CN114489130A - Unmanned aerial vehicle ground scheduling equipment, method and device - Google Patents
Unmanned aerial vehicle ground scheduling equipment, method and device Download PDFInfo
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- CN114489130A CN114489130A CN202210089923.3A CN202210089923A CN114489130A CN 114489130 A CN114489130 A CN 114489130A CN 202210089923 A CN202210089923 A CN 202210089923A CN 114489130 A CN114489130 A CN 114489130A
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- G05—CONTROLLING; REGULATING
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Abstract
The application provides ground scheduling equipment, a method and a device for an unmanned aerial vehicle, wherein the equipment comprises a control system, a landing platform, a camera array, wheels and a control mechanism; the camera array is arranged on the landing platform; the airplane wheel and the control mechanism are arranged at the bottom of the landing platform; the control system is arranged in the landing platform; each camera in the camera array is used for acquiring a flight image of the unmanned aerial vehicle above the landing platform; the control mechanism is used for controlling the airplane wheel to drive the landing platform to move according to a scheduling instruction of the control system; the control system is used for executing a cyclic scheduling process based on the flight image of the unmanned aerial vehicle until the unmanned aerial vehicle lands to a central position on the landing platform, and carrying the unmanned aerial vehicle to move to a target stop position. The application provides an unmanned aerial vehicle ground scheduling equipment can realize unmanned aerial vehicle's full-automatic safe descending process and apron dispatch.
Description
Technical Field
The application relates to the technical field of aviation, in particular to ground scheduling equipment, method and device for an unmanned aerial vehicle.
Background
With the rapid development of unmanned aerial vehicles and logistics industries, unmanned aerial vehicle logistics is bound to become an important plate in the future air freight transportation field. The establishment of a high-efficiency unmanned aerial vehicle logistics operation system is an inevitable requirement for industry development. The operation control, operation guarantee, the mixed operation with the manned machines and the like of the unmanned aerial vehicle in the transfer places such as airport airports, warehouses, parks and the like are becoming key technologies to be urgently broken through. The compatibility and the safety of hybrid operation of the unmanned aerial vehicle and the manned machine in the same airport are important indexes for evaluating whether manned air transportation and unmanned air transportation can be effectively combined.
At present, the research about unmanned aerial vehicle has man-machine hybrid operation most to pay close attention to air traffic management, for example flow control, interval control, in the air aspect of bumping against, also only limit to the operation and study aspects such as the scheduling strategy of controller to the airborne vehicle simultaneously to ground hybrid operation, in addition, there are some researches about "unmanned aerial vehicle airport", "unmanned aerial vehicle parking garage", but it is all based on the theory of unmanned aerial vehicle and man-machine isolated operation, it is the take-off and land to single unmanned aerial vehicle, design special hangar/machine nest, be unfavorable for effectively linking up manned air transportation and unmanned air transportation. At present, no public information about the unmanned aerial vehicle scene scheduling technology is seen.
From aviation safety perspective, the removal of unmanned aerial vehicle at the airport scene must keep reasonable safe distance, will avoid unmanned aerial vehicle and have the collision between the people's machine, between unmanned aerial vehicle and the unmanned aerial vehicle. In the future, a large number of scheduling scenes such as queuing, shifting and the like of unmanned aerial vehicles tend to appear in airports in which unmanned aerial vehicles and manned vehicles are in mixed operation. And among the unmanned aerial vehicle, rotor unmanned aerial vehicle is an important one, and rotor unmanned aerial vehicle meets two problems when the airport scene is dispatched:
1. the rotor unmanned aerial vehicle has the characteristic of vertical take-off and landing, if the rotor unmanned aerial vehicle directly falls into a machine group when landing, collision risk can be brought, and if the rotor unmanned aerial vehicle lands at a place far away from the machine group and is manually moved to a target position, the automation level of the operation of the unmanned aerial vehicle is greatly reduced;
2. most rotorcraft have no wheels, so an drone parked on the ground must fly off the ground to a target location to move. Once the unmanned aerial vehicle takes off, especially under the more complex environment of aircraft, because factors such as unstable control, air current disturbance appear, the collision risk is likely to appear very much.
Disclosure of Invention
The application aims to provide ground scheduling equipment, method and device for unmanned aerial vehicles, which are used for circularly scheduling a landing platform by acquiring flight images of the unmanned aerial vehicles in real time so that the unmanned aerial vehicles can accurately land at the central positions on the landing platform and can carry the unmanned aerial vehicles to move to target parking positions, and therefore the full-automatic safe landing process and the airport apron scheduling of the unmanned aerial vehicles are realized.
In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle ground scheduling apparatus, which includes a control system, a landing platform, a camera array, a wheel, and a control mechanism; the camera array is arranged on the landing platform; the airplane wheel and the control mechanism are arranged at the bottom of the landing platform; the control system is arranged in the landing platform; each camera in the camera array is used for acquiring a flight image of the unmanned aerial vehicle above the landing platform; the control mechanism is used for controlling the airplane wheel to drive the landing platform to move according to a scheduling instruction of the control system; the control system is used for executing a cyclic scheduling process based on the flight image of the unmanned aerial vehicle until the unmanned aerial vehicle lands to a central position on the landing platform, and carrying the unmanned aerial vehicle to move to a target stop position.
