TWI822007B - Landing platform for aircraft and system thereof - Google Patents

Abstract

A landing platform for aircraft and a system thereof are adapted for solving the problem that the conventional aircraft cannot land on a corresponding platform stably. The present invention comprises the following steps. Step 1: obtaining an attitude information of an aircraft relative to a platform, and the attitude information is defined based on the pitch angle, the yaw angle and the roll angle of the aircraft. Step 2: during the process the aircraft landing on the platform, adjusting a landing portion of the platform in accordance with the attitude information, so that a reference plane of the aircraft is parallel to a landing plane defined by the landing portion. Step 3: during the process the aircraft landing on the platform, and in the state before the aircraft contacting the landing portion, repeating said step 1 to renew the attitude information, and then repeating said step 2 to adjust the landing portion of the platform.

Description

Aircraft parking method and system

The present invention relates to a vehicle parking method and system, in particular to an aircraft parking method and system.

In conventional aircraft parking methods and systems, the platform used to park the aircraft is installed in a static position or a variable position (for example, installed on a vehicle). When an aircraft (especially a drone) When trying to land on the platform, it is easily affected by the wind speed in the environment, the shaking of the vehicle equipped with the platform due to movement or environmental factors, or the failure of the aircraft, etc. It is difficult to land on the platform, and it is easy to cause unexpected situations such as hitting the ground or hitting the platform at an incorrect angle and/or speed during the landing process, resulting in damage to the aircraft or other objects and personnel.

In view of this, there is still a need to improve the conventional aircraft parking methods and systems.

In order to solve the above problems, the purpose of the present invention is to provide an aircraft parking method and system that can obtain the relative attitude information of the aircraft relative to the carrier and real-time control the attitude/angle of the carrier to correspond to the attitude of the aircraft, thereby improving the ability of the aircraft to park on the carrier. The stability and smoothness of the platform.

A secondary object of the present invention is to provide a method and system for parking an aircraft, which is guided by the force of magnetic attraction generated between the aircraft and the carrier, so as to reduce the situation that the aircraft cannot land stably due to the influence of external factors during the landing process of the carrier. , so that the aircraft can be parked more firmly on the carrier platform.

Another object of the present invention is to provide a method and system for parking an aircraft. By using a computer to determine whether magnetic attraction is generated based on relative position information, the magnetic force can be prevented from interfering with the movement of the aircraft when the aircraft is not landing on the platform.

Another object of the present invention is to provide a method and system for parking an aircraft. Through the configuration of the connecting element and the retracting device, the aircraft will not be moved away from the platform due to strong wind or violent shaking, which helps the aircraft to park stably on the platform. tower.

Directionality or similar terms are used throughout the present invention, such as "front", "back", "left", "right", "upper (top)", "lower (bottom)", "inner", "outer" , "side", etc. mainly refer to the directions of the attached drawings. Each directionality or its approximate terms are only used to assist in explaining and understanding the various embodiments of the present invention, and are not intended to limit the present invention.

The use of the quantifier "a" or "an" in the elements and components described throughout the present invention is only for convenience of use and to provide a common sense of the scope of the present invention; in the present invention, it should be interpreted as including one or at least one, and single The concept of also includes the plural unless it is obvious that something else is meant.

Approximate terms such as "combination", "combination" or "assembly" used throughout the present invention include those in which the components can be separated without destroying the components after being connected, or in which the components cannot be separated after being connected. Those with ordinary knowledge in the art It can be selected according to the material of the components to be connected or the assembly requirements.

The term "coupling" throughout this disclosure includes direct or indirect electrical and/or signal connections, which can be selected by those with ordinary knowledge in the art according to usage requirements.

The "Computer" mentioned in the entire text of this invention refers to a computer with specific functions. And various data processing devices implemented in hardware or hardware and software, especially a processor or having a processor to process analysis information and/or generate corresponding control information, such as: electronic controllers, servers, cloud platforms , virtual machine, desktop computer, notebook computer, tablet computer or smart phone, etc., can be understood by those with ordinary knowledge in the technical field to which the present invention belongs. In addition, a corresponding data receiving or transmitting unit may be included to receive or transmit required data. In addition, the corresponding database/storage can be included to store the required data. In particular, unless otherwise specifically excluded or contradicted, the "one computer" may be a "set of multiple computers" based on a distributed system architecture, used to include or represent the process and mechanism of information stream processing between multiple computers. and results.

