CN211568302U - Portable unmanned mobile platform autonomous take-off and landing guide system - Google Patents
Portable unmanned mobile platform autonomous take-off and landing guide system Download PDFInfo
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- CN211568302U CN211568302U CN201922399035.8U CN201922399035U CN211568302U CN 211568302 U CN211568302 U CN 211568302U CN 201922399035 U CN201922399035 U CN 201922399035U CN 211568302 U CN211568302 U CN 211568302U
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Abstract
The utility model relates to a portable unmanned aerial vehicle mobile platform is guide system and method of taking off and land independently. The unmanned aerial vehicle comprises an unmanned aerial vehicle airborne end and a ground vehicle-mounted end; the unmanned aerial vehicle airborne terminal comprises a UWB ranging receiving module, a GPS positioning board card and an airborne controller; ground vehicle-mounted end comprises a ground controller, four UWB basic stations and GPS location integrated circuit boards, and four UWB basic stations link firmly on the bracing piece top, draw in back ground end equipment when the bracing piece is automatic and just can contract into square platform, and small and exquisite light can install on unmanned car, unmanned ship all kinds of unmanned or someone mobile platform, realizes the unmanned mobile platform under indoor and outdoor environment independently the accurate guide of the flight that takes off and land.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle space orientation, specific portable unmanned aerial vehicle mobile platform is guide system and method that independently takes off and land that says so.
Background
With the rapid development of unmanned systems, various unmanned systems with complete functions and various characteristics emerge. Including unmanned aerial vehicle, unmanned ship, unmanned car, many unmanned systems under water in addition. While these unmanned systems have many advantages, they also suffer from several disadvantages. For example, an unmanned aerial vehicle can autonomously fly in the air, the visual field is wide, and the unmanned aerial vehicle is mostly used in the fields of surveying and mapping and monitoring, but many small unmanned aerial vehicles, especially unmanned aerial vehicles of rotor type, have limited flight time, and a ground unmanned system has strong cruising ability, but limited detection and reconnaissance visual field; therefore, in order to improve the investigation work efficiency of the unmanned system, the cross-domain cooperation of the air-ground primary-secondary platform is a research hotspot. An important core system in the air-ground cross-domain cooperation is an autonomous take-off and landing guide system of the mobile platform, and different application requirements put higher requirements on the mobile platform guide system. At present, a visual guide system is mostly used in the market, but the visual guide system has strong dependence on the environment, strong light or weak light can influence the positioning accuracy of the visual guide system, and pure GPS guide is only limited in an outdoor open communication environment. And for the primary and secondary mobile platform, the size of the general platform is smaller, the requirement on positioning accuracy is very high, and particularly, a reliable and high-accuracy mobile platform guide system becomes an urgent need in indoor and outdoor environments.
SUMMERY OF THE UTILITY MODEL
In view of the above, an object of the present invention is to provide a portable unmanned aerial vehicle mobile platform autonomous take-off and landing guidance system and method, which is small and portable, and can be installed on unmanned vehicles, unmanned ships and other unmanned or manned mobile platforms, so as to realize the accurate guidance of autonomous take-off and landing flight of unmanned aerial vehicle mobile platforms in indoor and outdoor environments.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a portable unmanned mobile platform autonomous take-off and landing guidance system comprising: the unmanned aerial vehicle comprises an airborne end and a ground vehicle-mounted end; the ground vehicle-mounted end comprises an unmanned aerial vehicle landing platform, a vehicle-mounted end GPS module, a support rod mechanism, a vehicle-mounted end UWB base station, a vehicle-mounted end controller and a vehicle-mounted end wireless data transmission module, wherein four groups of vehicle-mounted end UWB base stations are installed in four corners of the unmanned aerial vehicle landing platform through the support rod mechanism, the vehicle-mounted end GPS module is arranged on the unmanned aerial vehicle landing platform, and the vehicle-mounted end of the unmanned aerial vehicle comprises a vehicle-mounted end controller and a vehicle-mounted end UWB ranging module connected with the vehicle-mounted end UWB ranging module, a vehicle-mounted end.
