CN113050680B - Unmanned aerial vehicle standby landing control method - Google Patents
Unmanned aerial vehicle standby landing control method Download PDFInfo
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Abstract
The invention discloses a standby landing control method of an unmanned aerial vehicle, which comprises the following steps of: s1, receiving a landing instruction from an unmanned aerial vehicle to fly to a first overhead area of a main landing platform; s2, starting a main positioning sensor group to adjust the unmanned aerial vehicle to a first landing area preset by a main landing platform; s3, when the control terminal detects the first abnormal signal, the control terminal switches the falling instruction into a standby falling instruction; s4, the control terminal controls the unmanned aerial vehicle to fly to a second upper air area of the standby platform; s5, starting a standby landing positioning sensor group to adjust the unmanned aerial vehicle to a second landing area preset by a standby landing platform; s6, the control terminal adjusts the horizontal position of the unmanned aerial vehicle until the unmanned aerial vehicle receives a descending instruction; and S7, after the standby platform detects that the unmanned aerial vehicle falls, the control terminal controls to close the driving of the unmanned aerial vehicle. According to the technical scheme, the safety and reliability of unmanned aerial vehicle landing are improved, and the unmanned aerial vehicle is prevented from being impacted with foreign objects or being damaged by unstable landslide during the landing process.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a standby landing control method of an unmanned aerial vehicle.
Background
With the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles increasingly enter people's life. The unmanned aerial vehicle is available round clock, simple structure, convenient to use, with low costs, and high efficiency ratio does not need to worry about casualties, therefore under high-order environment, unmanned aerial vehicle operation is popular day by day. The method can be used for scene monitoring, meteorological investigation, highway inspection, exploration and mapping, flood monitoring, aerial photography, traffic management, forest fire and the like, and has extremely wide application prospect.
However, most unmanned aerial vehicles in the prior art easily collide with external objects in the process of remote landing, or the unmanned aerial vehicles on the surface of the parking apron incline to cause landing to generate landslide collision, so that the safety and reliability of the unmanned aerial vehicles are not high.
Disclosure of Invention
The invention mainly aims to provide a standby landing control method for an unmanned aerial vehicle, which aims to improve the safety and reliability of the landing of the unmanned aerial vehicle and avoid the collision or unstable landslide damage caused by shutdown of the unmanned aerial vehicle with foreign objects in the landing process.
The invention aims to solve the problems by adopting the following technical scheme:
the standby landing control method of the unmanned aerial vehicle comprises the following steps of:
s1, receiving a landing instruction from an unmanned aerial vehicle to fly to a first overhead area of a main landing platform;
s2, starting a main positioning sensor group to adjust the unmanned aerial vehicle to a first landing area preset by a main landing platform;
s3, when the control terminal detects the first abnormal signal, the control terminal switches the falling instruction into a standby falling instruction;
s4, the control terminal controls the unmanned aerial vehicle to fly to a second upper air area of the standby platform;
s5, starting a standby landing positioning sensor group to adjust the unmanned aerial vehicle to a second landing area preset by a standby landing platform;
s6, the control terminal adjusts the horizontal position of the unmanned aerial vehicle until the unmanned aerial vehicle receives a descending instruction;
and S7, after the standby platform detects that the unmanned aerial vehicle falls, the control terminal controls to close the driving of the unmanned aerial vehicle.
Preferably, in the step S1, the main positioning sensor group selects a first infrared emitter, and the first infrared emitter selects at least three infrared emitters which are unevenly distributed in the same straight line;
and/or the unmanned aerial vehicle is provided with an infrared receiver matched with the main positioning sensor group.
Preferably, in the step S3, the first abnormal signal is one or more emission signals of the plurality of first infrared emitters which are not received by the infrared receiver;
or the first abnormal signal is that a longitudinal signal surface formed between the infrared receiver and the first infrared transmitter is not overlapped with a vertical landing surface of the unmanned aerial vehicle.
Preferably, in the step S5, the descent positioning sensor group is a descent infrared emitter group.
