CN115113649A - Monitoring system and method for take-off and landing of unmanned aerial vehicle at airport - Google Patents

Abstract

The invention discloses a design method and a system of a monitoring system for taking off and landing of an unmanned aerial vehicle at an airport, wherein the monitoring system for taking off and landing of the unmanned aerial vehicle at the airport is added on the basis of traditional airborne system equipment and ground system equipment of an active unmanned aerial vehicle system, and then recombination and cutting are carried out; the traditional airborne system is connected with an airborne information management system, an airborne detection system and an autonomous deviation rectification system; the device built in the detection port cover of the machine body is adaptively modified; newly adding portable detection equipment, airport monitoring equipment or a tower monitoring station to which the general airport equipment belongs; the remote flight control station and the remote operation station to which the general off-board equipment belongs, an expanded 4/5G communication link and man-machine operation equipment. According to the invention, an unmanned system is reconstructed by adopting a digital technology, and a general airport device and a general off-site device are constructed by applying a 5G + Internet of things, so that the universalization of pre-flight or routine ground detection and maintenance of the unmanned aerial vehicle is realized, and the real-time monitoring or the manual correction of the lateral deviation of the unmanned aerial vehicle is realized.

Description

Monitoring system and method for take-off and landing of unmanned aerial vehicle at airport

Technical Field

The invention relates to flight control technology and engineering application, in particular to control technology and application of an unmanned aerial vehicle system.

Background

At present, the take-off or landing of the unmanned aerial vehicle at an airport is supported by various ground special equipment and full-time personnel to which an unmanned aerial vehicle system belongs. Along with a lot of unmanned aerial vehicle get into the airport and take off and land, bring affiliated professional equipment of a large amount of unmanned aerial vehicle systems and full-time personnel and get into the airport, cause negative effects to airport safety and operation management. One solution at home and abroad is to design universal ground stations of the interconnected and intercommunicated interoperation measurement and control link, reduce the number of the ground stations, reduce the deployment of special equipment and personnel at an airport, and the integration scheme of an unmanned aerial vehicle system is not changed.

In the chinese patent literature, the invention patent with publication number CN106296871A discloses a method and system for supervising an unmanned aerial vehicle, the system includes a transmitting black box, a receiving black box, a general ground station, a user terminal and a cloud server, the technical scheme of the invention patent is that the transmitting black box obtains inertial flight data of the unmanned aerial vehicle, the receiving black box obtains position data of the current ground station where a pilot of the unmanned aerial vehicle is located, the general ground station obtains flight trajectory data of the unmanned aerial vehicle, the three types of data are obtained by the user terminal and sent to the cloud server, the cloud server compares and verifies the three types of data by using a relevant algorithm, and determines the current flight condition of the unmanned aerial vehicle, so as to effectively supervise the unmanned aerial vehicle and send relevant early warning and warning signals in time. Three kinds of data, namely multi-freedom-degree inertia measurement data for transmitting the black box, accurate positioning data for ground control pilots and flight data of a general ground station are fused and positioned, so that the blind area effect of air public network signals is avoided, and users can be prevented from escaping from supervision by sending false flight data, so that real-time and effective air unmanned aerial vehicle supervision is realized.

Also, the invention patent with publication number CN113630744A discloses an unmanned aerial vehicle system and a communication method thereof, the unmanned aerial vehicle system includes an unmanned aerial vehicle and a ground control station; the unmanned aerial vehicle comprises an airborne flight control module and a protocol conversion module which are mutually connected, and the airborne flight control module controls the unmanned aerial vehicle by adopting an unmanned aerial vehicle data chain private protocol; the ground control station comprises a ground terminal data chain transceiving module, the interior of the ground control station adopts a general ground station internal protocol for communication, and the ground terminal data chain transceiving module is used for communicating with the unmanned aerial vehicle; the protocol conversion module is used for converting data supporting the data link proprietary protocol of the unmanned aerial vehicle into data supporting the internal protocol of the universal ground station, so that the unmanned aerial vehicle and the ground control station can perform data interaction through the internal protocol of the universal ground station. Can make ground control station not receive the unmanned aerial vehicle restriction of different model agreements among the unmanned aerial vehicle system in this scheme, can generally be used for the unmanned aerial vehicle of different model agreements, reduce cost.

However, the prior art is still not ideal enough, and firstly, flight monitoring of the existing unmanned aerial vehicle in areas outside the airport mainly depends on a measurement and control link of a traditional unmanned aerial vehicle system, and the increase of load and management cost caused by the concentration of the measurement and control link in the airport is not fully considered. Secondly, prior art has not provided the ideal mode to realizing that unmanned aerial vehicle and inside and outside multiple equipment of airport are connected yet, leads to the unmanned aerial vehicle supervisory equipment that sets up outside the airport to be difficult to realize the function in coordination with the observation and control link of traditional unmanned aerial vehicle system. On the other hand, in the prior art, personnel and data optimization of ground inspection equipment before the unmanned aerial vehicle flies and maintenance support of the aircraft are not considered, so that special equipment and personnel in an airport are gathered, and the airport management difficulty is increased. Therefore, there is a need for innovative improvements to the solutions for takeoff or landing of drones at airports, including control methods for correcting taxi siding.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a monitoring system and a monitoring method for takeoff and landing of an unmanned aerial vehicle at an airport.

The invention is realized by the following steps:

first, the system of the present invention consists of the following functional systems or devices: the system comprises an unmanned aerial vehicle, an information management system, an airborne detection system, an autonomous deviation rectification system, a general airport device and a general off-site device.

The system comprises an information management system, an airborne detection system and an autonomous deviation correction system, wherein 1) the information management system belongs to airborne system equipment, the autonomous deviation correction system is installed on an unmanned aerial vehicle and is correspondingly connected with a traditional airborne system of the unmanned aerial vehicle, and the traditional airborne system comprises but is not limited to an airborne control system, a servo controller, a servo mechanism and a measurement and control link;

2) the general airport equipment comprises portable detection equipment, airport monitoring equipment and a tower monitoring station which are arranged at airports for use and can be deployed and used at each airport;

3) the general off-site equipment comprises a remote flight control station and a remote operation station, which are arranged on the off-site ground for use, and can be deployed and used in multiple places.