The support rod mechanism comprises a support rod and a motor, wherein the motor is installed on the unmanned aerial vehicle landing platform, an output shaft is connected with the support rod, and the motor drives the support rod to rotate in a plane where the unmanned aerial vehicle landing platform is located; the vehicle-mounted end UWB base station is arranged at the tail end of the supporting rod.
The rotation angle of the supporting rod is 0-135 degrees.
The unmanned aerial vehicle landing platform is of a square structure, and the side length is greater than or equal to the length of the supporting rod; unmanned aerial vehicle descending platform adopts the aluminium alloy to make to the length of side is 1 meter.
The output shaft of motor pass through the bearing with unmanned aerial vehicle descending platform is connected, and with unmanned aerial vehicle descending platform is perpendicular.
The unmanned aerial vehicle airborne end and the ground vehicle-mounted end are also provided with an SD card for storing data and an indicator lamp for prompting the state; the power supply voltage of controllers of the airborne terminal and the vehicle-mounted terminal is 12V direct current, and the power supply voltage of a motor of the ground vehicle-mounted terminal is 24V direct current.
The utility model has the advantages and beneficial effects that:
1. the utility model discloses realize relative positioning and guide between unmanned aerial vehicle spatial localization and unmanned aerial vehicle and the unmanned platform in ground, satisfy unmanned aerial vehicle and move the function of independently taking off and landing on the platform, its biggest advantage just freely switches guide mode (UWB or GPS) according to signal strength, can generally be outdoor in indoor, not receive time, space effect.
2. The utility model discloses the on-vehicle end platform in ground is small and exquisite light, and the size is 1x1 meters square frame after automatic folding, and weight is no longer than 15 kilograms, and all kinds of ground nobody (unmanned car, unmanned ship) or someone platform can be installed very conveniently. The portable, convenient to use does not receive the space restriction, easy operation, practicality.
3. The utility model discloses an automatic extend mechanism has not only solved the electromagnetic interference that the UWB module distance leads to more closely, has still increased the reliability of system.
4. The utility model discloses unmanned aerial vehicle machine carries end and the on-vehicle end in ground possesses abundant interface and communication protocol embedded, can with all kinds of unmanned aerial vehicle communication, can general and all kinds of primary and secondary platforms air-ground cross the required relative positioning of cooperation and guide.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the working state of the ground vehicle-mounted terminal of the present invention;
fig. 3 is a schematic view of the furled state of the ground vehicle-mounted terminal of the present invention.
Wherein: 1 is unmanned aerial vehicle machine carries the end, 2 is on-vehicle end GPS module, and 3 are on-vehicle end UWB basic station, and 4 are the bracing piece, and 5 are the motor, and 6 are unmanned aerial vehicle descending platform, and alpha is bracing piece swing angle, and L is bracing piece length.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, the utility model provides a pair of portable unmanned aerial vehicle mobile platform is guide system that independently takes off and land, include: the unmanned aerial vehicle comprises an airborne end 1 and a ground vehicle-mounted end; the ground vehicle-mounted end comprises an unmanned aerial vehicle descending platform 6, a vehicle-mounted end GPS module 2, a support rod mechanism, a vehicle-mounted end UWB base station 3, a vehicle-mounted end controller and a vehicle-mounted end wireless data transmission module, wherein four groups of vehicle-mounted end UWB base stations 3 are installed at four corners of the unmanned aerial vehicle descending platform 6 through the support rod mechanism, and the vehicle-mounted end GPS module 2 is arranged on the unmanned aerial vehicle descending platform 6. The unmanned aerial vehicle airborne terminal 1 comprises an airborne terminal UWB ranging module, an airborne terminal GPS positioning board card, an airborne terminal controller and an airborne terminal wireless data transmission module.
