CN212111765U - Unmanned aerial vehicle and ultrasonic parking apron based on ultrasonic positioning - Google Patents
Unmanned aerial vehicle and ultrasonic parking apron based on ultrasonic positioning Download PDFInfo
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- CN212111765U CN212111765U CN201921587211.4U CN201921587211U CN212111765U CN 212111765 U CN212111765 U CN 212111765U CN 201921587211 U CN201921587211 U CN 201921587211U CN 212111765 U CN212111765 U CN 212111765U
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Abstract
The utility model provides an unmanned aerial vehicle based on ultrasonic positioning, the unmanned aerial vehicle based on ultrasonic positioning comprises an unmanned aerial vehicle body, an unmanned aerial vehicle processing module, an ultrasonic generating module and an unmanned aerial vehicle communication module; the unmanned aerial vehicle processing module, the ultrasonic wave generation module and the unmanned aerial vehicle communication module are respectively arranged on the unmanned aerial vehicle body; the unmanned aerial vehicle body is provided with an unmanned aerial vehicle flight control module, the unmanned aerial vehicle flight control module is electrically connected with the unmanned aerial vehicle processing module, and the unmanned aerial vehicle processing module is electrically connected with the unmanned aerial vehicle communication module; the ultrasonic wave generation module comprises an ultrasonic wave emitting head, and the ultrasonic wave generating head is arranged at the bottom of the unmanned aerial vehicle body. This unmanned aerial vehicle based on ultrasonic wave location's process that descends can break away from manual control, and the security during descending is higher, has good use reliability. In addition, the utility model also provides an ultrasonic wave air park.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle field, concretely relates to unmanned aerial vehicle and ultrasonic wave air park based on ultrasonic positioning.
Background
Along with the expansion of the unmanned aerial vehicle market, more and more unmanned aerial vehicles enter the consumer market. Through statistics discovery, unmanned aerial vehicle is in flight process (including taking off and landing stage), and the probability of damage in the landing process is great. Through fault analysis, the damage of the airplane is caused by insufficient operation of an operator on the descending height and descending acceleration of the unmanned aerial vehicle, the unmanned aerial vehicle is subjected to too rapid acceleration in the descending stage to cause the unmanned aerial vehicle to be in contact with the ground, the balance of the unmanned aerial vehicle is broken, and the wings of the unmanned aerial vehicle are directly in contact with the ground to cause damage because the unmanned aerial vehicle is in contact with the ground and no too much attitude adjustment space exists; on the other hand reason is that the planarization in the place that unmanned aerial vehicle descends is irregular, leads to the balance that the unable fine control aircraft of user descends, and unmanned aerial vehicle on with ground contact critical position, unmanned aerial vehicle leads to the not enough emergence of unmanned aerial vehicle foot support to overturn because of the ground is unsmooth easily, leads to unmanned aerial vehicle to destroy.
SUMMERY OF THE UTILITY MODEL
To current unmanned aerial vehicle take place the problem of damage easily at the stage of descending, the utility model provides an unmanned aerial vehicle and ultrasonic wave air park based on ultrasonic positioning, this unmanned aerial vehicle based on ultrasonic positioning outwards launches the ultrasonic wave so that its position is discerned on the air park to based on the position signal that unmanned aerial vehicle communication module received and was sent by the air park, unmanned aerial vehicle based on ultrasonic positioning can be according to the automatic accurate assigned position to the air park that descends of position signal, the process that unmanned aerial vehicle descended can break away from manual control, security during the descending is higher, good use reliability has.
Correspondingly, the utility model provides an unmanned aerial vehicle based on ultrasonic positioning, which comprises an unmanned aerial vehicle body, an unmanned aerial vehicle processing module, an ultrasonic generating module and an unmanned aerial vehicle communication module;
the unmanned aerial vehicle processing module, the ultrasonic wave generation module and the unmanned aerial vehicle communication module are respectively arranged on the unmanned aerial vehicle body;
the unmanned aerial vehicle body is provided with an unmanned aerial vehicle flight control module, the unmanned aerial vehicle flight control module is electrically connected with the unmanned aerial vehicle processing module, and the unmanned aerial vehicle processing module is electrically connected with the unmanned aerial vehicle communication module;
the ultrasonic wave generation module comprises an ultrasonic wave emitting head, and the ultrasonic wave generating head is arranged at the bottom of the unmanned aerial vehicle body.
In an optional embodiment, the ultrasonic wave generating module further includes a pulse signal generator, a switching transistor and a middle transformer;
one end of the first primary of the middle transformer is a low-voltage input end, and the other end of the first primary of the middle transformer is electrically connected with a collector of the switching triode;
the base electrode of the switching triode is electrically connected with the output end of the pulse signal generator, and the emitting electrode of the switching triode is grounded;
and two ends of the second primary of the middle transformer are respectively and electrically connected with the two electrodes of the ultrasonic transmitting head.
In an optional embodiment, the ultrasonic wave generating module further includes a ground resistor, and one of the electrodes of the ultrasonic wave generating head is grounded via the ground resistor.
In an optional embodiment, the drone processing module includes a processor, the processor has a plurality of general purpose input and output interfaces, and one of the plurality of general purpose input and output interfaces is electrically connected to the drone flight control;
the pulse signal generator is internally arranged in the processor, and one general input/output interface of the plurality of general input/output interfaces is the output end of the pulse signal generator.
