CN112666956A - Control system and method for automatically recycling unmanned aerial vehicle - Google Patents
Control system and method for automatically recycling unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to a control system and a control method for automatically recovering an unmanned aerial vehicle, aiming at the problems of complex recovery operation and high requirement on the surrounding landing environment of the existing unmanned aerial vehicle, the position of the unmanned aerial vehicle is calibrated and adjusted to a specified position by an image recognition system on an apron which is unfolded by a cabin. The image signal that the image recognition system will discern transmits for unmanned aerial vehicle, and unmanned aerial vehicle received signal back, and constantly adjusting position calibrates, descends perpendicularly on the position that calibrates to at the in-process that descends, continue to constantly calibrate and adjust through image recognition system, until landing on the parking apron. After the gravity sensor on the parking apron senses that the unmanned aerial vehicle completely falls down, a signal is sent to the mobile base station, and the base station closes the cabin.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a control system and a control method for automatically recovering an unmanned aerial vehicle.
Background
Unmanned Aerial vehicles, collectively known as "Unmanned Aerial vehicles," are Unmanned Aerial Vehicles (UAVs) that are operated by radio remote control devices and self-contained program control devices. The method relates to a sensor technology, a communication technology, an information processing technology, an intelligent control technology, an aviation power propulsion technology and the like, and is a product with high technical content in the information era. The unmanned aerial vehicle has the value of forming an aerial platform, is combined with other parts for expanding application, and replaces human beings to finish aerial operation. In the 21 st century, with the wide application of light composite materials, the maturity of a satellite positioning system, the improvement of electronic and radio control technologies, particularly the appearance of a multi-rotor unmanned aerial vehicle structure, the whole unmanned aerial vehicle industry enters a rapid development stage.
Compared with take-off, unmanned aerial vehicle recovery is a more complex stage which is more prone to failure, and whether safe landing can be achieved becomes an important index for evaluating the performance of the unmanned aerial vehicle. At present, unmanned aerial vehicles mainly have the recovery modes of parachute landing, collision net recovery, undercarriage pulley landing, overhead hooking recovery and the like. Landing gear/skid landing is the mode used by most fixed wing drones, the principle of which is similar to that of manned aircraft, requiring either a dedicated runway or an open field, and therefore lacking flexibility. In order to shorten the running distance, some unmanned aerial vehicles can be provided with tail hooks at the tail parts, the tail hooks hook the intercepting locks on the ground in the running process, and the kinetic energy of the unmanned aerial vehicle is absorbed through elastic deformation of the intercepting locks. Parachute recovery is one of the modes that domestic and foreign small-size unmanned aerial vehicle often adopted, and in the recovery process, when unmanned aerial vehicle arrived at predetermined recovery district central point overhead, parachute that its outfit can be according to predetermined procedure or open the parachute under the command of ground station, makes unmanned aerial vehicle slowly land, and whole process is comparatively simple, and the requirement to operating personnel is also comparatively low. But its disadvantages are also apparent: the parachute is a load to unmanned aerial vehicle, and need occupy the limited space in the fuselage, because unmanned aerial vehicle descent speed is very fast, the organism receives stronger impact easily in the landing moment, causes the damage, if descend at sea, then need possess sufficient waterproof ability for unmanned aerial vehicle, and salvage process is also more troublesome, probably even need be with the help of professional marine recovery plant. The net collision recovery means that the unmanned aerial vehicle gradually reduces the height and the speed under the guidance of ground wireless equipment and automatic guiding equipment, and then flies to the interception net, so that the recovery purpose is achieved. The complete interception net system generally comprises an interception net, an energy absorption device and automatic guide equipment, can enable the speed of the unmanned aerial vehicle to be fast after net changing, is reduced to zero, is not limited by a field, and is particularly suitable for recovery on a ship. However, due to the limited area of the net, when the meteorological conditions are not good, the unmanned aerial vehicle is difficult to be ensured to accurately access the net. Once deviation occurs, the device impacts other facilities, and the result is not obvious. The gasbag not only can cooperate the parachute to use, also can regard as a landing mode alone to use, and undercarriage and parachute are not needed to this kind of mode, and unmanned aerial vehicle opens the gasbag before landing, then directly contacts to the ground, and can realize the buffering purpose, but need notice, and the buffering ability that relies on the gasbag direct landing is limited, only tries in microminiature unmanned aerial vehicle. The problem of these current techniques is that unmanned aerial vehicle's recovery operation is complicated, the requirement to the environment of descending is higher around.