Preferably, the descent control infrared emitter group comprises at least three third infrared emitters, the third infrared emitters are unevenly distributed on the same straight line, and the third infrared emitters are vertically fixed on the descent area of the descent control platform.
Preferably, the set of infrared emitters for landing comprises four third infrared emitters, wherein a rectangular arrangement is formed among the third infrared emitters, and the third infrared emitters are distributed at four end points of the rectangle and are fixed on the landing area of the landing platform in an inward inclined manner; the infrared emitter also comprises a fourth infrared emitter, the fourth infrared emitter is positioned at the intersection point of the two induction installation axes formed by the opposite angles of the rectangle, and the emitting line of the fourth infrared emitter and the emitting line of the third infrared emitter are converged into one point.
Preferably, in the step S6, the infrared receiver corresponding to each of the third infrared transmitters is used as a signal point P, and the signal point and the landing area of the landing platform form three-dimensional coordinate information, i.e., P (x) p ，y p ，z p )。
Preferably, in said S6, z according to each of said signal points P p Judging the position of each signal point P of the unmanned aerial vehicle in the vertical area, and further obtaining the inclination of the horizontal position of the unmanned aerial vehicle; and meanwhile, the control terminal adjusts the landing state of the unmanned aerial vehicle according to the inclination.
Preferably, in S7, a pressure sensor is disposed on the landing preparation platform, and the pressure value of the unmanned aerial vehicle when the unmanned aerial vehicle completely drops is monitored through sensing of the pressure sensor, so as to confirm that the landing is completed.
Preferably, the height H of the second upper air region 2 20-40m.
The beneficial effects are that: according to the technical scheme, the control terminal is adopted to rapidly and accurately detect the relative position signal between the unmanned aerial vehicle before landing and the main landing platform; when a first abnormal signal appears, stopping the unmanned aerial vehicle from landing on the main landing platform, and modifying a landing instruction into a standby landing instruction; the unmanned aerial vehicle is controlled to fly to the upper air of the landing preparation platform, the unmanned aerial vehicle is detected in multiple directions through the landing preparation sensor before landing, information is transmitted to the control terminal, the unmanned aerial vehicle is accurately controlled to land by the control terminal, landing safety and reliability of the unmanned aerial vehicle are improved, and the unmanned aerial vehicle is prevented from being impacted or stopped and unstable landslide damage caused by foreign objects in the landing process.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a standby landing control method of an unmanned aerial vehicle according to the present invention.
Fig. 2 is a schematic structural diagram of a main landing platform and a standby landing platform of the standby landing control method of an unmanned aerial vehicle according to the present invention.
Fig. 3 is a schematic top view of a landing platform of the standby landing control method of the unmanned aerial vehicle according to the present invention.
Reference numerals illustrate: 1-a main landing platform; 11-a main positioning sensor group; 2-a first landing zone; 3-preparing a landing platform; 31-a set of descent positioning sensors; 311-a third infrared emitter; 312-a fourth infrared generator; 4-a second landing zone; 5-unmanned aerial vehicle.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, if a directional indication (such as up, down, left, right, front, and rear … …) is involved in the embodiment of the present invention, the directional indication is merely used to explain the relative positional relationship, movement condition, etc. between the components in a specific posture, and if the specific posture is changed, the directional indication is correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, if "and/or" and/or "are used throughout, the meaning includes three parallel schemes, for example," a and/or B "including a scheme, or B scheme, or a scheme where a and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The invention provides a standby landing control method of an unmanned aerial vehicle.
