CN113534825A - Control system and control method for automatic parking of unmanned aerial vehicle - Google Patents
Control system and control method for automatic parking of unmanned aerial vehicle Download PDFInfo
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- CN113534825A CN113534825A CN202110953068.1A CN202110953068A CN113534825A CN 113534825 A CN113534825 A CN 113534825A CN 202110953068 A CN202110953068 A CN 202110953068A CN 113534825 A CN113534825 A CN 113534825A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
Abstract
The application discloses control system and control method that unmanned aerial vehicle parks automatically, control system include unmanned aerial vehicle and with unmanned aerial vehicle realize communication connection's mobile airport, wherein, mobile airport includes: the vehicle-mounted control system is used for controlling the automatic taking-off and landing operation of the unmanned aerial vehicle and the operation control of the mobile airport; the GPS-RTK base station and the infrared receiving device are used for taking off and landing positioning of the unmanned aerial vehicle; the data link module is used for realizing data transmission between the mobile airport and the unmanned aerial vehicle; unmanned aerial vehicle recovery unit including sealed sliding closure of roof, take off and land platform, platform lifting support and the vertical and horizontal push rod that resets for realize unmanned aerial vehicle automatic re-setting and retrieve warehouse entry. In this way, unmanned aerial vehicle's automatic accurate warehouse entry recovery can be realized to this application.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a control system and a control method for automatic parking of an unmanned aerial vehicle.
Background
An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. The unmanned aerial vehicle is a general name of an unmanned aerial vehicle, and compared with a manned aircraft, the unmanned aerial vehicle has the advantages of small volume, low manufacturing cost, convenience in use, low requirement on the operational environment, strong battlefield viability and the like.
At present, the unmanned aerial vehicle technique has possessed the function of autonomic flight to also can realize the function of autonomic flight, and also can realize autonomic descending, but be the unmanned aerial vehicle autonomous landing system based on GPS at the autonomous landing system, still exist that the landing precision is not enough high, the landing security is not enough, unmanned aerial vehicle weight is heavy, the shortcoming that requires high to the air park.
Disclosure of Invention
The application provides a control system and a control method for automatic parking of an unmanned aerial vehicle, which aim to solve the problem that the unmanned aerial vehicle cannot automatically return to a warehouse in the prior art.
For solving above-mentioned technical problem, this application provides an automatic control system who parks of unmanned aerial vehicle, includes: unmanned aerial vehicle and with unmanned aerial vehicle realize communication connection's removal airport, wherein, remove the airport and include: the vehicle-mounted control system is used for controlling the automatic taking-off and landing operation of the unmanned aerial vehicle and the operation control of the mobile airport; the GPS-RTK base station and the infrared receiving device are used for taking off and landing positioning of the unmanned aerial vehicle; the data link module is used for realizing data transmission between the mobile airport and the unmanned aerial vehicle; unmanned aerial vehicle recovery unit including sealed sliding closure of roof, take off and land platform, platform lifting support and the vertical and horizontal push rod that resets for realize unmanned aerial vehicle automatic re-setting and retrieve warehouse entry.
Optionally, the reset longitudinal and transverse push rods comprise a longitudinal push rod pair and a transverse push rod pair; when the unmanned aerial vehicle falls on the lifting platform, the longitudinal push rod pair and the transverse push rod pair push oppositely at the same time, and finally the unmanned aerial vehicle is clamped and fixed at the central point of the lifting platform; platform lifting support drives the platform that takes off and land and descends, will clip fixed unmanned aerial vehicle and send to the inside space of placing at removal airport.
Optionally, the unmanned aerial vehicle comprises a GPS-RTK module, an infrared emission device, and an unmanned aerial vehicle body equipment module; the GPS-RTK module and the infrared transmitting device are used for realizing positioning landing of the unmanned aerial vehicle; unmanned aerial vehicle body equipment module is used for realizing the flight control function of unmanned aerial vehicle itself and carries out data interaction with external.
Optionally, the unmanned aerial vehicle body equipment module comprises a flight control system, a power system, an airborne computing platform and a communication module.