The support rod mechanism comprises a support rod 4 and a motor 5, wherein the motor 5 is installed on the unmanned aerial vehicle landing platform 6, an output shaft is connected with the support rod 4, and the motor 5 drives the support rod 4 to rotate in a plane where the unmanned aerial vehicle landing platform 6 is located; the vehicle-mounted terminal UWB base station 3 is disposed at the end of the support rod 4. The rotation angle of the support rod 4 is 0-135 degrees.
The embodiment of the utility model provides an in, unmanned aerial vehicle descending platform 6 is square structure to length of side length more than or equal to bracing piece 4's length. Unmanned aerial vehicle descending platform 6 adopts the aluminium alloy to make to the length of side is 1 meter. The output shaft of motor 5 passes through the bearing and is connected with unmanned aerial vehicle descending platform 6 to it is perpendicular with unmanned aerial vehicle descending platform 6.
The airborne end 1 of the unmanned aerial vehicle comprises an airborne end UWB ranging module, an airborne end GPS positioning board card, an airborne end controller and an airborne end wireless data transmission module, and the airborne end UWB ranging module and the ground end GPS positioning board card are matched with each other to jointly acquire the position of a target landing point of the unmanned aerial vehicle on the unmanned aerial vehicle landing platform 6. Ground vehicle-mounted end includes a ground controller, wireless data transmission module (6 internal integration at unmanned aerial vehicle descending platform), four vehicle-mounted end UWB basic station 3 and vehicle-mounted end GPS module 2 are constituteed, four vehicle-mounted end UWB basic station 3 link firmly on 4 tops of every bracing piece, four bracing piece 4 are connected with unmanned aerial vehicle descending platform through the motor, the motor bearing can be rotatory according to vehicle-mounted end controller instruction, with four bracing piece rotation expansion to setting for the position under the guide descending mode, 135 contained angles in the platform edge promptly with descending, can draw in fold condition in automatically when need not UWB location, as shown in figure 3.
Further, unmanned aerial vehicle machine carries end 1 and includes that machine carries end UWB ranging module, machine carries end GPS location integrated circuit board, machine carries end controller and machine carries the wireless data transmission module of end, and the cooperation of ground terminal is solved unmanned aerial vehicle and is descended the point position for the target jointly. The onboard terminal UWB module and 4 UWB base stations of the ground vehicle-mounted terminal carry out distance measurement, and the onboard terminal controller carries out relative positioning calculation according to measured distance information, so that the autonomous taking-off and landing positioning guide of the unmanned mobile platform without GPS signals indoors is mainly realized. The onboard GPS positioning board card and the vehicle-mounted end GPS module perform relative positioning and ranging, the onboard GPS positioning board card and the vehicle-mounted end GPS module are resolved by the vehicle-mounted end controller and then sent to the unmanned aerial vehicle through the vehicle-mounted end wireless data transmission module, and the unmanned aerial vehicle mobile platform is mainly used for achieving autonomous lifting and descending high-precision guiding and positioning under the outdoor environment.
The unmanned aerial vehicle airborne end controller and the vehicle-mounted end controller are core controllers of the system and are designed and developed by themselves, the main processor adopts an STM32-ARM processor, the model of the UWB module of the airborne end and the vehicle-mounted end is P440, the GPS board card is a 718D board card of Norwatai, the model of wireless data transmission is MM2-T, the power supply voltage of the airborne end and the vehicle-mounted end controller is 12V direct current, and the power supply of the ground vehicle-mounted end motor is 24V direct current.
