CN112009713A - Helicopter landing guiding method, system, computer equipment and storage medium thereof - Google Patents
Helicopter landing guiding method, system, computer equipment and storage medium thereof Download PDFInfo
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- CN112009713A CN112009713A CN202010849741.2A CN202010849741A CN112009713A CN 112009713 A CN112009713 A CN 112009713A CN 202010849741 A CN202010849741 A CN 202010849741A CN 112009713 A CN112009713 A CN 112009713A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/18—Visual or acoustic landing aids
- B64F1/20—Arrangement of optical beacons
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Abstract
The application relates to a helicopter landing guiding method, a helicopter landing guiding system, computer equipment and a storage medium thereof, wherein the helicopter landing guiding system comprises the following steps: determining a target stand where the helicopter is to land; determining the distance between the helicopter and a target stand according to the real-time position information of the helicopter and the target stand; when the distance between the helicopter and the target stand is smaller than or equal to a preset value, controlling a guide lamp group arranged at the target stand to guide the helicopter to land to light up; and controlling the helicopter to land to the target stand based on the lighted guide lamp group. This application need not to stand near the guide helicopter of parking stall through other staff and descends, directly carries out the effect of light guide to the helicopter through the guide banks, has improved accuracy and the safety that the helicopter descends.
Description
Technical Field
The present application relates to the field of helicopters, and in particular, to a method, a system, a computer device, and a storage medium thereof for guiding landing of a helicopter.
Background
With the wider application of helicopters, the safety problem of helicopters is more prominent. When an emergency or a natural disaster occurs and traffic is interrupted, helicopters are generally required as means for transporting materials and means of transportation, and materials are transported from the place of affairs and people at the place of affairs are moved to safe places.
Existing helicopter guidance systems typically employ a visible cursor or semaphore, and more often the ground guidance personnel communicate with the pilot by radio, relying on the pilot's personal skills and experience to land.
In view of the above-mentioned related technologies, the inventor believes that the radio communication mode requires that ground guidance personnel always remain in the radio communication coverage range and cannot walk away during the period of helicopter landing, and the ground guidance personnel cannot only rely on pilots to judge whether the take-off and landing conditions are safe, so that the defects of lack of flexibility and reduced efficiency of disaster relief personnel exist.
Disclosure of Invention
In order to improve rescue efficiency, the application provides a helicopter landing guiding method, a helicopter landing guiding system, a computer device and a storage medium thereof.
In a first aspect, the present application provides a helicopter landing guidance control method, which adopts the following technical scheme:
a helicopter landing guide control method comprises the following steps:
determining a target stand where the helicopter is to land;
determining the distance between the helicopter and a target stand according to the real-time position information of the helicopter and the target stand;
when the distance between the helicopter and the target stand is smaller than or equal to a preset value, controlling a guide lamp group arranged at the target stand to guide the helicopter to land to light up;
and controlling the helicopter to land to the target stand based on the lighted guide lamp group.
By adopting the technical scheme, before the helicopter is ready to land, the target stand of the helicopter ready to land is determined firstly so as to determine the landing destination of the helicopter; when the helicopter flies to the parking space, the distance between the helicopter and the parking apron is continuously shortened, and when the distance between the helicopter and the target parking space is smaller than or equal to a preset value, the helicopter controls the guide lamp group to light up in a mode of sending signals to the guide lamp group so as to guide the helicopter to land and park according to the guide of the guide lamp group. The helicopter is guided to land near the stop position without other working personnel, and the helicopter is directly guided by the guide lamp set to perform light guide, so that the landing accuracy and safety of the helicopter are improved. The on-off of the guide lamp group is controlled according to the distance between the helicopter and the parking place, so that the flexibility of turning on the guide lamps is improved, and the flexibility of landing of the helicopter is improved.
Preferably, the step of controlling the helicopter to land to the target stand based on the lighted guidance light set further includes:
acquiring the flight attitude of the helicopter in real time, and judging whether the flight attitude is suitable for landing;
if not, controlling the guide lamp set to light up in a preset light-up mode according to the flight attitude so as to guide the helicopter to adjust the flight attitude of the helicopter to a posture capable of landing according to the light-up mode of the guide lamp set.
By adopting the technical scheme, before the helicopter lands and stops at the stand, whether the landing posture of the helicopter meets the landing requirement or not needs to be determined firstly, if the current flight posture of the helicopter meets the landing requirement, the helicopter lands, and if the current flight posture of the helicopter does not meet the landing requirement, the helicopter is guided to adjust the flying posture of the helicopter to the flying posture suitable for landing according to the lighting mode of the preset guide lamp, so that the helicopter can land according to the preset posture.