The aircraft parking method of the present invention includes: step 1, using a computer to obtain relative attitude information and relative position information of a first reference datum of an aircraft relative to a second reference datum of a carrier. The relative attitude information It is defined based on the pitch angle, yaw angle and roll angle of the aircraft; Step 2: During the process of parking the aircraft on the platform, the computer adjusts a parking part of the platform based on the relative attitude information, Make a reference plane of the aircraft parallel to a parking section plane defined by the parking section, and use the computer to analyze the relative position information to calculate a relative distance between the aircraft and the parking section, and the computer determines the relative distance between the aircraft and the parking section. Whether the relative distance is not greater than a preset length, in a state where the relative distance is not greater than the preset length, a magnetic force of attraction is generated between the aircraft and the parking part; Step 3: Park the aircraft on the During the process of loading the platform and in a state before the aircraft is in contact with the parking part, repeat the aforementioned step one to update the attitude information and the relative position information, and then repeat the aforementioned step two to adjust the parking of the platform. and determine whether the aforementioned magnetic force of attraction is generated.

The aircraft parking system of the present invention includes: an aircraft having a body defining a reference plane, the aircraft having a flight power module for controlling the movement of the aircraft, the aircraft having a first magnetic part; The carrier has a base, a parking part, and a carrier adjustment mechanism. The carrier adjustment mechanism is connected between the base and the parking part for adjusting the parking part. The parking part produces an angle change in three-dimensional space relative to the base. The parking part has a second magnetic part; a computer is coupled to and controls the flight power module and the stage adjustment mechanism respectively.

Accordingly, the aircraft parking method and system of the present invention can obtain the relative attitude information of the aircraft relative to the carrier through the computer, thereby instantly controlling the attitude of the parking part to correspond to the attitude of the aircraft, so as to prevent the aircraft from moving at the wrong angle. Landing on the parking part has the effect of improving the stability and smoothness of the aircraft parking on the parking part. In addition, when the aircraft is not landing on the platform, it can avoid magnetic interference with the movement of the aircraft, and can When the relative distance is not greater than the preset length, a magnetic force of attraction is provided to achieve the effect that the aircraft can be parked in the parking part more stably.

Among them, an image capture device can be installed on the aircraft, and an identifiable mark can be provided on the stage; an image to be identified containing the identifiable mark is intercepted through the image capture device; and the image to be identified is analyzed by the computer , to obtain the relative attitude information and the relative position information. In this way, the relative attitude information and the relative position information can be provided through the configuration of the image capturing device and the identifiable mark, so as to achieve the effect that the aircraft can land smoothly on the platform.

Among them, an image analysis method can be used to analyze the image to be identified. The image analysis method is based on a perspective multi-point positioning method, and the three-dimensional coordinates of each of at least three positions of the stage are pre-established to analyze the The image to be recognized obtains the relative posture information and the relative position information. In this way, the relative attitude information and the relative position information can be calculated through the perspective multi-point positioning method, so as to achieve the effect that the aircraft can land smoothly on the platform.

Wherein, a first attitude sensing unit and a first position sensing unit may be provided on the aircraft. The first attitude sensing unit is used to obtain a first attitude information corresponding to the current attitude of the aircraft. The first position sensing unit The sensing unit is used to obtain a first position information corresponding to the current position of the aircraft; a second attitude sensing unit and a second position sensing unit are provided on the platform, and the second attitude sensing unit is used to obtain the corresponding A second attitude information of the current attitude of the carrier, the second position sensing The unit is used to obtain a second position information corresponding to the current position of the carrier; the computer analyzes the first posture information and the second posture information to obtain the relative posture information, and the computer analyzes the first position information and the second location information to obtain the relative location information. In this way, the relative attitude information and the relative position information can be obtained through the configuration of the attitude sensing unit, so that the aircraft can land smoothly on the platform.

Wherein, a connecting element can be provided on the aircraft, the connecting element has two ends, one of the two ends is fixed to the aircraft, and the other of the two ends of the connecting element is combined with the carrier A retracting device is activated to cause the aircraft to move in a direction close to the carrier. In this way, through the configuration of the connecting element and the retracting device, it can be ensured that the aircraft will not move away from the platform due to strong wind or violent shaking, so that the aircraft can land stably on the parking part.

