CN111273696A - Novel four rotor unmanned aerial vehicle descending systems - Google Patents
Novel four rotor unmanned aerial vehicle descending systems Download PDFInfo
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- CN111273696A CN111273696A CN202010213282.9A CN202010213282A CN111273696A CN 111273696 A CN111273696 A CN 111273696A CN 202010213282 A CN202010213282 A CN 202010213282A CN 111273696 A CN111273696 A CN 111273696A
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- unmanned aerial
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a novel four-rotor unmanned aerial vehicle landing system, and belongs to an unmanned facility. A novel four-rotor unmanned aerial vehicle landing system comprises an unmanned aerial vehicle, a landing platform and a remote control terminal, wherein the unmanned aerial vehicle comprises an ultrasonic transmitting device and a flight control module, and the remote control terminal is connected with the flight control module; the landing platform comprises a platform part for landing the unmanned aerial vehicle, an ultrasonic receiving device and a positioning control module, and the ultrasonic transmitting device is wirelessly connected with the positioning control module; descending ultrasonic wave receiving arrangement includes four ultrasonic wave receiving probe, ultrasonic wave receiving probe set up respectively in four corners of descending platform, ultrasonic wave receiving probe all with positioning control module connects, and remote control terminal control unmanned aerial vehicle descends in platform portion, realizes descending to unmanned aerial vehicle high accuracy location.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a novel four-rotor unmanned aerial vehicle landing system.
Background
The quad-rotor unmanned aerial vehicle has the characteristics of small size, low cost, strong environmental adaptability and reaction force and the like, has the advantages of high angle, wide visual angle and the like, and is widely applied to the fields of military affairs, agriculture, rescue exploration, logistics, aerial photography and the like.
According to the relevant statistical data, the landing stage is a frequent stage of flight accidents, the existing positioning device of the unmanned aerial vehicle generally adopts a receiving and transmitting integrated mode, namely, the distance of an object to be measured is obtained by multiplying the time spent for transmitting and reflecting to the last receiving through an obstacle by half of the value obtained by time, and the positioning control precision of the unmanned aerial vehicle is low and the probability of the occurrence of the flight accidents is high.
In view of this, it is an urgent technical problem to solve in the field to design an unmanned aerial vehicle flight device that high accuracy of positioning descends.
Disclosure of Invention
The invention aims to provide a novel four-rotor unmanned aerial vehicle landing system to solve the technical problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a novel four-rotor unmanned aerial vehicle landing system comprises an unmanned aerial vehicle, a landing platform and a remote control terminal, wherein the unmanned aerial vehicle comprises an ultrasonic transmitting device and a flight control module, and the remote control terminal is connected with the flight control module;
the landing platform comprises a platform part for landing the unmanned aerial vehicle, an ultrasonic receiving device and a positioning control module, and the ultrasonic receiving device and the ultrasonic transmitting device are both in wireless connection with the positioning control module;
descending ultrasonic wave receiving arrangement includes four ultrasonic wave receiving probe, ultrasonic wave receiving probe set up respectively in four corners of descending platform, four ultrasonic wave receiving probe all with ultrasonic wave emitter wireless connection.
Optionally, the unmanned aerial vehicle further includes a power supply device, the landing platform further includes a transmitting coil, the power supply device includes a battery and a receiving coil for supplying power to the unmanned aerial vehicle during flight, and the battery is electrically connected to the receiving coil;
the unmanned aerial vehicle descend in when platform portion, receiving coil with transmitting coil connects.
Optionally, a round hole has all been seted up to four corners of descending platform, ultrasonic wave receiving probe fixed connection in the bottom of round hole, just ultrasonic wave receiving probe's top expose in the round hole.
Optionally, unmanned aerial vehicle still includes flight auxiliary control module, flight auxiliary control module includes second core control singlechip and unmanned aerial vehicle signal receiver, remote control terminal includes unmanned aerial vehicle signal transmitter, unmanned aerial vehicle signal receiver receives unmanned aerial vehicle signal transmitter's transmission signal is in order to form received signal, second core control singlechip is used for right received signal handles and uploads flight control module.
Optionally, the landing platform still includes the data transfer station, flight auxiliary control module still includes second Lora wireless communication module, the data transfer station includes first core control singlechip and first Lora wireless communication module, second Lora wireless communication module with first Lora wireless communication module wireless communication connects, first core control singlechip with positioning control module's data output end is connected.
Optionally, the second core control single chip microcomputer is an STM32 single chip microcomputer.
Optionally, the unmanned aerial vehicle further comprises a gyroscope sensor for sensing flight attitude angle information, and the gyroscope sensor is connected with the flight control module.