Preferably, the step of acquiring the flight attitude of the helicopter in real time includes:
acquiring the detection information of a position sensor group arranged on the target parking position in real time;
determining a flight attitude of the helicopter based on the detection information.
By adopting the technical scheme, the position sensor group sends a detection signal to the helicopter, whether the helicopter is detected at the position corresponding to the position sensor group is determined by whether the helicopter feeds back the signal, further, the information of the flight attitude of the helicopter is obtained by acquiring the detection information of the position sensor group arranged at the stand position, whether the helicopter lands according to the preset landing attitude is determined by the acquired flight attitude, and if not, the landing attitude of the helicopter is adjusted in time.
Preferably, the step of acquiring detection information of the position sensor group located on the target stand in real time further includes:
the method comprises the steps of acquiring detection information of a position sensor group pre-buried under the stand in real time, wherein the position sensor group comprises a plurality of infrared sensors, and the infrared sensors are distributed in the stand in a rectangular array mode.
By adopting the technical scheme, according to the characteristics of the infrared sensors, the infrared sensors send infrared signals outwards, corresponding signals are transmitted back to the infrared sensors until the infrared sensors are blocked by obstacles, the plurality of infrared sensors distributed in an array form are placed on the stand to detect in each direction of the helicopter, if each infrared sensor can receive a feedback signal, the flying attitude of the helicopter is a preset landing attitude, and at the moment, the helicopter can land; if the infrared sensor in a certain azimuth does not acquire the feedback signal, the helicopter is proved to deviate towards the direction far away from the infrared sensor, the helicopter is adjusted towards the direction close to the infrared sensor at the moment until the signals fed back by all the infrared sensors are received at the same time, the flying posture of the helicopter when landing can be known to be consistent with the preset landing posture, and the helicopter can land a corresponding apron.
Preferably, the step of acquiring detection information of a position sensor group pre-buried under the stand in real time further includes:
and setting a reference landing attitude according to the detection message, and adjusting the landing attitude of the helicopter based on the difference of the angular offset between the landing attitude and the flight attitude.
By adopting the technical scheme, the preset reference landing attitude is set to serve as the alignment attitude of the flight attitude of the helicopter, the current flight attitude of the helicopter is compared with the preset flight attitude to obtain the current flight deviation angle of the helicopter, and then the alignment reference landing attitude of the helicopter is made to adjust the flight attitude so as to facilitate landing of the helicopter.
In a second aspect, the present application provides a helicopter landing guidance control system, which adopts the following technical solution:
the system comprises:
descending machine position confirmation module: determining a target stand where the helicopter is to land;
a distance calculation module: determining the distance between the helicopter and a target stand according to the real-time position information of the helicopter and the target stand;
the guide lamp group control module: when the distance between the helicopter and the target stand is smaller than or equal to a preset value, controlling a guide lamp group arranged at the target stand to guide the helicopter to land to light up;
a landing guidance module: and controlling the helicopter to land to the target stand based on the lighted guide lamp group.
By adopting the technical scheme, before the helicopter is ready to land, the landing station confirming module firstly determines the target station where the helicopter is ready to land so as to determine the landing destination of the helicopter; when the helicopter flies to the parking space, the distance between the helicopter and the parking apron is continuously shortened, the distance calculation module calculates the distance between the guide lamp group and the helicopter in real time, and when the distance between the helicopter and the target parking space is smaller than or equal to a preset value, the guide lamp group control module on the helicopter sends a signal to the guide lamp group to control the guide lamp group to light up so as to guide the helicopter to land and park according to the guide of the guide lamp group. The helicopter is guided to land near the stop position without other working personnel, and the helicopter is directly guided by the guide lamp set to perform light guide, so that the landing accuracy and safety of the helicopter are improved. The on-off of the guide lamp group is controlled according to the distance between the helicopter and the parking place, so that the flexibility of turning on the guide lamps is improved, and the flexibility of landing of the helicopter is improved.
Preferably, the guidance system further comprises: the landing attitude adjusting module is used for acquiring the flight attitude of the helicopter in real time and judging whether the flight attitude is suitable for landing; if not, controlling the guide lamp set to light up in a preset light-up mode according to the flight attitude so as to guide the helicopter to adjust the flight attitude of the helicopter to a posture capable of landing according to the light-up mode of the guide lamp set.
