CN114489130B - 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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- CN114489130B CN114489130B CN202210089923.3A CN202210089923A CN114489130B CN 114489130 B CN114489130 B CN 114489130B CN 202210089923 A CN202210089923 A CN 202210089923A CN 114489130 B CN114489130 B CN 114489130B
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- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The application provides unmanned aerial vehicle ground scheduling equipment, a method and a device, 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 machine 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 collecting flight images of the unmanned aerial vehicle above the landing platform; the control mechanism is used for controlling the wheels to drive the landing platform to move according to the 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 falls to a central position on the landing platform and the carrying unmanned aerial vehicle moves to a target stop position. The unmanned aerial vehicle ground dispatching equipment provided by the application can realize the full-automatic safe landing process and the apron dispatching of the unmanned aerial vehicle.
Description
Technical Field
The application relates to the technical field of aviation, in particular to unmanned aerial vehicle ground scheduling equipment, method and device.
Background
With the high-speed development of unmanned aerial vehicles and logistics industry, unmanned aerial vehicle logistics tends to become an important plate in the future air freight field. The establishment of an unmanned aerial vehicle logistics operation system with high efficiency and unmanned aerial vehicle is a necessary requirement for industry development. The unmanned aerial vehicle is a key technology for urgent breakthrough in operation control, operation guarantee, mixed operation with the unmanned aerial vehicle and the like of transportation places such as airport apron, warehouse, park and the like. The compatibility and safety of the unmanned aerial vehicle and the unmanned aerial vehicle in the same airport are important indexes for evaluating whether the piloted air transportation and the unmanned aerial vehicle can be effectively combined.
Currently, most of researches on unmanned aerial vehicle and unmanned aerial vehicle mixed operation focus on air traffic management, such as flow control, interval control, air collision avoidance and the like, and meanwhile, the ground mixed operation is limited to the operation and study aspects of a controller on an aircraft scheduling strategy and the like, and in addition, some researches on an unmanned aerial vehicle automatic airport and an unmanned aerial vehicle parking garage are carried out, but the researches are based on the concept of isolated operation of an unmanned aerial vehicle and an organic vehicle, and the design of a special hangar/nest is specific to take off and land of a single unmanned aerial vehicle, so that the unmanned aerial vehicle is unfavorable for effectively linking the unmanned aerial transportation with the unmanned aerial vehicle air transportation. At present, no public information is known about unmanned airport surface scheduling techniques.
From the aviation safety perspective, the unmanned aerial vehicle must keep a reasonable safety distance in the movement of the airport scene, so that collision between the unmanned aerial vehicle and between the unmanned aerial vehicle and the unmanned aerial vehicle is avoided. In the future, on an airport where unmanned aerial vehicles and organic vehicles are mixed to operate, a large number of scheduling scenes such as unmanned aerial vehicle queuing, shifting and the like tend to appear. Among unmanned aerial vehicles, a rotary-wing unmanned aerial vehicle is an important one, and the rotary-wing unmanned aerial vehicle encounters two problems during airport scene scheduling:
1. The rotor unmanned aerial vehicle has the characteristic of vertical take-off and landing, if the rotor unmanned aerial vehicle falls into the cluster directly, collision risk can be brought, and if the rotor unmanned aerial vehicle falls into a place far away from the cluster and then moves to a target position manually, the automation level of the operation of the unmanned aerial vehicle is greatly reduced;
2. most rotary-wing drones have no wheels, and therefore, a drone that is stopped on the ground must fly off the ground to a target location in order to move the location. However, once the unmanned aerial vehicle takes off, particularly in a complex environment with more aircrafts, collision risks are very likely to occur due to factors such as unstable control and air flow disturbance.
Disclosure of Invention
The application aims to provide unmanned aerial vehicle ground scheduling equipment, method and device, which are used for circularly scheduling a landing platform by collecting flight images of an unmanned aerial vehicle in real time so that the unmanned aerial vehicle accurately lands to a central position on the landing platform and carries the unmanned aerial vehicle to move to a target stopping position, thereby realizing a full-automatic safe landing process and apron scheduling of the unmanned aerial vehicle.
