the rear of motion base 1, flies to support in-process unmanned aerial vehicle 2's course and motion base 1 and keeps unanimous, and unmanned aerial vehicle 2 keeps horizontal flight and maintains and predetermines companion flight height. After the unmanned aerial vehicle 2 flies and butts above a landing point on the moving base 1, the unmanned aerial vehicle 2 maintains a preset accompanying flying height, maintains relative static with the moving base 1, and keeps consistent course with the moving base 1 until the unmanned aerial vehicle 2 receives a descending instruction;
s3, unmanned aerial vehicle height reducing
The rotor wing of the unmanned aerial vehicle 2 controls the attitude, the course, the height and the vertical speed of the unmanned aerial vehicle, and the transverse relative positions of the unmanned aerial vehicle 2 and the motion base 1; meanwhile, the longitudinal relative position of the unmanned aerial vehicle 2 and the motion base 1 and the relative speed of the unmanned aerial vehicle 2 and the motion base 1 are controlled by an engine of the unmanned aerial vehicle 2; the unmanned aerial vehicle 2 is made to vertically land downwards and keep relatively static with the moving base 1 in the horizontal direction, and the heading of the unmanned aerial vehicle 2 is kept consistent with that of the moving base 1 until the unmanned aerial vehicle 2 reaches a landing point on the moving base 1;
s4, finishing landing by the unmanned aerial vehicle
Unmanned aerial vehicle 2 detects to touch to the ground the back, closes rotor motor and engine, accomplishes to descend.
The method is suitable for the unmanned aerial vehicle landing, the rear part of the motion base is free of obstacles, and the unmanned aerial vehicle can fly from the rear part of the motion base to the position right above the landing point.
Example two
The unmanned aerial vehicle landing control method based on the motion base has the following mode that the unmanned aerial vehicle flies to the position right above a landing point on the motion base:
as in fig. 6, the rotor of the drone 2 controls the attitude, heading, flying height of the drone, and the lateral relative position of the drone 2 and the motion base 1; meanwhile, the longitudinal relative position of the unmanned aerial vehicle 2 and the motion base 1 and the relative speed of the unmanned aerial vehicle 2 and the motion base 1 are controlled by an engine of the unmanned aerial vehicle 2; the rotor wing of the unmanned aerial vehicle 2 controls the unmanned aerial vehicle to roll to a preset transverse relative distance with the moving base 1, and then the unmanned aerial vehicle 2 is controlled by the engine to fly towards the moving base 1, so that the unmanned aerial vehicle flies to the right side of the landing point of the moving base 1; after the unmanned aerial vehicle arrives the motion base 1 directly side of the point of falling, control unmanned aerial vehicle 2 and motion base 1's vertical relative position and relative speed through the engine and maintain this state at predetermineeing threshold value within range, unmanned aerial vehicle 2 utilizes rotor control unmanned aerial vehicle roll-over machine to move directly over the point of falling on motion base 1 afterwards, then keeps unmanned aerial vehicle 2 and motion base 1 static relatively, and unmanned aerial vehicle 2's course keeps unanimous with motion base 1.
The method is suitable for the unmanned aerial vehicle landing, no obstacle is left on the side of the moving base, and the unmanned aerial vehicle can fly from the side of the moving base to the position right above the landing point.
As shown in fig. 3, two guiding accompanying manners in the first embodiment and the second embodiment are correspondingly shown, and the first embodiment corresponds to that the unmanned aerial vehicle 2 flies to the landing point along the direction a, i.e. behind the moving base 1; the embodiment two corresponds to the unmanned aerial vehicle 2 flying in the direction B to the landing point, i.e. the side of the motion base 1.
Wherein, the landing command and the descending command are both sent by a ground control station. In actual application, the control can be carried out in other modes.
Carry on motion base location guide equipment on the motion base, specifically adopt following mode to realize to unmanned aerial vehicle's control: in step 1, the position of unmanned aerial vehicle and motion base is received to motion base location guide equipment, speed and course information, motion base location guide equipment obtains unmanned aerial vehicle and real-time relative position information of motion base and relative velocity information through calculating, send to the ground control station, send to unmanned aerial vehicle through the data link system by the ground control station again, unmanned aerial vehicle is according to relative position information and the relative velocity information of receipt, rotor and engine control flight through unmanned aerial vehicle, make unmanned aerial vehicle maintain and preset the companion and fly the height, fly to reach preset relative distance with the distance of motion base, it converts into compound flight mode to open the rotor motor. No matter in step 2 is directly over the landing point with what kind of mode of flying, receive unmanned aerial vehicle and motion base's position, speed and course information by motion base location guidance equipment, motion base location guidance equipment obtains unmanned aerial vehicle and motion base real-time relative position information and relative velocity information through the calculation, send to ground control station, and then send to unmanned aerial vehicle through the data link system by ground control station, unmanned aerial vehicle is according to relative position information and the relative velocity information of receipt, through unmanned aerial vehicle's rotor and engine control flight. Or the movable base positioning and guiding system can acquire the position, speed and course information of the movable base and the unmanned aerial vehicle to complete partial calculation and analysis, and meanwhile, the unmanned aerial vehicle also completes partial information processing. The data transmission calculation method is not limited, and can be reasonably adjusted according to actual carrying equipment.
