CN117193337A - Variable-angle vehicle-mounted unmanned aerial vehicle take-off and landing system and method under condition of high-speed movement of vehicle - Google Patents
Variable-angle vehicle-mounted unmanned aerial vehicle take-off and landing system and method under condition of high-speed movement of vehicle Download PDFInfo
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Abstract
The application relates to a take-off and landing system and a take-off and landing method of a variable-angle vehicle-mounted unmanned aerial vehicle under a high-speed motion condition of a vehicle, wherein the take-off and landing system comprises the following steps: the device comprises an onboard soft connecting assembly, an onboard soft connecting assembly and a hard connecting assembly, wherein the hard connecting assembly comprises a first butt joint device arranged on the onboard soft connecting assembly and a second butt joint device arranged on the onboard soft connecting assembly, and when the unmanned aerial vehicle judges that the unmanned aerial vehicle meets the preset landing condition, the onboard soft connecting assembly sends a butt joint element in the first butt joint device to the onboard soft connecting assembly; the vehicle-mounted soft connection assembly sends the docking element to a preset position of the second dockee, fixes the docking element and generates a flexible connection instruction; the hard connection assembly adjusts the docking angle of the second docker according to the current angle of the first docker on the unmanned aerial vehicle, the second docker is rigidly docked with the first docker, after docking is completed, the second docker is lowered to the vehicle, unmanned aerial vehicle landing is completed, and the unmanned aerial vehicle is enabled to fall stably and reliably in a low-altitude following state, and is efficient and safe.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a variable-angle vehicle-mounted unmanned aerial vehicle take-off and landing system and method under the condition of high-speed movement of a vehicle.
Background
With the continuous progress of technology, traffic resources at high altitude, ground and ground have been developed to a great extent, but low-altitude resources remain a region to be developed. In recent years, unmanned aerial vehicle technology is developed at a high speed, and the unmanned aerial vehicle technology plays an increasingly important role in various fields such as urban logistics, agricultural monitoring, power inspection, emergency rescue and the like with the advantages of high speed, convenience, high maneuverability and the like, and becomes an important carrier for utilizing low-altitude resources. However, due to the problems of poor carrying capacity, low endurance mileage and the like, the unmanned aerial vehicle cannot perform large-scale and complex tasks, and further development of the unmanned aerial vehicle is hindered. In order to solve the problems, the academic community tries to connect the unmanned aerial vehicle with the existing traffic participants (such as buses, trucks, private cars and the like), and the unmanned aerial vehicle can take the social vehicles to run forward and backward by designing the vehicle-mounted unmanned aerial vehicle take-off and landing platform, so that the purposes of expanding the movable coverage range of the unmanned aerial vehicle and saving energy are achieved.
However, most of the existing researches focus on algorithms of unmanned aerial vehicle landing on the roof, and lack of consideration on the design of a vehicle-mounted landing platform, so that situations such as inaccurate landing positions, abnormal landing postures, landing failure and the like of the unmanned aerial vehicle occur in various working conditions such as high-speed running of vehicles, running on rugged road sections, running under severe weather and the like, and in the existing landing platform, the problems of fixed landing model, large landing impact, poor response at high speed, slow emergency response and the like are generally existed, so that the problems are to be solved.
Disclosure of Invention
The application provides a take-off and landing system and method for a variable-angle vehicle-mounted unmanned aerial vehicle under a high-speed motion condition of a vehicle, which are used for solving the problems that the unmanned aerial vehicle cannot keep stable relative positions with the vehicle at a high speed due to the fact that the accuracy of an unmanned aerial vehicle sensing and controlling algorithm is reduced, the existing take-off and landing platform is fixed in lifting direction, fixed in landing model, large in landing impact, poor in response at the high speed and slow in emergency response, and the flight and landing of the unmanned aerial vehicle are influenced.