In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle ground scheduling device, where the unmanned aerial vehicle ground scheduling device 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 machine 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 collecting flight images of the unmanned aerial vehicle above the landing platform; the control mechanism is used for controlling the wheels to drive the landing platform to move according to the 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 falls to a central position on the landing platform and the carrying unmanned aerial vehicle moves to a target stop position.
In a second aspect, an embodiment of the present application further provides a ground scheduling method for an unmanned aerial vehicle, where the method is applied to a control system in the ground scheduling device for an unmanned aerial vehicle according to the first aspect; the method comprises the following steps: when the unmanned aerial vehicle is detected to descend to the designated distance above the landing platform, a first scheduling process is executed aiming at the first current position of the landing platform: acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: flying images of the unmanned aerial vehicle collected 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 a first scheduling instruction to the control mechanism so that the control mechanism controls the wheel to move according to the first scheduling 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 a first scheduling process until the unmanned aerial vehicle falls to a 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 first target moving position of the landing platform based on the current flight image includes: performing image stitching on the flight images shot by the cameras to obtain an unmanned aerial vehicle flight attitude panoramic image; 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 contour; and predicting a first target moving position of the landing platform according to the position of the unmanned aerial vehicle outline in the unmanned aerial vehicle flight attitude panoramic image and the first current rotor rotation speed change.
Further, the step of predicting the first target moving position of the landing platform according to the position of the unmanned aerial vehicle outline in the unmanned aerial vehicle flight attitude panoramic view and the first current rotor rotation speed change includes: predicting a target flight position of the unmanned aerial vehicle according to the position of the unmanned aerial vehicle outline in the unmanned aerial vehicle flight attitude panoramic image 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; the first target drop point is determined as a first target movement position of the landing platform.
Further, the step of generating the first scheduling instruction 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 step of generating the 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 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 stopping position of the unmanned aerial vehicle; and sending a second scheduling instruction to the control mechanism, so that the control mechanism controls the wheels 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.
Further, the step of generating the 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 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 stopping position; for a second current position of the landing platform, performing the following second scheduling procedure: acquiring a current rotor wing rotation image of the unmanned aerial vehicle; determining a second current rotor 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 of the landing 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 wheels 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 continuing to execute a second scheduling process until the landing platform carries the unmanned aerial vehicle to the target stopping position.
Further, when the unmanned aerial vehicle is detected to descend to the designated distance above the landing platform, the method further includes, before the step of executing the first scheduling process, for the first current position of the landing platform: when the unmanned aerial vehicle flies above 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 wheels 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 unmanned aerial vehicle ground scheduling device, where the device is applied to a control system in the unmanned aerial vehicle ground scheduling apparatus 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 a specified distance above the landing platform: acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: a first flight image of the unmanned aerial vehicle 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 scheduling instruction to the control mechanism so that the control mechanism controls the wheel to move according to the first scheduling 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 a first scheduling process until the unmanned aerial vehicle falls to a 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 wheels 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.
In a fourth aspect, embodiments of the present application also 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 unmanned aerial vehicle ground scheduling device, the unmanned aerial vehicle ground scheduling method and the unmanned aerial vehicle ground scheduling device provided by the embodiment of the application, the unmanned aerial vehicle ground scheduling device 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 machine 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 collecting flight images of the unmanned aerial vehicle above the landing platform; the control mechanism is used for controlling the wheels to drive the landing platform to move according to the 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 falls to a central position on the landing platform and the carrying unmanned aerial vehicle moves to a target stop position. According to the embodiment of the application, the landing platform is circularly scheduled by collecting the flight image of the unmanned aerial vehicle in real time, so that the unmanned aerial vehicle accurately lands to the central position on the landing platform, and the carrying unmanned aerial vehicle moves to the target stopping position, so that the full-automatic safe landing process and the apron scheduling of the unmanned aerial vehicle are realized.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an unmanned aerial vehicle ground scheduling device according to an embodiment of the present application;
fig. 2 is a schematic diagram of another ground scheduling device 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 diagram of an unmanned aerial vehicle landing on a landing platform according to an embodiment of the present application;
fig. 5 is an algorithm flow of a control system according to an embodiment of the present application when the control system is matched with an unmanned aerial vehicle for landing;
FIG. 6 is a flowchart of an algorithm of a control system according to an embodiment of the present application when a carrier unmanned aerial vehicle moves;
fig. 7 is a block diagram of an unmanned aerial vehicle ground scheduling device according to an embodiment of the present application.