1: aircraft

1M: First Magnetic Department

10:Ontology

11:Flight power module

12:Image capture device

2: Carrier stage

2A: Recognizable mark

20: base

21: Parking department

21M:Second Magnetic Department

21W:Window

22: Stage adjustment mechanism

22A:Telescopic rod

22B: Rotating platform

3:Computer

4: Connecting components

5: Rewinding device

P10: Reference plane

P21: Parking part plane

[Figure 1] Schematic diagram of the configuration of the aircraft and the carrier in a preferred embodiment of the present invention.

[Figure 2] Schematic diagram of another example of the stage adjustment mechanism of the present invention.

[Figure 3] Schematic diagram of another example of the stage adjustment mechanism of the present invention.

[Figure 4] A schematic diagram showing the adjustment of the parking part according to the current attitude of the aircraft according to the present invention.

[Figure 5] A schematic diagram of the aircraft and the carrier platform of the present invention using magnetic force to park.

[Picture 6] The schematic diagram of the aircraft parked on the platform is shown in Figure 5.

[Figure 7] A schematic diagram of the aircraft of the present invention using retractable connecting elements for parking.

In order to make the above and other objects, features and advantages of the present invention more clearly understood, preferred embodiments of the present invention are cited below and described in detail with reference to the accompanying drawings; in addition, in different figures Those marked with the same symbols in the formula are considered to be the same, and their explanations will be omitted.

Please refer to Figure 1, which is a preferred embodiment of the aircraft parking system of the present invention. It includes an aircraft 1, a carrier 2 and a computer 3. The computer 3 is connected to the aircraft 1 and the carrier respectively. 2 coupling.

The aircraft 1 has a body 10 , a flight power module 11 and an image capture device 12 . A reference plane P10 is defined on the body 10; preferably, in a state where the body 10 is parked on a horizontal plane, the reference plane P10 is defined to be parallel to the horizontal plane. The flight power module 11 is used to control the movement of the aircraft 1. For example, the aircraft 1 can be any type of drone, such as a rotary wing or a fixed wing. The flight power module 11 corresponds to various types of drones. The aircraft 1 may include corresponding propellers and power sources, etc., used to drive corresponding mechanisms and control output power to control the forward, turning, lifting, descending, tilting, rolling, etc. of the UAV 1. The image capture device 12 is used to capture/shoot an image or video, and may use a CCD (photosensitive coupling device) or CMOS (complementary metal oxide semiconductor) image capture unit (such as a video camera or a camera); Optimally, when the corresponding image capture unit is installed on the aircraft 1, it can have the function of adjusting the shooting angle, focal length, pixels and other shooting parameters, and these relevant shooting parameters will be recorded for subsequent image processing or analysis. It should be noted that the above-mentioned technologies and functions related to the flight power module 11 and the image capture device 12 are common knowledge in the technical field to which the present invention belongs, and can be understood by those in the field, so they will not be described again here. It is not limited to the examples of this invention.