By adopting the technical scheme, before the helicopter lands and stops at the stand, whether the landing posture of the helicopter meets the landing requirement or not needs to be determined firstly, if the current flight posture of the helicopter meets the landing requirement, the helicopter lands, and if the current flight posture of the helicopter does not meet the landing requirement, the helicopter is guided to adjust the flying posture of the helicopter to the flying posture suitable for landing according to the lighting mode of the preset guide lamp, so that the helicopter can land according to the preset posture.
Preferably, the guidance system further comprises: the flight attitude acquisition module is used for acquiring the detection information of the position sensor group arranged on the target parking position in real time; determining a flight attitude of the helicopter based on the detection information.
By adopting the technical scheme, the position sensor group sends a detection signal to the helicopter, whether the helicopter is detected at the position corresponding to the position sensor group is determined by whether the helicopter feeds back the signal, further, the information of the flight attitude of the helicopter is obtained by acquiring the detection information of the position sensor group arranged at the stand position, whether the helicopter lands according to the preset landing attitude is determined by the acquired flight attitude, and if not, the landing attitude of the helicopter is adjusted in time.
In a third aspect, the present application provides a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the helicopter guiding method of any of the second aspects described above when executing the computer program.
In a fourth aspect, the present application provides a computer readable storage medium storing a computer program capable of being loaded by a processor and executing the third aspect.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the helicopter controls the guide lamp group to light up by sending a signal to the guide lamp group so as to guide the helicopter to land and stop according to the guide of the guide lamp group. The helicopter is guided to land near the stop position without other working personnel, and the helicopter is directly guided by the guide lamp set to perform light guide, so that the landing accuracy and safety of the helicopter are improved. The on-off of the guide lamp group is controlled according to the distance between the helicopter and the stand, so that the flexibility of turning on the guide lamps is improved, and the flexibility of landing of the helicopter is improved;
2. if the current flight attitude of the helicopter does not conform to landing, guiding the helicopter to adjust the flying attitude of the helicopter to the flight attitude suitable for landing according to the lighting mode of the preset guide lamp, and further enabling the helicopter to land according to the preset attitude;
3. the method comprises the steps of setting a preset reference landing attitude to serve as a contra-standard attitude for adjusting the flight attitude of the helicopter, comparing the current flight attitude of the helicopter with the preset flight attitude to obtain the current flight deviation angle of the helicopter, and then enabling the contra-standard landing attitude of the helicopter to adjust the flight attitude so as to facilitate landing of the helicopter.
Drawings
FIG. 1 is a flow chart of a helicopter landing guidance control method according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating an implementation of S300 in a helicopter landing guidance control method according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a helicopter landing guidance control system in an embodiment of the present application;
FIG. 4 is a schematic diagram of a computer device according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to figures 1-2.
The embodiment of the application discloses a helicopter landing guide control method. Referring to fig. 1, the helicopter landing guidance control method includes the steps of:
s100: and determining a target stand where the helicopter is to land.
In the present embodiment, the target stand refers to a target position where the helicopter is about to land, and it is understood that specific coordinates of the stand for landing the helicopter are all stored in the flight system of the helicopter in advance.
Specifically, the helicopter acquires the geographic positions of a plurality of air aprons at the target position from a navigation system, and then selects one of the air aprons to land according to the instruction of the system.
S200: and determining the distance between the helicopter and the target stand according to the real-time position information of the helicopter and the target stand.
In the embodiment, the real-time position information of the helicopter refers to the current coordinates of the helicopter, and the distance refers to the linear distance between the helicopter and the guide lamp group on the apron.
In particular, the set of guidance lights installed on the stand sends a guidance signal to the helicopter, which is understood to include the specific geographical position of the stand; the guiding lamp set is provided with a power supply, and a signal transceiver is installed in the guiding lamp set and used for exchanging signals with the helicopter; it can be understood that, in this embodiment, when the distance between the helicopter and the signal transceiver is less than two meters, the signal transceiver stops sending any signal outwards, that is, the transceiver is in an off state, and thus it can also be determined that, when a helicopter is parked at a certain stand, the guidance light group of the stand does not send any signal outwards any more, further indicating that the stand is not an idle stand. The guiding lamp group can be in data communication with the helicopter in communication modes such as Bluetooth, WIFI, data transmission, single-mode fiber transceivers and the like; in this embodiment, a single mode fiber optic transceiver is used for data communication.