An embodiment of a first aspect of the present application provides a variable angle vehicle-mounted unmanned aerial vehicle landing system under a high-speed vehicle motion condition, including: the system comprises an onboard soft connection assembly arranged on an unmanned aerial vehicle, a vehicle-mounted soft connection assembly arranged on a vehicle and a hard connection assembly, wherein the hard connection assembly comprises a first butt joint device arranged on the onboard soft connection assembly and a second butt joint device arranged on the vehicle-mounted soft connection assembly, and the onboard soft connection assembly is used for sending a butt joint element in the first butt joint device to the vehicle-mounted soft connection assembly when the unmanned aerial vehicle judges that a preset landing condition is met; the vehicle-mounted soft connection assembly is used for sending the docking element to a preset position of the second docker, fixing the docking element and generating a flexible connection instruction after the docking element is fixed; the hard connection assembly is used for adjusting the docking angle of the second docker according to the current angle of the first docker on the unmanned aerial vehicle after the vehicle-mounted soft connection assembly generates the flexible connection instruction, rigidly docking the second docker with the first docker, and lowering the second docker to the vehicle after the rigid docking is completed, so that the unmanned aerial vehicle landing is completed.
Optionally, the onboard soft connection assembly includes: a positioning unit for positioning a first real-time position of the vehicle; the following unit is used for controlling the unmanned aerial vehicle to fly above the vehicle according to the first real-time position; and the judging unit is used for judging that the preset landing condition is met when the unmanned aerial vehicle flies above the vehicle.
Optionally, the vehicle-mounted soft connection assembly includes: the detection unit is used for detecting whether the abutting element reaches the preset position; and the fixing unit is used for fixing the butting element according to the preset position.
Optionally, the hard-wired assembly further comprises: and the lifting unit is used for pushing the second docker to the bottom of the unmanned aerial vehicle to be in rigid docking with the first docker.
Optionally, the hard-wired assembly further comprises: the angle adjusting unit is used for positioning a second real-time position of the unmanned aerial vehicle and adjusting the angle of the lifting unit according to the second real-time position, so that the lifting unit ascends towards the area where the unmanned aerial vehicle is located and is rigidly abutted with the first butt joint device.
Optionally, the hard-wired assembly further comprises: a speed acquisition unit configured to acquire a current speed of the vehicle; the angle adjustment unit is further configured to: when the unmanned aerial vehicle meets a preset take-off condition, determining an optimal take-off inclination angle of the unmanned aerial vehicle according to the current speed, and adjusting the take-off angle of the unmanned aerial vehicle to the optimal take-off inclination angle.
Optionally, the variable angle vehicle-mounted unmanned aerial vehicle take-off and landing system under the condition of high-speed motion of the vehicle further comprises: the unmanned aerial vehicle comprises a first communication unit and a second communication unit, wherein the first communication unit is arranged on the unmanned aerial vehicle, the second communication unit is arranged on the vehicle, and the first communication unit and the second communication unit are used for establishing communication between the unmanned aerial vehicle and the vehicle.
Optionally, the variable angle vehicle-mounted unmanned aerial vehicle take-off and landing system under the condition of high-speed motion of the vehicle further comprises: the reminding component is used for generating reminding information when the unmanned aerial vehicle finishes landing.
An embodiment of the second aspect of the present application provides a variable angle unmanned aerial vehicle take-off and landing method under a high-speed vehicle motion condition, using the variable angle unmanned aerial vehicle take-off and landing system under a high-speed vehicle motion condition, wherein the method includes the following steps: when the unmanned aerial vehicle judges that the preset landing condition is met, the onboard soft connection assembly sends a docking element in the first dockee to the onboard soft connection assembly; the vehicle-mounted soft connection assembly is used for sending the docking element to a preset position of the second docker, fixing the docking element and generating a flexible connection instruction after the docking element is fixed; after the vehicle-mounted soft connection assembly generates the flexible connection instruction, the hard connection assembly adjusts the docking angle of the second docker according to the current angle of the first docker on the unmanned aerial vehicle, rigidly docks the second docker with the first docker, and descends the second docker to the vehicle after the rigid docking is completed, so that the unmanned aerial vehicle landing is completed.
Optionally, the method for taking off and landing the variable-angle vehicle-mounted unmanned aerial vehicle under the condition of high-speed movement of the vehicle further comprises the following steps: and when the unmanned aerial vehicle meets a preset take-off condition, the angle adjusting unit determines an optimal take-off inclination angle of the unmanned aerial vehicle according to the current speed and the type of the unmanned aerial vehicle, and adjusts the take-off angle of the unmanned aerial vehicle to the optimal take-off inclination angle.