Detailed Description
The technical solutions of the present application will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
At present, rotor unmanned aerial vehicles commonly encounter the following two problems during airport scene scheduling: 1) The rotor unmanned aerial vehicle has the characteristic of vertical take-off and landing, if the rotor unmanned aerial vehicle falls into the cluster directly, collision risk can be brought, and if the rotor unmanned aerial vehicle falls into a place far away from the cluster and then moves to a target position manually, the automation level of the operation of the unmanned aerial vehicle is greatly reduced; 2) Most rotary-wing drones have no wheels, and therefore, a drone that is stopped on the ground must fly off the ground to a target location in order to move the location. However, once the unmanned aerial vehicle takes off, particularly in a complex environment with more aircrafts, collision risks are very likely to occur due to factors such as unstable control and air flow disturbance.
Based on the above, the embodiment of the application provides unmanned aerial vehicle ground scheduling equipment, method and device, which are used for circularly scheduling a landing platform by collecting flight images of an unmanned aerial vehicle in real time so as to enable the unmanned aerial vehicle to accurately land to a central position on the landing platform and carry the unmanned aerial vehicle to move to a target stopping position, thereby realizing a full-automatic safe landing process and apron scheduling of the unmanned aerial vehicle.
For the sake of understanding the present embodiment, first, a detailed description will be given of a ground scheduling device for an unmanned aerial vehicle disclosed in the present embodiment.
Fig. 1 is a schematic diagram of an unmanned aerial vehicle ground dispatching device provided by an embodiment of the application, wherein the unmanned aerial vehicle ground dispatching device comprises a control system 5, a landing platform 1, a camera array 2, wheels and a control mechanism 4; the camera array 2 is arranged on the landing platform 1; the machine wheel and the control mechanism 4 are 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 collecting flight images of the unmanned aerial vehicle above the landing platform 1; the control mechanism 4 is used for controlling the wheels to drive the landing platform 1 to move according to a scheduling instruction of the control system; the control system 5 is configured to perform a cyclic scheduling process based on the flight image of the unmanned aerial vehicle until the unmanned aerial vehicle lands on the central position on the landing platform 1, and to carry the unmanned aerial vehicle to move to the target stop position.
The unmanned aerial vehicle can be a freight unmanned aerial vehicle, and can also be other types of unmanned aerial vehicles with rotor wings. In a preferred embodiment, the landing platform 1 is provided with landing guide marks 3 on its upper surface. The camera array 2 (49 cameras are illustrated) is arranged on the landing platform, a plurality of steerable wheels (6 are illustrated) 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 movement control unit 10. The power supply unit 6 is used for supplying power and managing charges for unmanned aerial vehicle ground dispatching equipment, the video processing unit 7 is used for processing the flight image of unmanned aerial vehicle that camera array 2 shot, mainly video concatenation, rotor rotational speed change detection etc., the communication unit 8 is used for realizing the communication between control system 5 and backstage and unmanned aerial vehicle, and the location navigation unit 9 is used for guiding unmanned aerial vehicle to remove to predetermine or target position, and the wheel motion control unit 10 is used for controlling the wheel and rotates and turn to. The division of the virtual function units in the control system 5 is only one way, and other divisions can be performed according to different functions, which is not particularly limited herein.