In an optional implementation manner, the unmanned aerial vehicle communication module is a wireless receiving module.
Correspondingly, the utility model also provides an ultrasonic parking apron, which comprises a parking platform, a parking apron processing module, more than three ultrasonic receiving modules and a parking apron communication module;
the more than three ultrasonic receiving modules are respectively and electrically connected with the apron processing module, and the apron communication module is electrically connected with the apron processing module;
any one of the three or more ultrasonic receiving modules comprises an ultrasonic receiving head;
the ultrasonic receiving heads are arranged on the shutdown platform, and the ultrasonic receiving heads of the more than three ultrasonic receiving modules are not arranged on the same straight line.
In an optional embodiment, the apron communication module is a wireless transmission module.
The utility model provides an unmanned aerial vehicle and ultrasonic wave air park based on ultrasonic positioning, this unmanned aerial vehicle based on ultrasonic positioning sends ultrasonic signal through ultrasonic wave generating module and supplies the ultrasonic wave air park to carry out position identification to receive the positional information who comes from the feedback of ultrasonic wave air park through unmanned aerial vehicle communication module, utilize positional information realizes the function that the unmanned aerial vehicle based on ultrasonic positioning lands to the air park and predetermines the landing position, and this unmanned aerial vehicle based on ultrasonic positioning's landing can break away from manual control, has guaranteed the security when unmanned aerial vehicle based on ultrasonic positioning lands; ultrasonic wave air park can acquire the ultrasonic signal who is sent by unmanned aerial vehicle based on ultrasonic positioning based on ultrasonic wave receiving module to real-time computation based on ultrasonic positioning's unmanned aerial vehicle relative position for the shutdown platform and general relative position sends and supplies the unmanned aerial vehicle based on ultrasonic positioning to carry out the motion reference for unmanned aerial vehicle based on ultrasonic positioning, makes on the unmanned aerial vehicle based on ultrasonic positioning can descend to the preset descending position on ultrasonic wave air park, has good practicality and reliability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 shows a schematic diagram of a three-dimensional structure of an unmanned aerial vehicle based on ultrasonic positioning according to an embodiment of the present invention;
fig. 2 shows a schematic diagram of a circuit structure of an unmanned aerial vehicle based on ultrasonic positioning according to an embodiment of the present invention;
fig. 3 is a schematic circuit diagram of an ultrasonic generation module according to an embodiment of the present invention;
fig. 4 shows a schematic structural view of an ultrasonic apron according to an embodiment of the present invention;
fig. 5 shows a schematic structural diagram of an ultrasonic apron module according to an embodiment of the present invention;
fig. 6 is a schematic circuit diagram of an ultrasonic receiving module according to an embodiment of the present invention;
fig. 7 shows a reference structure diagram of the landing method of the unmanned aerial vehicle based on ultrasonic positioning according to the embodiment of the present invention;
fig. 8 shows a schematic flow chart of a landing method of an unmanned aerial vehicle based on ultrasonic positioning according to an embodiment of the present invention;
fig. 9 shows spatial position Q of an embodiment of the present invention0(x0,y0,z0) And the flow of the calculation method is schematic.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Unmanned aerial vehicle based on ultrasonic wave location:
fig. 1 shows the utility model discloses unmanned aerial vehicle three-dimensional structure schematic diagram based on ultrasonic wave location.
The utility model provides an unmanned aerial vehicle based on ultrasonic positioning, unmanned aerial vehicle based on ultrasonic positioning includes unmanned aerial vehicle body 1, and is optional, unmanned aerial vehicle body 1 can be various types of unmanned aerial vehicle, and the unmanned aerial vehicle structure of prior art can be referred to unmanned aerial vehicle body 1's structure, the embodiment of the utility model provides an unmanned aerial vehicle based on ultrasonic positioning, except that unmanned aerial vehicle body 1 module can set up on current unmanned aerial vehicle with external mode of setting up, also can integrate it to unmanned aerial vehicle in, form a new unmanned aerial vehicle structure.
In the prior art, a complete unmanned aerial vehicle body should include the electrical storage module at least, unmanned aerial vehicle flies to control, remote control module and unmanned aerial vehicle drive module, wherein, the electrical storage module is used for supplying power for other modules on the unmanned aerial vehicle body, and remote control module is used for receiving user's remote control signal, and unmanned aerial vehicle flies to control and is used for driving unmanned aerial vehicle drive module according to remote control signal, makes the unmanned aerial vehicle body can move according to user's control direction, and the relevant content about the unmanned aerial vehicle body above can refer to prior art and understand, the embodiment of the utility model discloses not introduce separately.
The utility model discloses unmanned aerial vehicle based on ultrasonic positioning of embodiment still includes unmanned aerial vehicle processing module, ultrasonic wave generation module and unmanned aerial vehicle communication module; optionally, the unmanned aerial vehicle based on ultrasonic positioning further includes a power supply module.