Optionally, the mobile airport is retrofitted to a vehicle, wherein the onboard control system is deployed inside the front row of the vehicle; the data link module is deployed at the upper part of the rear row of the vehicle; the GPS-RTK base station is deployed at the upper part of the rear row of the vehicle; the infrared receiving devices are arranged on four sides of the upper part of the rear row with the center point of the lifting platform as the circle center and the radius of R; the unmanned aerial vehicle recovery device is used for transforming the space of a vehicle backseat, and a roof sealing sliding cover, a take-off and landing platform, a platform lifting support and a reset longitudinal and transverse push rod are additionally arranged.
In order to solve the technical problem, the application provides a control method for automatic parking of an unmanned aerial vehicle, which comprises the following steps: receiving a return flight instruction by the unmanned aerial vehicle; under the assistance of a GPS satellite, the unmanned aerial vehicle respectively obtains the coordinate positions of the mobile airports and approaches the mobile airports according to the coordinate positions; when the unmanned aerial vehicle navigates back to a preset position, an infrared transmitting device of the unmanned aerial vehicle transmits an infrared signal; and the landing position of the unmanned aerial vehicle is adjusted by combining the infrared signal fed back by the mobile airport so as to land on the take-off and landing platform of the mobile airport.
Optionally, the receiving, by the drone, a return flight instruction, including: a vehicle-mounted control system of a mobile airport of the control system for automatically parking the unmanned aerial vehicle sends a return command to the unmanned aerial vehicle through a data link module; the communication module of the unmanned aerial vehicle receives the return flight instruction and transmits the return flight instruction to an airborne computing platform of the unmanned aerial vehicle; and the airborne computing platform controls a flight control system of the unmanned aerial vehicle so that the unmanned aerial vehicle executes a return flight instruction.
Optionally, with the assistance of a GPS satellite, the drones respectively obtain the coordinate positions of the mobile airports and approach the mobile airports according to the coordinate positions, and the method includes: the mobile airport obtains the position coordinates Q (B, L, H) obtained by measurement through a GPS-RTK base station; the mobile airport receives a positioning coordinate Q (X1, Y1, Z1) of a geocentric coordinate system sent by a GPS satellite through a GPS-RTK base station; converting the position coordinates Q (B, L, H) of the mobile airport into geocentric coordinate system positioning coordinates Q (X, Y, Z) through a GPS-RTK base station, and calculating correction data R (delta X, delta Y, delta Z) according to the geocentric coordinate system positioning coordinates Q (X1, Y1, Z1); a GPS-RTK module of the unmanned aerial vehicle receives a positioning coordinate M (X1, Y1, Z1) of a geocentric coordinate system sent by a GPS satellite and correction data R (delta X, delta Y and delta Z) transmitted by a mobile airport; and a GPS-RTK module of the unmanned aerial vehicle calculates a positioning coordinate M (X, Y, Z) according to the positioning coordinate M (X1, Y1, Z1) of the geocentric coordinate system and the correction data R (delta X, delta Y, delta Z) so as to realize the positioning return of the unmanned aerial vehicle.
Optionally, when the unmanned aerial vehicle navigates back to the preset position, an infrared emitting device of the unmanned aerial vehicle emits an infrared signal; and combine the infrared signal who removes the airport feedback to adjust unmanned aerial vehicle's landing position in order to fall on the platform of taking off and landing that removes the airport, include: when the unmanned aerial vehicle navigates back to the range of 2-3 m above the mobile airport, the infrared emission device of the unmanned aerial vehicle emits infrared signals; four infrared receiving devices of the mobile airport receive infrared signals and process the infrared signals, and the mobile airport sends processed information back to the unmanned aerial vehicle.
Optionally, the method further comprises: when the unmanned aerial vehicle lands on the take-off and landing platform, the longitudinal push rod pair and the transverse push rod pair of the mobile airport push oppositely at the same time, and finally the unmanned aerial vehicle is clamped and fixed at the central point of the take-off and landing platform of the mobile airport; the platform lifting support of the mobile airport drives the take-off and landing platform to descend, and the fixed unmanned aerial vehicle is clamped and conveyed to the internal placing space of the mobile airport.