When signal transmission is carried out between the helicopter and the guide lamp group, the distance between the helicopter and the guide lamp group is calculated according to the time length of signal receiving and sending, so that the distance between the helicopter and the guide lamp group is obtained in real time, meanwhile, the distance between the helicopter and the guide lamp group can be measured through the distance meter, the accuracy of data is further improved, the data obtained by measurement in 10 seconds are averaged, and more accurate distance data are obtained.
S300: when the distance between the helicopter and the target stand is smaller than or equal to a preset value, controlling a guide lamp group arranged at the target stand to guide the helicopter to land to light up; and controlling the helicopter to land to the target stand based on the lighted guide lamp group.
In this implementation, a first reference value related to the distance is preset to determine whether the distance between the helicopter and the guide light group reaches a preset distance, for example, the first reference value is set to 1500 meters, at this time, the distance between the helicopter and the guide light group is 2000 meters, the distance between the helicopter and the guide light group is greater than the first reference value, and the helicopter does not send a signal to the guide light group; and when the distance between the helicopter and the guide lamp set is 1000 meters, the helicopter sends a corresponding signal to the guide lamp set to control the guide lamp set to light.
Specifically, when the distance information is smaller than a first reference value, the helicopter sends a signal to the guide lamp group to control the guide lamp to be turned on, and the helicopter lands at the target stand according to the signal given by the guide lamp group.
Further, referring to fig. 2, in an embodiment, step 300 further includes:
s301: acquiring the flight attitude of the helicopter in real time, and judging whether the flight attitude is suitable for landing;
if not, controlling the guide lamp set to light up in a preset light-up mode according to the flight attitude so as to guide the helicopter to adjust the flight attitude of the helicopter to a posture capable of landing according to the light-up mode of the guide lamp set.
In this embodiment, the flight attitude refers to the attitude of the helicopter currently flying, wherein the attitude includes what the specific geographic coordinates of the fuselage, tail, wing, nose are and what the current state of horizontal orientation of the helicopter is. The preset lighting mode refers to that the guiding lamp group is installed at a position which is designed in advance according to the standard landing requirement of the helicopter, for example, in the embodiment, the guiding lamp group is distributed on each parking position in a rectangular array mode around the edge of the parking position (it can be understood that the arrangement mode of the light components on each parking position may also be different, and the arrangement mode of the guiding lamp group may also be a matrix, a triangle, a circle, etc.), when the head and the tail of the helicopter are respectively located on the half line of the rectangular array formed by the guiding lamp group, and the fuselage is located at the midpoint of the diagonal line of the rectangular array, the flight attitude of the helicopter is the flight attitude of the standard landing, at this time, the guiding lamp group emits red light, so as to give the helicopter a posture of direct landing; when the nose of the helicopter deviates from the half-line of the matrix, the guide lamp emits yellow light, the guide lamp group lights the yellow light to form a yellow light pattern, the helicopter adjusts the flight attitude to enable the nose, the fuselage and the tail of the helicopter to be aligned to corresponding positions of the rectangle, and when the guide lamp group lights the red light signal, the helicopter lands.
Specifically, in the process of landing of the helicopter, a signal is fed back to the helicopter through the guide lamp group, and if the current flight attitude of the helicopter is a standard or an approximately standard flight attitude, the guide lamp group emits red light to indicate that the helicopter lands on the stand according to the current flight attitude; if the helicopter deviates the preset flight landing posture, the guide lamp group emits yellow light, the helicopter instructs the helicopter to adjust the flight posture according to the yellow light signal, and when the helicopter is consistent with the preset posture, the guide lamp group lights up a red light signal, so that the helicopter can land.
Further, in an embodiment, step 301 further includes:
s302: acquiring the detection information of a position sensor group arranged on the target parking position in real time;
determining a flight attitude of the helicopter based on the detection information.
In this embodiment, the detection information refers to sending a signal at a preset position, and receiving a feedback signal to obtain whether the helicopter is detected at the preset position. The position sensor comprises a plurality of infrared sensors (in other embodiments, ultrasonic waves, radars and the like) which are pre-embedded at the parking place, the infrared sensors are distributed one by one in a rectangular array mode at the parking apron, the infrared sensors correspond to the guide lamps one by one, and transmitting ports of the infrared sensors respectively correspond to a helicopter body, a helicopter head, a helicopter wing, a helicopter tail and the like.
Specifically, the infrared sensors distributed at different positions of the stand respectively send infrared detection signals, and if the infrared sensors do not receive corresponding feedback signals within a preset time (10S in this embodiment), the corresponding guide lamps light yellow light, and the current flight attitude of the helicopter is obtained through the lighted colors of the guide lamps.