In a second aspect, an embodiment of the present application further provides an unmanned aerial vehicle ground scheduling method, where the method is applied to a control system in the unmanned aerial vehicle ground scheduling device according to the first aspect; the method comprises the following steps: when detecting that unmanned aerial vehicle descends to the overhead appointed distance of descending platform, to the first current position of descending platform, carry out first dispatch process: acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: each camera in the camera array acquires a flight image of the unmanned aerial vehicle; predicting a first target moving position of the landing platform based on the current flight image; generating a first scheduling instruction according to the first target moving position and the first current position; sending a first dispatching instruction to the control mechanism so that the control mechanism controls the airplane wheel to move according to the first dispatching instruction to drive the landing platform to move to a first target moving position; updating the first current position by the first target moving position, and continuing to execute the first scheduling process until the unmanned aerial vehicle lands to the designated position on the landing platform; and generating a second scheduling instruction based on the target stop position of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle on the landing platform to move to the target stop position according to the second scheduling instruction.
Further, the step of predicting the moving position of the first target of the landing platform based on the current flight image includes: carrying out image splicing on the flight images shot by the plurality of cameras to obtain a panoramic view of the flight attitude of the unmanned aerial vehicle; respectively carrying out rotor rotation speed identification and target detection on the unmanned aerial vehicle flight attitude panorama, and determining a first current rotor rotation speed change of the unmanned aerial vehicle and an unmanned aerial vehicle profile; according to the position of the profile of the unmanned aerial vehicle in the unmanned aerial vehicle flight attitude panorama and the change of the first current rotor wing rotating speed, the first target moving position of the landing platform is predicted.
Further, the above-mentioned step of predicting the first target displacement position of the landing platform according to the position of the profile of the unmanned aerial vehicle in the unmanned aerial vehicle flight attitude panorama and the change of the first current rotor speed includes: predicting the target flight position of the unmanned aerial vehicle according to the position of the outline of the unmanned aerial vehicle in the unmanned aerial vehicle flight attitude panorama and the change of the first current rotor wing rotating speed; estimating a first target landing point of the unmanned aerial vehicle according to the target flight position; and determining the first target landing point as a first target moving position of the landing platform.
Further, the step of generating the first scheduling command according to the first target moving position and the first current position includes: determining a target moving direction and a target moving distance of the landing platform according to the first target moving position and the first current position; and generating a first scheduling instruction according to the target moving direction and the target moving distance.
Further, the above-mentioned unmanned aerial vehicle based on target stall position of unmanned aerial vehicle generates the second scheduling instruction, moves the step to target stall position according to unmanned aerial vehicle on the second scheduling instruction control landing platform, includes: if the unmanned aerial vehicle stops working, generating a second scheduling instruction according to a second current position of the landing platform and a target stop position of the unmanned aerial vehicle; and sending the second scheduling instruction to the control mechanism so that the control mechanism controls the airplane wheel to move according to the second scheduling instruction to drive the unmanned aerial vehicle on the landing platform to move to the target stop position.
Further, the above-mentioned unmanned aerial vehicle based on target stall position of unmanned aerial vehicle generates the second scheduling instruction, moves the step to target stall position according to unmanned aerial vehicle on the second scheduling instruction control landing platform, still includes: if the unmanned aerial vehicle does not stop working, the unmanned aerial vehicle keeps the rotor wing rotating on the landing platform so as to move to a target stop position; for a second current position of the landing platform, performing the following second scheduling process: acquiring a current rotor rotation image of the unmanned aerial vehicle; determining a second current rotor rotation speed change of the unmanned aerial vehicle based on the current rotor rotation image; predicting a second target moving position of the landing platform according to the second current rotor rotation speed change; generating a second scheduling instruction for landing the platform based on the second target moving position and the second current position; sending a second scheduling instruction to the control mechanism so that the control mechanism controls the airplane wheel to move according to the second scheduling instruction to drive the unmanned aerial vehicle on the landing platform to move to a second target moving position; and updating the second current position by the second target moving position, and continuously executing a second scheduling process until the landing platform carries the unmanned aerial vehicle to the target stop position.
Further, before the step of executing the first scheduling process for the first current position of the landing platform when the unmanned aerial vehicle is detected to descend to the specified distance above the landing platform, the method further includes: when the unmanned aerial vehicle is detected to fly to the parking apron, a third scheduling instruction is sent to the control mechanism based on the estimated second target landing point of the unmanned aerial vehicle, so that the control mechanism controls the wheel to move according to the third scheduling instruction, and the landing platform is driven to move to the second target landing point in the parking apron.