The unmanned aerial vehicle comprises an onboard soft connection assembly, an onboard soft connection assembly and a hard connection assembly, wherein the hard connection assembly comprises a first butt joint device arranged on the onboard soft connection assembly and a second butt joint device arranged on the onboard soft connection assembly, when the unmanned aerial vehicle judges that the unmanned aerial vehicle meets the preset landing condition, the onboard soft connection assembly sends a butt joint element in the first butt joint device to the onboard soft connection assembly, the onboard soft connection assembly sends the butt joint element to the preset position of the second butt joint device, the butt joint element is fixed, after the fixing is finished, a flexible connection instruction is generated, the hard connection assembly adjusts the butt joint angle of the second butt joint device according to the current angle of the first butt joint device on the unmanned aerial vehicle, the second butt joint device is rigidly connected with the first butt joint device, and after the butt joint is finished, the second butt joint device is lowered to the vehicle, and the unmanned aerial vehicle is finished. From this, solved because unmanned aerial vehicle perception and control algorithm precision decline for unmanned aerial vehicle can't keep stable with vehicle relative position under the high speed, and current take off and land platform lifting direction is fixed, the landing model is fixed, the landing is strikeed big, response is poor under the high speed, emergency response is slow, influence unmanned aerial vehicle flight and the problem of landing, need not high accuracy sensor can realize unmanned aerial vehicle and vehicle butt joint, the system is succinct, and easy to use, and be suitable for multiple unmanned aerial vehicle model, adopt ripe mechanical structure and control, make unmanned aerial vehicle drop reliable and stable under the state that the low altitude followed, it is high-efficient safe.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
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The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a schematic block diagram of a take-off and landing system of a variable-angle vehicle-mounted unmanned aerial vehicle under a high-speed vehicle motion condition according to an embodiment of the present application;
fig. 2 is a schematic structural view of a variable angle unmanned aerial vehicle take-off and landing system under high-speed vehicle motion conditions according to an embodiment of the present application;
FIG. 3 is a schematic view of a dock ball falling into a dock of a vehicle according to one embodiment of the present application;
FIG. 4 is a schematic illustration of a pushrod angle change according to an embodiment of the application;
FIG. 5 is a schematic illustration of a connection of a drone dockee with a vehicle dock according to one embodiment of the application;
FIG. 6 is a schematic illustration of a drone landing and docking according to one embodiment of the present application;
fig. 7 is a schematic flow chart of unmanned landing according to one embodiment of the present application;
FIG. 8 is a schematic flow chart of unmanned aerial vehicle takeoff according to one embodiment of the present application;
fig. 9 is a schematic flow chart of a take-off and landing system of a variable-angle vehicle-mounted unmanned aerial vehicle under a high-speed motion condition of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes a variable angle unmanned aerial vehicle take-off and landing system and method under a high-speed vehicle motion condition with reference to the accompanying drawings. Aiming at the problems that the unmanned aerial vehicle can not keep stable relative position with a vehicle at high speed due to the fact that the accuracy of the sensing and control algorithm of the unmanned aerial vehicle is reduced in the background center, and the existing take-off and landing platform is fixed in lifting direction, fixed in landing model, large in landing impact, poor in response at high speed and slow in emergency response, and the flight and landing of the unmanned aerial vehicle are influenced, the application provides a variable-angle vehicle-mounted unmanned aerial vehicle take-off and landing system under the condition of high-speed movement of the vehicle, which comprises the following steps: the unmanned aerial vehicle comprises an airborne soft connecting component, an airborne soft connecting component and a hard connecting component, wherein the hard connecting component comprises a first butt joint device arranged on the airborne soft connecting component and a second butt joint device arranged on the vehicle soft connecting component, the airborne soft connecting component sends a butt joint element in the first butt joint device to the vehicle soft connecting component when the unmanned aerial vehicle judges that the preset landing condition is met, the vehicle soft connecting component sends the butt joint element to the preset position of the second butt joint device and fixes the butt joint element, after the fixing is finished, a flexible connecting instruction is generated, the hard connecting component adjusts the butt joint angle of the second butt joint device according to the current angle of the first butt joint device on the unmanned aerial vehicle, the second butt joint device is rigidly connected with the first butt joint device, and after the butt joint is finished, the second butt joint device is lowered to the vehicle to finish the landing of the unmanned aerial vehicle. From this, solved because unmanned aerial vehicle perception and control algorithm precision decline for unmanned aerial vehicle can't keep stable with vehicle relative position under the high speed, and current take off and land platform lifting direction is fixed, the landing model is fixed, landing impact is big, response is poor under the high speed, emergency response is slow, lead to unmanned aerial vehicle can't with the vehicle stable in the high speed, accurate, quick docking's problem, need not high accuracy sensor can realize unmanned aerial vehicle and vehicle docking, the system is succinct, and is simple to use, and be suitable for multiple unmanned aerial vehicle model, adopt ripe mechanical structure and control, make unmanned aerial vehicle drop reliable and stable under the state that the low altitude follows, high efficiency is safe.