The power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module are respectively arranged on the unmanned aerial vehicle body, and the power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module are not unique in arrangement form and are not unique in arrangement position, so that the arrangement positions of the power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module are not shown in the attached figure 1 of the embodiment of the utility model, and in specific implementation, the power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module can be respectively arranged at any; generally, power module, unmanned aerial vehicle processing module, ultrasonic wave generation module and unmanned aerial vehicle communication module are the same with the setting position that unmanned aerial vehicle flies the accuse.
The power supply module is used for being the unmanned aerial vehicle processing module the ultrasonic wave generation module and the unmanned aerial vehicle communication module carry out direct power supply or indirect power supply, wherein, direct power supply means that the power supply module is direct to the unmanned aerial vehicle processing module, and/or the ultrasonic wave generation module and/or the unmanned aerial vehicle communication module supplies power, and indirect power supply means that the power supply module supplies power to the unmanned aerial vehicle processing module one of them or more module in ultrasonic wave generation module and the unmanned aerial vehicle communication module supplies power, supplies power to the module of not supplying power through the module that has supplied power again. In the embodiment of the utility model provides an in, the utility model discloses the power module output is 5V.
Optionally, the power module can set up as an organic whole with the power storage module of unmanned aerial vehicle body, promptly by the power storage module of unmanned aerial vehicle body to unmanned aerial vehicle processing module the ultrasonic wave takes place module and unmanned aerial vehicle communication module and supplies power.
Specifically, the ultrasonic wave generation module comprises an ultrasonic wave emitting head 201, and the ultrasonic wave emitting head 201 is arranged at the bottom of the unmanned aerial vehicle body 1; the reason why the ultrasonic wave generating head 201 is arranged at the bottom of the unmanned aerial vehicle body 1 is that when the unmanned aerial vehicle body 1 flies, the shutdown platform is positioned below the unmanned aerial vehicle body 1, and correspondingly, the ultrasonic wave receiving head arranged on the shutdown platform faces the air; in order to guarantee that the ultrasonic receiving head can be better the receipt ultrasonic signal, ultrasonic wave generating head 201 sets up 1 bottom of unmanned aerial vehicle body. Optionally, the surface of the ultrasonic wave generating head 201 is a hemisphere surface, so as to obtain an ultrasonic wave spatial emission angle close to 180 °.
Fig. 2 shows the utility model discloses unmanned aerial vehicle circuit structure schematic diagram based on ultrasonic wave location, it is to explain, the utility model discloses unmanned aerial vehicle circuit structure based on ultrasonic wave location has more implementation, and fig. 2 of the accompanying drawing only shows one of them implementation structure.
The power supply module of the embodiment of the utility model is electrically connected with the ultrasonic wave generation module, and the ultrasonic wave generation module is used for sending out ultrasonic wave signals through the ultrasonic wave generation head 201; the unmanned aerial vehicle communication module is used for receiving the position signal sent by the apron communication module and feeding back the corresponding position signal to the unmanned aerial vehicle processing module; the utility model discloses power module and unmanned aerial vehicle processing module electric connection, unmanned aerial vehicle processing module are used for receiving the positional information about unmanned aerial vehicle that wireless communication module transmitted, and unmanned aerial vehicle processing module is to unmanned aerial vehicle's positional information processing back, calculates the skew direction and the skew distance of unmanned aerial vehicle and accurate descending position, and according to skew direction and skew distance send corresponding control signal to unmanned aerial vehicle flight control to break away from manual control's mode, make unmanned aerial vehicle fly the accuse basis control signal controls unmanned aerial vehicle body 1 and removes to accurate descending position. This unmanned aerial vehicle based on ultrasonic positioning breaks away from manual control at the landing in-process, but on the automatic landing set position to the air park, make this unmanned aerial vehicle based on ultrasonic positioning have higher security in the landing stage.
Following is directed at the utility model discloses the module that unmanned aerial vehicle based on ultrasonic wave location related explains one by one.
A power supply module: the power module is the battery generally, and is concrete, and the power module can integrate to the power storage module of unmanned aerial vehicle body in, generally, battery voltage is 5V or 12V. In concrete implementation, the power supply module can be of the same structure as the power storage module of the unmanned aerial vehicle body.
An ultrasonic wave generation module: fig. 3 shows a schematic circuit diagram of an ultrasonic generation module according to an embodiment of the present invention. The utility model discloses ultrasonic wave generation module still includes pulse generator, switch triode Q1 and well zhou transformer TS
One end of a first primary of the middle transformer TS is a low-voltage input end, the low-voltage input end is electrically connected with the power supply module (5V), and the other end of the first primary of the middle transformer TS is electrically connected with a collector of the switching triode Q1;
the base electrode of the switching triode Q1 is connected with the output end of the pulse signal generator, the emitter electrode of the switching triode Q1 is grounded, and in order to adjust the base electrode conducting voltage of the switching triode Q1, a first protective resistor R1 is connected to the base electrodes of the pulse signal generator and the switching triode Q1.
The two ends of the second primary winding of the middle transformer TS are electrically connected to the two poles of the ultrasonic transmitter 201.