In a third aspect, an embodiment of the present application further provides an apparatus for ground scheduling of an unmanned aerial vehicle, where the apparatus is applied to a control system in the ground scheduling device of an unmanned aerial vehicle according to the first aspect; the device comprises: the first scheduling module is used for executing a first scheduling process aiming at a first current position of the landing platform when the unmanned aerial vehicle is detected to descend to the overhead specified distance of the landing platform: acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: the first flight image of the unmanned aerial vehicle is acquired by each camera in the camera array; predicting a first target movement position of the landing platform based on the current flight image and the first current position; generating a first scheduling instruction according to the first target moving position and the first current position; sending a first dispatching instruction to the control mechanism so that the control mechanism controls the airplane wheel to move according to the first dispatching instruction to drive the landing platform to move to a first target moving position; updating the first current position by the first target moving position, and continuing to execute the first scheduling process until the unmanned aerial vehicle lands to the designated position on the landing platform; and the second scheduling module is used for sending a second scheduling instruction generated based on the target stop position of the unmanned aerial vehicle to the control mechanism so that the control mechanism controls the airplane wheel to move according to the second scheduling instruction to drive the unmanned aerial vehicle on the landing platform to move to the target stop position.
In a fourth aspect, embodiments of the present application further provide a computer-readable storage medium storing computer-executable instructions that, when invoked and executed by a processor, cause the processor to implement the method of the first aspect.
In the ground scheduling equipment, the method and the device for the unmanned aerial vehicle, the ground scheduling equipment for the unmanned aerial vehicle comprises a control system, a landing platform, a camera array, wheels and a control mechanism; the camera array is arranged on the landing platform; the airplane wheel and the control mechanism are arranged at the bottom of the landing platform; the control system is arranged in the landing platform; each camera in the camera array is used for acquiring a flight image of the unmanned aerial vehicle above the landing platform; the control mechanism is used for controlling the airplane wheel to drive the landing platform to move according to a scheduling instruction of the control system; the control system is used for executing a cyclic scheduling process based on the flight image of the unmanned aerial vehicle until the unmanned aerial vehicle lands to a central position on the landing platform, and carrying the unmanned aerial vehicle to move to a target stop position. This application embodiment carries out cycle scheduling to the landing platform through the flight image of real-time acquisition unmanned aerial vehicle to make the accurate landing of unmanned aerial vehicle extremely central point on the landing platform puts, and delivery unmanned aerial vehicle removes to the target parking position, thereby realizes unmanned aerial vehicle's full-automatic safe landing process and airport apron scheduling.
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In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of a ground scheduling apparatus for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic diagram of another ground scheduling apparatus for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a flowchart of a ground scheduling method for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 4 is a schematic view illustrating an unmanned aerial vehicle landing on a landing platform according to an embodiment of the present disclosure;
fig. 5 is an algorithm flow of the control system provided in the embodiment of the present application when cooperating with an unmanned aerial vehicle to land;
fig. 6 is an algorithm flow of a control system when a vehicle unmanned aerial vehicle moves according to an embodiment of the present application;
fig. 7 is a block diagram of an unmanned aerial vehicle ground scheduling device provided in an embodiment of the present application.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present application. 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.
At present, a rotorcraft typically encounters two problems when scheduling at an airport scene: 1) the rotor unmanned aerial vehicle has the characteristic of vertical take-off and landing, if the rotor unmanned aerial vehicle directly falls into a machine group when landing, collision risk can be brought, and if the rotor unmanned aerial vehicle lands at a place far away from the machine group and is manually moved to a target position, the automation level of the operation of the unmanned aerial vehicle is greatly reduced; 2) most rotorcraft have no wheels, so an drone parked on the ground must fly off the ground to a target location to move. Once the unmanned aerial vehicle takes off, especially under the more complex environment of aircraft, because factors such as unstable control, air current disturbance appear, the collision risk is likely to appear very much.
Based on this, this application embodiment provides an unmanned aerial vehicle ground scheduling equipment, method and device, through the flight image of gathering unmanned aerial vehicle in real time, carries out cycle scheduling to the landing platform to make unmanned aerial vehicle accurate descend to central point on the landing platform puts, and carries unmanned aerial vehicle to move to target parking position, thereby realizes unmanned aerial vehicle's full-automatic safe landing process and airport apron dispatch.
For the convenience of understanding the present embodiment, a ground scheduling apparatus for an unmanned aerial vehicle disclosed in the embodiments of the present application is first described in detail.
Fig. 1 is a schematic diagram of an unmanned aerial vehicle ground scheduling apparatus provided in an embodiment of the present application, where the unmanned aerial vehicle ground scheduling apparatus includes a control system 5, a landing platform 1, a camera array 2, a wheel, and a control mechanism 4; the camera array 2 is arranged on the landing platform 1; the airplane wheel and control mechanism 4 is arranged at the bottom of the landing platform 1; the control system 5 is arranged inside the landing platform 1; each camera in the camera array 2 is used for acquiring a flight image of the unmanned aerial vehicle above the landing platform 1; the control mechanism 4 is used for controlling the airplane wheel to drive the landing platform 1 to move according to a scheduling instruction of the control system; the control system 5 is used for executing a cyclic scheduling process based on the flight image of the unmanned aerial vehicle until the unmanned aerial vehicle lands to the central position on the landing platform 1 and carries the unmanned aerial vehicle to move to a target stop position.
Above-mentioned unmanned aerial vehicle can be freight transportation unmanned aerial vehicle, also can be the unmanned aerial vehicle of other types of installation rotor. In a preferred embodiment, the landing platform 1 is provided with a landing guide mark 3 on the upper surface thereof. The camera array 2 (49 cameras in the example) is arranged on the landing platform, a plurality of steerable wheels (6 in the example) are arranged at the bottom of the landing platform, and other units are arranged inside the landing platform.