In the embodiment of the application, in the landing process of the unmanned aerial vehicle, through the mutual coordination of the control system 5, the landing platform 1, the camera array 2, the wheels and the control mechanism 4, the cyclic scheduling process can be executed based on the flight image of the unmanned aerial vehicle (namely, the landing platform is matched with the descending of the unmanned aerial vehicle to move continuously) until the unmanned aerial vehicle lands to the central position on the landing platform 1, such as the position of the landing guide mark 3 in fig. 1, and the unmanned aerial vehicle is carried to move to the final target stop position. The specific scheduling method is described in the following method embodiment.
According to the unmanned aerial vehicle ground scheduling equipment provided by the embodiment of the application, the landing platform is circularly scheduled by collecting the flight image of the unmanned aerial vehicle in real time, so that the unmanned aerial vehicle accurately lands to the central position on the landing platform and the carrying unmanned aerial vehicle moves to the target stopping position, and therefore, the full-automatic safe landing process and the apron scheduling of the unmanned aerial vehicle are realized.
Based on the device embodiment, the embodiment of the application also provides an unmanned aerial vehicle ground scheduling method, which is applied to the control system in the unmanned aerial vehicle ground scheduling device according to the embodiment; referring to fig. 3, the method specifically includes the following steps:
step S302, when it is detected that the unmanned aerial vehicle descends to the designated distance above the landing platform, a first scheduling process is executed for the first current position of the landing platform:
the first current position of the landing platform is the position of the center point of the landing platform. The specified distance may be a predetermined value (e.g., 2 meters). The appointed distance can be set differently according to actual conditions, and the setting standard is used for ensuring that the camera on the landing platform can shoot the complete image of the unmanned aerial vehicle.
Step S304, acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: flying images of the unmanned aerial vehicle collected by each camera in the camera array; the flight images of 49 unmanned aerial vehicles are acquired by the 49 cameras.
Step S306, based on the current flight image, predicting a first target movement position of the landing platform.
Because unmanned aerial vehicle falls and begins to gather unmanned aerial vehicle's flight image when the assigned distance in the space above the landing platform, the camera distributes on the landing platform, carry out the image concatenation to the flight image that a plurality of cameras gathered, the visual angle position of unmanned aerial vehicle flight gesture panorama that obtains is the perpendicular correspondence with the position of landing platform, further carry out target detection and can confirm unmanned aerial vehicle's current position, namely for the position at landing platform center, combine again and follow unmanned aerial vehicle flight gesture panorama and detect current rotor rotational speed change (because unmanned aerial vehicle's flight direction is realized by adjusting the rotational speed of each rotor, the same reason back-push, if the rotational speed change of each rotor of unmanned aerial vehicle is discerned, just can predict the flight position of its next moment), can predict the first target movement position of landing platform.
Step S308, a first scheduling instruction is generated according to the first target moving position and the first current position; sending a first scheduling instruction to the control mechanism so that the control mechanism controls the wheel to move according to the first scheduling instruction to drive the landing platform to move to a first target moving position;
Step S310, updating a first current position by using a first target moving position, and continuing to execute a first scheduling process until the unmanned aerial vehicle falls to the central position of the landing platform;
step S312, a second scheduling instruction is generated based on the target stop position of the unmanned aerial vehicle, and the unmanned aerial vehicle on the landing platform is controlled to move to the target stop position according to the second scheduling instruction.
The target stopping position may be a preset designated position where the unmanned aerial vehicle needs to stop. The process of dispatching to the target stopping position can comprise two modes, namely stopping working after the unmanned aerial vehicle lands on the landing platform, namely, the rotating speed of the rotor wing is 0, and in this case, a second dispatching instruction can be directly generated based on the current position of the landing platform and the target stopping position, so that the landing platform is controlled to move to drive the unmanned aerial vehicle thereon to move to the target stopping position; the other is to continue working after the unmanned aerial vehicle drops onto the landing platform, the rotor continuously rotates, and the unmanned aerial vehicle is moved to the target stopping position, and in this case, the landing platform needs to be controlled to move to the target stopping position along with the movement of the unmanned aerial vehicle.