As shown in fig. 1, in an embodiment of the present invention, the unmanned aerial vehicle standby landing control method; the method comprises the following steps:
s1, the unmanned aerial vehicle 5 receives a landing instruction to fly to a first overhead area of the main landing platform 1; wherein the height H of the first upper air area 1 20-40m, most preferred height H 1 23m;
s2, starting a main positioning sensor group 1 to adjust the unmanned aerial vehicle 5 to a first landing area 2 preset by a main landing platform 1;
s3, when the control terminal detects the first abnormal signal, the control terminal switches the falling instruction into a standby falling instruction;
s4, the control terminal controls the unmanned aerial vehicle 5 to fly to a second upper air area of the standby platform 3; wherein the height H of the second upper air area 2 20-40m, most preferred height H 2 22.5m;
s5, starting a standby landing positioning sensor group 31 to adjust the unmanned aerial vehicle 5 to a second landing area 4 preset by a standby landing platform;
s6, the control terminal adjusts the horizontal position of the unmanned aerial vehicle 5 until the unmanned aerial vehicle 5 receives a descending instruction;
s7, after the standby platform 3 detects that the unmanned aerial vehicle 5 falls, the control terminal controls to close the driving of the unmanned aerial vehicle 5.
According to the technical scheme, the control terminal is adopted to rapidly and accurately detect the relative position signal between the unmanned aerial vehicle before landing and the main landing platform; when a first abnormal signal appears, stopping the unmanned aerial vehicle from landing on the main landing platform, and modifying a landing instruction into a standby landing instruction; the unmanned aerial vehicle is controlled to fly to the upper air of the landing preparation platform, the unmanned aerial vehicle is detected in multiple directions through the landing preparation sensor before landing, information is transmitted to the control terminal, the unmanned aerial vehicle is accurately controlled to land by the control terminal, landing safety and reliability of the unmanned aerial vehicle are improved, and the unmanned aerial vehicle is prevented from being impacted or stopped and unstable landslide damage caused by foreign objects in the landing process.
In this embodiment, the control terminal refers to a terminal controller capable of controlling the unmanned aerial vehicle to take off, fly and land; specifically, the control terminal can be a communication equipment control terminal, such as a mobile phone; the control terminal of the LED display screen can also be selected; a computer, a notebook computer and the like can also be selected; no example is given herein as a basic limitation.
The unmanned aerial vehicle 5 is a four-wing unmanned aerial vehicle, wherein the four-wing unmanned aerial vehicle is an aircraft with four propellers and the four propellers are in a cross-shaped cross structure; the vertical take-off and landing machine with six degrees of freedom is very suitable for flying under static and quasi-static conditions; however, on the other hand, a four-rotor helicopter has four inputs and six outputs at the same time, so it is an under-actuated system (under-actuated system refers to a less-input-more-output system). Unlike a typical rotorcraft having variable pitch propellers, a quad-rotor helicopter has opposite rotational directions of its front and rear and left and right sets of propellers, and changes lift by changing the speed of the propellers, thereby changing the attitude and position of the quad-rotor helicopter.
In particular, in this embodiment, the landing preparation platform is preferably a stationary landing preparation airport, and the parking area of the stationary landing preparation airport is kept horizontal, such as a cement table; the main landing platform is preferably a mobile unmanned aerial vehicle parking apron, and the parking apron is convenient to carry.
Specifically, in the step S1, the main positioning sensor set 11 selects a first infrared emitter, and the first infrared emitters are five and unevenly distributed in the same straight line; the unmanned aerial vehicle 5 is provided with an infrared receiver matched with the main positioning sensor group 11.
Specifically, in the step S3, the first abnormal signal is one or more emission signals of the plurality of first infrared emitters which are not received by the infrared receiver; when one or more emission signals of the infrared emission are not received, the situation that the emission signals are blocked by foreign objects possibly occurs, the flight state needs to be adjusted, and the unmanned aerial vehicle and the foreign objects are prevented from being impacted and damaged, so that the service life of the unmanned aerial vehicle is prolonged;
or in the step S3, the first abnormal signal is that a longitudinal signal surface formed between the infrared receiver and the first infrared transmitter is not overlapped with a vertical landing surface of the unmanned aerial vehicle; when the non-coincidence appears, the possible appearance condition is that the main landing platform receives external environment and influences landing area and incline, leads to the transmission signal of first infrared transmitter to incline, and then can influence unmanned aerial vehicle normal vertical landing, and the instability when can making unmanned aerial vehicle landing again because the non-level in main landing area probably takes place to damage.