With reference to fig. 4, the method for controlling the landing of the unmanned aerial vehicle based on the motion base is explained in detail:
in the process of descending the motion base of the combined type fixed wing unmanned aerial vehicle, the relative position and the relative speed information of the unmanned aerial vehicle and the motion base are firstly acquired through the movable base positioning and guiding device, and meanwhile, the absolute position and the speed information of the unmanned aerial vehicle and the motion base relative to the ground are also acquired, and the information can be used as important navigation information in the descending process. The unmanned aerial vehicle needs to keep the course of the unmanned aerial vehicle consistent with the moving direction of the moving base platform in the process of landing.
After the unmanned aerial vehicle receives the landing instruction, the unmanned aerial vehicle flight control system controls the unmanned aerial vehicle to enter a landing route, the unmanned aerial vehicle works in a fixed wing mode at the moment, and before the landing instruction is received, the unmanned aerial vehicle flies in the fixed wing mode.
Before the unmanned aerial vehicle descends, firstly, the unmanned aerial vehicle is guided to the rear of the advancing direction of the motion base through a descending air line, the course of the unmanned aerial vehicle is kept consistent with that of the motion base, after the unmanned aerial vehicle flies to be in the same line with the motion base, the unmanned aerial vehicle starts to decelerate and fly, and meanwhile, the height is reduced to the preset accompanying flying height.
Unmanned aerial vehicle maintains current height and moves the base along moving base direction of motion and near, flies to when moving base rectilinear distance apart from equal to predetermineeing relative distance as unmanned aerial vehicle, and unmanned aerial vehicle opens many rotors and slows down, makes unmanned aerial vehicle's flight mode convert into compound mode by the fixed wing mode. On the horizontal plane, the definition is vertical along moving base direction of motion, and perpendicular to direction of motion is horizontal, utilizes many rotors to provide the required lift of unmanned aerial vehicle flight this moment, utilizes many rotors to produce the moment of rolling over and makes unmanned aerial vehicle carry out the roll-over to produce horizontal maneuver, the forward thrust control unmanned aerial vehicle that produces through the engine carries out the vertical maneuver of relative motion base.
After unmanned aerial vehicle accomplished the mode conversion, unmanned aerial vehicle got into the guide companion and flies the state, adjusts unmanned aerial vehicle and motion base's relative position simultaneously, and guide unmanned aerial vehicle reachs the landing point top, but according to moving base platform's structure and environmental conditions two kinds of modes of embodiment one and embodiment two are selected and are guided the companion and fly:
the method of the first embodiment: unmanned aerial vehicle and motion base keep syntropy, and unmanned aerial vehicle flies forward and approaches the motion base, carries out closed-loop control according to the relative position and the speed that motion base location guide equipment provided this moment. The unmanned aerial vehicle maintains the transverse position deviation to be controlled within a preset threshold range by utilizing position closed-loop control in the process of approaching the moving base; meanwhile, the thrust generated by the engine is utilized to enable the unmanned aerial vehicle to continuously fly to the moving base, and the longitudinal position deviation is reduced. When the unmanned aerial vehicle flies above the landing point of the motion base and the horizontal deviation is smaller than a set threshold value, the unmanned aerial vehicle is switched to a flying accompanying state.
Mode of example two: unmanned aerial vehicle and motion base keep syntropy, and unmanned aerial vehicle flies forward and approaches the motion base, carries out closed-loop control according to the relative position and the speed that motion base location guide equipment provided this moment. Unmanned aerial vehicle utilizes position closed loop control to maintain horizontal position deviation as the horizontal relative position deviation value of expectation at the in-process that approaches the motion base, simultaneously, utilizes the thrust that the engine produced to make unmanned aerial vehicle continue to the flight of motion base, reduces vertical position deviation, and unmanned aerial vehicle approaches the motion base forward from the left side of motion base or right side fixed deviation position. After the longitudinal position deviation of the unmanned aerial vehicle is smaller than a set threshold value, the longitudinal position deviation is controlled in an expected threshold range through relative position closed-loop control, meanwhile, the unmanned aerial vehicle is enabled to generate transverse maneuvering, the transverse position deviation is reduced through the relative position closed-loop control and finally controlled in a preset threshold range, the unmanned aerial vehicle moves towards the motion base from the lateral direction of the motion base at the moment, when the unmanned aerial vehicle flies above a landing point of the motion base, and after the horizontal position deviation is smaller than the set threshold value, the unmanned aerial vehicle changes into a flying accompanying state.