Optionally, when the switching transistor Q1 is turned on, the second primary stage of the middle transformer TS generates a positive voltage correspondingly due to a rising edge of the first primary stage, and when the switching transistor Q1 is turned off, the second primary stage of the middle transformer TS generates a negative voltage correspondingly due to a falling edge of the first primary stage, at this time, the ultrasonic transmitter 201 driven by the positive voltage and the negative voltage generates a positive step signal and a negative step signal instead of generating an ideal ultrasonic signal composed of unidirectional step signals, in order to enable the ultrasonic transmitter 201 to transmit an ideal ultrasonic signal, optionally, the ultrasonic generating module further includes a ground resistor R3, and one of poles of the ultrasonic transmitter 201 is grounded through the ground resistor R3. With this embodiment, the voltage in one direction of the second primary side of the intermediate transformer TS is grounded, so that the ultrasonic transmitter head 201 cannot be driven, and the ultrasonic transmitter head 201 can transmit an ideal ultrasonic signal.
Similarly, in order to regulate the voltage across the ultrasound transmitter head 201 and protect the ultrasound transmitter head 201, a second protection resistor R2 is connected in parallel to the two poles of the ultrasound transmitter head 201.
Optionally, the utility model discloses pulse generator is used for producing one-way pulse signal, through pulse signal control switch triode Q1's break-make. Alternatively, the pulse signal generator may be a conventional pulse signal generator, and in addition, the pulse signal generator may be integrated into the drone processing module. Specifically, a base electrode of the switching triode Q1 is connected to one of the general input/output interfaces of the unmanned aerial vehicle processing module, and the high and low levels of the general input/output interface are controlled in a software control mode of the unmanned aerial vehicle processing module; in order to ensure the switching speed of the general input/output interface, the processing speed of the unmanned aerial vehicle processing module needs to reach a certain level, and the bus speed needs to meet corresponding conditions. Optionally, correspondingly, the utility model discloses ultrasonic emission head 201's ultrasonic emission frequency is 40 ± 2KHz, consequently, pulse signal's frequency also should be 40 ± 2 KHz.
Unmanned aerial vehicle communication module: the utility model discloses unmanned aerial vehicle communication module is used for receiving the relevant unmanned aerial vehicle's based on ultrasonic positioning that air park communication module sent positional information. Specifically, unmanned aerial vehicle communication module can be short range communication module, also can be long-range communication module. It is common, short range communication module has bluetooth communication module, WIFI communication module, loRa wireless communication module etc. and long-range communication module has satellite communication module, cellular communication module etc.. Unmanned aerial vehicle communication module and unmanned aerial vehicle processing module electric connection will be about based on the information transmission to unmanned aerial vehicle processing module of the unmanned aerial vehicle position of ultrasonic positioning.
Optionally, because the utility model discloses unmanned aerial vehicle communication module mainly used receives the relevant unmanned aerial vehicle based on ultrasonic positioning's that parking apron communication module sent positional information, consequently, unmanned aerial vehicle communication module can be wireless receiving module to save manufacturing cost.
Unmanned aerial vehicle processing module: unmanned aerial vehicle processing module is used for receiving the unmanned aerial vehicle's based on ultrasonic positioning positional information that unmanned aerial vehicle communication module sent, the accessible positional information sends control signal to unmanned aerial vehicle flight control, replaces manual remote control operation, makes the unmanned aerial vehicle based on ultrasonic positioning can land on the preset position on air park. Optionally, unmanned aerial vehicle processing module includes the treater, and the treater can be for STM32, 51 singlechip etc. have enough general purpose input/output interface's equipment, and is specific, the treater model is STM32F407VGT singlechip chip for the model.
In concrete implementation, unmanned aerial vehicle processing module still can integrate to unmanned aerial vehicle in flying to control, because the utility model discloses unmanned aerial vehicle processing module only need with unmanned aerial vehicle communication module electric connection to when impulse generator integrates to unmanned aerial vehicle processing module, unmanned aerial vehicle processing module and ultrasonic module electric connection, consequently, the utility model discloses the required interface quantity of unmanned aerial vehicle processing module is less, can comparatively easy integration to unmanned aerial vehicle fly to control.
It should be noted that, the position information about the unmanned aerial vehicle based on ultrasonic positioning may specifically be absolute coordinates of the current unmanned aerial vehicle based on ultrasonic positioning, or may also be relative coordinates of the current unmanned aerial vehicle based on ultrasonic positioning.
The embodiment of the utility model provides an unmanned aerial vehicle based on ultrasonic positioning, when this unmanned aerial vehicle based on ultrasonic positioning is close the air park and needs to descend, ultrasonic wave generation module is to air park direction transmission ultrasonic signal, and the air park is according to this ultrasonic signal judges this unmanned aerial vehicle based on ultrasonic positioning is located the position, and calculates the relative coordinate of unmanned aerial vehicle based on ultrasonic positioning according to the unmanned aerial vehicle landing position based on ultrasonic positioning that predetermines; then the unmanned aerial vehicle based on ultrasonic positioning receives information which is from an apron and is related to relative coordinates of the unmanned aerial vehicle based on ultrasonic positioning through an unmanned aerial vehicle communication module, and generates a corresponding control signal based on the relative coordinates, wherein the control signal is used for replacing a remote control signal generated in manual control; after the unmanned aerial vehicle flight control receives the control signal, the unmanned aerial vehicle based on ultrasonic positioning is controlled to move towards the corresponding direction. The above processes are repeated until the unmanned aerial vehicle based on ultrasonic positioning lands at the unmanned aerial vehicle landing position based on ultrasonic positioning preset on the parking apron.