Specifically, in the step S5, the descent positioning sensor group 31 is a descent infrared emitter group; the standby landing infrared transmitter on the standby landing platform transmits infrared signals to the unmanned aerial vehicle, the infrared receiver receives the infrared signals, and then the state of the unmanned aerial vehicle is transmitted to the control terminal, so that a foundation is laid for subsequent standby landing control.
The infrared transmitter transmits light rays to the unmanned aerial vehicle in a certain range through the infrared transmitting tube, so that the effect of transmitting signals is achieved; the infrared receiver receives the infrared signal of the infrared transmitter, can independently receive and output the infrared signal from the infrared transmitter, is compatible with TTL (transistor-transistor logic) electric frequency signals, and can transmit sensing signals to the control terminal.
Specifically, as shown in fig. 1 and 2, in one embodiment, the set of landing-preparing infrared emitters includes four third infrared emitters 311, and the third infrared emitters 311 form a rectangular arrangement, and the third infrared emitters 311 are distributed at four end points of the rectangle and are vertically fixed on the landing area of the landing-preparing platform 3. The vertical area formed by the emitting line tracks of the plurality of groups of third infrared emitters can ensure that the unmanned aerial vehicle can accurately fall to the landing preparation platform.
Specifically, as shown in fig. 3, in another embodiment, the set of infrared emitters for descent includes four third infrared emitters 311, a rectangular arrangement is formed between the third infrared emitters 311, and the third infrared emitters 311 are distributed at four end points of the rectangle and are fixed on the descent area 22 of the descent platform 2 in an inward inclined manner; the infrared emitter further includes a fourth infrared emitter 312, the fourth infrared emitter 312 is located at an intersection point of two sensing installation axes formed by the diagonal of the rectangle, and the emission line of the fourth infrared emitter 312 and the emission line of the third infrared emitter 311 are converged into one point. Can make unmanned aerial vehicle start to descend the landing point through the convergence of third infrared ray and reach more accurately, by the landing guide of fourth infrared emission again, and then can ensure that unmanned aerial vehicle can descend to the platform of falling of prepareeing more accurately.
Specifically, in S6, the infrared receiver corresponding to each third infrared emitter 311 is used as a signal point P, and the signal point and the landing area of the landing platform 3 form three-dimensional coordinate information, i.e., P (x) p ，y p ，z p )。
Specifically, in the S6, z according to each of the signal points P p Judging the position of each signal point P of the unmanned aerial vehicle 1 in the vertical area, and further obtaining the inclination of the horizontal position of the unmanned aerial vehicle 1; meanwhile, the control terminal adjusts the landing state of the unmanned aerial vehicle 5 according to the inclination, so that the signal points P are all located at the same horizontal position to land. The unbalanced impact landing of the unmanned aerial vehicle in the final landing process is avoided, and the service life of the unmanned aerial vehicle is influenced.
Specifically, in S7, a pressure sensor is disposed on the landing preparation platform 3, and the pressure value of the unmanned aerial vehicle 5 when landing completely is monitored by sensing the pressure sensor, so as to confirm that landing is completed.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (9)
1. The standby landing control method of the unmanned aerial vehicle is characterized by comprising the following steps of:
s1, receiving a landing instruction from an unmanned aerial vehicle to fly to a first overhead area of a main landing platform;
s2, starting a main positioning sensor group to adjust the unmanned aerial vehicle to a first landing area preset by a main landing platform; the main positioning sensor group is a first infrared transmitter, and the unmanned aerial vehicle is provided with an infrared receiver matched with the main positioning sensor group; the first infrared emitters are at least three and are unevenly distributed in the same straight line;
s3, when the control terminal detects the first abnormal signal, the control terminal switches the falling instruction into a standby falling instruction; the first abnormal signal comprises that a vertical signal surface formed between the infrared receiver and the first infrared transmitter is not overlapped with a vertical landing surface of the unmanned aerial vehicle;
s4, the control terminal controls the unmanned aerial vehicle to fly to a second upper air area of the standby platform;
s5, starting a standby landing positioning sensor group to adjust the unmanned aerial vehicle to a second landing area preset by a standby landing platform;
s6, the control terminal adjusts the horizontal position of the unmanned aerial vehicle until the unmanned aerial vehicle receives a descending instruction;
and S7, after the standby platform detects that the unmanned aerial vehicle falls, the control terminal controls to close the driving of the unmanned aerial vehicle.