The application provides a control system and a control method for automatic parking of an unmanned aerial vehicle, wherein the control system comprises the unmanned aerial vehicle and a mobile airport which is in communication connection with the unmanned aerial vehicle, and the mobile airport comprises: the vehicle-mounted control system is used for controlling the automatic taking-off and landing operation of the unmanned aerial vehicle and the operation control of the mobile airport; the GPS-RTK base station and the infrared receiving device are used for taking off and landing positioning of the unmanned aerial vehicle; the data link module is used for realizing data transmission between the mobile airport and the unmanned aerial vehicle; unmanned aerial vehicle recovery unit including sealed sliding closure of roof, take off and land platform, platform lifting support and the vertical and horizontal push rod that resets for realize unmanned aerial vehicle automatic re-setting and retrieve warehouse entry. In this way, unmanned aerial vehicle's automatic accurate warehouse entry recovery can be realized to this application.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of an automatic parking control system for an unmanned aerial vehicle according to the present application;
fig. 2 is a schematic structural diagram of another embodiment of the automatic parking control system for an unmanned aerial vehicle according to the present application;
fig. 3 is a schematic flow chart of an embodiment of the method for controlling automatic parking of an unmanned aerial vehicle according to the present application;
FIG. 4 is a schematic diagram of one embodiment of location coordinate acquisition according to the present application;
fig. 5 is a schematic diagram of an embodiment of unmanned aerial vehicle positioning and landing according to the present application.
Detailed Description
In order to enable those skilled in the art to better understand the technical solution of the present application, the following describes in detail the control system and the control method for automatic parking of an unmanned aerial vehicle provided in the present application with reference to the accompanying drawings and the detailed description.
The application provides a control system that unmanned aerial vehicle parks automatically, please refer to fig. 1, and fig. 1 is the structure schematic diagram of the embodiment of the control system that unmanned aerial vehicle parks automatically of this application, and in this embodiment, control system can include: unmanned aerial vehicle and with unmanned aerial vehicle realization communication connection's removal airport. The mobile airport is used for parking the mobile hangar of the unmanned aerial vehicle, and can be refitted by an automobile in the embodiment. Wherein, the mobile airport includes:
and the vehicle-mounted control system is used for controlling the automatic take-off and landing operation of the unmanned aerial vehicle and the operation control of the mobile airport. The vehicle-mounted control system is used as a ground station control center in the whole mobile airport and unmanned aerial vehicle operation process, and controls the whole operation of the unmanned aerial vehicle taking-off and landing cruise and mobile airport matching equipment modules.
GPS-RTK basic station and infrared receiving arrangement for unmanned aerial vehicle's location of taking off and land. Specifically, the GPS-RTK base station can realize more accurate positioning of a mobile airport and an unmanned aerial vehicle through a real-time differential positioning technology. The infrared receiving device is used for receiving infrared signals of the unmanned aerial vehicle and achieving the function of assisting in positioning accurately in a short distance.
Among them, the infrared device has wide applications in communication, detection, medical treatment and the like by transmitting/receiving infrared rays of a specific frequency band. GPS: the global satellite positioning system has the functions of omnibearing real-time three-dimensional navigation and positioning in sea, land and air. RTK: the GPS carrier phase real-time differential positioning technology is used for correcting a GPS observation value so as to reduce a positioning error.
And the data link module is used for realizing data transmission between the mobile airport and the unmanned aerial vehicle.
Unmanned aerial vehicle recovery unit including sealed sliding closure of roof, take off and land platform, platform lifting support and the vertical and horizontal push rod that resets for realize unmanned aerial vehicle automatic re-setting and retrieve warehouse entry.
Optionally, the reset longitudinal and transverse push rods comprise a longitudinal push rod pair and a transverse push rod pair; when the unmanned aerial vehicle falls on the lifting platform, the longitudinal push rod pair and the transverse push rod pair push oppositely at the same time, and finally the unmanned aerial vehicle is clamped and fixed at the central point of the lifting platform; platform lifting support drives the platform that takes off and land and descends, will clip fixed unmanned aerial vehicle and send to the inside space of placing at removal airport.
Optionally, the unmanned aerial vehicle comprises a GPS-RTK module, an infrared emission device, and an unmanned aerial vehicle body equipment module; the GPS-RTK module and the infrared transmitting device are used for realizing positioning landing of the unmanned aerial vehicle; unmanned aerial vehicle body equipment module is used for realizing the flight control function of unmanned aerial vehicle itself and carries out data interaction with external.
The unmanned aerial vehicle body equipment module comprises a flight control system, a power system, an airborne computing platform and a communication module.
And the GPS-RTK module realizes more accurate positioning of the unmanned aerial vehicle through a real-time differential positioning technology. The infrared transmitting device interacts with the mobile airport by transmitting infrared signals, and the function of assisting accurate positioning in a short distance is realized.