It should be noted that, when the apron guides the position of the unmanned aerial vehicle based on the ultrasonic positioning, the motion acceleration of the unmanned aerial vehicle based on the ultrasonic positioning is controlled according to the corresponding position of the unmanned aerial vehicle based on the ultrasonic positioning, and the closer to the apron, the lower the motion acceleration of the unmanned aerial vehicle based on the ultrasonic positioning is, so that the unmanned aerial vehicle based on the ultrasonic positioning lands as stably as possible.
Ultrasonic parking apron:
fig. 4 shows the structural schematic diagram of the ultrasonic parking apron of the embodiment of the present invention, and fig. 5 shows the structural schematic diagram of the ultrasonic parking apron module of the embodiment of the present invention.
The ultrasonic parking apron 2 comprises a parking platform 401, a parking apron processing module, more than three ultrasonic receiving modules and a parking apron communication module;
the more than three ultrasonic receiving modules are respectively and electrically connected with the apron processing module, and the apron communication module is electrically connected with the apron processing module;
any one of the three or more ultrasonic receiving modules includes an ultrasonic receiving head 301;
the ultrasonic receiving heads 301 are arranged on the shutdown platform, and the ultrasonic receiving heads 301 of the more than three ultrasonic receiving modules are not arranged on the same straight line.
Fig. 6 shows a schematic circuit structure diagram of an ultrasonic receiving module according to an embodiment of the present invention. The utility model discloses ultrasonic receiving module establishes based on CX20106A chip. Specifically, the resistance of pin 5 of CX20106A determines the center frequency of the received ultrasonic signal, and the resistance of R5 may be 200k, and the center frequency of the ultrasonic signal received by the ultrasonic receiving head 301 is 40 KHz. When the ultrasonic receiving head 301 receives a 40KHz signal, a low level down pulse is generated at the 7 th pin of the CX20106A chip, and because the 7 th pin of the CX20106A chip is electrically connected with the apron processing module, the low level down pulse can be acquired by the apron processing module, namely when the ultrasonic receiving head receives a 40KHz signal, the apron processing module can acquire a trigger signal on the corresponding general input/output pin.
Specifically, the apron processing module can be built based on stm32, arm and other processor chips, and can refer to related data in the prior art.
Specifically, the apron communication module may be a short-range communication module or a long-range communication module. It is common, short range communication module has bluetooth communication module, WIFI communication module, loRa wireless communication module etc. and long-range communication module has satellite communication module, cellular communication module etc..
The parking apron processing module judges the distance between the unmanned aerial vehicle based on ultrasonic positioning and the ultrasonic receiving heads through the trigger signals, and can acquire the relative position between the unmanned aerial vehicle based on ultrasonic positioning and the parking platform by integrating the feedback data of the ultrasonic receiving heads; the relative position is then sent to the drone based on ultrasonic positioning through the apron communication module.
Optionally, the wireless communication actions related to the ultrasonic apron are all sending instructions, so that the apron communication module is a wireless sending module, and the manufacturing cost of the ultrasonic apron is saved.
The unmanned aerial vehicle landing method based on ultrasonic positioning comprises the following steps:
fig. 7 shows the utility model discloses unmanned aerial vehicle landing method reference structure schematic diagram based on ultrasonic wave location.
Fig. 8 shows the utility model discloses unmanned aerial vehicle landing method flow chart based on ultrasonic wave location.
The embodiment of the utility model provides an unmanned aerial vehicle landing method based on ultrasonic wave location, unmanned aerial vehicle landing method based on ultrasonic wave location includes a plurality of communication cycle, arbitrary communication cycle in a plurality of communication cycle includes following step:
s101: parking apron processing module self-T0Starting timing, and obtaining the a-th ultrasonic transmission time T when receiving the a-th stop signal sent by the a-th ultrasonic receiving modulea-T；
At the beginning of each communication cycle, the apron processing module is from T0Start timing at time, synchronous, ultrasonic positioning based unmanned aerial vehicle at T0The ultrasonic signal is transmitted from time to time.
In order to ensure time synchronization of the apron processing module with the unmanned aerial vehicle based on ultrasonic positioning, optionally, the apron processing module is based on the haltPlateau synchronous clock timing at T0Starting timing at the moment; the ultrasonic signal is based on the unmanned aerial vehicle synchronous clock timing based on ultrasonic positioning on the unmanned aerial vehicle based on ultrasonic positioning is at T0Sending out at any moment; the time calibration of the apron synchronous clock is the same as that of the unmanned aerial vehicle synchronous clock based on ultrasonic positioning. Through the consistency of the time of the apron synchronous clock and the unmanned aerial vehicle synchronous clock based on ultrasonic positioning, the T for starting timing of the apron processing module is ensured0T for starting sending ultrasonic waves by unmanned aerial vehicle based on ultrasonic positioning at moment0The time is the same. Through this mode of setting up, can guarantee the time synchronization of unmanned aerial vehicle based on ultrasonic positioning and air park treater, and the time synchronization is not established on the basis of intercommunication, can break away from communication among the concrete implementation and carry out time synchronization, has good practicality.