The utility model discloses a portable unmanned aerial vehicle mobile platform is guide method of bootstrap system that independently takes off and land mainly includes: the airborne controller and the ground controller detect the GPS signal intensity and the satellite searching quantity in real time; when unmanned aerial vehicle gets into and moves platform take-off and land guide state, the unmanned aerial vehicle position is solved the module and is predicted guide positioning accuracy variance according to positioning sensor signal (the sensor of GPS and UWB mode) intensity or search for a star quantity, then whether open UWB locate mode, if needs, ground vehicle-mounted end can extend UWB bracing piece 4 voluntarily, get into the orientation state, and automatic the extension is in order to solve the electromagnetic interference problem that UWB module distance leads to relatively near. GPS-guided positioning is prioritized when the GPS signal is strong enough in outdoor environments, and the UWB-guided positioning mode is turned on when the indoor and outdoor GPS signals are weak.
Further, unmanned aerial vehicle machine carries the end and all possesses abundant communication interface with the on-vehicle end in ground, can control station with the flying of different models and communicate with ground, and the commonality is very strong.
Furthermore, the size platform of the ground guide platform is formed by a square aluminum structure which is 1 m long, the total weight of the ground platform is not more than 15 kg, and the ground guide platform is light and portable, can be conveniently installed on various ground unmanned platforms, and can be used for the requirements of the cooperation of various primary and secondary platforms on the empty ground, relative positioning, posture determination and lifting guide. The power-on operation of portable unmanned aerial vehicle moves the bootstrap system that independently takes off and land after the initialization success pilot lamp lights, then the on-vehicle end controller in ground extends UWB basic station and waits for unmanned aerial vehicle to get into the state of independently taking off, get into the state of independently hovering after unmanned aerial vehicle independently takes off, wait for host computer command department to assign the flight task, unmanned aerial vehicle independently flies back to the overhead hovering of on-vehicle end platform in ground after accomplishing the flight task, and get into the state of independently descending, the on-vehicle end controller in ground will install the bracing piece 4 of UWB basic station and draw in automatically after independently descending successfully, accomplish a complete on-vehicle platform and independently take off and land. The utility model discloses realize relative positioning and guide between unmanned aerial vehicle spatial localization and unmanned aerial vehicle and the unmanned platform in ground, satisfy unmanned aerial vehicle and move the function of taking off and landing independently of location on the platform, its biggest advantage just freely switches guide mode (UWB or GPS) according to signal strength, can generally be used in indoor outdoor, not influenced by time, space. And the utility model discloses ground vehicle-mounted end platform is small and exquisite light, and the size is 1 meter square frame after automatic folding, and weight is no longer than 15 kilograms, and all kinds of ground nobody (unmanned car, unmanned ship) or someone platform can be installed very conveniently. The portable, convenient to use does not receive the space restriction, easy operation, practicality. Furthermore, the utility model discloses unmanned aerial vehicle machine carries end and the on-vehicle end in ground possesses abundant interface and communication protocol embedded, can with all kinds of unmanned aerial vehicle communication, can general and all kinds of primary and secondary platforms cross the required relative positioning of domain cooperation and guide.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (6)
1. A portable unmanned mobile platform autonomous take-off and landing guide system, comprising: an unmanned aerial vehicle airborne end (1) and a ground vehicle-mounted end; the utility model discloses an unmanned aerial vehicle descending platform, including unmanned aerial vehicle descending platform (6), on-vehicle end GPS module (2), bracing piece mechanism, on-vehicle end UWB basic station (3), on-vehicle end controller and on-vehicle end wireless data transmission module, wherein the four corners of unmanned aerial vehicle descending platform (6) is passed through bracing piece mechanism and is installed four groups on-vehicle end UWB basic stations (3), on-vehicle end GPS module (2) set up on unmanned aerial vehicle descending platform (6), unmanned aerial vehicle machine carries end (1) including machine carries end controller and rather than the machine that is connected holds UWB ranging module, machine and carries end GPS location integrated circuit board, machine and carries the wireless data transmission module of end.