Disclosure of Invention
The invention aims to provide a control system and a control method for automatically recovering an unmanned aerial vehicle, aiming at the defects in the prior art, and the control system and the control method are suitable for solving the problems that the recovery operation of the unmanned aerial vehicle is complex and the requirement on the surrounding landing environment is high.
The technical scheme adopted by the invention for solving the technical problems is as follows: constructing a control system for automatically recovering unmanned aerial vehicles, comprising: a mobile base station and a working unmanned aerial vehicle;
the mobile base station comprises a transport cabin, a signal transfer device, a large unmanned aerial vehicle, a positioning mark and a gravity sensor; the transport cabin is used for recovering and releasing the operation unmanned aerial vehicle, and simultaneously, a valve connected between the side plates of the transport cabin is controlled to be opened according to a control instruction of an upper computer, so that the side plates of the transport cabin are unfolded and are positioned on the same plane with the bottom plate, and an apron of the operation unmanned aerial vehicle is formed; meanwhile, after the unmanned aerial vehicle returns to the cabin, a gravity sensor arranged on a bottom plate of the transport cabin senses weight change in the transport cabin, sends a signal to a mobile base station, and controls a valve connected between side plates of the transport cabin to be closed, so that the transport cabin is closed; the signal transfer device is used for receiving and transmitting signals sent by the operation unmanned aerial vehicle and the upper computer; the large unmanned aerial vehicle is used for bearing the mobile base station and is responsible for transporting the transport cabin and the operation unmanned aerial vehicle arranged in the transport cabin; the positioning mark is arranged at the position of the gravity center of the mobile base station when the transport cabin is in the parking apron state;
a plurality of operation unmanned aerial vehicles are loaded in the transport cabin, and each operation unmanned aerial vehicle is provided with a camera and/or a sensor for image acquisition and/or climate monitoring; each unmanned aerial vehicle is provided with a signal transceiver for communicating with a mobile base station;
still set up image recognition system on the operation unmanned aerial vehicle for when operation unmanned aerial vehicle request returns the transport vechicle and navigates to being close to the transport vechicle, shoot the position image of location mark, send for operation unmanned aerial vehicle, operation unmanned aerial vehicle is according to location mark image information, constantly adjusts operation unmanned aerial vehicle's position, until being in directly over the air park.
The camera comprises one or more of an infrared camera, a digital camera and a high-definition camera, and the camera type is switched at will according to the task type in the task execution process to complete the operation.
The sensors comprise one or more of a CO compound sensor, a PM2.5 sensor, a methane sensor and an air pressure sensor, and the types of the sensors are randomly switched according to tasks to complete data acquisition tasks.
Wherein, operation unmanned aerial vehicle still includes laser emitter for carry out the position calibration to the transport cabin on the mobile base station when operation unmanned aerial vehicle returns to navigate, guarantee that operation unmanned aerial vehicle accuracy descends in the transport cabin.
The operation unmanned aerial vehicle further comprises a flight control system, wherein the flight control system is used for controlling the flight track or attitude angle of the operation unmanned aerial vehicle according to a preset rule, and controlling the operation unmanned aerial vehicle to move according to the recognition result of the image recognition system until the image acquired by the image recognition system is coincident with the positioning mark.