Unmanned aerial vehicle is at T based on ultrasonic wave location0Ultrasonic signals sent at any moment are diffused in a fan shape and are received by an ultrasonic receiving module on the apron, specifically, the ultrasonic receiving module comprises an ultrasonic receiving head, and the ultrasonic receiving head can be used for acquiring the ultrasonic signals; the ultrasonic wave module acquires an ultrasonic wave signal based on the ultrasonic wave receiving head, then converts the ultrasonic wave signal into a stop signal through modes such as analog-to-digital conversion and sends the stop signal to the apron processing module, and the apron processing module obtains the ultrasonic wave transmission time after receiving the stop signal.
In order to confirm the position of unmanned aerial vehicle based on ultrasonic wave location, the quantity of ultrasonic wave receiving module is more than three groups, for the convenience of description the embodiment of the utility model provides an, the quantity of ultrasonic wave receiving module is s group, and s is more than or equal to 3, and s is the integer. The s groups of ultrasonic modules comprise a first ultrasonic receiving module, a second ultrasonic receiving module, … … and an a-th ultrasonic receiving module, wherein a is 1,2, …, s-1, s. It should be noted that, in order to prevent ambiguity caused by applying arabic numerals to naming, a in the a-th ultrasonic receiving module in the embodiment of the present invention is replaced by a lowercase Chinese character number.
In particular, the apron treatment module is self-T0Starting timing, and obtaining the a-th ultrasonic transmission time T when receiving the a-th stop signal sent by the a-th ultrasonic receiving modulea-T; since the value number of a is s, s ultrasonic transmission times are obtained in the process, and specifically, each ultrasonic transmission time corresponds to one group of ultrasonic modules corresponding to the s groups of ultrasonic modules.
S102: an apron processing module calculates the distance between the unmanned aerial vehicle and the a-th real-time distance D of the a-th ultrasonic receiving module based on ultrasonic positioninga＝v(Ta-T0) Wherein v is the propagation velocity of the ultrasonic signal;
according to the transmission principle of the sound wave, the transmission distance of the sound wave is related to the propagation time and the propagation medium, in the embodiment of the utility model, the ultrasonic signal is propagated in the air, and the sound velocity v propagation speed can be set to be 340 m/s; in specific implementation, the actual propagation speed may slightly deviate according to the air composition difference, and the actual propagation speed may be adjusted according to actual conditions in specific implementation.
Corresponding to the a-th ultrasonic receiving module, the transmission distance (namely the a-th real-time distance) from the ultrasonic wave emitted by the unmanned aerial vehicle positioned based on the ultrasonic wave to the ultrasonic receiving head of the a-th ultrasonic receiving module is Da＝v(Ta-T0)。
In specific calculation, the a-th real-time distances of all the ultrasonic receiving modules need to be calculated in a traversing manner so as to obtain the theoretical distance between the unmanned aerial vehicle and each ultrasonic receiving module based on ultrasonic positioning.
S103: an apron processing module calculates the unmanned aerial vehicle based on ultrasonic positioning at T according to the a-th real-time distance of s total number0Spatial position of time Q0(x0,y0,z0)；
In step S102, a theoretical distance from the drone to each ultrasonic receiving module based on ultrasonic positioning, that is, the number of the a-th real-time distances is calculated to be S.
Fig. 9 shows spatial position Q of an embodiment of the present invention0(x0,y0,z0) And the flow of the calculation method is schematic. Optionally, the apron processing module calculates the unmanned aerial vehicle based on ultrasonic positioning at T based on the a-th real-time distance of s total number0Spatial position of time Q0(x0,y0,z0) The method comprises the following steps:
s201, traversing and selecting any three a real-time distances from the S a real-time distances to construct a primary combination, wherein the number of the primary combination is
In the three-dimensional space, the distance from a known point to the other three non-collinear known points can be determined, and the unknown point in the space can be unknown, therefore, in the embodiment of the present invention, the total number of a real-time distances is s, the total number of a real-time distances is traversed, selected, and any three a real-time distances are constructed to form a combination, and according to the combination principle, the number of the combinations of the combination is one and the same
A plurality of; for ease of reference, the three a-th real-time distances in a time combination are named z1，z2，z3。
S202: solving the unmanned aerial vehicle at T based on ultrasonic positioning based on the primary combination0Primary spatial position coordinates P (i, j, k) of the time instants;
specifically, the unmanned aerial vehicle based on ultrasonic positioning is obtained based on the primary combination at T0The primary spatial position coordinates P (i, j, k) of a time instant comprise the steps of:
constructing a system of space coordinate distance equations for the primary space position coordinates P (i, j, k):
wherein z is1Ultrasonic receiving head of corresponding a-th ultrasonic receiving moduleThe coordinate in the space coordinate system is (i)1,j1,k1)，z2The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)2,j2,k2)，z3The coordinate of the ultrasonic receiving head of the corresponding a-th ultrasonic receiving module in the space coordinate system is (i)3,j3,k3)；
And solving the primary space position coordinate P (i, j, k) based on the space coordinate distance equation system.