According to the unmanned aerial vehicle ground scheduling method provided by the embodiment of the application, the target moving position of the landing platform is predicted by detecting and identifying the flight image when the unmanned aerial vehicle lands, so that the movement of the landing platform is scheduled, the process is executed circularly, finally, the unmanned aerial vehicle can land to the central position of the landing platform, and the unmanned aerial vehicle is carried by the landing platform to move to the target stopping position.
The existing unmanned aerial vehicle automatic shutdown platform is mostly a platform motionless, and the unmanned aerial vehicle identifies the platform and falls down the mode. According to the embodiment of the application, the unmanned aerial vehicle ground dispatching equipment is adopted to detect the state of the unmanned aerial vehicle and follow the unmanned aerial vehicle, and the unmanned aerial vehicle ground dispatching equipment interacts with the unmanned aerial vehicle fixed-point landing function at the same time, so that the fixed-point landing efficiency of the unmanned aerial vehicle can be improved. Through discernment detection unmanned aerial vehicle rotor rotational speed, with flight control algorithm comparison, can derive unmanned aerial vehicle motion intention. By the method, the movement on the ground of the apron can be realized in a mode of conventionally controlling the flight direction of the unmanned aerial vehicle without additionally controlling a scheduling device under the condition that the unmanned aerial vehicle is not lifted off.
The embodiment of the application also provides another unmanned aerial vehicle ground scheduling method, which is realized on the basis of the embodiment, and the embodiment focuses on a first scheduling process and a second scheduling process, namely, how to enable the unmanned aerial vehicle to fall on the central position of a landing platform and how to move the unmanned aerial vehicle to a target stopping position.
The first scheduling process specifically includes the following steps:
(1) When the unmanned aerial vehicle is detected to descend to the designated distance above the landing platform, a first scheduling process is executed aiming at the first current position of the landing platform:
(2) Acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: flying images of the unmanned aerial vehicle collected by each camera in the camera array;
(3) Image stitching is carried out on first flight images shot by a plurality of cameras, and a flight attitude panoramic image of the unmanned aerial vehicle is obtained;
(4) 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 contour; the rotary wings with different rotation speeds display different images, and after frame-by-frame comparison, the image difference of the high rotation speed and the low rotation speed can be identified, so that the current rotary wing rotation speed change can be identified by utilizing the current flight image and the previous frame or the previous frames of images.
When the target is detected, the image noise reduction and the definition can be firstly carried out, and nonsensical backgrounds such as sky and the like can be removed, so that the accuracy of the identification result can be improved.
(5) Predicting a target flight position of the unmanned aerial vehicle according to the position of the unmanned aerial vehicle outline in the unmanned aerial vehicle flight attitude panoramic image and the change of the first current rotor wing rotating speed; as the flying direction of the unmanned aerial vehicle is realized by adjusting the rotating speed of each rotor wing, and the same is true and reverse, if the rotating speed change of each rotor wing of the unmanned aerial vehicle is detected, the target flying position of the unmanned aerial vehicle at the next moment can be predicted.
(6) And 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 scheduling instruction to the control mechanism so that the control mechanism controls the wheel to move according to the first scheduling instruction to drive the landing platform to move to a first target moving position;
(10) Updating the first current position with the first target moving position, and continuing to execute the first scheduling process until the unmanned aerial vehicle falls to the central position of the landing platform, as shown in fig. 4.