Under the condition of high-speed movement of a vehicle, the accuracy of the existing unmanned aerial vehicle sensing and control algorithm is reduced, the unmanned aerial vehicle cannot be enabled to be stable at the relative position between the unmanned aerial vehicle and the vehicle to be followed at a high speed, the unmanned aerial vehicle is inclined during flight, and in the movement process of the vehicle to be followed, the pose of the unmanned aerial vehicle is uncertain, and the safety and stability of landing are affected more.
The roof certain region has large-area turbulence when high-speed motion, and unmanned aerial vehicle individual head is less, and its power supply is the air, so this will influence the flight and the landing of unmanned aerial vehicle itself, cause unmanned aerial vehicle gesture's unstability to cause the potential safety hazard, for example, propose a portable on-vehicle unmanned aerial vehicle's intelligent take-off and land system in the correlation technique, install universal ball and conducting ring in unmanned aerial vehicle undercarriage bottom, design double-deck bowl's landing platform for unmanned aerial vehicle can drop at platform central authorities, and accomplish and charge. However, the method can only realize the fixed butt joint of the vehicle and the unmanned aerial vehicle, and the lifting platform has only the degree of freedom of lifting in the vertical direction, and the degree of freedom of the lifting platform cannot be adjusted according to the angle of the unmanned aerial vehicle, so that landing and take-off failure of the unmanned aerial vehicle are easily caused.
Specifically, fig. 1 is a block schematic diagram of a take-off and landing system of a variable-angle vehicle-mounted unmanned aerial vehicle under a high-speed motion condition of a vehicle provided by an embodiment of the application.
As shown in fig. 1 and 2, the variable angle vehicle-mounted unmanned aerial vehicle take-off and landing system 10 under the condition of high-speed movement of the vehicle includes: the device comprises an onboard soft connection assembly 100 arranged on an unmanned aerial vehicle, an onboard soft connection assembly 200 arranged on a vehicle and a hard connection assembly 300, wherein the hard connection assembly 300 comprises a first butt joint device arranged on the onboard soft connection assembly 100 and a second butt joint device arranged on the onboard soft connection assembly 200, and the onboard soft connection assembly 100 is used for sending a butt joint element in the first butt joint device to the onboard soft connection assembly 200 when the unmanned aerial vehicle judges that a preset landing condition is met; the vehicle-mounted soft connection assembly 200 is used for sending the docking element to a preset position of the second dockee, fixing the docking element and generating a flexible connection instruction after the docking element is fixed; the hard connection assembly 300 is configured to adjust a docking angle of the second dockee according to a current angle of the first dockee on the unmanned aerial vehicle after the vehicle-mounted soft connection assembly 200 generates the flexible connection instruction, rigidly dock the second dockee with the first dockee, and descend the second dockee to the vehicle after the rigid docking is completed, thereby completing the landing of the unmanned aerial vehicle.
Optionally, in some embodiments, the variable angle vehicle-mounted unmanned aerial vehicle take-off and landing system 10 under the condition of high-speed movement of the vehicle further includes: the reminding component is used for generating reminding information when the unmanned aerial vehicle finishes landing.
The unmanned aerial vehicle comprises an RTK, an SDK and a gyroscope, and can sense the gesture of the unmanned aerial vehicle and send and receive information with the singlechip by utilizing Bluetooth.
In the embodiment of the application, the docking element can be a docking rope or a docking ball, and can also be other docking elements capable of realizing the soft connection function.
Wherein the first and second docks are typically comprised of snaps, magnets or other securing means.