Further, in an embodiment, step 302 further includes:
s303: and setting a reference landing posture according to the position information of the infrared sensor, and adjusting the landing posture of the helicopter based on the difference of the angular deviation between the landing posture and the flying posture.
In the present embodiment, the reference landing posture is a landing manner set in advance according to the size of the apron and the placement of the guidance lights.
Specifically, the posture of the helicopter during landing is determined by the color formed when the guide lamp group is turned on, that is, the specific orientation of the nose, the fuselage, the tail and the side wings, the current flight posture of the helicopter acquired in real time is compared with the preset posture in an angle mode to obtain an angle difference value, and the flight posture of the helicopter is adjusted according to the coordinate difference value between the specific deviated part of the helicopter and the infrared sensor which does not acquire the feedback signal.
The embodiment of the application also discloses a helicopter landing guide control system. Referring to fig. 3, the helicopter landing guide control system includes:
descending machine position confirmation module: determining a target stand where the helicopter is to land;
a distance calculation module: determining the distance between the helicopter and a target stand according to the real-time position information of the helicopter and the target stand;
the guide lamp group control module: when the distance between the helicopter and the target stand is smaller than or equal to a preset value, controlling a guide lamp group arranged at the target stand to guide the helicopter to land to light up;
a landing guidance module: and controlling the helicopter to land to the target stand based on the lighted guide lamp group.
In this embodiment, the guidance light group mounted on the stand sends a guidance signal to the helicopter, which is understood to include the specific geographical location of the stand; the guiding lamp set is provided with a power supply, and a signal transceiver is installed in the guiding lamp set and used for exchanging signals with the helicopter; it can be understood that, in this embodiment, when the distance between the helicopter and the signal transceiver is less than two meters, the signal transceiver stops sending any signal outwards, that is, the transceiver is in an off state, and thus it can also be determined that, when a helicopter is parked at a certain stand, the guidance light group of the stand does not send any signal outwards any more, further indicating that the stand is not an idle stand. The guiding lamp group can be in data communication with the helicopter in communication modes such as Bluetooth, WIFI, data transmission, single-mode fiber transceivers and the like; in this embodiment, a single mode fiber optic transceiver is used for data communication.
The distance calculation module is used for calculating the distance between the helicopter and the stand, when signal transmission is carried out between the helicopter and the guide lamp set, the distance between the helicopter and the guide lamp set is calculated according to the time length of signal receiving and sending, so that the distance between the helicopter and the guide lamp set is obtained in real time, meanwhile, the distance between the helicopter and the guide lamp set can be measured through the distance meter, the accuracy of data is further improved, and the data obtained by measurement within 10 seconds are averaged to obtain more accurate distance data.
A first reference value related to the distance is preset to be used for judging whether the distance between the helicopter and the guide lamp group reaches a preset distance, for example, the first reference value is set to be 1500 meters, the distance between the helicopter and the guide lamp group is 2000 meters, the distance between the helicopter and the guide lamp group is larger than the first reference value, and the helicopter does not send a signal to the guide lamp group; when the distance between the helicopter and the guide lamp group is 1000 meters, the guide lamp group control module of the helicopter sends a corresponding signal to the guide lamp group to control the guide lamp group to light.
Further, the guidance system further includes: the landing attitude adjusting module is used for acquiring the flight attitude of the helicopter in real time and judging whether the flight attitude is suitable for landing; if not, controlling the guide lamp set to light up in a preset light-up mode according to the flight attitude so as to guide the helicopter to adjust the flight attitude of the helicopter to a posture capable of landing according to the light-up mode of the guide lamp set.
Further, the guidance system further includes: the flight attitude acquisition module is used for acquiring the detection information of the position sensor group arranged on the target parking position in real time; determining a flight attitude of the helicopter based on the detection information.
Further, the system further comprises: the infrared sensor module acquires detection information of a position sensor group pre-buried under the stand in real time, the position sensor group comprises a plurality of infrared sensors, and the infrared sensors are distributed in the stand in a rectangular array mode.
Further, the system further comprises: and the flight attitude adjusting module is used for setting a reference landing attitude according to the detection message and adjusting the landing attitude of the helicopter based on the difference value of the angular offset between the landing attitude and the flight attitude.