The stage 2 has a base 20, a parking part 21, a stage adjustment mechanism 22, and an identification mark (Identification Marker) 2A. The base 20 can be placed in a fixed position or installed on a vehicle (such as a vehicle, a boat or another aircraft). The parking part 21 is installed above the base 20. The parking part 21 has a parking part plane P21. The parking part plane P21 is used for parking/landing of the aircraft 1, and when the aircraft 1 is parked (correctly contacted) ) In a state of the parking portion 21, the reference plane P10 is parallel to the parking portion plane P21. The stage is adjusted The mechanism 22 is connected between the base 20 and the parking part 21 for adjusting the position of the parking part 21 relative to the base 20 to produce three-dimensional space changes, especially for making the parking part plane P21 produce various different changes. The angle of the horizontal plane. Regarding the specific mechanism configuration of the stage adjustment mechanism 22, the stage adjustment mechanism 22 can use a Stewart Platform with six telescopic rods 22A (with ball axles) as shown in Figure 1 or its equivalent configuration. , or use a mechanism configuration of at least three telescopic rods 22A (with ball shafts) as shown in Figure 2, or use at least two telescopic rods 22A (to carry out X-axis and Y-axis corresponding to the three-dimensional coordinate system) as shown in Figure 3 The mechanism configuration is to control the rotation angle) and a rotating platform 22B (to control the Z-axis rotation angle). The identifiable mark 2A is installed at a position on the stage 2 for the image capturing device 12 to capture an image to be identified with the identifiable mark 2A; preferably, the identifiable mark 2A is installed on the On the parking part 21; preferably, the identifiable mark 2A is an ArUco mark (Augmented Reality University of Cordoba Marker). The ArUco generally refers to a suite of tool libraries based on the open source tool OpenCV, and based on the images with ArUco tags captured by the image capture unit, it can be used to estimate the position and attitude of the image capture device 12 . It should be noted that the above-mentioned technologies and functions related to the stage adjustment mechanism 22, the identifiable mark 2A, etc. are common knowledge in the technical field to which the present invention belongs, and can be understood by those skilled in the art, so they will not be described in detail here, and will not be repeated here. It is limited to those exemplified in the present invention. Optionally, a plurality of identifiable marks 2A can be provided on the parking part 21. In particular, the multiple identifiable marks 2A can be evenly distributed on the parking part 21, so that the aircraft 1 can approach the carrier in any direction. When station 2 is used, it is convenient for the image capturing device 12 to capture at least one of the plurality of identifiable marks 2A; in addition, through the arrangement of the plurality of identifiable marks 2A, in particular, each of the identifiable marks 2A has different The information can be used to calculate the relative position and attitude relationship between the aircraft 1 and the platform 2/parking part 21.

The computer 3 is coupled to the flight power module 11 and the stage adjustment mechanism 22 respectively, and is used to generate corresponding control signals according to various received information and preset logic rules to control the flight power module 11 and the platform adjustment mechanism 22 respectively. The stage adjustment mechanism 22; in particular, the computer 3 will The image capturing device 12 captures/photographs the identifiable mark 2A, and uses an image analysis method to analyze the image to be identified to obtain the position and posture of the image capturing device 12, and then based on the image capturing device 12 The shooting parameters (for example, the adjustment angle of the image capture device 12 during shooting, and information installed at a specific position of the aircraft 1), to obtain position information and attitude that can represent the aircraft 1 relative to the carrier 2 information.

Specifically, taking the space defined by the 3-Dimentional Cartesian Coordinate System with corresponding X-axis, Y-axis, and Z-axis as an example, the position information includes at least one three-dimensional coordinate information. The attitude information is composed of the pitch angle, yaw angle and roll angle of the aircraft 1; that is, it is a rotation angle information corresponding to the X-axis, Y-axis, and Z-axis defined according to the three-dimensional Cartesian coordinate system. The X-axis can be defined as a direction extending along the fuselage of the aircraft 1 (from nose to tail). The angle of rotation to the X-axis at this time is the roll angle; the Y-axis can be defined as the vertical X-axis and extends along the wings of the aircraft. One direction, the angle of rotation to the Y-axis at this time is the pitch angle; the Z-axis can be defined as a direction that is perpendicular to the X-axis and the Y-axis at the same time, and the angle of rotation to the Z-axis at this time is the yaw angle.

Preferably, the image analysis method is based on perspective-n-point positioning (PnP, Perspective-n-Point), using a pre-established information with three-dimensional coordinates of each of at least three positions of the stage 2 , to analyze the image to be identified through the computer 3, and perform back estimation based on the above-mentioned pre-established information and the shooting parameters of the image capture device 12, to obtain a representative position of the aircraft 1 relative to the stage 2 Information and attitude information.

It should be noted that the computer 3 may be a remote computer/processor/server that is not directly installed on the aircraft 1 and the carrier 2, and is coupled to the controllers/computers of the aircraft 1 and the carrier 2 respectively. to receive, transmit and process data. Alternatively, the computer 3 may be installed on one of the aircraft 1 and the carrier 2 and coupled with the controller/computer of the other of the aircraft 1 and the carrier 2 to receive data. , transmission and processing. Alternatively, the computer 3 is Two are respectively installed on the aircraft 1 and the carrier 2 to receive, transmit and process data. Among them, the above-mentioned number and specific configuration of the computers 3 are common knowledge in the technical field to which the present invention belongs, and can be understood by those in the field and can be adjusted according to actual needs, so they will not be described in detail here, and the present invention will not be used as an example. is limited.