Optionally, in some embodiments, the onboard soft connection assembly 100 includes: a positioning unit, a following unit and a judging unit. The positioning unit is used for positioning a first real-time position of the vehicle; the following unit is used for controlling the unmanned aerial vehicle to fly above the vehicle according to the first real-time position; the judging unit is used for judging that the preset landing condition is met when the unmanned aerial vehicle flies above the vehicle. Wherein, the positioning unit can be a vehicle-mounted RTK.
Optionally, in some embodiments, the in-vehicle soft connect assembly 200 includes: a detection unit and a fixing unit. The detecting unit is used for detecting whether the butt joint element reaches a preset position or not; the fixing unit is used for fixing the butt joint element according to a preset position.
In the embodiment of the application, the detection unit can be a photoelectric door, the fixing unit can be a beam-converging clamp, the detection unit can be other elements for realizing the detection function, and the fixing unit can be other elements for realizing the fixing function.
Optionally, in some embodiments, the hardwired assembly 300 further includes: and a lifting unit. The lifting unit is used for pushing the second butt joint device to the bottom of the unmanned aerial vehicle to be in rigid butt joint with the first butt joint device.
Optionally, in some embodiments, the hardwired assembly 300 further includes: and an angle adjusting unit. The angle adjusting unit is used for positioning a second real-time position of the unmanned aerial vehicle, and adjusting the angle of the lifting unit according to the second real-time position, so that the lifting unit ascends towards the area where the unmanned aerial vehicle is located and is rigidly connected with the first connector.
The lifting unit consists of a push rod and other devices or consists of a rudder unit and other devices.
Optionally, in some embodiments, the variable angle vehicle-mounted unmanned aerial vehicle take-off and landing system 10 under the condition of high-speed movement of the vehicle further includes: the system comprises a first communication unit arranged on the unmanned aerial vehicle and a second communication unit arranged on the vehicle, wherein the first communication unit and the second communication unit are used for establishing communication between the unmanned aerial vehicle and the vehicle.
Before the drone interfaces with the vehicle, a communication unit needs to be provided on the vehicle and the drone. The first communication unit and the second communication unit are Bluetooth modules and are connected with the singlechip, the first communication unit and the second communication unit are used for establishing communication between the unmanned aerial vehicle and the vehicle, the first communication unit receives information such as speed or position of the vehicle, and the second communication unit receives pose information of the unmanned aerial vehicle.
Specifically, the vehicle-mounted RTK locates the first real-time position of the vehicle, locks the position of the unmanned aerial vehicle through a method such as camera visual location or a pressure sensor, and the like, the following unit controls the unmanned aerial vehicle to fly to the upper side of the vehicle according to the first real-time position, when the unmanned aerial vehicle flies to the upper side of the vehicle and meets the preset landing condition, for example, under the condition that the displacement of the unmanned aerial vehicle is small, or the relative position of the vehicle and the unmanned aerial vehicle is unstable, and the flying posture of the unmanned aerial vehicle is inclined or unstable, after the unmanned aerial vehicle receives a docking instruction sent by the micro controller in the vehicle, the first docking device releases a flexible docking rope, as shown in fig. 3, a docking ball is sent to a bowl-shaped central opening of the second docking device, the following unit is composed of a motor and a wire wheel, and is responsible for pulling the docking element, when the docking ball falls to the bottom of the second docking device, the docking ball receives the docking ball, and detects whether the docking element reaches the preset position, and after the docking element reaches the preset position, sends a photoelectric door signal to the beam clamp, the pneumatic beam clamp, and the flexible docking ball is connected with the docking ball, as shown in the following, and the flexible docking ball is formed, and the flexible docking device is controlled. The design of the appearance of the butt-joint rope and the butt-joint ball needs to consider the influence of air resistance so as to ensure the stability and the safety of the system in a high-speed motion state.
Further, after the docking ball is grasped, a flexible connection instruction is generated, under the condition that the docking ball is locked and the displacement of the unmanned aerial vehicle is small, the micro controller sends a pushing instruction to the push rod structure, so that the second docker is lifted along the direction of the docking rope, as shown in fig. 4, the push rod structure pushes the second docker to the bottom of the unmanned aerial vehicle to rigidly dock with the first docker, as shown in fig. 5, at the moment, the angle adjusting unit positions the second real-time position of the unmanned aerial vehicle, adjusts the angle of the push rod structure according to the second real-time position, so that the push rod structure is lifted towards the area where the unmanned aerial vehicle is located and rigidly docked with the first docker, and docking precision is lowered, therefore, when the position of the unmanned aerial vehicle is changed, the tilting direction of the push rod structure can be changed along with the change of the position of the unmanned aerial vehicle, and the second docker is always lifted towards the unmanned aerial vehicle.