The embodiment of the application also discloses a computer device, which can be a server, with reference to fig. 4. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store historical suspicious behavior data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a green property management method.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
s100: generating a landing signal based on a landing indication signal sent by the idle apron, wherein the landing signal is used for indicating the helicopter to land the apron;
s200: determining the distance between the helicopter and a target stand according to the real-time position information of the helicopter and the target stand;
s300: when the distance between the helicopter and the target stand is smaller than or equal to a preset value, controlling a guide lamp group arranged at the target stand to guide the helicopter to land to light up; and controlling the helicopter to land to the target stand based on the lighted guide lamp group.
The embodiment of the application also discloses a computer readable storage medium. In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
s100: generating a landing signal based on a landing indication signal sent by the idle apron, wherein the landing signal is used for indicating the helicopter to land the apron;
s200: determining the distance between the helicopter and a target stand according to the real-time position information of the helicopter and the target stand;
s300: when the distance between the helicopter and the target stand is smaller than or equal to a preset value, controlling a guide lamp group arranged at the target stand to guide the helicopter to land to light up; and controlling the helicopter to land to the target stand based on the lighted guide lamp group.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
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; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A helicopter landing guide control method is characterized in that: the method comprises the following steps:
determining a target stand where the helicopter is to land;
determining the distance between the helicopter and a target stand according to the real-time position information of the helicopter and the target stand;
when the distance between the helicopter and the target stand is smaller than or equal to a preset value, controlling a guide lamp group arranged at the target stand to guide the helicopter to land to light up;
and controlling the helicopter to land to the target stand based on the lighted guide lamp group.
2. A helicopter landing guide control method according to claim 1, wherein: the step of controlling the helicopter to land to the target stand based on the lighted guide lamp group further comprises:
acquiring the flight attitude of the helicopter in real time, and judging whether the flight attitude is suitable for landing;
if not, controlling the guide lamp set to light up in a preset light-up mode according to the flight attitude so as to guide the helicopter to adjust the flight attitude of the helicopter to a posture capable of landing according to the light-up mode of the guide lamp set.
3. A helicopter landing guide control method according to claim 2, wherein:
the step of obtaining the flight attitude of the helicopter in real time comprises the following steps:
acquiring the detection information of a position sensor group arranged on the target parking position in real time;
determining a flight attitude of the helicopter based on the detection information.
4. A helicopter landing guide control method according to claim 3, wherein: the step of acquiring detection information of a position sensor group arranged on the target stand in real time further comprises:
the method comprises the steps of acquiring detection information of a position sensor group pre-buried under the stand in real time, wherein the position sensor group comprises a plurality of infrared sensors, and the infrared sensors are distributed in the stand in a rectangular array mode.
5. A helicopter landing guide control method according to claim 4, wherein: the step of acquiring detection information of a position sensor group pre-buried under the shutdown position in real time further comprises:
and setting a reference landing attitude according to the detection message, and adjusting the landing attitude of the helicopter based on the difference of the angular offset between the landing attitude and the flight attitude.
6. A helicopter landing guidance control system characterized by: the system comprises:
descending machine position confirmation module: determining a target stand where the helicopter is to land;
a distance calculation module: determining the distance between the helicopter and a target stand according to the real-time position information of the helicopter and the target stand;
the guide lamp group control module: when the distance between the helicopter and the target stand is smaller than or equal to a preset value, controlling a guide lamp group arranged at the target stand to guide the helicopter to land to light up;
a landing guidance module: and controlling the helicopter to land to the target stand based on the lighted guide lamp group.
7. A helicopter landing guide control system according to claim 6, wherein: the guidance system further includes: the landing attitude adjusting module is used for acquiring the flight attitude of the helicopter in real time and judging whether the flight attitude is suitable for landing; if not, controlling the guide lamp set to light up in a preset light-up mode according to the flight attitude so as to guide the helicopter to adjust the flight attitude of the helicopter to a posture capable of landing according to the light-up mode of the guide lamp set.
8. A helicopter landing guide control system according to claim 6, wherein: the guidance system further includes: the flight attitude acquisition module is used for acquiring the detection information of the position sensor group arranged on the target parking position in real time; determining a flight attitude of the helicopter based on the detection information.
9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: the steps of the helicopter landing guidance control method of any one of claims 1 to 5 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium characterized by: a computer program which can be loaded by a processor and which performs the method according to any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| WO2024001111A1 (en) * | 2022-06-30 | 2024-01-04 | 亿航智能设备（广州）有限公司 | Aircraft landing guiding apparatus and method, and aircraft landing control method and system |
| CN118092477A (en) * | 2024-04-28 | 2024-05-28 | 浙江省圣翔协同创新发展研究院 | Landing method and device based on movable parking apron |
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| CN112009713B (en) | 2021-11-30 |
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