As shown in fig. 2, the control system 5 includes a power supply unit 6, a video processing unit 7, a communication unit 8, a positioning navigation unit 9, and a wheel motion control unit 10. Power supply unit 6 is used for supplying power and charge management for unmanned aerial vehicle ground scheduling equipment, video processing unit 7 is used for handling the unmanned aerial vehicle's that camera array 2 was shot flight image, mainly be the video concatenation, rotor speed change detects etc, communication unit 8 is used for realizing communication between control system 5 and backstage and the unmanned aerial vehicle, location navigation unit 9 is used for guiding unmanned aerial vehicle to remove and predetermines or the target location, wheel motion control unit 10 is used for controlling the wheel rotation and turns to. Here, the division is only one division manner of the virtual function unit in the control system 5, and other division manners may be performed according to different functions, which is not specifically limited herein.
In the embodiment of the application, at unmanned aerial vehicle descending in-process, through control system 5, descending platform 1, camera array 2, wheel and control mechanism 4 mutually support, can carry out the circulation scheduling process (descending platform cooperation unmanned aerial vehicle's decline constantly removes promptly) based on unmanned aerial vehicle's flight image, until unmanned aerial vehicle descends to the central point on descending platform 1 and puts, like descending guide mark 3 place position in fig. 1 to carry unmanned aerial vehicle to remove to final target parking position. The specific scheduling method is described in the following method embodiments.
The unmanned aerial vehicle ground scheduling equipment that this application embodiment provided, through the flight image of real-time acquisition unmanned aerial vehicle, carry out the cycle scheduling to descending platform to make unmanned aerial vehicle accurate descend extremely central point on the descending platform puts to delivery unmanned aerial vehicle removes to target parking position, thereby realizes unmanned aerial vehicle's full-automatic safe landing process and airport apron scheduling.
Based on the above device embodiment, the present application embodiment further provides an unmanned aerial vehicle ground scheduling method, which is applied to the control system in the unmanned aerial vehicle ground scheduling device described in the above embodiment; referring to fig. 3, the method specifically includes the following steps:
step S302, when detecting that the unmanned aerial vehicle descends to the designated distance above the landing platform, executing a first scheduling process aiming at the first current position of the landing platform:
the first current position of the landing platform is the position of the central point of the landing platform. The specified distance may be a preset value (e.g., 2 meters). This appointed distance can carry out different settlement according to actual conditions, and it sets for the camera of benchmark for guaranteeing to descend on the platform can shoot unmanned aerial vehicle's complete image.
Step S304, acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: each camera in the camera array acquires a flight image of the unmanned aerial vehicle; like the flight image of 49 unmanned aerial vehicles of 49 camera collection above.
And step S306, predicting the first target moving position of the landing platform based on the current flight image.
Because unmanned aerial vehicle descends and begins to gather unmanned aerial vehicle's flight image when descending the platform overhead assigned distance, the camera distributes on descending the platform, the flight image to a plurality of camera collections carries out the image concatenation, the visual angle position of the unmanned aerial vehicle flight gesture panorama that obtains is corresponding perpendicularly with the position of descending the platform, further carry out the target detection and can determine unmanned aerial vehicle's current position, also be exactly for descending the position at platform center, the current rotor rotational speed change that detects in the reunion follow unmanned aerial vehicle flight gesture panorama (because unmanned aerial vehicle's flight direction is realized by the rotational speed of adjusting each rotor, the same principle is carried out in reverse, if the rotational speed change of each rotor of discernment unmanned aerial vehicle, just can predict the flight position of its next moment), can predict the first target shift position of descending the platform.
Step S308, generating a first scheduling instruction according to the first target moving position and the first current position; sending a first dispatching instruction to the control mechanism so that the control mechanism controls the airplane wheel to move according to the first dispatching instruction to drive the landing platform to move to a first target moving position;
step S310, updating the first current position by the first target moving position, and continuing to execute the first scheduling process until the unmanned aerial vehicle lands to the central position of the landing platform;
and step S312, generating a second scheduling instruction based on the target stop position of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle on the landing platform to move to the target stop position according to the second scheduling instruction.
Above-mentioned target stop position can be the assigned position that this unmanned aerial vehicle of predetermineeing needs to shut down. The process of dispatching to the target stop position can include two modes, one mode is that the unmanned aerial vehicle stops working after landing on the landing platform, namely the rotating speed of a rotor wing is 0, under the condition, a second dispatching instruction can be generated directly based on the current position of the landing platform and the target stop position, and then the landing platform is controlled to move to drive the unmanned aerial vehicle on the landing platform to move to the target stop position; the other type is that the unmanned aerial vehicle continues to work after landing on the landing platform, the rotor rotates continuously, the target is to make the unmanned aerial vehicle move to the target stop position, and under the condition, the landing platform needs to be controlled to move to the target stop position along with the movement of the unmanned aerial vehicle.
The unmanned aerial vehicle ground scheduling method that this application embodiment provided detects the discernment through the flight image when descending to unmanned aerial vehicle, predicts the target shift position who descends the platform, and then the removal of scheduling this descending platform, executes this process cyclically, finally can make unmanned aerial vehicle descend to the central point of descending platform and put, and further rethread descending platform loads unmanned aerial vehicle and removes to the target parking position.