Further, when the unmanned aerial vehicle finishes landing, the unmanned aerial vehicle sends a signal of successful landing to the reminding element, and the reminding element in the vehicle sends a voice reminding or acoustic reminding for the unmanned aerial vehicle to finish landing, so that the user is reminded that the unmanned aerial vehicle finishes landing. Further, the pressure sensor on the first butt joint device transmits a butt joint success signal to the micro controller, the micro controller controls the push rod structure to stop ascending and transmits a signal to the unmanned aerial vehicle, so that the unmanned aerial vehicle stops rotating, at the moment, the micro controller transmits a descending instruction to the push rod structure, the push rod structure slowly descends, the push rod structure descends to a vehicle, and the unmanned aerial vehicle is descended and righted, as shown in fig. 6.
In order to enable those skilled in the art to further understand the variable angle unmanned aerial vehicle take-off and landing system under the condition of high-speed movement of the vehicle according to the embodiment of the present application, the following description will be provided in detail with reference to the specific embodiment, as shown in fig. 7.
As shown in fig. 7, in step S701, the unmanned aerial vehicle flies to above the vehicle by positioning and navigation to follow.
In step S702, the determination unit determines whether the current unmanned aerial vehicle satisfies a landing condition. If the landing condition is satisfied, step S703 is executed, otherwise, it is re-determined whether the current unmanned aerial vehicle satisfies the landing condition.
In step S703, the first dockee of the unmanned aerial vehicle releases the docking ball to the second dockee of the vehicle, and soft connection of the unmanned aerial vehicle and the second dockee is achieved.
In step S704, the push rod structure pushes the second dockee to rise according to the tilt angle of the unmanned aerial vehicle to dock with the first dockee, so as to realize hard connection between the unmanned aerial vehicle and the second dockee.
In step S705, the putter structure is returned to normal and lowered, and the unmanned aerial vehicle completes landing.
Optionally, in some embodiments, the hardwired assembly 300 further includes: and a speed acquisition unit. The speed acquisition unit is used for acquiring the current speed of the vehicle; the angle adjustment unit is also used for: when the unmanned aerial vehicle meets the preset take-off condition, determining the optimal take-off inclination angle of the unmanned aerial vehicle according to the current speed and the type of the unmanned aerial vehicle, and adjusting the take-off angle of the unmanned aerial vehicle to the optimal take-off inclination angle.
Specifically, as shown in fig. 8, in step S801, the angle adjustment unit adjusts the takeoff angle of the unmanned aerial vehicle to an optimal takeoff angle according to the acquired current speed of the vehicle and the type of unmanned aerial vehicle.
In step S802, it is determined whether or not the surrounding environment of the current unmanned aerial vehicle satisfies the take-off condition, if so, step S803 is executed, and if not, step S802 is executed.
In step S803, the drone takes off.
It should be noted that, the appearance designs of the onboard soft connection assembly, the onboard soft connection assembly and the hard connection assembly all consider the influence of air resistance, and have special aerodynamic appearance designs.
According to the variable-angle vehicle-mounted unmanned aerial vehicle take-off and landing system under the high-speed motion condition of the vehicle, the variable-angle vehicle-mounted unmanned aerial vehicle take-off and landing system comprises an onboard soft connection assembly, an onboard soft connection assembly and a hard connection assembly, wherein the hard connection assembly comprises a first butt joint device arranged on the onboard soft connection assembly and a second butt joint device arranged on the onboard soft connection assembly, when the unmanned aerial vehicle judges that the preset landing condition is met, the onboard soft connection assembly sends a butt joint element in the first butt joint device to the onboard soft connection assembly, the onboard soft connection assembly sends the butt joint element to the preset position of the second butt joint device, the butt joint element is fixed, after the fixing is finished, a flexible connection instruction is generated, the hard connection assembly adjusts the butt joint angle of the second butt joint device according to the current angle of the first butt joint device on the unmanned aerial vehicle, the second butt joint device is rigidly butted with the first butt joint device, and after the butt joint is finished, the second butt joint device is lowered to the vehicle, and the unmanned aerial vehicle is finished. From this, solved because unmanned aerial vehicle perception and control algorithm precision decline for unmanned aerial vehicle can't keep stable with vehicle relative position under the high speed, and current take off and land platform lifting direction is fixed, the landing model is fixed, landing impact is big, response is poor under the high speed, emergency response is slow, lead to unmanned aerial vehicle can't with the vehicle stable in the high speed, accurate, quick docking's problem, need not high accuracy sensor can realize unmanned aerial vehicle and vehicle docking, the system is succinct, and is simple to use, and be suitable for multiple unmanned aerial vehicle model, adopt ripe mechanical structure and control, make unmanned aerial vehicle drop reliable and stable under the state that the low altitude follows, high efficiency is safe.