Optionally, the central portion of the landing platform is filled with a cylindrical insulator.
Compared with the prior art, the invention has the following beneficial effects: when unmanned aerial vehicle descends from the flight condition, remote control terminal gives-out order, flight control module receives the instruction control unmanned aerial vehicle that remote control terminal sent and descends, later ultrasonic transmitter sends the ultrasonic wave, the ultrasonic wave that ultrasonic transmitter sent is received respectively to four ultrasonic receiver, positioning control module sends the ultrasonic wave through ultrasonic transmitter and receives ultrasonic wave time difference to ultrasonic receiver, utilize the coordinate data that the one-shot four-shot positioning principle calculation process reachs the unmanned place, gained coordinate data is the mean value, the precision is high, remote control terminal control unmanned aerial vehicle descends in platform portion, the realization is descended to unmanned aerial vehicle high accuracy location.
Drawings
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, and 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 these drawings without inventive exercise.
The structure, proportion, size and the like shown in the drawings are only used for matching with the content disclosed in the specification, so that the person skilled in the art can understand and read the description, and the description is not used for limiting the limit condition of the implementation of the invention, so the method has no technical essence, and any structural modification, proportion relation change or size adjustment still falls within the scope of the technical content disclosed by the invention without affecting the effect and the achievable purpose of the invention.
Fig. 1 is a schematic structural view of a novel quad-rotor unmanned aerial vehicle landing system;
fig. 2 is a schematic diagram of a positioning principle of a novel four-rotor unmanned aerial vehicle landing system.
Illustration of the drawings: unmanned aerial vehicle 1, landing platform 2, ultrasonic wave emitter 11, flight control module 12, power supply unit 13, ultrasonic wave receiving device 21, location control module 22, transmitting coil 23, data transfer station 24, battery 131, receiving coil 132, first core control singlechip 241, first Lora wireless communication module 242.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below 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.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. It should be noted that when one component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
The embodiment of the invention provides a novel four-rotor unmanned aerial vehicle landing system, which comprises an unmanned aerial vehicle 1, a landing platform 2 and a remote control terminal, wherein the unmanned aerial vehicle 1 comprises an ultrasonic transmitting device 11, a flight control module 12 and a power supply device 13, the flight control module 12 is connected with the ultrasonic transmitting device 11, and the flight control module 12 is in wireless communication connection with the remote control terminal;
the landing platform 2 comprises a platform part for landing the unmanned aerial vehicle 1, an ultrasonic receiving device 21, a positioning control module 22 and a transmitting coil 23, wherein the positioning control module 22 is arranged on the back surface of the platform part;
the ultrasonic receiving device 21 is used for receiving ultrasonic waves transmitted by the ultrasonic transmitting device 11, the positioning control module 22 is respectively in wireless connection with the ultrasonic transmitting device 11 and the remote control terminal, and the positioning control module 22 is in wired connection with the ultrasonic receiving device 21;
the power supply device 13 comprises a battery 131 and a receiving coil 132 for supplying power to the unmanned aerial vehicle 1 in flight, wherein the battery 131 is electrically connected with the receiving coil 132;
when the drone 1 lands on the platform portion, the receiving coil 132 is connected to the transmitting coil 23.
In this embodiment, the landing ultrasonic receiving device 21 includes four ultrasonic receiving probes, the four ultrasonic receiving probes are all wirelessly connected with the ultrasonic transmitting device 11, the ultrasonic receiving probes are respectively and vertically disposed at four corners of the landing platform 2, a circular hole is disposed at each of the four corners of the landing platform 2, the ultrasonic receiving probes are fixedly connected to bottoms of the circular holes, and tops of the ultrasonic receiving probes are exposed out of the circular holes. The four ultrasonic receiving probes are connected with the positioning control module 22, so that the position information of the unmanned aerial vehicle 1 can be measured by a one-transmission four-receiving positioning principle.
When the unmanned aerial vehicle 1 lands from a flying state, the flight control module receives an instruction sent by the remote control terminal, the flight control module controls the receiving instruction to control the unmanned aerial vehicle to land, the ultrasonic transmitting device 11 sends out ultrasonic waves, the ultrasonic receiving device 21 receives the ultrasonic waves sent by the ultrasonic transmitting device 11, the positioning control module 22 sends out the ultrasonic waves through the ultrasonic transmitting device 11 to receive the time difference of the ultrasonic waves through the ultrasonic receiving device 21, coordinate data where the unmanned aerial vehicle 1 is located are obtained through calculation and processing, the obtained coordinate data are transmitted to the remote control terminal in a wireless transmission mode, the remote control terminal controls the unmanned aerial vehicle 1 to land to a platform part according to the coordinate data, then the transmitting coil 23 generates a magnetic field, the receiving coil 132 is connected with the transmitting coil 23 in the magnetic field, the receiving coil 132 generates current through a resonance mode to charge the battery 131, real-time control of landing and positioning of the unmanned aerial vehicle 1, the operation is convenient.