Please refer to Figure 4. According to the above structure of the aircraft parking system of the present invention, in a state where the aircraft 1 is to be parked/landed on the platform 2, an image containing the identifiable mark 2A is captured through the image capturing device 12 An image to be identified, and by analyzing the image to be identified, a relative position information and a relative attitude information of the aircraft 1 relative to the carrier 2 can be obtained. In this way, the computer 3 can issue a corresponding control command according to the relative attitude information to make the parking part 21 correspond to the attitude of the aircraft 1, especially to make the parking part plane P21 parallel to the reference plane P10, so as to facilitate the parking of the aircraft 1 on the stage 2. In addition, in a state where the environmental wind field is unstable and makes it difficult to adjust the attitude of the aircraft 1, the attitude of the carrier 2 is adjusted to correspond to the attitude of the aircraft 1 (that is, the parking part plane P21 is parallel to the reference plane P10) , will greatly improve the stability of the aircraft 1 parked on the carrier 2.

Preferably, the aforementioned relative position information and relative attitude information refer to the relative relationship between the aircraft 1 and the parking part 21 . When the computer 3 calculates the relative relationship, at least one of a reference point coordinate, a plane and a reference coordinate system, or any combination thereof, can be preset on the aircraft 1 and the stage 2 to respectively As a reference standard on the aircraft 1 and the stage 2, the computer 3 can accurately acquire the aircraft based on the reference standard and corresponding compensation information (such as the aforementioned shooting parameters of the image capture device 12). 1 and the parking portion 21. For example, in the analysis and calculation of the relative position information, the X-axis coordinates and Y-axis coordinates of a reference datum preset on the aircraft 1 preferably correspond to the geometric center of the aircraft 1, and the Z axis of the reference datum is preferably The axial coordinate is preferably the point where the aforementioned geometric center extends downward along the Z-axis and intersects with the parking portion 21 when the aircraft 1 is parked on the parking portion 21, thereby establishing a first reference base. The three-dimensional coordinates (i.e., X-axis, Y-axis, Z-axis) of a reference datum preset on the stage 2 are preferably established corresponding to the geometric center of the parking part 21 on the parking plane P21 a second reference datum. In this way, in a state where the positions and postures of the first reference datum and the second reference datum coincide with each other, it means that the aircraft 1 is parked on the platform 2 . Thereby, the computer 3 can control the position and attitude of the aircraft 1 according to the difference between the first reference standard and the second reference standard, or control the attitude of the parking part 21 so that the aircraft 1 can be stably parked on the platform. 2.

In particular, in an example in which the attitude of the parking part 21 corresponds to the attitude of the aircraft 1, the first reference datum can also be defined as the reference plane P10, the second reference datum can be defined as the parking part plane P21, and The computer 3 analyzes the image to be recognized to obtain relative attitude information of the aircraft 1 relative to the carrier 2 . Specifically, the relative attitude information is defined based on the pitch angle, yaw angle and roll angle of the aircraft 1, for example, the current pitch angle, yaw angle and roll angle of the aircraft 1/the reference plane P10 and the parking part 21/The difference in the current rotation angle of the parking part plane P21 in the three-dimensional space.

Alternatively, in another preferred embodiment (not shown), the image capture device 12 is replaced with a first position and attitude module, and the identifiable mark 2A is replaced with a second position and attitude module. The first position and attitude module is installed on the aircraft 1 , and the second position and attitude module is installed on the carrier 2 . The first position and attitude module and the second position and attitude module each have a position sensing unit and an attitude sensing unit. The position sensing unit is, for example, a GPS (Global Positioning System) unit; the attitude sensing unit is, for example, a gyroscope, which at least has a gyroscope capable of measuring three-axis angles. Each of the position sensing units can be used to provide the first position information and the second position information of the current positions of the aircraft 1 and the carrier 2; each of the attitude sensing units can be used to provide the aircraft 1 and the carrier 2 The first posture information and the second posture information of the current posture. In this way, the computer 3 can receive and analyze the first position information and the second position information (especially when the first position information and the second position information have a consistent coordinate basis, through The computer 3 analyzes a difference between the first position information and the second position information) to obtain the aforementioned relative position information; in addition, the computer 3 can also receive and analyze the first posture information and the second posture information (Especially when the first posture information and the second posture information have a consistent reference standard, the computer 3 can analyze a difference between the first posture information and the second posture information) to obtain the aforementioned relative posture. information.