As shown in fig. 9, fig. 9 is a schematic flow chart of a method for taking off and landing a variable-angle unmanned aerial vehicle under a high-speed vehicle motion condition, according to an embodiment of the present application, the variable-angle unmanned aerial vehicle taking off and landing system under the high-speed vehicle motion condition is adopted, wherein the method includes the following steps:
in step S901, when the unmanned aerial vehicle determines that the preset landing condition is satisfied, the onboard soft connection assembly sends the docking element in the first dockee to the onboard soft connection assembly.
In step S902, the vehicle-mounted soft connection assembly sends the docking element to a preset position of the second dock, fixes the docking element, and generates a flexible connection instruction after the fixing is completed.
In step S903, after the vehicle-mounted soft connection assembly generates the flexible connection instruction, the hard connection assembly adjusts the docking angle of the second docker according to the current angle of the first docker on the unmanned aerial vehicle, rigidly docks the second docker with the first docker, and after the rigid docking is completed, lowers the second docker to the vehicle to complete the landing of the unmanned aerial vehicle.
Optionally, in some embodiments, the method for taking off and landing a variable-angle vehicle-mounted unmanned aerial vehicle under the condition of high-speed movement of the vehicle further includes: and when the unmanned aerial vehicle meets the preset take-off condition, the angle adjusting unit determines the optimal take-off inclination angle of the unmanned aerial vehicle according to the current speed and the type of the unmanned aerial vehicle, and adjusts the take-off angle of the unmanned aerial vehicle to the optimal take-off inclination angle.
It should be noted that, the foregoing explanation of the embodiment of the variable angle unmanned aerial vehicle take-off and landing system under the condition of high-speed movement of the vehicle is also applicable to the variable angle unmanned aerial vehicle take-off and landing method under the condition of high-speed movement of the vehicle in this embodiment, and will not be repeated here.
According to the take-off and landing method for the variable-angle vehicle-mounted unmanned aerial vehicle under the high-speed motion condition of the vehicle, when the unmanned aerial vehicle judges that the preset landing condition is met, the onboard soft connection assembly sends the docking element in the first docker to the vehicle-mounted soft connection assembly, the vehicle-mounted soft connection assembly sends the docking element to the preset position of the second docker, the docking element is fixed, after the docking element is fixed, a flexible connection instruction is generated, the docking angle of the second docker is adjusted by the hard connection assembly according to the current angle of the first docker on the unmanned aerial vehicle, the second docker is rigidly docked with the first docker, and after docking is completed, the second docker is lowered to the vehicle, so that the unmanned aerial vehicle is landed. From this, solved because unmanned aerial vehicle perception and control algorithm precision decline for unmanned aerial vehicle can't keep stable with vehicle relative position under the high speed, and current take off and land platform lifting direction is fixed, the landing model is fixed, landing impact is big, response is poor under the high speed, emergency response is slow, lead to unmanned aerial vehicle can't with the vehicle stable in the high speed, accurate, quick docking's problem, need not high accuracy sensor can realize unmanned aerial vehicle and vehicle docking, the system is succinct, and is simple to use, and be suitable for multiple unmanned aerial vehicle model, adopt ripe mechanical structure and control, make unmanned aerial vehicle drop reliable and stable under the state that the low altitude follows, high efficiency is safe.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Claims (10)
1. The utility model provides a variable angle on-vehicle unmanned aerial vehicle system of taking off and land under vehicle high-speed motion condition which characterized in that includes: the device comprises an onboard soft connecting component arranged on the unmanned aerial vehicle, a vehicle-mounted soft connecting component arranged on the vehicle and a hard connecting component, wherein the hard connecting component comprises a first butt joint device arranged on the onboard soft connecting component and a second butt joint device arranged on the vehicle-mounted soft connecting component,
the onboard soft connection assembly is used for sending the docking element in the first dockee to the vehicle-mounted soft connection assembly when the unmanned aerial vehicle judges that the preset landing condition is met;
the vehicle-mounted soft connection assembly is used for sending the docking element to a preset position of the second docker, fixing the docking element and generating a flexible connection instruction after the docking element is fixed; and
the hard connection assembly is used for adjusting the docking angle of the second docker according to the current angle of the first docker on the unmanned aerial vehicle after the vehicle-mounted soft connection assembly generates the flexible connection instruction, rigidly docking the second docker with the first docker, and lowering the second docker to the vehicle after the rigid docking is completed, so that the unmanned aerial vehicle landing is completed.
