CN207457838U - Aid in the precise positioning system of unmanned plane landing - Google Patents
Aid in the precise positioning system of unmanned plane landing Download PDFInfo
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- CN207457838U CN207457838U CN201721632264.4U CN201721632264U CN207457838U CN 207457838 U CN207457838 U CN 207457838U CN 201721632264 U CN201721632264 U CN 201721632264U CN 207457838 U CN207457838 U CN 207457838U
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- unmanned plane
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Abstract
The utility model discloses the precise positioning systems of auxiliary unmanned plane landing, the system is based on image recognition technology, by the identification image on camera group identification ground, identification image is sent to DSP processing, the horizontal error of unmanned plane and identification image is calculated, flight control system controls unmanned plane to act according to horizontal error；And the startup of system relies on near-field signals reception device and the matching of near-field signals sending device is completed; near-field signals sending device is located on airplane parking area; it is sent out near-field-communication signal; near-field signals reception device is located on unmanned plane; when near-field signals reception device receives the near-field-communication signal of near-field signals sending device transmission; mean that unmanned plane is located near landing point, near-field signals reception device sends trigger signal to DSP, opens camera group.Solve the problems, such as that the existing UAV Landing system guided automatically is affected to unmanned plane continuation of the journey.
Description
Technical field
The utility model is related to a kind of unmanned plane landing auxiliary systems, and in particular to the precise positioning of auxiliary unmanned plane landing
System.
Background technology
For the autonomous take-off and landing of unmanned plane as an important content in autonomous control key technology, it is to realize nobody
The premise of recycling and the reuse of machine.It is required according to operational performance, unmanned plane has multi rack time landing simultaneously, and close combat is leaned on airport
The features such as bucket forward position, therefore it is required that unmanned plane can take off on the airpark without fixed runway or short distance runway, uses
Short distance with undercarriage or VTOL mode.It takes off for landing more simply, it is main including the sliding race of acceleration and liftoff
It climbs two stages, when takeoff condition meets, is taken off by that can be realized compared with simple program control, to the independence of system
Without too big requirement；And landing period is then more complicated, it is necessary to which there is unmanned plane high-precision independent location navigation, robust to land
Tracking trajectory capacity.According to statistics, since unmanned plane is when landing, complexity is manipulated, ground disturbing factor is more, therefore accident occurs
Several times are higher by during likelihood ratio normal flight.
The existing UAV Landing system guided automatically is typically all continuous firing, and energy consumption is higher, is continued a journey to unmanned plane
It is affected.
Utility model content
Technical problem to be solved in the utility model is that the existing UAV Landing system guided automatically is typically all
Continuous firing, energy consumption is higher, is affected to unmanned plane continuation of the journey, and it is an object of the present invention to provide aiding in the precise positioning system that unmanned plane lands
System, it is typically all continuous firing to solve the existing UAV Landing system guided automatically, and energy consumption is higher, shadow of continuing a journey to unmanned plane
Ring the problem of larger.
The utility model is achieved through the following technical solutions：
The precise positioning system of unmanned plane landing is aided in, including with unmanned plane quadrotor unmanned plane and the machine with airplane parking area
Storehouse is provided with the DSP being connected with system for flight control computer on the unmanned plane, is also associated with being arranged on unmanned plane on the DSP
The downward camera group of bottom camera lens vertical level and near-field signals reception device, are provided on the airplane parking area and camera
The matched identification image of group and with the matched near-field signals sending device of near-field signals reception device；
Flight control system：It receives DSP and sends horizontal departure parameter, according to horizontal departure state modulator unmanned plane during flying；
DSP：The trigger signal that near-field signals reception device is sent is received, open signal is sent after processing to camera group；
The identification image data that camera group is sent are received, the horizontal departure parameter of unmanned plane and identification image is generated after processing；
Camera group：It receives the open signal that DSP is sent to start to work, earthward shooting generates mark figure after start-up operation
As parameter is sent to DSP；
Near-field signals reception device：It detects around unmanned plane with the presence or absence of near-field signals, when detecting near-field signals, hair
Trigger signal is sent to DSP；
Near-field signals sending device：It is sent out near-field-communication signal.
The system is based on image recognition technology, and by the identification image on camera group identification ground, identification image is sent to
DSP processing, calculates the horizontal error of unmanned plane and identification image, and flight control system controls nobody motor-driven according to horizontal error
Make；And the startup of system relies on near-field signals reception device and the matching of near-field signals sending device is completed, near-field signals are sent
Device is located on airplane parking area, is sent out near-field-communication signal, and effective range of transmission of signal is less than 10m, and near-field signals receive
Device is located on unmanned plane, when near-field signals reception device receives the near-field-communication signal of near-field signals sending device transmission
When, it is meant that unmanned plane is located within landing point 10m, and near-field signals reception device sends trigger signal to DSP, opens camera
Group.