The existing unmanned aerial vehicle automatic shutdown platform is mostly in a mode that the platform is fixed and the unmanned aerial vehicle identifies the platform and lands. This application embodiment adopts unmanned aerial vehicle ground scheduling equipment to detect the unmanned aerial vehicle state and follow-up with it, and the fixed point of unmanned aerial vehicle descends the function and interacts simultaneously, can improve unmanned aerial vehicle fixed point and descend efficiency. The rotation speed of the rotor wing of the unmanned aerial vehicle is identified and detected, and compared with a flight control algorithm, the movement intention of the unmanned aerial vehicle can be deduced. By the method, the unmanned aerial vehicle can move on the ground of the terrace in a conventional mode of controlling the flight direction of the unmanned aerial vehicle under the condition that the unmanned aerial vehicle is not lifted off directly, and an additional control scheduling device is not needed.
The embodiment of the application also provides another ground scheduling method for the unmanned aerial vehicle, which is realized on the basis of the embodiment, and the embodiment mainly explains the first scheduling process and the second scheduling process, namely how to make the unmanned aerial vehicle land on the central position of the landing platform and how to move the unmanned aerial vehicle to the target stop position.
The first scheduling process specifically includes the steps of:
(1) when detecting that unmanned aerial vehicle descends to the overhead appointed distance of descending platform, to the first current position of descending platform, carry out first dispatch process:
(2) acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: each camera in the camera array acquires a flight image of the unmanned aerial vehicle;
(3) carrying out image splicing on first flight images shot by a plurality of cameras to obtain an unmanned aerial vehicle flight attitude panorama;
(4) respectively carrying out rotor rotation speed identification and target detection on the unmanned aerial vehicle flight attitude panorama, and determining a first current rotor rotation speed change of the unmanned aerial vehicle and an unmanned aerial vehicle profile; the images of the rotors with different rotating speeds are different, and after frame-by-frame comparison, the image difference between the high rotating speed and the low rotating speed can be identified, so that the current rotating speed change of the rotors can be identified by using the current flying image and the previous frame or frames of images.
When the target is detected, the noise reduction and the clarification of the image and the removal of meaningless backgrounds such as sky and the like can be carried out firstly, so that the accuracy of the identification result is improved.
(5) Predicting the target flight position of the unmanned aerial vehicle according to the position of the outline of the unmanned aerial vehicle in the unmanned aerial vehicle flight attitude panorama and the change of the first current rotor wing rotating speed; because unmanned aerial vehicle's flight direction is realized by the rotational speed of adjusting each rotor, if the rotational speed change of each rotor of discernment detection unmanned aerial vehicle, just can predict its next target flight position of moment.
(6) And pre-estimating a first target landing point of the unmanned aerial vehicle according to the target flight position, and determining the first target landing point as a first target moving position of the landing platform.
(7) Determining a target moving direction and a target moving distance of the landing platform according to the first target moving position and the first current position;
(8) generating a first scheduling instruction according to the target moving direction and the target moving distance;
(9) sending a first dispatching instruction to the control mechanism so that the control mechanism controls the airplane wheel to move according to the first dispatching instruction to drive the landing platform to move to a first target moving position;
(10) and updating the first current position by the first target moving position, and continuing to execute the first scheduling process until the unmanned aerial vehicle lands to the central position of the landing platform, as shown in fig. 4.
The following describes an algorithm flow of the control system 5 in cooperation with the landing of the unmanned aerial vehicle, taking the functional units in the control system 5 shown in fig. 2 as an example, and refer to fig. 5. When the unmanned aerial vehicle flies to the near upper space of the dispatching device, the camera array 2 shoots and collects the flight images of the unmanned aerial vehicle from all angles, then the video processing unit 7 splices the video images of all the cameras to form a complete panoramic view of the flight attitude of the unmanned aerial vehicle, carries out image noise reduction and clarification through an unmanned aerial vehicle recognition algorithm, removes meaningless backgrounds such as sky and the like, recognizes the dynamic profile of the unmanned aerial vehicle, then calculates and detects the relative position of the unmanned aerial vehicle in the air and a landing platform and detects the rotating speed of each rotor wing, carries out unmanned aerial vehicle motion attitude prediction according to the analysis of the real-time position of the unmanned aerial vehicle and the rotating speed of the rotor wings and the comparison with a flight control algorithm, calculates the air position which the unmanned aerial vehicle will reach at the next moment and estimates the landing point of the unmanned aerial vehicle, the control system compares the estimated landing point with the center of the platform and calculates the position which the landing platform needs to reach at the next moment, a position adjusting scheme of the dispatching device (namely a position adjusting scheme of the landing platform) is formed, and the airplane wheel motion control unit 10 controls the airplane wheel and the control mechanism 4 to drive the landing platform to move to the next position. The whole process dynamically circulates until the unmanned aerial vehicle accurately lands on the central position of the landing platform 1.
The second scheduling process specifically includes the steps of:
in the first case: if the unmanned aerial vehicle stops working, generating a second scheduling instruction according to a second current position of the landing platform and a target stop position of the unmanned aerial vehicle; and sending the second scheduling instruction to the control mechanism so that the control mechanism controls the airplane wheel to move according to the second scheduling instruction to drive the unmanned aerial vehicle on the landing platform to move to the target stop position.