In some embodiments, the drone or onboard information management system, and the general airport device and general off-board device may be provided with a device number that identifies each device, including but not limited to the drone or information management system, the general airport device, the general off-board device, and other devices needed for flight at the airport; the device number can be used for mutual identification and wireless connection and interconnection and intercommunication interoperation in a public network and a private network of an 4/5G network, wherein the device number of the unmanned aerial vehicle can be installed in onboard system equipment, including but not limited to an information management system; the equipment number can be installed in an equipment number manager or independently by adopting an Internet of things card such as a pluggable card, binding or unbinding management can be established with related equipment and can be managed in a computer list mode, and the management is carried out by an agency of a public network and a private network authorized by a network operator; the equipment group can be established for the unmanned aerial vehicle and the related bound equipment, and the equipment group can be adjusted so as to expand the equipment which can be used by the unmanned aerial vehicle and the airport where the unmanned aerial vehicle is located; the equipment number can be subjected to industrial or standardized unified registration management; the application design of constructing the 5G public network and the private network or adopting other network configurations can be diversified, including introducing a network slicing technology to meet personalized customization. The unmanned aerial vehicle holder can set or agree on the use permission of each device in the device group for the information and operation of the unmanned aerial vehicle. As shown in fig. 2.

In some embodiments, the information management system is comprised of a plurality of on-board devices, including a device number, 4/5G antenna; wherein, the 4/5G antenna can be written as a 4G/5G antenna, or a 5G antenna; the machine field area or airspace covered by the 5G signal can carry out bidirectional low-delay 5G signal transmission; the ground is provided with the 5G network, but the signal of the space domain higher than the ground is weaker, and the aerial unmanned aerial vehicle can transmit information to the ground 5G network through an airborne 5G signal antenna or a CPE (customer premise equipment) equipment antenna; the area not covered by the 5G signal can be transmitted by the 4G signal or has information with time delay.

The information management system is in wired connection with a plurality of airborne systems of the unmanned aerial vehicle, and comprises but is not limited to a traditional airborne system, an airborne control system, a servo manager, an airborne detection system and an autonomous deviation rectification system; the unmanned aerial vehicle is wirelessly connected with a plurality of functional systems on the ground through an 4/5G antenna, including but not limited to general airport equipment and general off-site equipment, so that a 5G special network can be established through an Internet of things card, and the equipment in the network is connected to transmit special information and operation instructions, including but not limited to information and instructions of ground inspection or air traffic, information and instructions of takeoff or landing, air level adjustment of an air park and navigation operation on the air park, and is suitable for various unmanned aerial vehicles. The airborne traditional measurement and control link of the unmanned aerial vehicle can be wirelessly connected with the general off-board equipment through the measurement and control link of the traditional ground system. The equipment with the interconnection interoperability performance is designed preferentially for the measurement and control link, and the measurement and control link equipment is not required to be arranged at an airport, but is used for carrying out remote measurement and remote control and information transmission on the unmanned aerial vehicle through the wireless connection general off-site equipment. As shown in fig. 3.

In some embodiments, a general airport device, including a portable detection device, an airport monitoring device, or an airport tower monitoring station; the portable detection equipment can be a notebook computer, a tablet computer or a wearable computer; the airport monitoring equipment can be arranged in a building or a moving vehicle and is designed with internal information processing equipment, information display equipment, communication equipment, a database and a spare part library; the control tower can design monitoring equipment for the emergency monitoring of the unmanned aerial vehicle.

The portable detection equipment is used for ground inspection personnel and crew personnel in an airport to carry, and the airport monitoring equipment is used for the airport personnel to monitor the unmanned aerial vehicle and comprises the steps of receiving information of the unmanned aerial vehicle through a 5G network or sending a control command to the unmanned aerial vehicle; general airport equipment passes through 5G net and unmanned aerial vehicle information management system wireless connection, receives unmanned aerial vehicle machine and carries information, sends the information or the instruction of operation unmanned aerial vehicle, including to unmanned aerial vehicle on the runway slide the process send instruction and carry out manual monitoring teleregulation and rectify the deviation. Particularly, through the expansion of the universal airport equipment, a corresponding human-computer interface of an airport tower is connected so as to monitor the unmanned aerial vehicle by interactive information, or a tower monitoring station capable of sending emergency instructions is arranged for the airport tower; and through information management system, unmanned aerial vehicle information can the direct connection airport control tower platform and realize the control and the emergent instruction transmission function to unmanned aerial vehicle. As shown in fig. 4.

In some embodiments, the onboard detection system is composed of a plurality of onboard devices, including an onboard detection module, a power module, an onboard charger, a detection switch group, an external interface, an onboard display, an indicator light and an illuminating light; the airborne detection module is a built-in device of the airborne detection system, and can be used for designing detection software, engineering software, an engineering manual-database and an expert database; the detection switch group, the external interface, the airborne display, the indicator light and the illuminating lamp are preferentially arranged in the detection opening cover of the machine body, and the latter four are selectable parts; the power module can be connected with a fuse, a traditional airborne socket is connected with an airport power supply socket on the ground, and an airborne charger is connected with a traditional airborne storage battery to supply power to the unmanned aerial vehicle; as shown in figure 1.

The detection switch group comprises a power-on switch for the airborne system, a detection switch for starting detection and a confirmation switch for confirming that the ground detection is normal; the airborne display can be selectively arranged in the opening cover, the indicating lamp displays green to indicate that the airborne detection module works, and the illuminating lamp provides illumination for the inside of the machine body detection opening cover; as shown in fig. 6.