The identification image uses " ten " word mark in the centrally disposed black in airplane parking area of white." ten " word mark of black
Know the identification for being conducive to window limit method more mature in the prior art.
The camera group is four cameras being separately positioned under four rotors of unmanned plane.Since identification image uses
" ten " word mark of black, therefore, four cameras can carry out mark perfect identification, simultaneously as distance between camera
It is more big more be conducive to multi-cam image procossing and positioning, and the farthest position of distance is exactly unmanned plane four in quadrotor unmanned plane
Below a rotor.
Field controller is also associated on the near-field signals sending device, is also associated with communicating on the field controller
Device.If near-field signals sending device continuous firing, system entirety energy consumption is higher, therefore, also connects on controller at the scene
T unit is connected, staff controls near-field signals sending device to work by input signal.
Lighting system is also associated on the field controller.Lighting apparatus is installed on unmanned plane can influence unmanned plane
Take-off weight and continuation of the journey, and for the ease of can clearly identify the mark on ground during unmanned plane night landing, it can only be in airplane parking area
The lighting system that upper installation value is connected with field controller.
The utility model compared with prior art, has the following advantages and advantages：
1st, the precise positioning system of the utility model auxiliary unmanned plane landing, most of module in unmanned plane in system
Just start during land, system entirety energy consumption is relatively low；
2nd, the precise positioning system of the utility model auxiliary unmanned plane landing, the image identification skill based on existing maturation
Art, reliability are high.
Description of the drawings
Attached drawing described herein is used for providing further understanding the utility model embodiment, forms the one of the application
Part does not form the restriction to the utility model embodiment.In the accompanying drawings：
Fig. 1 is the utility model structure diagram.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, with reference to embodiment and attached drawing,
The utility model is described in further detail, and the exemplary embodiment and its explanation of the utility model are only used for explaining this
Utility model is not intended to limit the scope of the present invention.
Embodiment 1
As shown in Figure 1, the utility model auxiliary unmanned plane landing precise positioning system, including with unmanned plane quadrotor without
Hangar man-machine and with airplane parking area is provided with the ADSP21DSP being connected with system for flight control computer on the unmanned plane, described
It is also associated with being arranged on uav bottom camera lens vertical-horizontal camera group downwards on DSP and RF near-field signals receives dress
Put, be provided on the airplane parking area identification image matched with camera group and with the matched RF near fields of near-field signals reception device
Sender unit；The system is based on image recognition technology, and by the identification image on camera group identification ground, identification image is sent out
DSP processing is sent to, calculates the horizontal error of unmanned plane and identification image, flight control system controls unmanned plane according to horizontal error
Action；And the startup of system relies on near-field signals reception device and the matching of near-field signals sending device is completed, near-field signals hair
Device is sent to be located on airplane parking area, is sent out near-field-communication signal, effective range of transmission of signal is less than 10m, and near-field signals connect
Receiving apparatus is located on unmanned plane, when near-field signals reception device receives the near-field-communication signal of near-field signals sending device transmission
When, it is meant that unmanned plane is located within landing point 10m, and near-field signals reception device sends trigger signal to DSP, opens camera
Group.The identification image uses " ten " word mark in the centrally disposed black in airplane parking area of white." ten " word of black is identified with
Beneficial to the identification of window limit method more mature in the prior art.The camera group is separately positioned on unmanned plane for four
Camera under four rotors.Since identification image is identified using " ten " word of black, four cameras can to identify into
The perfect identification of row, simultaneously as distance is more big between camera more is conducive to multi-cam image procossing and positioning, and quadrotor
The farthest position of distance is exactly below four rotors of unmanned plane in unmanned plane.It is also associated on the near-field signals sending device
STM32 field controllers are also associated with RaLink3070 communicators on the field controller.If near-field signals send dress
Continuous firing is put, then system entirety energy consumption is higher, therefore, is also connected with communicator on controller at the scene, staff passes through
Input signal control near-field signals sending device work.LED illumination System is also associated on the field controller.In unmanned plane
Upper installation lighting apparatus can influence take-off weight and the continuation of the journey of unmanned plane, and for the ease of unmanned plane night landing when can be clearly
Identify the mark on ground, it can only installation value is connected with field controller on airplane parking area lighting system.
Flight control system：It receives DSP and sends horizontal departure parameter, according to horizontal departure state modulator unmanned plane during flying；
DSP：The trigger signal that near-field signals reception device is sent is received, open signal is sent after processing to camera group；
The identification image data that camera group is sent are received, the horizontal departure parameter of unmanned plane and identification image is generated after processing；
Camera group：It receives the open signal that DSP is sent to start to work, earthward shooting generates mark figure after start-up operation
As parameter is sent to DSP；
Near-field signals reception device：It detects around unmanned plane with the presence or absence of near-field signals, when detecting near-field signals, hair
Trigger signal is sent to DSP；
Near-field signals sending device：It is sent out near-field-communication signal.