Optionally, the aircraft parking system of the present invention may additionally have an auxiliary parking configuration. The auxiliary parking configuration may be a configuration using magnetic force or a configuration in which connecting elements are retracted, so as to achieve enhanced parking of the aircraft 1 on the carrier 2 of stability.

Please refer to Figures 5 and 6, which are auxiliary parking configurations of the aircraft parking system of the present invention using magnetic force. The aircraft 1 has a first magnetic part 1M, and the parking part 21 has a second magnetic part 21M. In an example, the second magnetic part 21M is a permanent magnet or an electromagnet. When the second magnetic part 21M generates magnetic force, the material of the first magnetic part 1M has the ability to withstand the second magnetic part. 21M attracts the component, in other words, the material of the first magnetic part 1M has ferromagnetism. In another example, one of the first magnetic part 1M and the second magnetic part 21M is an electromagnet, and the other one of the first magnetic part 1M and the second magnetic part 21M is a permanent magnet. Or an electromagnet. Through the arrangement of the first magnetic part 1M and the second magnetic part 21M, an attractive magnetic force can be generated between the aircraft 1 and the parking part 21, so that when the aircraft 1 approaches the parking part 21, the aircraft 1 1 can be parked more firmly on the parking part 21.

Preferably, please refer to Figure 5. During the process when the aircraft 1 is parked on the platform 2, the computer 3 can calculate the relative position information between the aircraft 1 and the platform 2 (especially the distance between the aircraft 1 and the platform 2). is a relative distance between the parking parts 21), and determines whether the relative distance is not greater than a preset length; in a state where the relative distance is not greater than the preset length, the aircraft 1 and the carrier 2 A magnetic force of attraction is generated between the parking parts 21, so that the aircraft 1 can be parked more firmly on the parking part 21 (as shown in Figure 6). In particular, in the first magnetic portion 1M or the One of the second magnetic parts 21M is an electromagnet. The computer 3 determines based on the relative position information that the relative distance between the aircraft 1 and the parking part 21 is not greater than the preset length, and then the first magnetic part 21M is activated. The magnetic part 1M and the second magnetic part 21M generate a magnetic force that attracts each other, which can prevent the magnetic force from interfering with the movement of the aircraft when the aircraft 1 is not landing on the platform 2 .

Please refer to Figure 7, which is an auxiliary parking configuration of the aircraft parking system of the present invention using the retracting connecting element. The aircraft 1 has a connecting element 4. The connecting element 4 can be, for example, a rope or a cable that can be rolled up. One end of the connecting element 4 is fixed to the body 10 of the aircraft 1, and the other end of the connecting element 4 can extend in any direction away from the aircraft 1, preferably in the direction of gravity. The carrier 2 has a retracting device 5. The retracting device 5 is preferably disposed on the base 20 of the carrier 2 for coupling with the other end of the connecting element 4 and from the other end of the connecting element 4. One end of the connecting element 4 is rolled up; preferably, the retracting device 5 can have a rotatable columnar structure, and the other end of the connecting element 4 is combined with the columnar structure, and rotates the columnar structure to The connecting element 4 is rolled up or loosened. In this way, the aircraft 1 can be brought close to the carrier 2, and through the restriction of the shortened length of the retracted connecting element 4, the aircraft 1 will not be easily moved away from the carrier 2 due to strong wind or violent shaking, which is helpful for the aircraft 1. Park stably in the parking part 21 in general environment or particularly harsh environment. Preferably, according to the installation position of the retracting device 5, especially when the retracting device 5 is installed between the base 20 and the parking part 21, the parking part 21 is optionally provided with a window 21W (for example, a window 21W). hole) for the other end of the connecting element 4 to penetrate and connect with the retracting device 5 .

Preferably (not shown), the other end of the connecting element 4 has a third magnetic part, the retracting device 5 has a corresponding fourth magnetic part, and the third magnetic part and the fourth magnetic part correspond to each other. To generate a magnetic force that attracts each other, thereby making it easy for the other end of the connecting element 4 to be combined with the retracting device 5 . Preferably (not shown), the other end of the connecting element 4 has a first buckle part, and the retracting device 5 has a corresponding second buckle part, and the first buckle part and the second buckle part The parts have structures corresponding to each other, especially structures that can be hooked, buckled or engaged with each other, so that the first buckle The coupling portion is restricted by the second buckling portion to produce a coupling effect, thereby making it easy for the other end of the connecting element 4 to be coupled with the retracting device 5 .