2. The unmanned aerial vehicle standby landing control method of claim 1, wherein in S3 the first anomaly signal comprises one or more of the plurality of first infrared transmitters not being received by the infrared receiver.
3. A method for controlling standby landing of an unmanned aerial vehicle according to any one of claims 1 or 2, wherein in S5, the set of standby landing positioning sensors is a set of standby landing infrared emitters.
4. A standby landing control method for an unmanned aerial vehicle according to claim 3, wherein the standby landing infrared emitter group includes at least three third infrared emitters, the third infrared emitters are unevenly arranged on the same straight line, and the third infrared emitters are vertically fixed on the landing area of the standby landing platform.
5. A method of controlling standby landing of an unmanned aerial vehicle according to claim 3 wherein the set of landing-ready infrared emitters comprises four third infrared emitters forming a rectangular arrangement between them, the third infrared emitters being distributed at four end points of the rectangle and being fixed obliquely inwards on the landing area of the landing platform; the infrared emitter also comprises a fourth infrared emitter, the fourth infrared emitter is positioned at the intersection point of the two induction installation axes formed by the opposite angles of the rectangle, and the emitting line of the fourth infrared emitter and the emitting line of the third infrared emitter are converged into one point.
6. The method according to claim 5, wherein in S6, the infrared receiver corresponding to each of the third infrared transmitters is used as a signal point P, and the signal point and the landing area of the landing preparation platform form three-dimensional coordinate information, i.e., P (x) p ，y p ，z p )。
7. The unmanned aerial vehicle standby landing control method of claim 6, wherein in S6, z according to each of the signal points P p Judging the position of each signal point P of the unmanned aerial vehicle in a vertical area, and further obtaining the inclination of the horizontal position of the unmanned aerial vehicle; and meanwhile, the control terminal adjusts the landing state of the unmanned aerial vehicle according to the inclination.
8. The standby landing control method of an unmanned aerial vehicle according to claim 1, wherein in S7, a pressure sensor is arranged on the landing platform, and the pressure value of the unmanned aerial vehicle when the unmanned aerial vehicle completely lands is sensed and monitored through the pressure sensor, so that landing completion is confirmed.
9. The unmanned aerial vehicle standby landing control method of claim 1, wherein the height H of the second overhead area 2 20-40m.
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| CN105807787B (en) * | 2016-03-08 | 2018-12-07 | 谭圆圆 | A kind of control method and device of unmanned vehicle |
| CN108983807B (en) * | 2017-06-05 | 2021-08-10 | 北京臻迪科技股份有限公司 | Unmanned aerial vehicle fixed-point landing method and system |
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| CN111913492B (en) * | 2019-05-09 | 2024-04-19 | 丰翼科技(深圳)有限公司 | Unmanned aerial vehicle safe landing method and device |
| CN110703790A (en) * | 2019-10-16 | 2020-01-17 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle flight safety protection method and protection system based on cloud big data |
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| CN106628126A (en) * | 2016-12-15 | 2017-05-10 | 南京理工大学 | Unmanned aerial vehicle capable of taking off and landing on slope |
| CN108780330A (en) * | 2017-12-14 | 2018-11-09 | 深圳市大疆创新科技有限公司 | Aircraft security takeoff method, landing method and aircraft |
| CN111813148A (en) * | 2020-07-22 | 2020-10-23 | 广东工业大学 | Unmanned aerial vehicle landing method, system, equipment and storage medium |
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