Optionally, the mobile airport is retrofitted to a vehicle, wherein the onboard control system is deployed inside the front row of the vehicle; the data link module is deployed at the upper part of the rear row of the vehicle; the GPS-RTK base station is deployed at the upper part of the rear row of the vehicle; the infrared receiving devices are arranged on four sides of the upper part of the rear row with the center point of the lifting platform as the circle center and the radius of R; the unmanned aerial vehicle recovery device is used for transforming the space of a vehicle backseat, and a roof sealing sliding cover, a take-off and landing platform, a platform lifting support and a reset longitudinal and transverse push rod are additionally arranged.
For example, please refer to fig. 2, fig. 2 is a schematic structural diagram of another embodiment of the control system for automatic parking of an unmanned aerial vehicle according to the present application, in this embodiment, a space of a bread car is modified to become a mobile airport. Specifically, the unmanned aerial vehicle automatic storage and recovery system is a flight control system of the unmanned aerial vehicle, the GPS-RTK positioning technology and the infrared positioning technology are used for realizing the accurate taking off and landing of the unmanned aerial vehicle, and meanwhile, the taking off and landing platform, the platform lifting support, the accurate parking position push rod and the like of the unmanned aerial vehicle are increased through customized transformation of the physical space of the chartered vehicle, so that the unmanned aerial vehicle is automatically stored and recovered.
Moving the airport:
the vehicle-mounted control system is arranged in the front row of the modified minibus and used as a ground station control center in the whole unmanned aerial vehicle moving airport and unmanned aerial vehicle operation process to control the whole operation of the unmanned aerial vehicle taking-off and landing cruise and the unmanned aerial vehicle moving airport 1 corollary equipment module.
And the data link module is arranged on the upper part of the back row of the modified minibus and used for sending data to the unmanned aerial vehicle and receiving return data of the unmanned aerial vehicle.
The GPS-RTK base station is arranged on the upper portion of the rear row of the modified minibus, and the unmanned aerial vehicle moves the airport 1 and is positioned more accurately by the GPS global satellite positioning system and the real-time differential positioning technology.
Infrared receiving arrangement totally 4 receivers, dispose respectively in the central point that uses the platform of taking off and land as the centre of a circle, 4 edges on radius is R's repacking minibus back row upper portion for receive unmanned aerial vehicle's infrared signal realizes closely assisting accurate location descending function.
Unmanned aerial vehicle recovery unit mainly includes the customization transformation in face chartered vehicle back seat space, increases sealed sliding closure of roof, take off and land platform, platform lifting support, resets and moves about the push rod with great ease, realizes that the accurate recovery that resets after the aircraft lands puts in storage.
Unmanned aerial vehicle:
unmanned aerial vehicle body module, including airborne computing platform, driving system, flight control system, communication module, the body module mainly realizes unmanned aerial vehicle's flight operation control and carries out data interaction with the external world.
The GPS-RTK module is deployed in the unmanned aerial vehicle, and the unmanned aerial vehicle can be positioned more accurately through a GPS global satellite positioning system and a real-time differential positioning technology.
Infrared emitter, external below under the unmanned aerial vehicle organism, through transmitting infrared signal and removing the airport and interacting, realize closely assisting accurate location descending function.
The embodiment provides a control system for automatic parking of an unmanned aerial vehicle, which realizes accurate resetting and automatic parking and warehousing of the unmanned aerial vehicle on a mobile airport; manual assistance is not needed, and the manual work efficiency of the unmanned aerial vehicle inspection is improved; the flexible allocation of the operation work, simple technical realization, lower modification cost and suitability for popularization in a larger range.
Based on the above automatic parking system for an unmanned aerial vehicle, the present application also provides a control method for automatic parking of an unmanned aerial vehicle, please refer to fig. 3, where fig. 3 is a schematic flow diagram of an embodiment of the control method for automatic parking of an unmanned aerial vehicle, and in this embodiment, the method specifically includes the following steps:
s110: and the unmanned aerial vehicle receives a return flight instruction.