In the second case: if the unmanned aerial vehicle does not stop working, the unmanned aerial vehicle keeps the rotor wing rotating on the landing platform so as to move to a target stop position; for a second current position of the landing platform, performing the following second scheduling process:
(1) acquiring a current rotor rotation image of the unmanned aerial vehicle; because unmanned aerial vehicle descends in the central point of descending platform and puts, unmanned aerial vehicle's rotor rotation image can only be gathered to some cameras, will gather a plurality of images of this rotor rotation image and splice or carry out some other image processing processes, fall the sharpness of making an uproar, get rid of meaningless backgrounds such as sky and air like the image, can acquire unmanned aerial vehicle's current rotor rotation image.
(2) Determining a second current rotor rotation speed change of the unmanned aerial vehicle based on the current rotor rotation image;
(3) predicting a second target moving position of the landing platform according to the change of the second current rotor speed (since the unmanned aerial vehicle lands at the central position of the landing platform, which is equivalent to the known current position, the second target moving position of the landing platform can be predicted according to the change of the second current rotor speed);
(4) generating a second scheduling instruction for landing the platform based on the second target moving position and the second current position;
(5) sending a second scheduling instruction to the control mechanism so that the control mechanism controls the airplane wheel to move according to the second scheduling instruction to drive the unmanned aerial vehicle on the landing platform to move to a second target moving position;
(6) and updating the second current position by the second target moving position, and continuously executing a second scheduling process until the landing platform carries the unmanned aerial vehicle to the target stop position.
This scheduling process is similar to the first scheduling process and will not be described herein.
Fig. 6 is an algorithm flow of the control system 5 when the vehicle moves. When unmanned aerial vehicle arranged in landing platform 1 on, camera array 3 was shot from each angle and is gathered the unmanned aerial vehicle image, then video processing unit 7 splices the video image of all cameras, form complete unmanned aerial vehicle image, and carry out the image through rotor speed algorithm and fall the definition of making an uproar, get rid of meaningless backgrounds such as sky, detect out unmanned aerial vehicle rotor speed, and then compare with the flight control algorithm, calculate unmanned aerial vehicle's intention direction of motion, and move according to unmanned aerial vehicle intention direction of motion by wheel motion control unit 10 control wheel and control mechanism 4 drive scheduling device (if landing platform). The whole process dynamically circulates until the landing platform 1 carries the unmanned aerial vehicle to reach a specified position, such as a target stop position.
In a preferred embodiment, before the step of executing the first scheduling procedure for the first current position of the landing platform when the unmanned aerial vehicle is detected to descend to the specified distance above the landing platform, the method further includes: when the unmanned aerial vehicle is detected to fly to the parking apron, a third scheduling instruction is sent to the control mechanism based on the estimated second target landing point of the unmanned aerial vehicle, so that the control mechanism controls the wheel to move according to the third scheduling instruction, and the landing platform is driven to move to the second target landing point in the parking apron. The scheduling mode is a scheduling mode carried out before the first scheduling process, so that the landing platform and the unmanned aerial vehicle can quickly reach the condition that the unmanned aerial vehicle descends to the overhead designated distance of the landing platform.
The unmanned aerial vehicle ground scheduling method provided by the embodiment of the application has the advantages that: 1, when the unmanned aerial vehicle lands, the ground scheduling equipment of the unmanned aerial vehicle and the unmanned aerial vehicle move simultaneously, so that the efficiency of accurately landing the unmanned aerial vehicle to a specified position can be improved; 2, when the ground scheduling equipment of the unmanned aerial vehicle carries the unmanned aerial vehicle to move, the damage to a rotor wing or a body caused by collision among a plurality of unmanned aerial vehicles can be avoided; 3, when the ground scheduling equipment of the unmanned aerial vehicle carries the unmanned aerial vehicle to move, the unmanned aerial vehicle does not need to lift off the ground, the rotating speed of a rotor wing can be kept at a lower level, and the energy of the unmanned aerial vehicle can be saved; 4, when unmanned aerial vehicle ground scheduling equipment carried the unmanned aerial vehicle motion, unmanned aerial vehicle need not liftoff and lift off, has reduced collision risk under airport apron unmanned aerial vehicle and the manned mixed operation condition.
Based on the above method embodiment, the present application embodiment also provides an unmanned aerial vehicle ground scheduling apparatus, which is applied to a control system in an unmanned aerial vehicle ground scheduling device as in the device embodiment; referring to fig. 7, the apparatus includes: the first scheduling module 52 is configured to, when detecting that the unmanned aerial vehicle descends to the specified distance above the landing platform, execute a first scheduling process for the first current position of the landing platform: acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: the first flight image of the unmanned aerial vehicle is acquired by each camera in the camera array; predicting a first target moving position of the landing platform based on the current flight image; generating a first scheduling instruction according to the first target moving position and the first current position; sending a first dispatching instruction to the control mechanism so that the control mechanism controls the airplane wheel to move according to the first dispatching instruction to drive the landing platform to move to a first target moving position; updating the first current position by the first target moving position, and continuing to execute the first scheduling process until the unmanned aerial vehicle lands to the designated position on the landing platform; and the second scheduling module 54 is used for sending a second scheduling instruction generated based on the target stop position of the unmanned aerial vehicle to the control mechanism so that the control mechanism controls the airplane wheel to move according to the second scheduling instruction to drive the unmanned aerial vehicle on the landing platform to move to the target stop position.