The algorithm flow of the control system 5 when the unmanned aerial vehicle is landing is described below by taking the functional units in the control system 5 shown in fig. 2 as an example, and see fig. 5. When the unmanned aerial vehicle flies to the position close to the upper air of the dispatching device, the camera array 2 shoots and collects unmanned aerial vehicle flight images from various angles, then the video processing unit 7 splices video images of all cameras to form a complete unmanned aerial vehicle flight attitude panoramic image, image noise reduction and definition are carried out through an unmanned aerial vehicle recognition algorithm, meaningless backgrounds such as sky are removed, the unmanned aerial vehicle dynamic profile is recognized, then the relative positions of the unmanned aerial vehicle air and landing platforms are calculated and detected, the rotating speeds of all rotors are detected, the unmanned aerial vehicle movement attitude prediction can be carried out according to the real-time positions of the unmanned aerial vehicle and the rotating speeds of the rotors, the unmanned aerial vehicle can be compared with a flight control algorithm, the air position to be reached at the next moment is calculated, the unmanned aerial vehicle landing point is estimated to be compared with the center of the landing platform, the position to be reached at the next moment of the landing platform is calculated, a dispatching device position adjustment scheme (namely a landing platform position adjustment scheme) is formed, and the wheel and the landing platform is driven to move to the next position by the wheel motion control unit 10 and the control mechanism 4. The whole process is dynamically circulated until the unmanned aerial vehicle accurately falls to the center position of the landing platform 1.
The second scheduling process specifically includes the following steps:
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 stopping position of the unmanned aerial vehicle; and sending a second scheduling instruction to the control mechanism, so that the control mechanism controls the wheels 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.
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 stopping position; for a second current position of the landing platform, performing the following second scheduling procedure:
(1) Acquiring a current rotor wing rotation image of the unmanned aerial vehicle; because unmanned aerial vehicle falls in the central point who falls the platform, only partial camera can gather unmanned aerial vehicle's rotor rotatory image, will gather a plurality of images of this rotor rotatory image and splice or carry out some other image processing processes, if the image fall the meaningless background such as clarity, get rid of sky etc. can acquire unmanned aerial vehicle's current rotor rotatory image.
(2) Determining a second current rotor speed change of the unmanned aerial vehicle based on the current rotor rotation image;
(3) Predicting a second target movement position of the landing platform according to the second current rotor rotation speed change (since the unmanned aerial vehicle falls at the central position of the landing platform and is equivalent to the known current position, the second target movement position of the landing platform can be predicted according to the second current rotor rotation speed change);
(4) Generating a second scheduling instruction of the landing 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 wheels 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 continuing to execute a second scheduling process until the landing platform carries the unmanned aerial vehicle to the target stopping position.
This scheduling procedure is similar to the first scheduling procedure and will not be described again here.
Fig. 6 is an algorithm flow of the control system 5 when the carrying drone moves. When unmanned aerial vehicle is placed on landing platform 1, camera array 2 shoots from each angle and gathers unmanned aerial vehicle image, then video processing unit 7 splices the video image of all cameras, form complete unmanned aerial vehicle image, and make an uproar the definition of falling through rotor rotational speed algorithm, remove meaningless backgrounds such as sky, detect unmanned aerial vehicle rotor rotational speed, and then compare with flight control algorithm, calculate unmanned aerial vehicle's intention direction of motion, and drive dispatch device (like landing platform) by the wheel motion control unit 10 control wheel and control mechanism 4 and move according to unmanned aerial vehicle intention direction of motion. The whole process is dynamically circulated until the landing platform 1 carries the unmanned aerial vehicle to a specified position, such as a target stop position.
In a preferred embodiment, before the step of performing 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 flies above 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 wheels 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 dispatching mode is a dispatching mode performed before the first dispatching process, so that the landing platform and the unmanned aerial vehicle can reach the condition 'the unmanned aerial vehicle descends to the designated distance above the landing platform'.
The unmanned aerial vehicle ground scheduling method provided by the embodiment of the application has the advantages that: 1, when an unmanned aerial vehicle lands, unmanned aerial vehicle ground scheduling equipment and the unmanned aerial vehicle move simultaneously, so that the efficiency of accurately landing the unmanned aerial vehicle to a designated position can be improved; 2, when the unmanned aerial vehicle ground scheduling equipment carries the unmanned aerial vehicle to move, the damage of a rotor wing or a fuselage caused by collision among a plurality of unmanned aerial vehicles can be avoided; 3, when the unmanned aerial vehicle ground scheduling equipment carries the unmanned aerial vehicle to move, the unmanned aerial vehicle does not need to lift off the ground, the rotating speed of the 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 carries unmanned aerial vehicle motion, unmanned aerial vehicle need not lift off from the ground, has reduced the collision risk under airport apron unmanned aerial vehicle and the mixed operation condition of having man.