A vehicle-mounted control system of a mobile airport of the control system for automatically parking the unmanned aerial vehicle sends a return command to the unmanned aerial vehicle through a data link module; the communication module of the unmanned aerial vehicle receives the return flight instruction and transmits the return flight instruction to an airborne computing platform of the unmanned aerial vehicle; and the airborne computing platform controls a flight control system of the unmanned aerial vehicle so that the unmanned aerial vehicle executes a return flight instruction.
S120: under the assistance of a GPS satellite, the unmanned aerial vehicle respectively obtains the coordinate positions of the mobile airports and approaches the mobile airports according to the coordinate positions.
Referring to fig. 4, fig. 4 is a schematic diagram of an embodiment of obtaining positioning coordinates according to the present application. The mobile airport obtains the position coordinates Q (B, L, H) obtained by measurement through a GPS-RTK base station; the mobile airport receives a positioning coordinate Q (X1, Y1, Z1) of a geocentric coordinate system sent by a GPS satellite through a GPS-RTK base station; converting the position coordinates Q (B, L, H) of the mobile airport into geocentric coordinate system positioning coordinates Q (X, Y, Z) through a GPS-RTK base station, and calculating correction data R (delta X, delta Y, delta Z) according to the geocentric coordinate system positioning coordinates Q (X1, Y1, Z1);
wherein Q (X, Y, Z) ═ f (Q (B, L, H)); r ([ delta ] X, [ delta ] Y, [ delta ] Z) ═ Q (X, Y, Z) & Q (X1, Y1, Z1).
A GPS-RTK module of the unmanned aerial vehicle receives a positioning coordinate M (X1, Y1, Z1) of a geocentric coordinate system sent by a GPS satellite and correction data R (delta X, delta Y and delta Z) transmitted by a mobile airport; and a GPS-RTK module of the unmanned aerial vehicle calculates a positioning coordinate M (X, Y, Z) according to the positioning coordinate M (X1, Y1, Z1) of the geocentric coordinate system and the correction data R (delta X, delta Y, delta Z) so as to realize the positioning return of the unmanned aerial vehicle.
Where M (X, Y, Z) ═ M (X1, Y1, Z1) & R ([ delta ] X, [ delta ] Y, [ delta ] Z).
In the above, Q (X, Y, Z) represents the three-dimensional coordinates of the position space of the geocentric coordinate system of the global positioning system. Q (B, L, H) represents the three-dimensional coordinates of the position space of the local geographic coordinate system.
S130: when the unmanned aerial vehicle navigates back to a preset position, an infrared transmitting device of the unmanned aerial vehicle transmits an infrared signal; and the landing position of the unmanned aerial vehicle is adjusted by combining the infrared signal fed back by the mobile airport so as to land on the take-off and landing platform of the mobile airport.
When the unmanned aerial vehicle navigates back to the range of 2-3 m above the mobile airport, the infrared emission device of the unmanned aerial vehicle emits infrared signals; four infrared receiving devices of the mobile airport receive infrared signals and process the infrared signals, and the mobile airport sends processed information back to the unmanned aerial vehicle.
Specifically, the process of processing the infrared signal may include: and 4 distance values L1, L2, L3 and L4 and angle values theta 1, theta 2, theta 3 and theta 4 relative to the infrared emission source of the unmanned aerial vehicle are obtained, and the mobile airport sends the azimuth signal converted by the infrared state information back to the unmanned aerial vehicle. Referring to fig. 5, fig. 5 is a schematic view illustrating positioning and landing of the unmanned aerial vehicle according to an embodiment of the present application.
L1＝C*(TR1-Ts)，L2＝C*(TR2-Ts)，L3＝C*(TR3-Ts)，L4＝C*(TR4-Ts)；
H-ATm-ATq; where AT denotes altitude.
sinθ1＝R1/L1，sinθ2＝R2/L2，sinθ3＝R3/L3，sinθ4＝R4/L4。
If the distance angle values of 4 infrared receiving devices of the mobile airport, which are obtained relative to the infrared emitting source of the unmanned aerial vehicle, are consistent (L1 is L2 is L3 is L4 and theta 1 is theta 2 is theta 3 is theta 4), the unmanned aerial vehicle is considered to have navigated back to the upper part of the central point position of the take-off and landing platform of the unmanned aerial vehicle airport, the mobile airport sends a landing instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle executes accurate landing.