The first scheduling module 52 is further configured to perform image stitching on the first flight images shot by the multiple cameras to obtain a panoramic view of the flight attitude of the unmanned aerial vehicle; respectively carrying out rotor rotation speed identification and target detection on the unmanned aerial vehicle flight attitude panorama, and determining a first current rotor rotation speed change of the unmanned aerial vehicle and an unmanned aerial vehicle profile; according to the position of the profile of the unmanned aerial vehicle in the unmanned aerial vehicle flight attitude panorama and the change of the first current rotor wing rotating speed, the first target moving position of the landing platform is predicted.
The first scheduling module 52 is further configured to predict a target flight position of the unmanned aerial vehicle according to a position of the profile of the unmanned aerial vehicle in the panoramic view of the flight attitude of the unmanned aerial vehicle and a first current rotor rotation speed change; estimating a first target landing point of the unmanned aerial vehicle according to the target flight position; and determining the first target landing point as a first target moving position of the landing platform.
The first scheduling module 52 is further configured to determine a target moving direction and a target moving distance of the landing platform according to the first target moving position and the first current position; and generating a first scheduling instruction according to the target moving direction and the target moving distance.
The second scheduling module 54 is further configured to generate a second scheduling instruction according to a second current position of the landing platform and a target stop position of the unmanned aerial vehicle if the unmanned aerial vehicle stops working; and sending the second scheduling instruction to the control mechanism so that the control mechanism controls the airplane wheel to move according to the second scheduling instruction to drive the unmanned aerial vehicle on the landing platform to move to the target stop position.
The second scheduling module 54 is further configured to, if the unmanned aerial vehicle does not stop working, keep the rotor of the unmanned aerial vehicle rotating on the landing platform to move to the target stop position; for a second current position of the landing platform, performing the following second scheduling process: acquiring a current rotor rotation image of the unmanned aerial vehicle; determining a second current rotor rotation speed change of the unmanned aerial vehicle based on the current rotor rotation image; predicting a second target moving position of the landing platform according to the second current rotor rotation speed change; generating a second scheduling instruction for landing the platform based on the second target moving position and the second current position; sending a second scheduling instruction to the control mechanism so that the control mechanism controls the airplane wheel to move according to the second scheduling instruction to drive the unmanned aerial vehicle on the landing platform to move to a second target moving position; and updating the second current position by the second target moving position, and continuously executing a second scheduling process until the landing platform carries the unmanned aerial vehicle to the target stop position.
The above-mentioned device still includes: and the third scheduling module is used for sending a third scheduling instruction to the control mechanism based on the estimated second target landing point of the unmanned aerial vehicle when the unmanned aerial vehicle is detected to fly to the parking apron when the first scheduling process is executed according to the first current position of the landing platform when the unmanned aerial vehicle is detected to descend to the specified distance above the landing platform, so that the control mechanism controls the wheel to move according to the third scheduling instruction, and drives the landing platform to move to the second target landing point in the parking apron.
The device provided by the embodiment of the present application has the same implementation principle and technical effect as those of the foregoing method embodiments, and for the sake of brief description, no mention is made in the embodiment of the device, and reference may be made to the corresponding contents in the foregoing method embodiments.
Embodiments of the present application further provide a computer-readable storage medium, where computer-executable instructions are stored, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the method, and specific implementation may refer to the foregoing method embodiments, and is not described herein again.
The method, the apparatus, and the computer program product of the electronic device provided in the embodiments of the present application include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
Unless specifically stated otherwise, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present application.
The functions, if implemented in software functional units and sold or used as a stand-alone product, may be stored in a non-transitory computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The ground scheduling equipment for the unmanned aerial vehicle is characterized by comprising a control system, a landing platform, a camera array, wheels and a control mechanism;
the camera array is arranged on the landing platform; the airplane wheel and the control mechanism are arranged at the bottom of the landing platform; the control system is arranged in the landing platform;
each camera in the camera array is used for acquiring a flight image of the unmanned aerial vehicle above the landing platform;
the control mechanism is used for controlling the airplane wheel to drive the landing platform to move according to a scheduling instruction of the control system;
the control system is used for executing a cyclic scheduling process based on the flight image of the unmanned aerial vehicle until the unmanned aerial vehicle lands to the central position of the landing platform and carries the unmanned aerial vehicle to move to a target stop position.
2. An unmanned aerial vehicle ground scheduling method, wherein the method is applied to a control system in the unmanned aerial vehicle ground scheduling device as claimed in claim 1; the method comprises the following steps:
detecting unmanned aerial vehicle descends to when descending platform's the overhead assigned distance, aim at descending platform's first current position, carry out first dispatch process:
acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: each camera in the camera array acquires a flight image of the unmanned aerial vehicle;
predicting a first target movement position of the landing platform based on the current flight image;
generating a first scheduling instruction according to the first target moving position and the first current position;
sending the first scheduling instruction to the control mechanism, so that the control mechanism controls the airplane wheel to move according to the first scheduling instruction, and the landing platform is driven to move to the first target moving position;
updating the first current position by the first target moving position, and continuing to execute the first scheduling process until the unmanned aerial vehicle lands to the central position of the landing platform;
and generating a second scheduling instruction based on the target stop position of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle on the landing platform to move to the target stop position according to the second scheduling instruction.