In some embodiments, the onboard detection system is connected with the information management system and connected with the onboard control system; the airborne detection system is wirelessly connected with the portable detection equipment, the universal monitoring equipment and the universal off-site equipment outside the airport through the 5G network of the information management system. The general airport equipment acquires the onboard equipment information required by the maintenance of the aircraft through the power-on self-test of the unmanned aerial vehicle before flying or routine maintenance of the unmanned aerial vehicle by the information management system of the unmanned aerial vehicle and the onboard detection system, and the onboard equipment information comprises but is not limited to receiving the power-on self-test information, fault information (fault list and equipment information), troubleshooting report, analysis report, maintenance list, flight release confirmation and an aircraft service manual (containing onboard equipment information, software for viewing maintenance operation and detailed technical description); the ground inspection report format can be designed, the automatic identification of the normal numerical value interval or the upper and lower deviation intervals of the detected data is carried out, and the prompt or alarm is given to the abnormal numerical value, so that the ground inspection personnel can be helped to reduce the technical difficulty of data identification, and the universal skill of the ground inspection personnel can be conveniently standardized. Technical support of an expert database or a historical database is provided behind the generated detection report, so that the accuracy and the precision of data identification are improved; the technical description of the maintenance of the crew is more detailed in example 2. And the unmanned aerial vehicle receives instructions or information sent by the general airport equipment through the information management system, wherein the instructions or information comprises but is not limited to power-on self-inspection, inspection reports (inspection information and information for confirming that ground inspection is normal), flight service reports (maintenance information or fault analysis of the equipment), flight confirmation (information for displaying a confirmation switch for normally allowing flight of ground inspection, and optionally a manual switch or a switch of software), and air route data (including airport taxi route data). The general off-board equipment can also be used for establishing wireless connection with the unmanned aerial vehicle, such as general airport equipment or through a measurement and control link, so that the general airport equipment can obtain information of the unmanned aerial vehicle or monitor the unmanned aerial vehicle. As shown in fig. 5.

In some embodiments, the autonomous deviation correcting system is composed of a plurality of airborne devices, including an airborne front video system, a telecommunication controller and a front illuminating lamp; a runway marker for a ground surface comprising a runway centerline, a runway target; the autonomous deviation rectifying system is connected with the information management system and is connected with a traditional airborne system, including but not limited to an airborne control system or a flight control system, a task management system, a navigation system, a servo controller, a servo mechanism and a measurement and control link. In the process of taking off and landing of the unmanned aerial vehicle at an airport or in the process of sliding, a front-mounted video system or a telecommunication controller of the autonomous deviation correction system generates the lateral deviation distance information of the unmanned aerial vehicle, the lateral deviation distance information can be transmitted to a control system in two ways, and deviation correction is executed according to a deviation correction control rate scheme.

1) The generated lateral offset information is transmitted to an airborne control system, the airborne control system compares the lateral offset information transmitted from the autonomous deviation correcting system with the lateral offset information generated by the traditional airborne system to generate deviation correcting instructions, and the deviation correcting instructions are respectively transmitted to servo controllers of all servo mechanisms of the traditional airborne system, and comprise an airplane wheel controller, a control surface controller and a power controller, which are shown in the attached figure 3;

2) the automatic deviation rectifying system automatically converts the generated lateral deviation distance information into a deviation rectifying command and directly sends the deviation rectifying command to the servo controllers of all the servo mechanisms; therefore, the servo controller selects one deviation rectifying instruction to be used for controlling all servo mechanisms, including servo steering engines of the main wheel differential mechanism and the front wheel steering mechanism, pneumatic control surface steering engines and throttle or power vector power control steering engines according to the deviation rectifying control rate scheme, so that automatic deviation rectifying control of unmanned aerial vehicle side offset is realized, and therefore complementation is formed for automatic deviation rectifying control performance of a traditional airborne control system, and the control effect is optimized.

In some embodiments, the built-in video platform of the front video system identifies and tracks runway markers of an airport, and generates lateral offset information of the symmetry axis of the unmanned aerial vehicle body relative to the runway markers; the runway marker can be selected or designed as a runway center line, and the material color of the runway marker is designed so as to be convenient for identification and tracking; the airborne preposed light illumination can be adopted to enhance the recognition tracking effect of the preposed video system, and the method comprises the following steps of illumination suitable for the type of the preposed video sensor, such as illumination of short wave infrared or thermal infrared video, illumination of low-light-level video and illumination of visible light; the target can also be designed as a runway heat source target, one is a material arranged on the centerline of the runway and added with heat absorbing or heating materials, the other is a point block-shaped target or a heat source target arranged at the end of the runway or near the end of the runway to enhance the tracking effect, or an alternative laser target is arranged to reflect a laser beam to a laser of a front-end video system to realize the tracking effect. As shown in fig. 9.

In some embodiments, the design of the deviation-correcting control rate scheme can perform new logic optimization of two paths of instructions based on the deviation-correcting control rate of each servo mechanism of the traditional airborne system;

1) the priority of first arrival can be selected, the emphasis is placed on agile response deviation correction, and particularly, the priority is given to the access of an artificial deviation correction monitoring instruction; 2) or selecting a center range with priority, and emphasizing the lateral offset segmentation, namely, the large lateral offset represents that the video tracking lateral offset loses advantages; 3) and can choose to be fast and stable to be preferred, and the emphasis is on being suitable for each servo mechanism to realize fast and stable control response; 4) and these priorities are used in combination. As shown in fig. 7.

In some embodiments, the remote flight control station to which the general off-board device belongs is composed of a plurality of ground devices, and the remote flight control station includes a ground measurement and control link corresponding to the measurement and control link and a ground 4/5G antenna corresponding to the airborne 4/5G antenna, and the remote flight control station can be provided with a human-machine operation interface, a power supply system, satellite mobile communication, satellite relay communication and a short-wave radio station in a building or a mobile vehicle according to a design scheme. The remote flight control station may be deployed at a location outside of the airport.

(1) The system can be wirelessly connected with an unmanned aerial vehicle information management system of an airport through 4/5G communication to realize remote monitoring, can receive the application of unmanned aerial vehicles in a plurality of airport areas in adjacent areas or connected airspaces, and can carry out information interaction or instruction operation, including but not limited to power-on self-check instructions, airline binding, flying instructions, remote regulation and rectification; through 5G public network or private network, can the information management system of lug connection unmanned aerial vehicle, or through connecting general airport equipment earlier and switching unmanned aerial vehicle's information management system again, the latter kind is connected with and does benefit to the airport and to unmanned aerial vehicle's cooperative monitoring.

(2) The aerial continuous flight monitoring of the regional remote flight control station can be provided by receiving the unmanned aerial vehicles after the unmanned aerial vehicles take off from a plurality of airports in adjacent regions or connected airspaces through the ground measurement and control links paired with the airborne vehicles, the whole process monitoring of the flight of the unmanned aerial vehicles in the airspaces or air routes outside the airport regions is carried out through the ground measurement and control links, the monitoring service of remote measurement and remote control and information transmission is carried out on operation flight, and data are distributed to holders of the unmanned aerial vehicles or designated objects of the unmanned aerial vehicles unless the operation sites are replaced by remote operation stations, so that the aircrafts are guaranteed not to be disconnected.