If 4 distance angle value inconsistent for unmanned aerial vehicle infrared emission source, unmanned aerial vehicle carries out the position calibration to unmanned aerial vehicle through flight control system, until 4 distance angle value unanimous backs for unmanned aerial vehicle infrared emission source, remove the airport and send the descending instruction to unmanned aerial vehicle, unmanned aerial vehicle carries out accurate descending.
S140: when the unmanned aerial vehicle lands on the take-off and landing platform, the longitudinal push rod pair and the transverse push rod pair of the mobile airport push oppositely at the same time, and finally the unmanned aerial vehicle is clamped and fixed at the central point of the take-off and landing platform of the mobile airport; the platform lifting support of the mobile airport drives the take-off and landing platform to descend, and the fixed unmanned aerial vehicle is clamped and conveyed to the internal placing space of the mobile airport.
Furthermore, a rear row vehicle top sealing sliding cover of the mobile airport is automatically covered and locked, and the function of protecting an internal system is achieved.
The application provides a control system and a control method for automatic parking of an unmanned aerial vehicle, wherein the control system comprises the unmanned aerial vehicle and a mobile airport which is in communication connection with the unmanned aerial vehicle, and the mobile airport comprises: the vehicle-mounted control system is used for controlling the automatic taking-off and landing operation of the unmanned aerial vehicle and the operation control of the mobile airport; the GPS-RTK base station and the infrared receiving device are used for taking off and landing positioning of the unmanned aerial vehicle; the data link module is used for realizing data transmission between the mobile airport and the unmanned aerial vehicle; unmanned aerial vehicle recovery unit including sealed sliding closure of roof, take off and land platform, platform lifting support and the vertical and horizontal push rod that resets for realize unmanned aerial vehicle automatic re-setting and retrieve warehouse entry. In this way, unmanned aerial vehicle's automatic accurate warehouse entry recovery can be realized to this application.
It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. In addition, for convenience of description, only a part of structures related to the present application, not all of the structures, are shown in the drawings. The step numbers used herein are also for convenience of description only and are not intended as limitations on the order in which the steps are performed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second", etc. in this application are used to distinguish between different objects and not to describe a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. The utility model provides a control system that unmanned aerial vehicle was automatic to be parked which characterized in that includes: unmanned aerial vehicle and with unmanned aerial vehicle realizes communication connection's mobile airport, wherein, mobile airport includes:
the vehicle-mounted control system is used for controlling the automatic taking-off and landing operation of the unmanned aerial vehicle and the operation control of the mobile airport;
the GPS-RTK base station and the infrared receiving device are used for taking off and landing positioning of the unmanned aerial vehicle;
the data link module is used for realizing data transmission between the mobile airport and the unmanned aerial vehicle;
unmanned aerial vehicle recovery unit including sealed sliding closure of roof, take off and land platform, platform lifting support and the vertical and horizontal push rod that resets for realize unmanned aerial vehicle automatic re-setting and retrieve warehouse entry.
2. The unmanned aerial vehicle automatic parking control system of claim 1, wherein the reset crossbar comprises a pair of longitudinal push rods and a pair of transverse push rods;
when the unmanned aerial vehicle falls on the take-off and landing platform, the longitudinal push rod pair and the transverse push rod pair push oppositely at the same time, and finally the unmanned aerial vehicle is clamped and fixed at the central point of the take-off and landing platform; the platform lifting support drives the lifting platform to descend, and the clamped and fixed unmanned aerial vehicle is conveyed to the internal placing space of the mobile airport.
3. The control system for automatic parking of unmanned aerial vehicle of claim 1, wherein the unmanned aerial vehicle comprises a GPS-RTK module, an infrared emitting device and an unmanned aerial vehicle body equipment module;
the GPS-RTK module and the infrared transmitting device are used for realizing positioning landing of the unmanned aerial vehicle;
unmanned aerial vehicle body equipment module is used for realizing the flight control function of unmanned aerial vehicle itself and carries out data interaction with external.
4. The unmanned aerial vehicle automatic parking control system of claim 3, wherein the unmanned aerial vehicle body equipment module comprises a flight control system, a power system, an airborne computing platform and a communication module.