3. The method of claim 2, wherein the step of predicting the first target movement location of the landing platform based on the current flight image comprises:
carrying out image splicing on the flight images shot by the plurality of cameras to obtain an unmanned aerial vehicle flight attitude panorama;
respectively carrying out rotor rotation speed identification and target detection on the unmanned aerial vehicle flight attitude panoramic image, and determining a first current rotor rotation speed change of the unmanned aerial vehicle and an unmanned aerial vehicle profile;
and predicting a first target moving position of the landing platform according to the position of the profile of the unmanned aerial vehicle in the unmanned aerial vehicle flight attitude panorama and the change of the first current rotor wing rotating speed.
4. The method of claim 3, wherein the step of predicting a first target movement position of the landing platform based on the position of the drone profile in the drone flight attitude panorama and the first current rotor speed variation comprises:
predicting a target flight position of the unmanned aerial vehicle according to the position of the contour of the unmanned aerial vehicle in the unmanned aerial vehicle flight attitude panorama and the change of the first current rotor wing speed;
estimating a first target landing point of the unmanned aerial vehicle according to the target flight position;
and determining the first target landing point as a first target moving position of the landing platform.
5. The method of claim 2, wherein the step of generating a first scheduling instruction based on the first target mobile location and the first current location comprises:
determining a target moving direction and a target moving distance of the landing platform according to the first target moving position and the first current position;
and generating a first scheduling instruction according to the target moving direction and the target moving distance.
6. The method of claim 2, wherein generating a second scheduling command based on the target stop position of the drone, and controlling the drone on the landing platform to move to the target stop position according to the second scheduling command comprises:
if the unmanned aerial vehicle stops working, generating a second scheduling instruction according to a second current position of the landing platform and a target stop position of the unmanned aerial vehicle;
and sending the second scheduling instruction to the control mechanism so that the control mechanism controls the airplane wheel to move according to the second scheduling instruction to drive the unmanned aerial vehicle on the landing platform to move to the target stop position.
7. The method of claim 2, wherein generating a second scheduling command based on a target stop position of the drone, and controlling the drone on the landing platform to move to the target stop position according to the second scheduling command further comprises:
if the unmanned aerial vehicle does not stop working, the unmanned aerial vehicle keeps a rotor wing rotating on the landing platform so as to move to the target stop position; for a second current position of the landing platform, performing a second scheduling process of:
acquiring a current rotor rotation image of the unmanned aerial vehicle; determining a second current rotor speed change of the drone based on the current rotor rotation image; predicting a second target movement position of the landing platform according to the second current rotor speed change; generating a second scheduling instruction for the landing platform based on the second target movement position and the second current position; sending the second scheduling instruction to the control mechanism, so that the control mechanism controls the airplane wheel to move according to the second scheduling instruction, and drives the unmanned aerial vehicle on the landing platform to move to a second target moving position; and updating the second current position by the second target moving position, and continuously executing the second scheduling process until the landing platform carries the unmanned aerial vehicle to a target stop position.
8. The method of claim 2, wherein the method further comprises, before the step of performing a first scheduling procedure for a first current location of the landing platform upon detecting that the drone has descended a specified distance above the landing platform, the method further comprises:
when the unmanned aerial vehicle is detected to fly to the parking apron, a third scheduling instruction is sent to the control mechanism based on the estimated second target landing point of the unmanned aerial vehicle, so that the control mechanism controls the wheel to move according to the third scheduling instruction, and the landing platform is driven to move to the second target landing point in the parking apron.
9. An unmanned aerial vehicle ground dispatching device, characterized in that the device is applied to a control system in the unmanned aerial vehicle ground dispatching equipment of claim 1; the device comprises:
the first scheduling module is used for detecting that the unmanned aerial vehicle descends to the specified distance above the landing platform, aiming at the first current position of the landing platform, executing a first scheduling process: acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: a first flight image of the unmanned aerial vehicle, which is acquired by each camera in the camera array; predicting a first target movement position of the landing platform based on the current flight image; generating a first scheduling instruction according to the first target moving position and the first current position; sending the first scheduling instruction to the control mechanism, so that the control mechanism controls the airplane wheel to move according to the first scheduling instruction, and the landing platform is driven to move to the first target moving position; updating the first current position by the first target moving position, and continuing to execute the first scheduling process until the unmanned aerial vehicle lands to the central position of the landing platform;
and the second scheduling module is used for sending a second scheduling instruction generated based on the target stop position of the unmanned aerial vehicle to the control mechanism, so that the control mechanism controls the airplane wheel to move according to the second scheduling instruction, and drives the unmanned aerial vehicle on the landing platform to move to the target stop position.
10. A computer-readable storage medium having computer-executable instructions stored thereon which, when invoked and executed by a processor, cause the processor to implement the method of any of claims 2 to 8.
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