Based on the method embodiment, the embodiment of the application also provides an unmanned aerial vehicle ground scheduling device, which is applied to a control system in unmanned aerial vehicle ground scheduling equipment in the equipment embodiment; referring to fig. 7, the apparatus includes: the first scheduling module 52 is configured to perform, when detecting that the unmanned aerial vehicle descends to a specified distance above the landing platform, a first scheduling process for a first current position of the landing platform: acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: a first flight image of the unmanned aerial vehicle 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 a first scheduling instruction to the control mechanism so that the control mechanism controls the wheel to move according to the first scheduling 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 a first scheduling process until the unmanned aerial vehicle falls to a designated position on the landing platform; and the second scheduling module 54 is configured to send a second scheduling instruction generated based on the target stopping position of the unmanned aerial vehicle to the control mechanism, so that the control mechanism controls the wheels to move according to the second scheduling instruction, and drives the unmanned aerial vehicle on the landing platform to move to the target stopping position.
The first scheduling module 52 is further configured to perform image stitching on first flight images captured by a plurality of cameras, so as to obtain a panoramic view of a flight attitude of the unmanned aerial vehicle; 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 contour; and predicting a first target moving position of the landing platform according to the position of the unmanned aerial vehicle outline in the unmanned aerial vehicle flight attitude panoramic image and the first current rotor rotation speed change.
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 unmanned aerial vehicle contour in the unmanned aerial vehicle flight attitude panorama and a first current rotor speed change; estimating a first target landing point of the unmanned aerial vehicle according to the target flight position; the first target drop point is determined as a first target movement 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 the second current position of the landing platform and the target stop position of the unmanned aerial vehicle if the unmanned aerial vehicle stops working; and sending a second scheduling instruction to the control mechanism, so that the control mechanism controls the wheels 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.
The second scheduling module 54 is further configured to keep the rotor rotating on the landing platform to move to the target stop position if the unmanned aerial vehicle does not stop working; for a second current position of the landing platform, performing the following second scheduling procedure: acquiring a current rotor wing rotation image of the unmanned aerial vehicle; determining a second current rotor 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 of the landing 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 wheels 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 continuing to execute a second scheduling process until the landing platform carries the unmanned aerial vehicle to the target stopping position.
The device further comprises: 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 above the parking apron before the step of executing the first scheduling process aiming at 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 to drive 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 effects as those of the foregoing method embodiment, and for the sake of brief description, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned.
The embodiment of the application also provides a computer readable storage medium, which stores computer executable instructions that, when being called and executed by a processor, cause the processor to implement the above method, and the specific implementation can refer to the foregoing method embodiment and will not be described herein.
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 program codes, where the instructions included in the program codes may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be described herein.
The relative steps, numerical expressions and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific 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 examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in 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 (7)
1. The unmanned aerial vehicle ground scheduling method is characterized by being applied to a control system in unmanned aerial vehicle ground scheduling equipment; the unmanned aerial vehicle ground scheduling equipment further comprises a landing platform, a camera array, wheels and a control mechanism; the camera array is arranged on the landing platform; the machine 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 collecting flight images of the unmanned aerial vehicle above the landing platform; the control mechanism is used for controlling the machine 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 falls to the central position of the landing platform and carrying the unmanned aerial vehicle to move to a target stopping position; the method comprises the following steps:
when the unmanned aerial vehicle is detected to descend to the designated distance above the landing platform, a first scheduling process is executed for a first current position of the landing platform:
acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: the unmanned aerial vehicle comprises a camera array, a control unit and a control unit, wherein each camera in the camera array is used for collecting flight images 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;
the first scheduling instruction is sent to the control mechanism, so that the control mechanism controls the 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 falls to the central position of the landing platform;
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; the second scheduling instruction is sent to the control mechanism, so that the control mechanism controls the wheels to move according to the second scheduling instruction, and the unmanned aerial vehicle on the landing platform is driven to move to the target stopping position;
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 stopping position; for a second current position of the landing platform, performing a second scheduling procedure of: acquiring a current rotor wing rotation image of the unmanned aerial vehicle; determining a second current rotor speed change of the unmanned aerial vehicle based on the current rotor rotation image; predicting a second target movement position of the landing platform according to the second current rotor rotation speed change; generating a second scheduling instruction for the landing platform based on the second target movement location and the second current location; the second scheduling instruction is sent to the control mechanism, so that the control mechanism controls the wheels to move according to the second scheduling instruction, and the unmanned aerial vehicle on the landing platform is driven to move to a second target moving position; and updating the second current position by the second target moving position, and continuing to execute the second scheduling process until the landing platform carries the unmanned aerial vehicle to a target stopping position.
