CN114750972A - Multi-rotor unmanned aerial vehicle recovery auxiliary navigation device and method - Google Patents

Multi-rotor unmanned aerial vehicle recovery auxiliary navigation device and method Download PDF

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Publication number
CN114750972A
CN114750972A CN202210451898.9A CN202210451898A CN114750972A CN 114750972 A CN114750972 A CN 114750972A CN 202210451898 A CN202210451898 A CN 202210451898A CN 114750972 A CN114750972 A CN 114750972A
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aerial vehicle
unmanned aerial
light source
yellow
signal light
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CN114750972B (en
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郑博睿
葛畅
赵太飞
喻明浩
张雯
贺小敏
翟阳
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Xian University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/18—Visual or acoustic landing aids
    • B64F1/20—Arrangement of optical beacons
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F3/00—Landing stages for helicopters, e.g. located above buildings

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle recovery auxiliary navigation device, which comprises a shell with a hemispherical groove, wherein a hemispherical LED mounting bracket is arranged on the inner wall surface of the hemispherical groove of the shell, a red, yellow and green LED signal indicator lamp unit is arranged on the hemispherical LED mounting bracket, and a hemispherical diffuser is arranged on the upper surface of the red, yellow and green LED signal indicator lamp unit; unmanned aerial vehicle take off and land platform is installed to the hemisphere groove opening part of casing. The device can enable the unmanned aerial vehicle to obtain the azimuth information and the height indication of the relative landing platform of the unmanned aerial vehicle, and realize automatic return voyage recovery. Also discloses a multi-rotor unmanned aerial vehicle recovery auxiliary navigation method.