In the remote monitoring of the airport area, the remote flight station can receive the detection information of the unmanned aerial vehicle and bind the air line to the unmanned aerial vehicle, and in the instruction operation, the remote flight control station can send a flying or landing instruction and a reloading air line to the unmanned aerial vehicle so as to control the automatic flying and landing of the unmanned aerial vehicle and adjust the air line flight; the remote flying station can monitor the lateral deviation distance of the takeoff and landing process and the sliding process of the unmanned aerial vehicle relative to a runway marker through a front video system of the automatic deviation correction system, the takeoff and landing process and the sliding process are monitored by a manual monitoring mode of the remote flying control station, the automatic deviation correction system is used for carrying out remote deviation correction according to the deviation correction control rate, therefore, the control of the remote deviation correction of the unmanned aerial vehicle can be implemented through a remote control channel of an airborne control system or a telecommunication controller, for example, an 'inner ring automatic mode and an outer ring manual' semi-automatic mode can be designed to be accessed into manual deviation correction control, the flow of a control instruction is executed according to the deviation correction control rate of the automatic deviation correction system until the unmanned aerial vehicle is controlled to drive away from the runway or drive into a parking apron to stop the manual monitoring mode; the unmanned aerial vehicle at the airport can also use the universal airport equipment to carry out manual monitoring and remote regulation deviation rectification control during the sliding process. Remote flight control stations may be used in a number of deployments, including, but not limited to, as monitoring equipment for the owner of the drone, and as monitoring equipment for a business performing flight services on the drone, or in place of remote work stations. As shown in fig. 8.

In some embodiments, the remote operation station to which the general off-board equipment belongs is composed of a plurality of ground equipment, including a ground measurement and control link or a 4/5G antenna which is in wireless connection with the measurement and control link or the 4/5G antenna correspondingly, and the remote operation station can be provided with a man-machine operation interface, a power supply system, 4/5G communication, satellite mobile communication and a short-wave radio station in a building or a mobile vehicle according to a design scheme; the design scheme of the measurement and control link can be in line of sight or beyond line of sight, and the performance of interconnection and intercommunication interoperation can be designed preferentially, so that the number of the unmanned aerial vehicles to be monitored is increased or the general off-board equipment interacting with the information and the instructions of the unmanned aerial vehicles is increased. The remote operation station can be in wireless connection with an information management system of the unmanned aerial vehicle through an 4/5G network and receives airborne information of the unmanned aerial vehicle; the unmanned aerial vehicle is wirelessly connected with the unmanned aerial vehicle through the measurement and control link, the unmanned aerial vehicle is monitored, and particularly, the operation flight process of the unmanned aerial vehicle is monitored and partially set, including but not limited to the airline resetting of the unmanned aerial vehicle, remote control flight, and sending of a standby instruction for a limited number of times according to authorization, or introducing of equipment numbers of a limited number of equipment and regarding the equipment numbers as a new remote operation station; however, the monitoring items related to the flight safety of the drone are unauthorized, including but not limited to the return and flight range of the drone, such as setting an electronic fence or no-fly zone. The remote operation station and the remote flight control station can jointly perform wireless connection and monitoring operation including interconnection and intercommunication interoperation on the unmanned aerial vehicle, and can also be independently used as a remote flight control station with a line of sight; the remote workstations may be deployed for use and obtain rights including authorization to stand-by or extend the general off-board equipment. As shown in fig. 8.

The technical result of the invention is suitable for the 6G communication technology; the method is suitable for modification or application of an active unmanned aerial vehicle system, a general aviation aircraft and an aerocar. For example, for an unmanned aerial vehicle system, the novel concept system equipment provided by the invention can be added on the basis of the traditional airborne system equipment and ground system equipment, and then recombination and cutting are carried out. The traditional airborne system is connected with an airborne information management system, an airborne detection system and an autonomous deviation rectification system; the device built in the detection port cover of the machine body is adaptively modified; newly adding portable detection equipment, airport monitoring equipment or a tower monitoring station to which the general airport equipment belongs; the remote flight control station and the remote operation station to which the general off-board equipment belongs, an expanded 4/5G communication link and man-machine operation equipment.

Drawings

FIG. 1 is a schematic diagram of the main equipment setup of the new concept unmanned system of the present invention;

FIG. 2 is a schematic diagram of the present invention and the connection relationship (wired connection within each frame, dotted line 5G wireless connection);

fig. 3 shows the connection relationship between the information management system and the device number manager (the device number or the internet of things card is not shown in the figure);

FIG. 4 is a diagram of the connection of the universal airport device of the present invention to the associated equipment (5G antenna wireless connection in dashed lines);

FIG. 5 is an onboard inspection system of the present invention and its communication connections (some of the equipment not shown; the dashed box is optional);

FIG. 6 is a schematic diagram showing details of the design of the airport power supply and on-board charger of the present invention;

FIG. 7 illustrates the autonomous deviation rectification system and connections (the onboard control system and the servo controller are interconnected) of the present invention;

FIG. 8 is a diagram of the universal off-site equipment and its connection extensions of the present invention (1-n remote flight control stations, 1-n remote operation stations; the dotted line is a wireless connection);

FIG. 9 shows the connection relationship between the runway centerline and the heat source targets 1-n, for the autonomous deviation rectification system and the runway markers of the present invention.