It should be noted that, since the source of the operation data of P (i, j, k) is the a-th real-time distance obtained in step S102, on one hand, the a-th real-time distance is affected by the time accuracy of the synchronous clock, and the a-th real-time distance has data errors in most cases, on the other hand, the transmission of the ultrasonic signal and the related electric signal in the circuit also takes time, and the a-th ultrasonic transmission time T obtained by the processor module is the a-th ultrasonic transmission time TaT is also not absolutely exact, so that it can be seen that if the ultrasound-based drone position is found by only one primary spatial position coordinate, it is not exact, and therefore, optionally, the number of ultrasound receiving modules should be greater than or equal to 4 groups, and when the number of ultrasound receiving modules is 4 groups, 4 primary spatial position coordinates can be provided; when the number of the ultrasonic wave receiving modules is 5 groups, 10 primary spatial position coordinates can be provided.
S203: traversing and solving primary space position coordinates of all primary combinations, wherein the mean value of the primary space position coordinates of all the primary combinations is the sound wave unmanned aerial vehicle positioned on the basis of ultrasonic waves at T0Spatial position of time Q0(x0,y0,z0)。
The primary space position coordinate that finds in step S202 all is error, in order to reduce the error, the embodiment of the utility model provides a mode through seeking the mean value to all primary space position coordinates reachs the sound wave is based on unmanned aerial vehicle of ultrasonic positioning at T0Spatial position of time Q0(x0,y0,z0)。
S104: parking apron processing dieThe block is calculated at T0Moment offset coordinate Q of unmanned aerial vehicle based on ultrasonic positioning relative to preset landing coordinate Q (x, y, z)Δ0(xΔ0,yΔ0,zΔ0)；
Specifically, a preset landing coordinate Q (x, y, z) is set in the space in a preset manner. In general, the apron plane may be taken as the 0 plane in the z direction, and thus, optionally, the preset landing coordinates are Q (x, y, 0).
Therefore, the calculation formula of the offset coordinate is as follows
QΔ0(xΔ0,yΔ0,zΔ0)＝Q0(x0,y0,z0)-Q(x,y,z)
The offset coordinate is represented at T0The relative position of the unmanned aerial vehicle based on ultrasonic positioning relative to the preset landing position at any moment.
S105: the apron processing module transfers the offset coordinate Q based on the apron communication moduleΔ0(xΔ0,yΔ0,zΔ0) And sending the information to the unmanned aerial vehicle based on the ultrasonic positioning.
It should be noted that the apron processing module according to the embodiment of the present invention only shifts the coordinate QΔ0(xΔ0,yΔ0,zΔ0) And sending the information to the unmanned aerial vehicle based on the ultrasonic positioning, and processing the subsequently executed operation by the unmanned aerial vehicle based on the ultrasonic positioning.
Different processing methods may be available for different drones based on ultrasound positioning.
Optionally, in the embodiment of the utility model, the unmanned aerial vehicle based on ultrasonic wave location is to squint coordinate QΔ0(xΔ0,yΔ0,zΔ0) The processing method comprises the following steps:
the offset coordinate QΔ0(xΔ0,yΔ0,zΔ0) The unmanned aerial vehicle communication module based on ultrasonic positioning of the unmanned aerial vehicle based on ultrasonic positioning receives the signal and transmits the signal to the unmanned aerial vehicle processing module based on ultrasonic positioning;
based on ultrasoundWave-positioned unmanned aerial vehicle processing module is based on the offset coordinate QΔ0(xΔ0,yΔ0,zΔ0) Generating a control signal and sending the control signal to the unmanned aerial vehicle based on ultrasonic positioning for unmanned aerial vehicle flight control based on ultrasonic positioning; it should be noted that, control signal's generation logic has more modes, can set for based on the unmanned aerial vehicle of ultrasonic wave location according to the difference, and is optional, the utility model discloses control signal's generation logic is:
judging the offset coordinate QΔ0(xΔ0,yΔ0,zΔ0) X ofΔ0And yΔ0Is it 0?
At said xΔ0And yΔ0When not 0, the control signal comprises a translation control signal; at said xΔ0And yΔ0And when the value is 0, the control signal comprises a falling control signal.
Specifically, the translation control signal can control an unmanned aerial vehicle driving module based on ultrasonic positioning of the unmanned aerial vehicle based on ultrasonic positioning through unmanned aerial vehicle flight control based on ultrasonic positioning, so that the unmanned aerial vehicle based on ultrasonic positioning translates to a set position; descending control signal accessible is based on the unmanned aerial vehicle flight control of ultrasonic wave location to the unmanned aerial vehicle drive module based on ultrasonic wave location of unmanned aerial vehicle based on ultrasonic wave location, makes unmanned aerial vehicle based on ultrasonic wave location descend to setting for on the position.
Correspondingly, in the corresponding control signal, the control method further comprises an acceleration logic generated based on a preset logic, so that the stability of the unmanned aerial vehicle based on ultrasonic positioning in the motion process is guaranteed.
Unmanned aerial vehicle flight control based on ultrasonic wave location is based on control signal generates and is used for driving the drive signal based on the unmanned aerial vehicle drive module of ultrasonic wave location, drive signal is so that unmanned aerial vehicle drive module based on ultrasonic wave location drives unmanned aerial vehicle based on ultrasonic wave location is according to presetting the acceleration to presetting the direction motion.