Description

Multi-rotor unmanned aerial vehicle recovery auxiliary navigation device and method
Technical Field
The invention relates to the field of multi-rotor unmanned aerial vehicle recovery equipment, in particular to a multi-rotor unmanned aerial vehicle recovery auxiliary navigation device and a multi-rotor unmanned aerial vehicle recovery auxiliary navigation method.
Background
At present, the unmanned aerial vehicle technology has been applied to various fields of daily life along with the gradual diversification of people's living demands and the progress of microelectronic technology, especially, the light and handy multi-rotor unmanned aerial vehicle has obtained extensive and deep application in the aspects of aerial photography and agricultural plant protection, but the flight navigation control system of the small-size multi-rotor unmanned aerial vehicle of present stage all relies on external electromagnetic radiation signal or GPS satellite signal to control flight, if the GPS signal is lost in the navigation of unmanned aerial vehicle or the electromagnetic radiation control signal is disturbed or disappears, then the unmanned aerial vehicle can't continue to fly and then serious accidents such as crash occur, and the equipment and property safety are seriously threatened. Therefore, the multi-rotor unmanned aerial vehicle needs a control method independent of electromagnetic radiation signals to be used as a redundancy backup of an automatic control system of the unmanned aerial vehicle, and the unmanned aerial vehicle can smoothly and automatically return to the home under the condition that the control signals fail.
Disclosure of Invention
The invention aims to provide a multi-rotor unmanned aerial vehicle recovery auxiliary navigation device, which can enable an unmanned aerial vehicle to obtain azimuth information and height indication of the unmanned aerial vehicle relative to a landing platform, and realize automatic return recovery.
The invention further provides a multi-rotor unmanned aerial vehicle recovery auxiliary navigation method.
The first technical scheme adopted by the invention is that the multi-rotor unmanned aerial vehicle recovery auxiliary navigation device comprises a shell with a hemispherical groove, wherein a hemispherical LED mounting bracket is arranged on the inner wall surface of the hemispherical groove of the shell, a red, yellow and green LED signal indicator lamp unit is arranged on the hemispherical LED mounting bracket, and a hemispherical diffuser is arranged on the upper surface of the red, yellow and green LED signal indicator lamp unit; unmanned aerial vehicle take off and land platform is installed to the hemisphere groove opening part of casing.
The present invention is also characterized in that,
the red, yellow and green LED signal indicator lamp unit comprises a plurality of red LED signal indicator lamp belts, a plurality of yellow LED signal indicator lamp belts and a plurality of green LED signal indicator lamp belts; the LED lamp comprises a plurality of green LED signal indicator lamp belts, a plurality of yellow LED signal indicator lamp belts, a plurality of red LED signal indicator lamp belts and a hemispherical LED mounting support, wherein the plurality of green LED signal indicator lamp belts, the plurality of yellow LED signal indicator lamp belts and the plurality of red LED signal indicator lamp belts are sequentially distributed in an annular shape by taking the lowest point of the hemispherical LED mounting support as a circle center.
The quantity of the LED signal indicator lamp strips with the three colors is distributed to be that green accounts for 20%, yellow accounts for 50%, and red accounts for 30%.
The Fresnel lens is adopted as an unmanned aerial vehicle take-off and landing platform.
The second technical scheme adopted by the invention is that the multi-rotor unmanned aerial vehicle recovery auxiliary navigation method is implemented by adopting the device according to the following steps:
step 1, placing an unmanned aerial vehicle on the upper surface of a take-off and landing platform of the unmanned aerial vehicle before taking off, and recording current spatial position information by a flight control system; after the unmanned aerial vehicle takes off, the red, yellow and green LED signal indicator lamp units start to flicker at a preset working frequency or frequency combination under the driving of a ground direct-current power supply and a control circuit, and light rays project signal light with specific colors to different horizontal azimuth angle spaces through a soft light cover and an unmanned aerial vehicle take-off and landing platform;
in step 1, h ═ h0+ Δ h, where Δ h is the unmanned aerial vehicle altitude, and Δ h ═ tan α · l is known from the trigonometric function, where α is the minimum horizontal observation angle of the red signal light source measured in advance, and further h ═ h is obtained0+tanα·l；
Step 2, the unmanned aerial vehicle takes off, and in the flying process, after the navigation system is interfered or fails, the unmanned aerial vehicle takes off the absolute height h according to the flight distance l and the take-off absolute height recorded by the flight control system of the unmanned aerial vehicle 0The calculated result rises to a preset return flight height h, after the calculated result rises to the preset return flight height h, the unmanned aerial vehicle locks the camera to the advancing direction and deflects downwards to negative alpha, the horizontal 360-degree rotating body searches for a red signal light source flickering in a preset frequency or frequency combination, after the signal light source is found, the unmanned aerial vehicle stops horizontal rotation and controls the camera to lock the red signal light source to the image center position, the unmanned aerial vehicle starts to fly horizontally to the light source position, and when the horizontal included angle between the unmanned aerial vehicle and the red signal light source reaches the minimum visible water of the yellow signal light source obtained by measurementWhen the angle is flat, the signal light source observed by the camera is converted into a yellow signal light source, and the unmanned aerial vehicle reduces the flying speed and continues flying towards the yellow signal light source; when unmanned aerial vehicle and yellow signal light source horizontal included angle reach the minimum visual horizontal angle gamma of the green signal light source that the measurement obtained, the signal light source that the camera was observed this moment will be converted into green signal light source, unmanned aerial vehicle begins to reduce flying height perpendicularly, descend in-process unmanned aerial vehicle and signal light source's horizontal included angle will constantly alternate at beta and gamma, light source signal that unmanned aerial vehicle surveyd should stop the vertical decline when yellow and remove to the device center, convert green until signal light source, so cycle, it puts the central point of unmanned aerial vehicle take off and land the platform to descend until unmanned aerial vehicle.
The beneficial effects of the invention are:
1. the device projects light signals with different colors to different areas in the air through the Fresnel lens, so that the unmanned aerial vehicle can obtain azimuth information and height indication of the unmanned aerial vehicle relative to the landing platform, and automatic return recovery is realized.
2. In the device, the soft light cover can uniformly scatter the light signals of the red, yellow and green LED signal indicating lamps, so that the interruption and jumping of the signal received by the unmanned aerial vehicle are avoided.
3. In this invention device, the unmanned aerial vehicle take off and land platform that comprises chenille lens utilizes the refraction angle difference of prism to the light source of different focuses department, to the different colour's of unmanned aerial vehicle refraction light signal of this device different horizontal angles relatively, and the surperficial flat support ability is strong.
4. The method can realize autonomous return voyage by utilizing the self equipment of the unmanned aerial vehicle and simple algorithm upgrading, and the device does not emit electromagnetic radiation to the outside, thereby meeting the requirements of relevant laws and regulations.
Drawings
Fig. 1 is a schematic structural view of a multi-rotor unmanned aerial vehicle recovery auxiliary navigation device of the invention;
FIG. 2 is a schematic structural view of the housing of the present invention;
FIG. 3 is a schematic flow chart of the method of the present invention;
fig. 4 is a schematic view of the fly-back height of the present invention.
In the figure: 1. the unmanned aerial vehicle taking-off and landing system comprises a shell, 2. an LED mounting bracket, 3. a red, yellow and green LED signal indicator lamp unit, 4. a diffuser and 5. an unmanned aerial vehicle taking-off and landing platform;
3-1, a red LED signal indicator lamp strip, 3-2, a yellow LED signal indicator lamp strip, and 3-3, a green LED signal indicator lamp strip.
Detailed Description
The invention is described in detail below with reference to the drawings and the detailed description.
The invention provides a multi-rotor unmanned aerial vehicle recovery auxiliary navigation device, which comprises a cuboid shell 1 with a hemispherical groove, wherein a hemispherical LED mounting bracket 2 is mounted on the inner wall surface of the hemispherical groove of the shell 1, a red, yellow and green LED signal indicator lamp unit 3 is mounted on the hemispherical LED mounting bracket 2, and a hemispherical diffuser 4 is mounted on the upper surface of the red, yellow and green LED signal indicator lamp unit 3; unmanned aerial vehicle take-off and landing platform 5 is installed to the hemisphere recess opening part of casing 1.
The red, yellow and green LED signal indicator lamp unit 3 comprises a plurality of red LED signal indicator lamp belts 3-1, a plurality of yellow LED signal indicator lamp belts 3-2 and a plurality of green LED signal indicator lamp belts 3-3; the LED lamp comprises a plurality of green LED signal indicator lamps 3-3 lamp belts, a plurality of yellow LED signal indicator lamps 3-2 lamp belts, a plurality of red LED signal indicator lamps 3-1 lamp belts and a hemispherical LED mounting support 2, wherein the lamp belts are sequentially distributed in an annular shape by taking the lowest point of the hemispherical LED mounting support 2 as a circle center. (the lamp area of each color all comprises a plurality of LED indicator lamps with corresponding colors, the red LED signal indicator lamp area generates a red signal light source, the yellow LED signal indicator lamp area generates a yellow signal light source and the green LED signal indicator lamp area generates a green signal light source)
The quantity of the LED signal indicator lamp strips of the three colors is distributed to be that green accounts for 20%, yellow accounts for 50%, and red accounts for 30%.
The Fresnel lens is adopted as an unmanned aerial vehicle take-off and landing platform 5.
The invention provides a multi-rotor unmanned aerial vehicle recovery auxiliary navigation method, which is implemented by adopting the device according to the following steps as shown in figures 3-4:
step 1, placing an unmanned aerial vehicle before taking off on the upper surface of a take-off and landing platform 5 of the unmanned aerial vehicle, and recording current spatial position information by a flight control system; after the unmanned aerial vehicle takes off, the red, yellow and green LED signal indicator lamp unit 3 starts to flicker at a preset working frequency or frequency combination under the driving of a ground direct-current power supply and a control circuit, and light rays project signal light with specific colors to different horizontal azimuth angle spaces through the diffuser 4 and the unmanned aerial vehicle take-off and landing platform 5;
in step 1, h is0+ Δ h, where Δ h is the unmanned aerial vehicle altitude, and Δ h ═ tan α · l is known from the trigonometric function, where α is the minimum horizontal observation angle of the red signal light source measured in advance, and further h ═ h is obtained0+tanα·l；
Step 2, the unmanned aerial vehicle takes off, and in the flying process, after the navigation system is interfered or fails, the unmanned aerial vehicle takes off the absolute height h according to the flight distance l and the take-off absolute height recorded by the flight control system of the unmanned aerial vehicle 0When the calculated result rises to a preset return flight height h, after the calculated result rises to the preset return flight height h, the unmanned aerial vehicle locks the camera to the advancing direction and deflects downwards to negative alpha, the rotating body horizontally rotates for 360 degrees to search for a red signal light source flickering in a preset frequency or frequency combination, after the signal light source is found, the unmanned aerial vehicle stops horizontal rotation and controls the camera to lock the red signal light source to the image center position, the unmanned aerial vehicle starts to fly horizontally to the light source position, when the horizontal included angle between the unmanned aerial vehicle and the red signal light source reaches the measured minimum visible horizontal angle beta of the yellow signal light source, the signal light source observed by the camera is converted into a yellow signal light source, and the unmanned aerial vehicle reduces the flying speed and continues flying to the yellow signal light source; when unmanned aerial vehicle and yellow signal light source horizontal included angle reach the minimum visual horizontal angle gamma of the green signal light source that obtains of measurement, the signal light source that the camera was observed this moment will be converted into green signal light source, unmanned aerial vehicle begins to reduce flying height perpendicularly, descend in-process unmanned aerial vehicle and signal light source's horizontal included angle will constantly alternate at beta and gamma, light source signal that unmanned aerial vehicle surveyd should stop the vertical decline and remove to the device center when yellow, convert green until signal light source, so cycle, central point that unmanned aerial vehicle landing and landing platform 5 was put to unmanned aerial vehicle landing And (4) placing.