In addition, the invention provides a control method for automatically recovering an unmanned aerial vehicle, which adopts the control device for automatically recovering the unmanned aerial vehicle according to the technical scheme for control, and comprises the following steps:
after the operation task of the operation unmanned aerial vehicle is completed, the mobile base station sends the coordinate information to the operation unmanned aerial vehicle, and the operation unmanned aerial vehicle performs return flight according to the coordinate information;
when the operation unmanned aerial vehicle navigates back to the preset shutdown range, an arrival instruction is sent to the mobile base station, the transport cabin is controlled to be unfolded to form an aircraft park, and the mobile base station transmits a ready-return signal to the operation unmanned aerial vehicle;
the operation unmanned aerial vehicle carries out positioning adjustment through the image recognition system and transmits the formed image to the flight control system;
the flight control system continuously calibrates according to the transmitted image and the positioning mark, and then controls the operation unmanned aerial vehicle to continuously adjust the position until the transmitted image is superposed with the positioning mark;
the flight control system makes the unmanned aerial vehicle perform vertical landing, and continues to perform calibration and adjustment in the landing process until the unmanned aerial vehicle lands on the parking apron;
the gravity sensor on the parking apron senses the weight of the unmanned aerial vehicle after falling, sends a signal to the mobile base station, and the mobile base station sends a signal to control the closing of the transport cabin valve.
Wherein, carry out the location adjustment through image identification system at operation unmanned aerial vehicle to in the step of transmitting the image that forms to flight control system, including the step:
finding the size of the parking apron L 'in the image and recording the size as L', calculating the distance L 'between the vertical position of the camera in the image and the gravity center of the parking apron, and making the proportion gamma between the image and the reality according to the known real L', namely
According to an equal proportion calculation formula
Calculating the distance L between the real vertical position of the camera and the gravity center of the parking apron, acquiring the flying height H of the unmanned aerial vehicle, and obtaining the flying height H according to the distance L
The distance S between the center of gravity on the apron and the camera;
according to
Calculate the angle alpha of focus and the relative operation unmanned aerial vehicle position of camera on the parking apron, control operation unmanned aerial vehicle to alpha angle flight S to scan at the flight in-process constantly, transmit, calculate, fly until operation unmanned aerial vehicle flies to the parking apron directly over.
Different from the prior art, the control system and the method for automatically recovering the unmanned aerial vehicle calibrate and adjust the position of the unmanned aerial vehicle to a specified position through the image recognition system on the apron unfolded by the transport cabin. The image signal that the image recognition system will discern transmits for unmanned aerial vehicle, and unmanned aerial vehicle received signal back, and constantly adjusting position calibrates, descends perpendicularly on the position that calibrates to at the in-process that descends, continue to constantly calibrate and adjust through image recognition system, until landing on the parking apron. After the gravity sensor on the parking apron senses that the unmanned aerial vehicle completely falls down, a signal is sent to the mobile base station, and the base station closes the cabin. The unmanned aerial vehicle recovery device is suitable for solving the problems that the recovery operation of the unmanned aerial vehicle is complex and the requirement on the surrounding landing environment is high.
Drawings
Fig. 1 is a schematic structural diagram of a control system of an automatic recovery unmanned aerial vehicle provided by the invention.
Fig. 2 is a schematic structural diagram of a mobile base station in a control system of an automatic recovery unmanned aerial vehicle provided by the invention.
Fig. 3 is a schematic structural diagram of an operating unmanned aerial vehicle in the control system of the automatic recovery unmanned aerial vehicle provided by the invention.
Fig. 4 is a schematic structural diagram of a transport cabin in a control system of an automatic recovery unmanned aerial vehicle provided by the invention.
Fig. 5 is a schematic structural diagram of a control system of an automatic recovery unmanned aerial vehicle, in which a transport cabin is unfolded to form an apron.
Fig. 6 is a logic schematic diagram of a control method for automatically recovering an unmanned aerial vehicle provided by the invention.
Fig. 7 is a calculation schematic diagram of a flight control system in the control method for automatically recovering the unmanned aerial vehicle provided by the invention.
Detailed Description
The present invention is further illustrated by, but is not limited to, the following examples.