Referring to fig. 2, when the positioning principle of one-transmission four-reception is adopted to perform ultrasonic positioning on the unmanned aerial vehicle 1, four ultrasonic receiving probes respectively receive ultrasonic waves transmitted by the ultrasonic transmitting device 11, the ultrasonic receiving probes and the ultrasonic transmitting device 11 form a spatial pyramid, the positioning control module 22 sends a working instruction to the ultrasonic receiving probes and the ultrasonic transmitting device 11 at intervals of a preset time interval so as to enable the ultrasonic receiving probes and the ultrasonic transmitting device 11 to work, the product of the time difference between the ultrasonic waves transmitted by the ultrasonic transmitting device 11 and received by the ultrasonic receiving device 21 and the ultrasonic transmission speed is used to obtain four measured distances S1, S2, S3 and S4, namely the edge length of the pyramid, and then the coordinates of the unmanned aerial vehicle 1 are obtained by a geometric algorithm according to the measured edge length of the pyramid, and the specific algorithm process is as follows:
taking the ultrasonic receiving probe at the lower left corner as an origin to establish a spatial rectangular coordinate system, taking S1, S2 and S3 as examples, the following ternary quadratic equations are listed:
the three-dimensional coordinate Point 1 of the unmanned aerial vehicle 1 can be obtained:
similarly pairs S2, S3, S4; s1, S2, S4; and calculating three groups of data of S1, S3 and S4 to obtain corresponding coordinates of Point2, Point3 and Point 4. After mean processing is performed on Point 1, Point2, Point3 and Point4, relatively accurate three-dimensional coordinate information (x, y, z) can be obtained and stored in the positioning control module 22, and the positioning control module 22 uploads the measured three-dimensional coordinate information to the control terminal to realize real-time control of the landing of the unmanned aerial vehicle 1.
In this embodiment, the landing platform 2 further includes a data transfer station 24, the data transfer station 24 includes a first core control single chip microcomputer 241 and a first Lora wireless communication module 242, and the first core control single chip microcomputer 241 is connected to the data output end of the positioning control module 22. Unmanned aerial vehicle 1 still includes flight auxiliary control module, and flight auxiliary control module includes second core control singlechip, unmanned aerial vehicle signal receiver and second Lora wireless communication module, and second Lora wireless communication module and first Lora wireless communication module 242 wireless communication are connected. Remote control terminal includes unmanned aerial vehicle signal transmitter, and unmanned aerial vehicle signal receiver receives the transmission signal of unmanned aerial vehicle signal transmitter in order to form received signal, and second core control singlechip is used for handling received signal and uploads to the flight control module, and Lora is an ultra-long distance wireless transmission technique based on spread spectrum technique, and its advantage is the low power dissipation, and communication transmission is far away.
Optionally, the second core control single chip microcomputer is an STM32 single chip microcomputer, and the STM32 single chip microcomputer is an embedded single chip microcomputer. The STM32 single chip microcomputer can realize the process that the unmanned aerial vehicle signal receiver acquires the control signal of the remote control terminal and outputs the signal to the flight control module 12 through capturing and outputting the PWM wave signal by the timer, namely, the remote control flight mode; and the acquired coordinate information is used as an interrupt trigger mark, so that the unmanned aerial vehicle 1 can be switched to a landing mode.
The STM32 single chip microcomputer is low in power consumption and energy-saving, and can independently complete the work of converting a received signal into a control instruction and transmitting the control instruction to a flight control module as a part of an embedded system. Optionally, the unmanned aerial vehicle 1 further includes a gyroscope sensor for sensing flight attitude angle information, and the gyroscope sensor is connected with the flight control module 12.
In this embodiment, the gyroscope sensor is an MPU6050 sensor, the MPU6050 sensor acquires attitude angle information in real time, and the attitude angle information includes (pitch, roll, yaw) angle, where pitch refers to an angle at which the drone 1 rotates around the Y axis, roll refers to an angle at which the drone 1 rotates around the X axis, and yaw refers to an angle at which the drone 1 rotates around the Z axis. Two groups of six items of data of three-dimensional coordinate information (x, y, z) and attitude angle information (pitch, roll, yaw) provide the updating variable for unmanned aerial vehicle 1 attitude control jointly, adopt common unmanned aerial vehicle 1PID control algorithm can realize the accurate control to unmanned aerial vehicle 1 landing stage. PID is a closed-loop control algorithm, including proportional P, integral I, and derivative D control algorithms. Wherein, the proportion P refers to the basic deviation e (t) of the reaction system; the integral I refers to the accumulated deviation of the reaction system; the derivative D is a change rate e (t) - (et-1) reflecting the system error signal.