Claims (5)

1. The multi-rotor unmanned aerial vehicle recovery auxiliary navigation device is characterized by comprising a shell (1) with a hemispherical groove, wherein a hemispherical LED mounting bracket (2) is mounted on the surface of the inner wall of the hemispherical groove of the shell (1), a red, yellow and green LED signal indicator light unit (3) is mounted on the hemispherical LED mounting bracket (2), and a hemispherical diffuser (4) is mounted on the upper surface of the red, yellow and green LED signal indicator light unit (3); unmanned aerial vehicle take off and land platform (5) are installed to the hemisphere recess opening part of casing (1).
2. The multi-rotor unmanned aerial vehicle recovery auxiliary navigation device according to claim 1, wherein the red, yellow and green LED signal indicator lamp unit (3) comprises a plurality of red LED signal indicator lamp strips (3-1), a plurality of yellow LED signal indicator lamp strips (3-2) and a plurality of green LED signal indicator lamp strips (3-3); the LED signal lamp comprises a plurality of green LED signal indicator lamp strips (3-3), a plurality of yellow LED signal indicator lamp strips (3-2), a plurality of red LED signal indicator lamp strips (3-1) and a plurality of LED signal indicator lamp strips, wherein the LED signal indicator lamp strips are sequentially distributed in an annular shape by taking the lowest point of a hemispherical LED mounting support (2) as a circle center.
3. The multi-rotor unmanned aerial vehicle recovery auxiliary navigation device of claim 2, wherein the LED signal light strips of three colors are distributed in a green color of 20%, a yellow color of 50%, and a red color of 30%.
4. The multi-rotor unmanned aerial vehicle recovery auxiliary navigation device of claim 3, wherein Fresnel lenses are used as the unmanned aerial vehicle take-off and landing platform (5).
5. The multi-rotor unmanned aerial vehicle recovery auxiliary navigation method is characterized in that the device according to claim 4 is adopted, and the method is implemented according to the following steps:
step 1, placing an unmanned aerial vehicle before takeoff on the upper surface of an unmanned aerial vehicle take-off and landing platform (5), and recording current spatial position information by a flight control system; after the unmanned aerial vehicle takes off, the red, yellow and green LED signal indicator lamp unit (3) starts to flicker at a preset working frequency or frequency combination under the driving of a ground direct-current power supply and a control circuit, and light rays project signal light with specific colors to different horizontal azimuth angle spaces through the soft light cover (4) and the unmanned aerial vehicle take-off and landing platform (5);
in step 1, h ═ h0+ Δ h, where Δ h is the unmanned aerial vehicle altitude, and Δ h ═ tan α · l is known from the trigonometric function, where α is the minimum horizontal observation angle of the red signal light source measured in advance, and further h ═ h is obtained0+tanα·l；
Step 2, the unmanned aerial vehicle takes off, and in the flying process, after the navigation system is interfered or fails, the unmanned aerial vehicle takes off the absolute height h according to the flight distance l and the take-off absolute height recorded by the flight control system of the unmanned aerial vehicle 0When the calculated result rises to a preset return flight height h, after the calculated result rises to the preset return flight height h, the unmanned aerial vehicle locks the camera to the advancing direction and deflects downwards to negative alpha, the rotating body horizontally rotates for 360 degrees to search for a red signal light source flickering in a preset frequency or frequency combination, after the signal light source is found, the unmanned aerial vehicle stops horizontal rotation and controls the camera to lock the red signal light source to the image center position, the unmanned aerial vehicle starts to fly horizontally to the light source position, when the horizontal included angle between the unmanned aerial vehicle and the red signal light source reaches the measured minimum visible horizontal angle beta of the yellow signal light source, the signal light source observed by the camera is converted into a yellow signal light source, and the unmanned aerial vehicle reduces the flying speed and continues flying to the yellow signal light source; when unmanned aerial vehicle and yellow signal light source horizontal included angle reach the minimum visual horizontal angle gamma of the green signal light source that obtains of measurement, the signal light source that the camera was observed this moment will be converted into green signal light source, unmanned aerial vehicle begins the vertical reduction flying height, decline in-process unmanned aerial vehicle and signal light source's horizontal included angle will constantly alternate at beta and gamma, the light source signal that unmanned aerial vehicle surveyed should stop the vertical decline when yellow and remove to the device center, convert green until signal light source, so cycle, the central point that unmanned aerial vehicle take off and land platform (5) is put to unmanned aerial vehicle descending.
CN202210451898.9A 2022-04-27 2022-04-27 Multi-rotor unmanned aerial vehicle recycling auxiliary navigation device and method Active CN114750972B (en)

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