Referring to fig. 1, the present invention provides a control system for automatically recovering an unmanned aerial vehicle, including: the system comprises a mobile base station a and a working unmanned aerial vehicle b;
as shown in fig. 2, the mobile base station a includes a transport cabin 1, a signal transfer device 2, a large unmanned aerial vehicle 3, a positioning mark 4 and a gravity sensor 5; the transport cabin 1 is used for recovering and releasing the operation unmanned aerial vehicle b, and simultaneously, a valve connected between side plates of the transport cabin 1 is controlled to be opened according to a control instruction of an upper computer, so that the side plates of the transport cabin 1 are unfolded and are positioned on the same plane with the bottom plate, and an apron of the operation unmanned aerial vehicle b is formed; meanwhile, after the operation unmanned aerial vehicle b returns to the cabin, a gravity sensor 5 arranged on a bottom plate of the transport cabin 1 senses weight change in the transport cabin 1, sends a signal to a mobile base station a, controls a valve connected between side plates of the transport cabin 1 to be closed, and closes the transport cabin 1; the signal transfer device 2 is used for receiving and forwarding signals sent by the operation unmanned aerial vehicle b and the upper computer; the large unmanned aerial vehicle 3 is used for bearing a mobile base station and is responsible for transporting the transport cabin 1 and the operation unmanned aerial vehicle b placed in the transport cabin; the positioning mark 4 is arranged at the position of the gravity center of the mobile base station a when the transport cabin 1 is in the apron state; the internal structure of the transport pod 1 is shown in fig. 4, and its deployed configuration as tarmac is shown in fig. 5.
A plurality of working unmanned aerial vehicles b are loaded in the transport cabin 1, as shown in fig. 3, a camera 6 and/or a sensor 7 are arranged on each working unmanned aerial vehicle b for image acquisition and/or climate monitoring; each working unmanned aerial vehicle b is provided with a signal transceiver 9 which is communicated with the mobile base station a;
still set up image recognition system 10 on operation unmanned aerial vehicle b for when operation unmanned aerial vehicle b requests to return transport vechicle 1 and sails to being close to transport vechicle 1, shoot the position image of location mark, send for operation unmanned aerial vehicle b, operation unmanned aerial vehicle b is according to location mark image information, constantly adjusts operation unmanned aerial vehicle b's position, until being in directly over the air park.
The camera 6 comprises one or more of an infrared camera, a digital camera and a high-definition camera, and in the process of executing the task, the type of the camera is switched randomly according to the type of the task to complete the operation.
The sensor 7 comprises one or more of a CO compound sensor, a PM2.5 sensor, a methane sensor and an air pressure sensor, and the types of the sensors are randomly switched according to tasks to complete data acquisition tasks.
Wherein, operation unmanned aerial vehicle b still includes laser emitter for carry out the position calibration to transport cabin 1 on the mobile base station a when operation unmanned aerial vehicle b returns to navigate, guarantee that operation unmanned aerial vehicle b accurately descends in transport cabin 1.
The operation unmanned aerial vehicle b further comprises a flight control system 11, which is used for controlling the flight track or attitude angle of the operation unmanned aerial vehicle b according to a preset rule and controlling the operation unmanned aerial vehicle b to move according to the recognition result of the image recognition system 10 until the image acquired by the image recognition system 10 coincides with the positioning mark 4.
As shown in fig. 6, the present invention provides a control method for automatically recovering an unmanned aerial vehicle, which adopts the control device for automatically recovering an unmanned aerial vehicle according to the foregoing technical solution to perform control, and includes:
after the operation task of the operation unmanned aerial vehicle b is completed, the mobile base station b sends the coordinate information to the operation unmanned aerial vehicle b, and the operation unmanned aerial vehicle b performs return voyage according to the coordinate information;
when the operation unmanned aerial vehicle b navigates back to the preset shutdown range, an arrival instruction is sent to the mobile base station a, the transport cabin 1 is controlled to be unfolded to become an apron, and the mobile base station a transmits a ready-return signal to the operation unmanned aerial vehicle b;
the working unmanned aerial vehicle b carries out positioning adjustment through the image recognition system 10 and transmits the formed image to the flight control system 11;
the flight control system 11 continuously calibrates the transmitted image and the positioning mark 4, and then controls the working unmanned aerial vehicle b to continuously adjust the position until the transmitted image is superposed with the positioning mark 4;
the flight control system 11 makes the industrial unmanned aerial vehicle b to vertically land, and continues to calibrate and adjust in the landing process until the industrial unmanned aerial vehicle b lands on the parking apron;
and the gravity sensor 5 on the parking apron senses the weight of the unmanned aerial vehicle b after falling, sends a signal to the mobile base station a, and the mobile base station sends a signal to control the closing of the valve of the transport cabin 1.