As can be seen from the above description, the apron receives the ultrasonic positioning-based absence in one communication cycleCorrespondingly, in order to avoid the ultrasonic signal in one communication period from being received in the subsequent communication period, a proper time interval is kept between two adjacent communication periods, and specifically, the interval execution time of two adjacent communication periods in the plurality of communication periods is t; the effective propagation distance of the ultrasonic signal after being sent out from the unmanned aerial vehicle based on ultrasonic positioning is r, and the interval execution time t meets the condition
The effective propagation distance of the ultrasonic signal emitted by the ultrasonic wave generating head applied to civil-grade unmanned aerial vehicles based on ultrasonic wave positioning is about 10m, correspondingly,
as the subsequent processing of the apron processor module and the interaction between the apron and the drone based on ultrasonic positioning are also involved, optionally t is 0.1 s.
The utility model provides an unmanned aerial vehicle and ultrasonic wave air park based on ultrasonic positioning, this unmanned aerial vehicle based on ultrasonic positioning sends ultrasonic signal through ultrasonic wave generating module and supplies the ultrasonic wave air park to carry out position identification to receive the positional information who comes from the feedback of ultrasonic wave air park through unmanned aerial vehicle communication module, utilize positional information realizes the function that the unmanned aerial vehicle based on ultrasonic positioning lands to the air park and predetermines the landing position, and this unmanned aerial vehicle based on ultrasonic positioning's landing can break away from manual control, has guaranteed the security when unmanned aerial vehicle based on ultrasonic positioning lands; ultrasonic wave air park can acquire the ultrasonic signal who is sent by unmanned aerial vehicle based on ultrasonic positioning based on ultrasonic wave receiving module to real-time computation based on ultrasonic positioning's unmanned aerial vehicle relative position for the shutdown platform and general relative position sends and supplies the unmanned aerial vehicle based on ultrasonic positioning to carry out the motion reference for unmanned aerial vehicle based on ultrasonic positioning, makes on the unmanned aerial vehicle based on ultrasonic positioning can descend to the preset descending position on ultrasonic wave air park, has good practicality and reliability.
The above detailed description is made on the unmanned aerial vehicle and the ultrasonic parking apron based on ultrasonic positioning provided by the embodiments of the present invention, and the specific examples are applied herein to explain the principle and the implementation of the present invention, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.
Claims (7)
1. An unmanned aerial vehicle based on ultrasonic positioning is characterized in that the unmanned aerial vehicle based on ultrasonic positioning comprises an unmanned aerial vehicle body, an unmanned aerial vehicle processing module, an ultrasonic generating module and an unmanned aerial vehicle communication module;
the unmanned aerial vehicle processing module, the ultrasonic wave generation module and the unmanned aerial vehicle communication module are respectively arranged on the unmanned aerial vehicle body;
the unmanned aerial vehicle body is provided with an unmanned aerial vehicle flight control module, the unmanned aerial vehicle flight control module is electrically connected with the unmanned aerial vehicle processing module, and the unmanned aerial vehicle processing module is electrically connected with the unmanned aerial vehicle communication module;
the ultrasonic wave generation module comprises an ultrasonic wave emitting head, and the ultrasonic wave generating head is arranged at the bottom of the unmanned aerial vehicle body.
2. The ultrasonic location-based drone of claim 1, wherein the ultrasonic generation module further comprises a pulse signal generator, a switching transistor, and a mid-cycle transformer;
one end of the first primary of the middle transformer is a low-voltage input end, and the other end of the first primary of the middle transformer is electrically connected with a collector of the switching triode;
the base electrode of the switching triode is electrically connected with the output end of the pulse signal generator, and the emitting electrode of the switching triode is grounded;
and two ends of the second primary of the middle transformer are respectively and electrically connected with the two electrodes of the ultrasonic transmitting head.
3. The ultrasonic positioning-based drone of claim 2, wherein the ultrasonic generation module further comprises a ground resistance through which one of the electrodes of the ultrasonic generation head is grounded.
4. The ultrasonic location based drone of claim 2, wherein the drone processing module includes a processor having a number of general purpose input output interfaces, one of which is electrically connected with the drone flight control;
the pulse signal generator is internally arranged in the processor, and one general input/output interface of the plurality of general input/output interfaces is the output end of the pulse signal generator.
5. The ultrasonic location-based drone of claim 1, wherein the drone communication module is a wireless reception module.
6. The ultrasonic air park is characterized by comprising an air park platform, an air park processing module, more than three ultrasonic receiving modules and an air park communication module;
the more than three ultrasonic receiving modules are respectively and electrically connected with the apron processing module, and the apron communication module is electrically connected with the apron processing module;
any one of the three or more ultrasonic receiving modules comprises an ultrasonic receiving head;
the ultrasonic receiving heads are arranged on the shutdown platform, and the ultrasonic receiving heads of the more than three ultrasonic receiving modules are not arranged on the same straight line.
7. The ultrasonic apron of claim 6, wherein the apron communication module is a wireless transmission module.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022189143A1 (en) * | 2021-03-08 | 2022-09-15 | Mikado Model Helicopters GmbH | System and method for determining the position of a flying body |
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| WO2022189143A1 (en) * | 2021-03-08 | 2022-09-15 | Mikado Model Helicopters GmbH | System and method for determining the position of a flying body |
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