The symbols in the drawings are: 1-unmanned aerial vehicle, 2-information management system, 21-equipment number, 22-4/5G antenna, 3-airborne detection system, 31-airborne detection module, 32-power module, 33-airborne charger, 34-detection switch group, 341-detection switch, 342-confirmation switch, 35-external interface, 36-airborne display, 37-indicator light and illuminating lamp, 38-flight manual, 39-expert database, 4-autonomous deviation correction system, 41-front video system, 42-telecommunication controller, 43-front illuminating lamp, 44-runway marker, 45-runway center line, 46-runway target, 47-locomotive axis, 48-front slant distance, 49-side slant distance, 5-universal airport equipment, 51-portable detection equipment, 52-airport monitoring equipment, 53-tower monitoring console, 6-general off-site equipment, 61-remote flight control station, 62-remote operation station, 7-traditional airborne system, 71-airborne control system, 72-servo controller, 73-servo mechanism, 74-measurement and control link, 75-traditional airborne storage battery, 76-traditional airborne socket, 77-fuse, 78-power-on switch, 79-lighting, 8-airframe detection cover, 9-airframe power supply socket, 10-airframe power supply, 11-airborne system, 111-airborne part, 12-ground system, 121-ground part, 13-airplane servo wheel, 14-rudder servo steering wheel, 15-power servo steering wheel, 16-wheel controller, 17-rudder surface controller, 18-power controller, 19-communication device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the description of the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.

Example 1: general ground inspection case

The freight unmanned plane belongs to typical transition flight. The goods-loading take-off airport uses the special equipment and professional personnel belonging to the unmanned aerial vehicle system, and ground inspection personnel and flight personnel complete the detection and maintenance before flying. When the system arrives at a landing airport, the system also needs to carry out pre-flight ground inspection and maintenance of aircrafts from the lateral deviation monitoring in the landing stage to the sliding shutdown, and the unloading operation to the re-starting flying field, and corresponding special equipment and professionals are needed. For unmanned aerial vehicle systems for other purposes, ground detection and flight services are faced similarly.

Obviously, special equipment and personnel required by the operation and flight of the freight unmanned aerial vehicle need to be deployed in place in advance, which is troublesome and high in cost. The invention is changed in that the airborne detection system 3 is installed on the unmanned aerial vehicle 1, is carried and used randomly, and is cut out special ground detection equipment for airports. The ground inspection personnel can use the portable detection equipment 51 of the airport instead, or use the airport monitoring equipment 52 to work, and provide general ground inspection guarantee service for various unmanned aerial vehicles; the field personnel at the airport can be used as general ground inspection personnel; in two cases, the invention provides a universal ground detection device, the power-on self-detection is carried out on the ground detection before the flight, the ground detection data is obtained and is distributed to the universal airport device 5, the remote flight control station 61 and the portable detection device 51 of the ground detection personnel in real time, and the multi-party data network sharing is superior to the traditional ground detection mode.

The invention designs the ground detection report, gives identification to the normal numerical value interval-deviation range of the detection data, gives prompt or alarm to the abnormal numerical value, helps ground detection personnel to reduce the technical difficulty of data identification, and is convenient for standardizing the general skills of the ground detection personnel. The technical support of a historical database or an expert database 39 is provided behind the generated detection report, so that the correctness and the accuracy of data identification are improved; and (3) resolving excessive dependence on the professional skill of a detector. Meanwhile, through the remote flight control station 61, enterprises of the unmanned aerial vehicle system or the holder of the unmanned aerial vehicle can consult on line, and can give technical treatment conclusion to special data or 'difficult and complicated diseases' in time, so that the ground inspection completion efficiency is improved, and the attendance rate and the punctuality rate of an airport are improved.

In order to ensure that the onboard detection system 3 normally supplies power on the airplane and does not depend on airport power supply quality, the onboard charger 33 is adopted to charge the traditional onboard storage battery 75, the unmanned aerial vehicle 1 can be connected with airport commercial power supply to normally work on the airport, and the flying punctuality rate is ensured; the onboard socket 76 of the unmanned aerial vehicle 1 is connected with the universal airport power supply socket 9, and the required special cable can be selectively carried onboard.

Example 2: general engineering case

The above example was followed. The pre-flight crew and routine crew maintenance of the freight unmanned aerial vehicle use special ground inspection equipment and full-time personnel to obtain the working state of the unmanned aerial vehicle system and determine whether the state of the airborne system 11 is abnormal or not and whether the crew maintenance is finished or not.

The invention configures the aircraft service module for the airborne detection system 3, and can provide the content of the aircraft service manual 38, including but not limited to the fault equipment information such as the equipment positioning, the associated equipment list, the equipment information including the manufacturing enterprise, the airport stock or the express delivery ordering information of the ground inspection report recognition fault; equipment installation graphic representation, display installation program or animation software, inspection content and method graphic representation after installation, and ground inspection report after maintenance can be provided; the reference sample of the fault analysis report, the fillable maintenance record, the product record book, the electronic signature of the maintenance personnel, the ground inspection report after maintenance and the confirmation information; sufficient engineering information data are provided to help realize the generalization of engineering maintenance skills; the expert repository 39 provides, among other things, support for expertise and historical data. All flight maintenance process data can be shared between the general purpose airport equipment 5 and the general purpose off-board equipment 6, and the trouble shooting can be performed.

At a take-off and landing airport in different places, the onboard detection system 3 and the aircraft service module thereof which are carried randomly can help airport personnel to implement general ground detection and aircraft service guarantee services. Thereby avoiding undue reliance on airport specific equipment and professionals. For routine maintenance of the drone 1 at an airport, the differences from the pre-flight ground inspection and the flight maintenance are that the time planning of the former is relatively strong and the time urgency is reduced appropriately, including the schedule of the replacement of the switch.

In order to quickly complete maintenance of the airplane and guarantee the airport punctuality rate, a certain number of maintenance spare parts are stocked in an airport, and support of maintenance of replacement parts is necessary. For conditional enterprises, a mobile spare part supply mode can be adopted, such as backup of an unmanned plane of the same type, carrying of common maintenance spare parts and provision of emergency spare part support; even the unmanned aerial vehicle can be detached for emergency use and used for waiting for other spare parts to be replenished after detachment. The universal airport equipment 5 and the maintenance technology of the aircrafts provided by the invention play a key role in reducing the operating cost of airports and supporting quick replacement and maintenance. In particular, the airport general-purpose equipment can be used and operated by enterprises, and ground detection and maintenance of various unmanned aerial vehicles in the airport and monitoring services of takeoff and landing are implemented.