As shown in fig. 7, the step of positioning and adjusting the working unmanned aerial vehicle b by the image recognition system 10 and transmitting the formed image to the flight control system 11 includes the steps of:
finding the size of the apron L 'in the image and recording the size as L', calculating the distance L 'between the vertical position of the camera 6 in the image and the gravity center of the apron, and making the proportion gamma between the image and the reality according to the known real L', namely
According to an equal proportion calculation formula
Calculating the distance L between the real vertical position of the camera 6 and the center of gravity of the parking apron, acquiring the flight height H of the unmanned aerial vehicle b, and obtaining the flight height H according to the distance L
The distance S between the center of gravity on the apron and the camera 6;
according to
On the parking apronThe center of gravity and the angle alpha of the position of the camera 6, where the unmanned aerial vehicle b is located, control the unmanned aerial vehicle b to fly to the angle alpha, and continuously scan, transmit, calculate and fly in the flying process until the unmanned aerial vehicle b flies right above the parking apron.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. The utility model provides an automatic retrieve unmanned aerial vehicle's control system which characterized in that includes: the system comprises a mobile base station (a) and a working unmanned aerial vehicle (b);
the mobile base station (a) comprises a transport cabin (1), a signal transfer device (2), a large unmanned aerial vehicle (3), a positioning mark (4) and a gravity sensor (5); the transport cabin (1) is used for recovering and releasing the operation unmanned aerial vehicle (b), and simultaneously, a valve connected between side plates of the transport cabin (1) is controlled to be opened according to a control instruction of an upper computer, so that the side plates are unfolded and are positioned on the same plane with the bottom plate to form an apron of the operation unmanned aerial vehicle (b); meanwhile, after the unmanned aerial vehicle (b) returns to the cabin, a gravity sensor (5) arranged on a bottom plate of the transport cabin (1) senses the weight change in the transport cabin (1), sends a signal to a mobile base station (a), controls a valve connected between side plates of the transport cabin (1) to be closed, and closes the transport cabin (1); the signal transfer device (2) is used for receiving and forwarding signals sent by the operation unmanned aerial vehicle (b) and the upper computer; the large unmanned aerial vehicle (3) is used for bearing the mobile base station and is responsible for transporting the transport cabin (1) and the operation unmanned aerial vehicle (b) arranged in the transport cabin; the positioning mark (4) is arranged at the position of the gravity center of the mobile base station (a) when the transport cabin (1) is in the apron state;
a plurality of operation unmanned aerial vehicles (b) are loaded in the transport cabin (1), and each operation unmanned aerial vehicle (b) is provided with a camera (6) and/or a sensor (7) for image acquisition and/or climate monitoring; each working unmanned aerial vehicle (b) is provided with a signal transceiver (9) which is communicated with the mobile base station (a);
still set up image recognition system (10) on operation unmanned aerial vehicle (b) for when operation unmanned aerial vehicle (b) request returns transport vechicle (1) and sails to being close to transport vechicle (1), shoot the position image of location mark, send for operation unmanned aerial vehicle (b), operation unmanned aerial vehicle (b) is according to location mark image information, constantly adjusts the position of operation unmanned aerial vehicle (b) until being in directly over the air park.
2. The control system for automatically recovering the unmanned aerial vehicle according to claim 1, wherein the camera (6) comprises one or more of an infrared camera, a digital camera and a high-definition camera, and during the task execution process, the type of the camera is arbitrarily switched according to the task type to complete the operation.