2. The method of claim 1, wherein predicting a first target movement location of the landing platform based on the current flight image comprises:
performing image stitching on the flying images shot by the cameras to obtain a panoramic view of the flying attitude of the unmanned aerial vehicle;
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 contour;
and predicting a first target moving position of the landing platform according to the position of the unmanned aerial vehicle outline in the unmanned aerial vehicle flight attitude panoramic image and the first current rotor rotation speed change.
3. The method of claim 2, wherein predicting a first target movement position of the landing platform based on the position of the drone contour in the drone flight attitude panorama and the first current rotor speed change, comprises:
predicting a target flight position of the unmanned aerial vehicle according to the position of the unmanned aerial vehicle outline in the unmanned aerial vehicle flight attitude panoramic image and the 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 falling point as a first target moving position of the landing platform.
4. The method of claim 1, wherein 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.
5. The method of claim 1, wherein upon detecting that the drone descends to a specified distance above the landing platform, for a first current location of the landing platform, prior to the step of performing a first dispatch procedure, the method further comprises:
when the unmanned aerial vehicle flies above the parking apron, a third scheduling instruction is sent to the control mechanism based on a predicted second target landing point of the unmanned aerial vehicle, so that the control mechanism controls the wheels 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.
6. The unmanned aerial vehicle ground scheduling device is characterized in that the device is applied to a control system in unmanned aerial vehicle ground scheduling equipment; the unmanned aerial vehicle ground scheduling equipment further comprises a landing platform, a camera array, wheels and a control mechanism; the camera array is arranged on the landing platform; the machine 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 collecting flight images of the unmanned aerial vehicle above the landing platform; the control mechanism is used for controlling the machine 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 falls to the central position of the landing platform and carrying the unmanned aerial vehicle to move to a target stopping position; 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 specified distance above the landing platform: acquiring a current flight image of the unmanned aerial vehicle; the current flight image includes: a first flight image of the unmanned aerial vehicle 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; the first scheduling instruction is sent to the control mechanism, so that the control mechanism controls the 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 falls to the central position of the landing platform;
The second scheduling module is used for generating a second scheduling instruction according to the second current position of the landing platform and the target stop position of the unmanned aerial vehicle if the unmanned aerial vehicle stops working; the second scheduling instruction is sent to the control mechanism, so that the control mechanism controls the wheels to move according to the second scheduling instruction, and the unmanned aerial vehicle on the landing platform is driven to move to the target stopping position; 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 stopping position; for a second current position of the landing platform, performing a second scheduling procedure of: acquiring a current rotor wing rotation image of the unmanned aerial vehicle; determining a second current rotor speed change of the unmanned aerial vehicle based on the current rotor rotation image; predicting a second target movement position of the landing platform according to the second current rotor rotation speed change; generating a second scheduling instruction for the landing platform based on the second target movement location and the second current location; the second scheduling instruction is sent to the control mechanism, so that the control mechanism controls the wheels to move according to the second scheduling instruction, and the unmanned aerial vehicle on the landing platform is driven to move to a second target moving position; and updating the second current position by the second target moving position, and continuing to execute the second scheduling process until the landing platform carries the unmanned aerial vehicle to a target stopping position.
7. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of claims 1 to 5.
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