Example 3: remote flight control station case

The unmanned aerial vehicle 1 can be operated by the general airport equipment 5 at the airport in the landing of taking off at the airport, is favorable to observing and holds the airport current situation, ensures airport gliding and safe taking off and landing. The general airport equipment 5 is mainly responsible for monitoring the takeoff and landing process of the unmanned aerial vehicle 1, and comprises manual remote regulation control; after leaving the airport airspace, the unmanned aerial vehicle 1 flies autonomously or the remote flight control station 61 in the general off-board equipment 6 continuously monitors the flight. General airport equipment 5 can provide public service for the multiple model unmanned aerial vehicle who takes off and land at the airport, the airport personnel can work in the environment of similar office, use the computer, arrange the manifest for unmanned aerial vehicle 1 that various types of applications fly, arrange to take off or the landing plan, command unmanned aerial vehicle 1's the landing of taking off in proper order, the management link of driving airport tower entrusts, also including managing the parking position of unmanned aerial vehicle 1 at the airport, goods handling, and the maintenance operation. The general airport equipment 5 can be networked with an airport tower to transmit the ground inspection confirmation information of the unmanned aerial vehicle 1, and even special computer monitoring equipment can be arranged on the airport tower to directly send emergency instructions to the emergency management of the unmanned aerial vehicle 1 in the airport airspace, such as avoidance standby, emergency landing, takeoff or stopping takeoff and the like.

During the taking off and landing process of the unmanned aerial vehicle 1 at the airport, the unmanned aerial vehicle is easily interfered by crosswind to generate lateral deviation, and the unmanned aerial vehicle may deviate from a runway in severe cases. Therefore, the advanced unmanned aerial vehicle 1 provides an autonomous deviation rectification capability through an onboard flight control system to cope with the crosswind threat. The invention provides an efficient autonomous deviation rectifying system 4, which is a supplement of a traditional airborne flight control system of an unmanned aerial vehicle 1, provides timely deviation rectifying response to reduce lateral deviation, is complementary with the airborne flight control system, and improves the safety of high-risk flight segments of takeoff and landing under the condition of navigation signal failure or over-limit deviation. An important role of the universal airport device 5 is to monitor the take-off and landing process via the 5G link, giving manual intervention for large lateral deviations.

As shown in fig. 7 and fig. 9, the autonomous deviation correcting system 4 or its built-in front video system 41 and several elements, including a front slope distance 48 and a side slope distance 49, are the spatial distance from the runway height of the front video system 41 to the ground point of the tracking frame, and the angle of the same plane, and solve the side slope distance and other distances, including the relevant distance of the target, in order to eliminate the influence of the curvature of the airport runway, the target may be at a certain height from the ground, and assuming that the height is consistent with the height of the "runway plane", the solution error may be ignored. Laser targets can be added at the targets to improve the resolving precision so as to facilitate accurate distance measurement or lateral deviation; the front video system 41 may be optionally configured with a tracking device such as a visible light video, a laser irradiator, and the like.

The remote flight control station 61 can provide manual deviation correction control for the sidesway of the unmanned aerial vehicle 1 in the sliding process outside the airport through a 5G network link. The unmanned aerial vehicle 1 enters an airport standby airspace or lands or takes off and slides, or slides in the airport, the remote flight control station 61 can be connected with the general airport equipment 5 through a 5G network and monitors the unmanned aerial vehicle 1 through authority management, and receives the information of the unmanned aerial vehicle 1 or sends information or instructions to the unmanned aerial vehicle 1. The remote flight control station 61 is capable of performing remote monitoring of the flight of the drone 1 using measurement and control links 74, including but not limited to using point-to-point data links, satellite mobile or satellite relay communication links, and short wave link devices.

The remote flight control station 61 may execute a flight monitoring support service for the unmanned aerial vehicle 1 on behalf of a manufacturing company of the unmanned aerial vehicle 1, or an operation company of the unmanned aerial vehicle 1, or a commission of a holder of the unmanned aerial vehicle 1. The remote flight control station 61 can receive the application of a plurality of airports or take-off and landing unmanned aerial vehicles 1 in adjacent areas or connected airspaces, and provides the aerial continuous flight monitoring of the remote flight control station 61 of the areas. The connection mode and the flow of the remote flight control station 61 with the airport and the unmanned aerial vehicle 1 through the 4/5G network outside the airport can be designed, including but not limited to connecting with the general airport equipment 5 through the 4/5G network so as to connect with the unmanned aerial vehicle airborne information system, and obtain the working state of the airborne system 11 of the unmanned aerial vehicle 1 and consultation ground inspection data; the unmanned aerial vehicle 1 can be connected with the remote flight control station 61 in the routine maintenance process of the airplane service at the airport to obtain technical or business support; the unmanned aerial vehicle 1 can be directly in communication connection with the flying unmanned aerial vehicle through a 5G network; the 4G network can be used for information interaction with the unmanned aerial vehicle 1 with low delay requirements. Especially, the remote flight control station 61 or the universal airport device 5 can adopt a manual mode to monitor the sliding process of the unmanned aerial vehicle 1 at the airport and implement manual deviation correction remote regulation control.

Compared with the traditional ground control station of the unmanned aerial vehicle system, the remote flight control station 61 can interoperate through interconnection, and through a mode of providing general services, the requirements that the traditional unmanned aerial vehicle system depends on high cost of special equipment and occupies a large area of an airport are reduced, the requirements that the traditional unmanned aerial vehicle system depends on high cost and a high skill threshold of a full-time staff are depended on, the technical scheme of the airborne system 11 can be correspondingly changed along with the change of the technical scheme of the ground equipment of the unmanned aerial vehicle system, and the cost is further reduced.

Example 4 remote work station case

The flight mission of the drone 1 is to perform certain operations, namely navigation operations. At present, the operation of the unmanned aerial vehicle 1 is mostly carried out by a flight director at an airport according to a preset air route, particularly, an operator at a flight control station at the airport operates the unmanned aerial vehicle, and the unmanned aerial vehicle is monitored according to the actual flight path of the unmanned aerial vehicle 1 compared with the situation of air route planning. The general situation can meet the operation requirement, but the operation mode requires that the route data of the operation site is prepared in advance, the route planning of the operation target is designed, and the route or the navigation height needs to be adjusted under the conditions of complex weather and the like; the commander or the operator only needs to be less than the information on the entangled operation site. For the flight with uncertain operation task positions such as emergency rescue and the like, flexible use and accurate operation are challenges for commanders or operators.