3. The control system of the unmanned aerial vehicle for automatically recycling the power of the unmanned aerial vehicle according to claim 1, wherein the sensor (7) comprises one or more of a CO compound sensor, a PM2.5 sensor, a methane sensor and an air pressure sensor, and the type of the sensor is optionally switched according to tasks to complete data acquisition tasks.
4. The control system for automatically recovering unmanned aerial vehicles according to claim 1, wherein the working unmanned aerial vehicle (b) further comprises a laser emitting device for performing position calibration on the transport cabin (1) on the mobile base station (a) when the working unmanned aerial vehicle (b) returns, so as to ensure that the working unmanned aerial vehicle (b) accurately lands in the transport cabin (1).
5. The control system for automatically recovering unmanned aerial vehicles according to claim 1, wherein the working unmanned aerial vehicle (b) further comprises a flight control system (11) for controlling the flight trajectory or attitude angle of the working unmanned aerial vehicle (b) according to a predetermined rule, and controlling the working unmanned aerial vehicle (b) to move according to the recognition result of the image recognition system (10) until the image acquired by the image recognition system (10) coincides with the position scale (4).
6. A control method for automatically recovering unmanned aerial vehicles, comprising the control system for automatically recovering unmanned aerial vehicles according to any one of claims 1 to 5, wherein the method comprises the following steps:
after the operation task of the operation unmanned aerial vehicle (b) is completed, the mobile base station (b) sends the coordinate information to the operation unmanned aerial vehicle (b), and the operation unmanned aerial vehicle (b) performs return voyage according to the coordinate information;
when the operation unmanned aerial vehicle (b) navigates back to the preset shutdown range, an arrival instruction is sent to the mobile base station (a), the transport cabin (1) is controlled to be unfolded to become a parking apron, and the mobile base station (a) transmits a return ready signal to the operation unmanned aerial vehicle (b);
the working unmanned aerial vehicle (b) performs positioning adjustment through the image recognition system (10) and transmits the formed image to the flight control system (11);
the flight control system (11) continuously calibrates according to the transmitted image and the positioning mark (4), and then controls the operation unmanned aerial vehicle (b) to continuously adjust the position until the transmitted image is superposed with the positioning mark (4);
the flight control system (11) makes the industrial unmanned aerial vehicle (b) vertically land, and continues to calibrate and adjust in the landing process until the unmanned aerial vehicle lands on the parking apron;
and the gravity sensor (5) on the parking apron senses the weight of the unmanned aerial vehicle (b) after falling, sends a signal to the mobile base station (a), and the mobile base station sends a signal to control the closing of the valve of the transport cabin (1).
7. The control method for automatically recovering unmanned aerial vehicles according to claim 6, wherein the step of positioning and adjusting the working unmanned aerial vehicle (b) by the image recognition system (10) and transmitting the formed image to the flight control system (11) comprises the steps of:
finding the size of the parking apron L 'in the image and recording the size as L', calculating the distance L 'between the vertical position of the camera (6) in the image and the gravity center of the parking apron, and making the proportion gamma between the image and the reality according to the known real L', namely
According to an equal proportion calculation formula
Calculating the distance L between the vertical position of the real camera (6) and the gravity center of the parking apron, acquiring the flying height H of the working unmanned aerial vehicle (b), and obtaining the flying height H according to the distance L
The distance S between the center of gravity of the apron and the camera (6); according to
The angle alpha of the position of the gravity center and the camera (6) on the parking apron, which is opposite to the operation unmanned aerial vehicle (b), is calculated, the operation unmanned aerial vehicle (b) is controlled to fly to the alpha angle S, and the operation unmanned aerial vehicle (b) continuously scans, transmits, calculates and flies in the flying process until the operation unmanned aerial vehicle (b) flies right above the parking apron.
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Cited By (1)
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| CN117148869A (en) * | 2023-10-31 | 2023-12-01 | 西安天成益邦电子科技有限公司 | Unmanned aerial vehicle accurate recovery control method and system |
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Application publication date: 20210416 |
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