2. The system for guiding the autonomous take-off and landing of the unmanned aerial vehicle maneuvering platform according to claim 1, characterized in that the support rod mechanism comprises a support rod (4) and a motor (5), wherein the motor (5) is installed on the unmanned aerial vehicle landing platform (6), an output shaft of the motor is connected with the support rod (4), and the motor (5) drives the support rod (4) to rotate in a plane where the unmanned aerial vehicle landing platform (6) is located; the vehicle-mounted end UWB base station (3) is arranged at the tail end of the supporting rod (4).
3. The system for autonomous take-off and landing guidance of a portable unmanned mobile platform according to claim 2, characterized in that the rotation angle of the support bar (4) is 0 ° -135 °.
4. The system for guiding the autonomous taking off and landing of the portable unmanned mobile platform according to claim 2, characterized in that the unmanned aerial vehicle landing platform (6) is of a square structure and has a side length greater than or equal to the length of the support rod (4); unmanned aerial vehicle descending platform (6) adopt the aluminium alloy to make to the length of side is 1 meter.
5. The system according to claim 2, wherein the output shaft of the motor (5) is connected to the unmanned aerial vehicle landing platform (6) through a bearing and is perpendicular to the unmanned aerial vehicle landing platform (6).
6. The system for guiding the autonomous take-off and landing of the portable unmanned aerial vehicle motorized platform as claimed in claim 1, wherein the airborne end (1) of the unmanned aerial vehicle and the ground vehicle-mounted end are further provided with an SD card for storing data and an indicator lamp for prompting a state; the power supply voltage of controllers of the airborne end and the vehicle-mounted end is 12V direct current, and the power supply of a motor (5) of the ground vehicle-mounted end is 24V direct current.
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| CN201922399035.8U CN211568302U (en) | 2019-12-27 | 2019-12-27 | Portable unmanned mobile platform autonomous take-off and landing guide system |
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| CN201922399035.8U CN211568302U (en) | 2019-12-27 | 2019-12-27 | Portable unmanned mobile platform autonomous take-off and landing guide system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112346477A (en) * | 2020-11-09 | 2021-02-09 | 江苏科技大学 | Unmanned-craft-based autonomous landing system and method for rotor unmanned aerial vehicle |
| CN113050662A (en) * | 2019-12-27 | 2021-06-29 | 中国科学院沈阳自动化研究所 | Portable unmanned mobile platform autonomous take-off and landing guiding system and method |
| CN113342009A (en) * | 2021-06-01 | 2021-09-03 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and auxiliary landing method and system thereof |
| WO2023060326A1 (en) * | 2021-10-11 | 2023-04-20 | Goncalves Dos Santos Junior Anisio | Arrangement for self-levelling platform for landings and take-offs of unmanned aerial vehicles |
-
2019
- 2019-12-27 CN CN201922399035.8U patent/CN211568302U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113050662A (en) * | 2019-12-27 | 2021-06-29 | 中国科学院沈阳自动化研究所 | Portable unmanned mobile platform autonomous take-off and landing guiding system and method |
| CN112346477A (en) * | 2020-11-09 | 2021-02-09 | 江苏科技大学 | Unmanned-craft-based autonomous landing system and method for rotor unmanned aerial vehicle |
| CN112346477B (en) * | 2020-11-09 | 2022-12-13 | 江苏科技大学 | Unmanned-vehicle-rotor unmanned aerial vehicle autonomous landing system and method based on unmanned ship |
| CN113342009A (en) * | 2021-06-01 | 2021-09-03 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and auxiliary landing method and system thereof |
| CN113342009B (en) * | 2021-06-01 | 2024-06-04 | 尚良仲毅(沈阳)高新科技有限公司 | Unmanned aerial vehicle and auxiliary landing method and system thereof |
| WO2023060326A1 (en) * | 2021-10-11 | 2023-04-20 | Goncalves Dos Santos Junior Anisio | Arrangement for self-levelling platform for landings and take-offs of unmanned aerial vehicles |
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