After the unmanned aerial vehicle gets into the companion and flies the state, utilize relative position and relative speed that moving base location guide equipment provided to carry out position and speed closed loop control, make unmanned aerial vehicle's position follow the position of the landing point on the motion base all the time, unmanned aerial vehicle's speed follows the velocity of motion base all the time. In the process of closed-loop control, when the transverse position generates deviation, the multi-rotor wings are utilized to generate rolling, so that transverse maneuvering is generated, the transverse deviation is eliminated, and the transverse position closed loop is realized; when the longitudinal position generates deviation, the multiple rotors control the pitching attitude to be kept horizontal all the time, and longitudinal maneuvering is generated by increasing or reducing thrust generated by an engine, so that the longitudinal deviation is eliminated, and the closed loop of the longitudinal position is realized; when the height of the unmanned aerial vehicle deviates, the unmanned aerial vehicle is controlled to generate maneuvering in the height direction through the lift force generated by the multiple rotors, so that the height deviation is eliminated, and a height closed loop is realized; when the course generates deviation, the multi-rotor wing is used for generating torque to control the unmanned aerial vehicle to adjust the course, the course deviation is eliminated, and the course closed loop is realized. Through the horizontal position closed loop, the height closed loop and the course closed loop, the unmanned aerial vehicle and the movable base are kept relatively static within a certain range, and accordingly the unmanned aerial vehicle can fly together.
After the unmanned aerial vehicle receives the descending instruction, the unmanned aerial vehicle maintains the closed-loop control of horizontal position and course, sets the target height to the height of a landing point by the preset accompanying height, and the target height is lower than the current height of the unmanned aerial vehicle at the moment, and the unmanned aerial vehicle starts to descend, and the unmanned aerial vehicle maintains the closed loop of the horizontal position and the closed loop of the sinking speed all the time in the descending process, and the maximum sinking speed is controlled within a certain safety range.
After the unmanned aerial vehicle detects that oneself falls to moving the base platform, close rotor and engine, accomplish the descending of moving the base.
The landing control method of the present invention can be applied to a computer-readable storage medium in which a computer program is stored, and the takeoff control method can be stored as a computer program in the computer-readable storage medium, and the computer program realizes the steps of the landing control method when executed by a processor.
In addition, the landing control method of the present invention can also be applied to a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the landing control method of the present invention when executing the computer program. The terminal device here may be a computer, a notebook, a palm computer, and various computing devices such as a cloud server, and the processor may be a general processor, a digital signal processor, an application specific integrated circuit, or other programmable logic devices.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. Unmanned aerial vehicle landing control method based on motion base is characterized by comprising the following steps:
step 1, approaching the unmanned aerial vehicle to the moving base
The unmanned aerial vehicle flies to the rear of the motion base after receiving the landing instruction, maintains the preset accompanying flying height until the distance between the unmanned aerial vehicle and the motion base reaches the preset relative distance, and starts the rotor motor to convert the unmanned aerial vehicle into a composite flying mode;
step 2, guiding the accompanying flight by the unmanned aerial vehicle
Keeping the flight course of the unmanned aerial vehicle consistent with the course of the motion base, and enabling the unmanned aerial vehicle to fly to be right above a landing point on the motion base; then, the unmanned aerial vehicle maintains a preset accompanying flight height, keeps relatively static with the moving base, and keeps the same course with the moving base until the unmanned aerial vehicle receives a descending instruction;
step 3, the unmanned aerial vehicle is lifted
After the unmanned aerial vehicle receives the descending instruction, the rotor wing of the unmanned aerial vehicle controls the attitude, the course, the height and the vertical speed of the unmanned aerial vehicle and the transverse relative position of the unmanned aerial vehicle and the motion base; meanwhile, the engine of the unmanned aerial vehicle controls the longitudinal relative position of the unmanned aerial vehicle and the motion base and the relative speed of the unmanned aerial vehicle and the motion base; the unmanned aerial vehicle vertically lands downwards, keeps relatively static with the moving base in the horizontal direction, and keeps consistent with the moving base in the course until the unmanned aerial vehicle reaches a landing point on the moving base;
step 4, finishing landing of the unmanned aerial vehicle
After the unmanned aerial vehicle detects to touch to ground, close rotor motor and engine, accomplish to descend.