Above-described specific embodiment, the purpose of this utility model, technical solution and advantageous effect have been carried out into
One step is described in detail, it should be understood that the foregoing is merely specific embodiment of the present utility model, is not used to limit
Determine the scope of protection of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
Claims (5)
1. the precise positioning system of unmanned plane landing is aided in, including with unmanned plane quadrotor unmanned plane and the machine with airplane parking area
Storehouse, which is characterized in that the DSP being connected with system for flight control computer is provided on the unmanned plane, is also associated with setting on the DSP
It puts and is set in uav bottom camera lens vertical-horizontal camera group downwards and near-field signals reception device, the airplane parking area
Have identification image matched with camera group and with the matched near-field signals sending device of near-field signals reception device；
Flight control system：It receives DSP and sends horizontal departure parameter, according to horizontal departure state modulator unmanned plane during flying；
DSP：The trigger signal that near-field signals reception device is sent is received, open signal is sent after processing to camera group；It receives
The identification image data that camera group is sent generate the horizontal departure parameter of unmanned plane and identification image after processing；
Camera group：It receives the open signal that DSP is sent to start to work, earthward shooting generates identification image ginseng after start-up operation
Number is sent to DSP；
Near-field signals reception device：It detects around unmanned plane with the presence or absence of near-field signals, when detecting near-field signals, sends and touch
Send signals to DSP；
Near-field signals sending device：It is sent out near-field-communication signal.
2. the precise positioning system of auxiliary unmanned plane landing according to claim 1, which is characterized in that the identification image
It is identified using " ten " word of the centrally disposed black in airplane parking area in white.
3. the precise positioning system of auxiliary unmanned plane landing according to claim 2, which is characterized in that the camera group
The camera being separately positioned on for four under four rotors of unmanned plane.
4. the precise positioning system of auxiliary unmanned plane landing according to claim 1, which is characterized in that the near-field signals
Field controller is also associated in reception device, communicator is also associated on the field controller.
5. the precise positioning system of auxiliary unmanned plane landing according to claim 4, which is characterized in that the field control
Lighting system is also associated on device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721632264.4U CN207457838U (en) | 2017-11-29 | 2017-11-29 | Aid in the precise positioning system of unmanned plane landing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721632264.4U CN207457838U (en) | 2017-11-29 | 2017-11-29 | Aid in the precise positioning system of unmanned plane landing |
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| Publication Number | Publication Date |
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| CN207457838U true CN207457838U (en) | 2018-06-05 |
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| CN201721632264.4U Expired - Fee Related CN207457838U (en) | 2017-11-29 | 2017-11-29 | Aid in the precise positioning system of unmanned plane landing |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107957732A (en) * | 2017-11-29 | 2018-04-24 | 重庆固恒通信设备有限公司 | Unmanned plane lands redundant pilot system automatically |
| CN108873943A (en) * | 2018-07-20 | 2018-11-23 | 南京奇蛙智能科技有限公司 | A kind of image processing method that unmanned plane Centimeter Level is precisely landed |
| CN109521787A (en) * | 2018-09-28 | 2019-03-26 | 易瓦特科技股份公司 | Method and device for aircraft mark landing |
| CN113655804A (en) * | 2020-05-12 | 2021-11-16 | 北京三快在线科技有限公司 | Method and system for guiding unmanned aerial vehicle to land, auxiliary positioning system and unmanned aerial vehicle |
-
2017
- 2017-11-29 CN CN201721632264.4U patent/CN207457838U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107957732A (en) * | 2017-11-29 | 2018-04-24 | 重庆固恒通信设备有限公司 | Unmanned plane lands redundant pilot system automatically |
| CN108873943A (en) * | 2018-07-20 | 2018-11-23 | 南京奇蛙智能科技有限公司 | A kind of image processing method that unmanned plane Centimeter Level is precisely landed |
| CN108873943B (en) * | 2018-07-20 | 2021-06-29 | 南京奇蛙智能科技有限公司 | Image processing method for centimeter-level accurate landing of unmanned aerial vehicle |
| CN109521787A (en) * | 2018-09-28 | 2019-03-26 | 易瓦特科技股份公司 | Method and device for aircraft mark landing |
| CN113655804A (en) * | 2020-05-12 | 2021-11-16 | 北京三快在线科技有限公司 | Method and system for guiding unmanned aerial vehicle to land, auxiliary positioning system and unmanned aerial vehicle |
| CN113655804B (en) * | 2020-05-12 | 2023-07-07 | 北京三快在线科技有限公司 | Method and system for guiding unmanned aerial vehicle to land, auxiliary positioning system and unmanned aerial vehicle |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180605 Termination date: 20191129 |