The remote operation station 62 provided by the invention is already common for small unmanned aerial vehicles to take off on the spot and operate on the spot. But no such field device is currently convenient for industrial-scale large unmanned aerial vehicle systems that rely on airports to take off and land. The invention designs a remote operation station 62, which firstly equips a large unmanned aerial vehicle system of an airport taking-off and landing type with equipment capable of being moved forward to an operation site, secondly expands the concept of the operation site, namely, the large unmanned aerial vehicle system receives and transmits 5G information with an unmanned aerial vehicle 1 through local 5G network connection, or the interconnection and intercommunication interoperation technology application of a measurement and control link 74, can meet the operation requirements of multiple points at different places except the airport, meet the requirements of flexibly binding operation routes such as aerial photography for the unmanned aerial vehicle 1 at the operation site, provide temporary air-drop routes of a rescue site, and aviation data support such as forest fire extinguishing routes, and realize an innovative application mode of delivering the unmanned aerial vehicle 1 to a commander at the operation site for flexible scheduling and use.

The remote operation station 62 can be entrusted to provide public service for different unmanned aerial vehicle holders, so that the operation technical threshold is reduced, and the cost of special equipment and personnel is reduced.

The remote operation station 62 is mainly provided with 4/5G communication or line-of-sight measurement and control link 74 equipment in terms of cost, and the unmanned aerial vehicle 1 autonomously flies to reach the remote operation station, or the remote flight control station 61 guides the remote operation station 62 to reach the operation area; a remote flight control station 61 may be used instead and, depending on the operational requirements, be arranged at the work site or the navigable operation may be carried out off-site. The remote operator station 62 may be simplified as a portable device or as a wearable device or as a retrofit over-the-horizon link and assisted take-off and landing device for emergency delivery use in an emergency scene or in a border battlefield.

Example 5 application promotion

The new concept system is suitable for the 6G communication technology; the method can be applied to the refitting of general aviation airplanes. Firstly, a conventional modified airborne system 7 is implemented on a to-be-modified navigation aircraft, namely a conventional modified airborne control system 71, a servo controller 72 and a servo mechanism 73 are implemented; the second step is again to this navigation aircraft implement above new concept system add the repacking and be connected with traditional machine system 7, add repacking information management system 2 promptly, machine carries detecting system 3, and autonomic rectifying system 4 reforms system organism detection flap 8 to connect general airport equipment 5 with equipment number 21 or thing networking card, connect general off-board equipment 6. Suitable convertible general aviation aircraft include, but are not limited to, domestic aircraft such as the 5, 7, 8, 9, 12, eagle 500, imported and its domestic aircraft such as the Sessner 162, 172, 208 and 208EX series, 408 series, BicKing 350ER and C90 series, diamond series 20, 40, 42 and 50 series from Olympic Diamond, Quest "big Brown bear" 100, Australian-8 "Airbus" series, and Australian Jiabao (Jabiru) J series such as J230-D, and Slowak Viper SD-4 "poisonous snake" series.

The above embodiments are merely illustrative of the technical idea of the present invention, and it is apparent to those skilled in the art that the present invention is not limited to the details of the above embodiments and can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (10)

1. A design method of a monitoring system for take-off and landing of an unmanned aerial vehicle at an airport is characterized by comprising the following steps: on the basis of traditional airborne system equipment and ground system equipment of an active unmanned aerial vehicle system, a monitoring system for taking off and landing of an unmanned aerial vehicle at an airport is added, and recombination and cutting are carried out; the traditional airborne system is connected with an airborne information management system, an airborne detection system and an autonomous deviation rectification system; the device built in the detection port cover of the machine body is adaptively modified; newly adding portable detection equipment, airport monitoring equipment or a tower monitoring console to which the general airport equipment belongs; the remote flight control station and the remote operation station to which the general off-board equipment belongs, an expanded 4/5G communication link and man-machine operation equipment.

2. The design method of the monitoring system for taking off and landing of the unmanned aerial vehicle at the airport according to claim 1, is characterized in that: the monitoring of the takeoff and landing of the unmanned aerial vehicle at the airport comprises one or the combination of the following steps:

1) receiving unmanned aerial vehicle information or sending a control instruction to the unmanned aerial vehicle through a 5G network;

2) the general airport equipment is in wireless connection through an information management system of the unmanned aerial vehicle, receives airborne information of the unmanned aerial vehicle, and sends information or instructions for operating the unmanned aerial vehicle, wherein the information or instructions comprise manual monitoring and instruction sending remote regulation and correction of the sliding process of the unmanned aerial vehicle on a runway; connecting a corresponding human-computer interface of a tower monitoring station through the expansion of the general airport equipment so as to monitor the unmanned aerial vehicle by interactive information, or setting the tower monitoring station for sending emergency instructions for the airport tower;

3) the information of the unmanned aerial vehicle is directly connected with an airport tower monitoring station through an information management system, so that the functions of monitoring the unmanned aerial vehicle and sending an emergency instruction are realized; the airborne detection system is wirelessly connected with the general airport equipment of the airport and the general off-site equipment outside the airport through a 5G network of the information management system;

4) the general airport equipment uses an airborne detection system to carry out power-on self-test of the unmanned aerial vehicle before flying or routine maintenance, and airborne information required by the maintenance of the aircrafts is obtained; the unmanned aerial vehicle receives instructions or information sent by the general airport equipment; the general off-board equipment establishes wireless connection with the unmanned aerial vehicle and uses the information of the airborne detection system;

5) during takeoff and landing of the unmanned aerial vehicle at an airport, the autonomous deviation correcting system generates side deviation distance information of the unmanned aerial vehicle, transmits the side deviation distance information to the control system in a shunting manner, and executes deviation correcting control according to a deviation correcting control rate scheme; each servo controller selects one deviation rectifying instruction to be used for controlling each servo mechanism, including a main wheel differential mechanism and a wheel servo steering engine of a front wheel steering mechanism, a pneumatic control surface steering engine and a power control steering engine of an accelerator or a power vector according to a deviation rectifying control rate scheme, so that automatic deviation rectifying control of unmanned aerial vehicle side offset is realized;

6) the front-end video system identifies and tracks runway markers of the airport to generate the lateral offset information of the unmanned aerial vehicle.