2. The unmanned aerial vehicle landing control method based on motion base as claimed in claim 1, wherein: the landing instruction in the step 1 and the descending instructions in the steps 2 and 3 are sent out by a ground control station.
3. The unmanned aerial vehicle landing control method based on motion base as claimed in claim 2, wherein: step 1 specifically does, carry on motion base location guidance equipment on the motion base, motion base location guidance equipment receives the position of unmanned aerial vehicle and motion base, speed and course information, motion base location guidance equipment obtains unmanned aerial vehicle and real-time relative position information of motion base and relative velocity information through the calculation, send to the ground control station, again send to unmanned aerial vehicle through the data link system by the ground control station, unmanned aerial vehicle is according to the relative position information and the relative velocity information of receipt, rotor and engine control flight through unmanned aerial vehicle, make unmanned aerial vehicle maintain and predetermine the companion height, fly to reach the relative distance with the motion base and predetermine relative distance, it converts into compound flight mode to open rotor motor.
4. The unmanned aerial vehicle landing control method based on motion base as claimed in claim 3, wherein: in step 2, unmanned aerial vehicle flies to specifically do directly over the landing point on the motion base, carry on motion base location guidance equipment on the motion base, motion base location guidance equipment receives unmanned aerial vehicle and motion base's position, speed and course information, motion base location guidance equipment obtains unmanned aerial vehicle and motion base real-time relative position and speed information through calculating, send to ground control station, send to unmanned aerial vehicle through the data link system by ground control station again, unmanned aerial vehicle is according to relative position and the speed information of receipt, through unmanned aerial vehicle's rotor and engine control flight, make unmanned aerial vehicle fly to directly over the landing point on the motion base.
5. The method for landing control of an unmanned aerial vehicle based on a moving base as claimed in claim 4, wherein in step 2, the specific method for controlling the flight through the rotor and the engine of the unmanned aerial vehicle to make the unmanned aerial vehicle fly to the position right above the landing point on the moving base is as follows: the rotor wing of the unmanned aerial vehicle controls the attitude, the course and the flying height of the unmanned aerial vehicle and the transverse relative position of the unmanned aerial vehicle and the motion base; meanwhile, the engine of the unmanned aerial vehicle controls the longitudinal relative position of the unmanned aerial vehicle and the motion base and the relative speed of the unmanned aerial vehicle and the motion base; the unmanned aerial vehicle flies to the position right above a landing point on the motion base from the rear part of the motion base, then the unmanned aerial vehicle keeps relatively static with the motion base, the heading of the unmanned aerial vehicle is consistent with that of the motion base, and the unmanned aerial vehicle keeps flying horizontally and maintains a preset accompanying height.
6. The method for controlling the landing of the unmanned aerial vehicle based on the moving base as claimed in claim 4, wherein in step 2, the specific method for controlling the flight through the rotor and the engine of the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly to the position right above the landing point on the moving base is as follows: the rotor wing of the unmanned aerial vehicle controls the attitude, the course and the flying height of the unmanned aerial vehicle and the transverse relative position of the unmanned aerial vehicle and the motion base; meanwhile, the engine of the unmanned aerial vehicle controls the longitudinal relative position of the unmanned aerial vehicle and the motion base and the relative speed of the unmanned aerial vehicle and the motion base; unmanned aerial vehicle's rotor control unmanned aerial vehicle roll-over maneuver to with the motion base predetermine horizontal relative distance, unmanned aerial vehicle is to the flight of motion base direction, and until unmanned aerial vehicle reachs the positive side of motion base landing point, unmanned aerial vehicle utilizes rotor control unmanned aerial vehicle to roll-over maneuver to directly over the landing point on the motion base afterwards, then unmanned aerial vehicle keeps static relatively with the motion base, and unmanned aerial vehicle's course keeps unanimous with the motion base.
7. An unmanned aerial vehicle landing control method based on a motion base as claimed in claim 5 or 6, wherein: unmanned aerial vehicle's rotor control unmanned aerial vehicle's gesture, course, height, vertical speed to and unmanned aerial vehicle and motion base's horizontal relative position is closed-loop control, by unmanned aerial vehicle's engine control unmanned aerial vehicle and motion base's vertical relative position, and unmanned aerial vehicle and motion base's relative speed be closed-loop control.
8. A computer-readable storage medium having a computer program stored thereon, characterized in that: the computer program when executed by a processor implementing the steps of the method according to any one of claims 1 to 7.
9. A control device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: the processor, when executing the computer program, realizes the steps of the method according to any of claims 1 to 7.
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