5. The unmanned aerial vehicle automatic parking control system according to claim 1,
the mobile airport is modified to a vehicle, wherein the vehicle-mounted control system is deployed inside the front row of the vehicle; the data link module is deployed at the upper part of the rear row of the vehicle; the GPS-RTK base station is deployed at the upper part of the rear row of the vehicle; the infrared receiving devices are arranged on four sides of the upper part of the rear row with the center point of the lifting platform as the circle center and the radius of R; the unmanned aerial vehicle recovery device is used for transforming the space of the vehicle backseat, and the roof sealing sliding cover, the take-off and landing platform, the platform lifting support and the reset longitudinal and transverse push rod are additionally arranged.
6. A control method for automatic parking of an unmanned aerial vehicle is characterized by comprising the following steps:
receiving a return flight instruction by the unmanned aerial vehicle;
under the assistance of a GPS satellite, the unmanned aerial vehicles respectively obtain the coordinate positions of the mobile airports and approach the mobile airports according to the coordinate positions;
when the unmanned aerial vehicle navigates back to a preset position, an infrared transmitting device of the unmanned aerial vehicle transmits an infrared signal; and adjusting the landing position of the unmanned aerial vehicle by combining the infrared signal fed back by the mobile airport so as to land on the take-off and landing platform of the mobile airport.
7. The method of claim 6, wherein the drone receives a return command, comprising:
a vehicle-mounted control system of a mobile airport of a control system for automatically parking the unmanned aerial vehicle sends a return command to the unmanned aerial vehicle through a data link module;
the communication module of the unmanned aerial vehicle receives the return flight instruction and transmits the return flight instruction to an airborne computing platform of the unmanned aerial vehicle;
and the airborne computing platform controls a flight control system of the unmanned aerial vehicle so that the unmanned aerial vehicle executes the return flight instruction.
8. The method for controlling automatic parking of unmanned aerial vehicle according to claim 6, wherein the unmanned aerial vehicle respectively obtains a coordinate position of a mobile airport with the assistance of a GPS satellite, and approaches the mobile airport according to the coordinate position, and the method comprises:
the mobile airport obtains a position coordinate Q (B, L, H) obtained by measurement through a GPS-RTK base station;
the mobile airport receives a positioning coordinate Q (X1, Y1, Z1) of a geocentric coordinate system transmitted by the GPS satellite through the GPS-RTK base station;
the mobile airport converts the position coordinates Q (B, L, H) into geocentric coordinate system positioning coordinates Q (X, Y, Z) through the GPS-RTK base station, and calculates correction data R (delta X, delta Y, delta Z) according to the geocentric coordinate system positioning coordinates Q (X1, Y1, Z1);
a GPS-RTK module of the unmanned aerial vehicle receives a positioning coordinate M (X1, Y1, Z1) of a geocentric coordinate system sent by the GPS satellite and the correction data R (DeltaX, DeltaY, DeltaZ) transmitted by the mobile airport;
and the GPS-RTK module of the unmanned aerial vehicle calculates a positioning coordinate M (X, Y, Z) according to the positioning coordinate M (X1, Y1, Z1) of the geocentric coordinate system and the correction data R (delta X, delta Y, delta Z) so as to realize positioning return of the unmanned aerial vehicle.
9. The method for controlling automatic parking of an unmanned aerial vehicle as claimed in claim 6, wherein when the unmanned aerial vehicle navigates back to a preset position, an infrared emitting device of the unmanned aerial vehicle emits an infrared signal; and combine the infrared signal of removing airport feedback adjusts the landing position of unmanned aerial vehicle is in order to fall on the platform of taking off and landing of removing the airport, include:
when the unmanned aerial vehicle navigates back to the range of 2-3 m above the mobile airport, the infrared emission device of the unmanned aerial vehicle emits infrared signals;
and the four infrared receiving devices of the mobile airport receive the infrared signals and process the infrared signals, and the mobile airport sends processed information back to the unmanned aerial vehicle.
10. The method for controlling automatic parking of unmanned aerial vehicles according to claim 6, further comprising:
when the unmanned aerial vehicle lands on the take-off and landing platform, the longitudinal push rod pair and the transverse push rod pair of the mobile airport push oppositely at the same time, and finally the unmanned aerial vehicle is clamped and fixed at the central point of the take-off and landing platform of the mobile airport; the platform lifting support of the mobile airport drives the lifting platform to descend, and the clamped and fixed unmanned aerial vehicle is conveyed to the internal placing space of the mobile airport.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110953068.1A CN113534825A (en) | 2021-08-18 | 2021-08-18 | Control system and control method for automatic parking of unmanned aerial vehicle |
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