3. The utility model provides a monitored control system that unmanned aerial vehicle takes off and lands at airport which characterized in that: the system comprises an unmanned aerial vehicle (1), an information management system (2), an airborne detection system (3), an autonomous deviation rectification system (4), a general airport device (5) and a general off-site device (6); the system comprises an information management system (2), an airborne detection system (3) and an autonomous deviation rectification system (4), wherein the autonomous deviation rectification system (4) is installed on an unmanned aerial vehicle (1) and is correspondingly connected with a traditional airborne system (7) of the unmanned aerial vehicle; the general airport device (5) comprises a portable detection device (51), an airport monitoring device (52) and a tower monitoring station (53), and is arranged at an airport for use; the general off-board equipment (6) comprises a remote flight control station (61) and a remote operation station (62) which are arranged on the off-board ground for use.

4. The unmanned aerial vehicle monitoring system that takes off and lands at the airport of claim 3, characterized in that: the information management system (2) is composed of a plurality of onboard devices and comprises a device number (21) and an 4/5G antenna (22); the information management system (2) is in wired connection with a plurality of airborne systems of the unmanned aerial vehicle (1) and comprises an airborne control system (71), a servo manager (72), an airborne detection system (3) and an autonomous deviation rectification system (4) which a traditional airborne system (7) belongs to; and is wirelessly connected with a plurality of function systems on the ground through an 4/5G antenna (22), wherein the function systems comprise a general airport device (5) and a general off-board device (6); an airborne traditional measurement and control link of the unmanned aerial vehicle (1) is in wireless connection with the general off-board equipment (6) through a measurement and control link (74) belonging to a traditional ground system.

5. The unmanned aerial vehicle monitoring system for takeoff and landing at an airport according to claim 3 or 4, wherein: the general airport device (5) comprises a portable detection device (51), an airport monitoring device (52) and a tower monitoring station (53); the portable detection equipment (51) is used for ground inspection personnel at an airport and carried by crew members, and the airport monitoring equipment (52) is used for monitoring the unmanned aerial vehicle by the airport personnel and comprises a step of receiving information of the unmanned aerial vehicle (1) through a 5G network or sending a control command to the unmanned aerial vehicle (1); the general airport equipment (5) is in wireless connection through an information management system (2) of the unmanned aerial vehicle, receives airborne information of the unmanned aerial vehicle, and sends information or instructions for operating the unmanned aerial vehicle, wherein the information or instructions comprise manual monitoring and instruction sending remote regulation and correction of the sliding process of the unmanned aerial vehicle on a runway; through the expansion of the universal airport equipment (5), the corresponding human-computer interface of the tower monitoring station (53) can be connected so as to monitor the unmanned aerial vehicle (1) by interactive information, or the tower monitoring station (53) which can send emergency instructions is arranged for the airport tower; and through information management system (2), unmanned aerial vehicle (1) information can lug connection airport tower control station (53), realizes the control and the emergent instruction transmission function to unmanned aerial vehicle (1).

6. The unmanned aerial vehicle monitoring system for takeoff and landing at an airport according to claim 3 or 4, wherein: the airborne detection system (3) is composed of a plurality of airborne devices and comprises an airborne detection module (31), a power module (32), an airborne charger (33), a detection switch group (34), an external interface (35), an airborne display (36), an indicator light and an illuminating lamp (37); wherein the onboard detection module (31) is a built-in device of the onboard detection system (3); the detection switch group (34), the external interface (35), the airborne display (36), the indicator light and the illuminating lamp (37) are arranged in the detection opening cover (8) of the ground body on the body.

7. The unmanned aerial vehicle monitoring system for takeoff and landing at an airport according to claim 3 or 4, wherein: the automatic deviation rectifying system (4) consists of a plurality of airborne equipment, and comprises an airborne front video system (41), a telecommunication controller (42), a front illuminating lamp (43) and a ground runway marker (44); the runway marker (44) of the ground surface comprises a runway centerline (45), a runway target (46); the automatic deviation rectifying system (4) is connected with the information management system (2) and is connected with the traditional airborne system (7).

8. The unmanned aerial vehicle monitoring system for takeoff and landing at an airport according to claim 3 or 4, wherein: the remote flight control station (61) to which the general off-board equipment (6) belongs is composed of a plurality of ground equipment, and comprises a ground measurement and control link (74) which corresponds to the measurement and control link (74) and is in wireless connection and a ground 4/5G antenna which corresponds to the airborne 4/5G antenna (22) and is in wireless connection.

9. The unmanned aerial vehicle monitoring system that takes off and lands at the airport of claim 6, characterized in that: the remote flight control station (61) may be deployed at a location outside of an airport in a manner that includes:

1) the ground 4/5G network is wirelessly connected with an unmanned aerial vehicle information management system (2) of an airport to realize remote monitoring, and ground information interaction or instruction operation is carried out on unmanned aerial vehicles in a plurality of airport areas in adjacent areas or connected air;

2) the aerial continuous flight monitoring of the remote flight control station (61) in the extended area is provided for the unmanned aerial vehicle (1) after the takeoff of the airport through a ground measurement and control link, the aerial continuous flight monitoring comprises the monitoring of remote measurement and remote control and information transmission of operation flight, and data are distributed to an unmanned aerial vehicle holder or a designated object thereof.

10. The unmanned aerial vehicle monitoring system for takeoff and landing at an airport according to claim 3 or 4, wherein: the remote operation station (62) to which the general off-board equipment (6) belongs is composed of a plurality of ground equipment, and comprises a ground measurement and control link or a 4/5G antenna which is in wireless connection with the measurement and control link (74) or the 4/5G antenna (22); the performance of interconnection and intercommunication interoperation can be designed for the measurement and control link (74); the remote operation station (62) is in wireless connection with the information management system (2) of the unmanned aerial vehicle (1) through an 4/5G network and receives airborne information of the unmanned aerial vehicle (1); the unmanned aerial vehicle (1) is wirelessly connected with the unmanned aerial vehicle (1) through a measurement and control link (74) to monitor the unmanned aerial vehicle (1); the remote operation station (62) and the remote flight control station (61) carry out wireless connection and monitoring operation on the unmanned aerial vehicle (1) together, or are independently used as the remote flight control station with the visual range; the remote workstations (62) may be deployed for use and obtain rights including authorization to stand-by or extend the general off-board device (6).

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