2. The system of claim 1, wherein the onboard soft connection assembly comprises:
a positioning unit for positioning a first real-time position of the vehicle;
the following unit is used for controlling the unmanned aerial vehicle to fly above the vehicle according to the first real-time position;
and the judging unit is used for judging that the preset landing condition is met when the unmanned aerial vehicle flies above the vehicle.
3. The system of claim 1, wherein the vehicle-mounted soft connection assembly comprises:
the detection unit is used for detecting whether the abutting element reaches the preset position;
and the fixing unit is used for fixing the butting element according to the preset position.
4. The system of claim 1, wherein the hard-wired component further comprises:
and the lifting unit is used for pushing the second docker to the bottom of the unmanned aerial vehicle to be in rigid docking with the first docker.
5. The system of claim 4, wherein the hard-wired component further comprises:
the angle adjusting unit is used for positioning a second real-time position of the unmanned aerial vehicle and adjusting the angle of the lifting unit according to the real-time position, so that the lifting unit ascends towards an area where the unmanned aerial vehicle is located and is rigidly abutted with the first butt joint device.
6. The system of claim 5, wherein the hard-wired component further comprises:
a speed acquisition unit configured to acquire a current speed of the vehicle;
the angle adjustment unit is further configured to:
when the unmanned aerial vehicle meets a preset take-off condition, determining an optimal take-off inclination angle of the unmanned aerial vehicle according to the current speed, and adjusting the take-off angle of the unmanned aerial vehicle to the optimal take-off inclination angle.
7. The system of claim 6, further comprising:
the unmanned aerial vehicle comprises a first communication unit and a second communication unit, wherein the first communication unit is arranged on the unmanned aerial vehicle, the second communication unit is arranged on the vehicle, and the first communication unit and the second communication unit are used for establishing communication between the unmanned aerial vehicle and the vehicle.
8. The system of claim 7, further comprising:
the reminding component is used for generating reminding information when the unmanned aerial vehicle finishes landing.
9. A variable angle unmanned vehicle take-off and landing method under high speed vehicle motion conditions, wherein the variable angle unmanned vehicle take-off and landing system under high speed vehicle motion conditions according to any one of claims 1 to 8 is used, wherein the method comprises the steps of:
when the unmanned aerial vehicle judges that the preset landing condition is met, the onboard soft connection assembly sends a docking element in the first dockee to the onboard soft connection assembly;
the vehicle-mounted soft connection assembly sends the docking element to a preset position of the second docker, fixes the docking element, and generates a flexible connection instruction after the docking element is fixed; and
after the vehicle-mounted soft connection assembly generates the flexible connection instruction, the hard connection assembly adjusts the docking angle of the second docker according to the current angle of the first docker on the unmanned aerial vehicle, rigidly docks the second docker with the first docker, and descends the second docker to the vehicle after the rigid docking is completed, so that the unmanned aerial vehicle landing is completed.
10. The method as recited in claim 9, further comprising:
and when the unmanned aerial vehicle meets a preset take-off condition, the angle adjusting unit determines an optimal take-off inclination angle of the unmanned aerial vehicle according to the current speed and the type of the unmanned aerial vehicle, and adjusts the take-off angle of the unmanned aerial vehicle to the optimal take-off inclination angle.
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