Preferably, the central portion of the landing platform 2 is filled with a cylindrical insulator to avoid interference of the conductor material when the receiving coil 132 resonates with the transmitting coil 23.
When carrying out the flight descending experiment to unmanned aerial vehicle 1, adopt 5mm haulage rope to connect 1 frame of unmanned aerial vehicle and fix the other end in ground. Different empty positions on the platform begin to land, and the relative landing platform 2 positions of the geometric center of the unmanned aerial vehicle 1 are measured after the landing is finished. After the unmanned aerial vehicle 1 is randomly placed to start a landing process, the distribution diagram of the final landing point position of the unmanned aerial vehicle 1 can observe that almost all landing points are matched with a square with the side length of 2cm formed by a landing threshold boundary, and the feasibility of a positioning device and a landing algorithm is explained.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A novel four-rotor unmanned aerial vehicle landing system is characterized by comprising an unmanned aerial vehicle (1), a landing platform (2) and a remote control terminal, wherein the unmanned aerial vehicle (1) comprises an ultrasonic transmitting device (11) and a flight control module (12), and the remote control terminal is connected with the flight control module (12);
the landing platform (2) comprises a platform part for landing the unmanned aerial vehicle (1), an ultrasonic receiving device (21) and a positioning control module (22), and the ultrasonic receiving device (21) and the ultrasonic transmitting device (11) are respectively connected with the positioning control module (22);
descending ultrasonic wave receiving arrangement (21) include four ultrasonic wave receiving probe, ultrasonic wave receiving probe set up respectively in four corners of descending platform (2), four ultrasonic wave receiving probe all with ultrasonic emission device (11) wireless connection.
2. A novel quad-rotor drone landing system according to claim 1, wherein the drone (1) further comprises a power supply device (13), the landing platform (2) further comprises a transmitting coil (23), the power supply device (13) comprises a battery (131) and a receiving coil (132) for powering the drone (1) in flight, the battery (131) being electrically connected to the receiving coil (132);
unmanned aerial vehicle (1) descend in when the platform portion, receive coil (132) with transmitting coil (23) are connected.
3. A novel quad-rotor unmanned aerial vehicle landing system according to claim 1, wherein a circular hole is formed in each of four corners of the landing platform (2), the ultrasonic receiving probe is fixedly connected to the bottom of the circular hole, and the top of the ultrasonic receiving probe is exposed out of the circular hole.
4. A novel quad-rotor unmanned aerial vehicle landing system according to claim 1, wherein the unmanned aerial vehicle (1) further comprises a flight assistance control module, the flight assistance control module comprises a second core control single chip microcomputer and an unmanned aerial vehicle signal receiver, the remote control terminal comprises an unmanned aerial vehicle signal transmitter, the unmanned aerial vehicle signal receiver receives a transmission signal of the unmanned aerial vehicle signal transmitter to form a reception signal, and the second core control single chip microcomputer is used for processing the reception signal and uploading the reception signal to the flight control module (12).
5. A novel quad-rotor unmanned aerial vehicle landing system according to claim 4, wherein the landing platform (2) further comprises a data transfer station (24), the flight assistance control module further comprises a second Lora wireless communication module, the data transfer station (24) comprises a first core control single chip microcomputer (241) and a first Lora wireless communication module (242), the second Lora wireless communication module is in wireless communication connection with the first Lora wireless communication module (242), and the first core control single chip microcomputer (241) is connected with a data output end of the positioning control module (22).
6. A novel quad-rotor drone landing system according to claim 5, wherein the second core control single-chip microcomputer is an STM32 single-chip microcomputer.
7. A novel quad-rotor drone landing system according to claim 1, wherein the drone (1) further comprises a gyro sensor for sensing flight attitude angle information, the gyro sensor being connected to the flight control module (12).
8. A novel quad-rotor drone landing system according to claim 1, characterized in that the central part of the landing platform (2) is filled with a cylindrical insulator.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112947524A (en) * | 2021-03-09 | 2021-06-11 | 广东鸿源智能科技有限公司 | Precise landing control method for unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112947524A (en) * | 2021-03-09 | 2021-06-11 | 广东鸿源智能科技有限公司 | Precise landing control method for unmanned aerial vehicle |
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