According to the configuration of the foregoing system, the present invention can implement the aircraft parking method as described below.

In a preferred embodiment of the aircraft parking method of the present invention, corresponding adjustments can be made based on the aforementioned relative attitude information adjustment, including: Step 1 : Obtain the first reference datum of the aircraft 1 relative to the platform through the computer 3 The relative attitude information of the second reference datum of 2, the relative attitude information is defined based on the pitch angle, yaw angle and roll angle of the aircraft 1; Step 2 : Park the aircraft 1 on a platform 2 During the process, the computer 3 adjusts the parking part 21 of the stage 2 according to the relative attitude information, so that the reference plane P10 of the aircraft 1 is parallel to the parking part plane P21 defined by the parking part 21; and step 3 : During the process of the aircraft 1 being parked on the platform 2 and in a state before the aircraft 1 is in contact with the parking part 21, repeat the aforementioned step 1 to update the attitude information, and then repeat the aforementioned step 2 to adjust The parking portion 21 of the carrier 2 .

Preferably, in the aforementioned step one, the relative position information of the first reference datum of the aircraft 1 relative to the second reference datum of the carrier 2 can be obtained through the computer 3; in the aforementioned step two, by The computer 3 analyzes the relative position information to calculate a relative distance between the aircraft 1 and the parking part 21, and the computer 3 determines whether the relative distance is not greater than a preset length; when the relative distance is not greater than the In a state of preset length, a magnetic force of attraction is generated between the aircraft 1 and the parking part 21; in the aforementioned step three, repeat the aforementioned step one to update the relative position information, and repeat the aforementioned step two to determine whether Produce the aforementioned magnetic force of attraction. In this way, when the aircraft 1 is not landing on the platform 2, the magnetic force can be prevented from interfering with the movement of the aircraft 1; and when the relative distance is not greater than the preset length, the magnetic force of attraction can be provided to make the aircraft 1 Aircraft 1 can update It is parked firmly on this parking part 21.

Specifically, the relative attitude information and/or the result of the relative attitude information can be obtained by using the image capturing device 12 and the identifiable mark 2A, or by using the aircraft 1 and the stage 2 It is obtained by setting the corresponding position sensing unit and attitude sensing unit respectively. Optionally, the above two methods can be used at the same time to obtain more accurate position and attitude information through comparison and verification of the two methods; and when one method cannot be used, there is still another method available. Obtain position and attitude information to increase the stability of the overall system/method.

In the manner of using the image capturing device 12 and the identifiable mark 2A to obtain the relative attitude information and/or the relative attitude information, the image capturing device 12 is provided on the aircraft 1 and the stage 2 is provided. The identifiable mark 2A, the identifiable mark 2A can be, for example, an ArUco mark, but is not limited to this; a video of the identifiable mark 2A (preferably containing the ArUco mark) is captured through the image capture device 12 Recognize the image; use the computer 3 to analyze the image to be recognized to obtain the relative posture information and/or the relative position information.

Preferably, with the ArUco mark, an image analysis method is used to analyze the image to be identified. The image analysis method is based on a perspective multi-point positioning method, and each of the at least three positions of the stage 2 is pre-established. three-dimensional coordinates to analyze the image to be identified to obtain the relative posture information and/or the relative position information.

In the aspect of using the position sensing unit and the attitude sensing unit to obtain the relative attitude information and/or the relative attitude information, a first attitude sensing unit and/or a first position sense are provided on the aircraft 1 The first attitude sensing unit is used to acquire a first attitude information corresponding to the current attitude of the aircraft 1, and the first position sensing unit is used to acquire a first position information corresponding to the current position of the aircraft 1; The carrier 2 is provided with a second attitude sensing unit and/or a second position sensing unit. The second attitude sensing unit is used to obtain a second attitude information corresponding to the current posture of the carrier 2. The second attitude sensing unit The position sensing unit is used to obtain a second bit corresponding to the current position of the carrier 2 position information; the computer 3 analyzes the first position information and the second position information to obtain the relative position information, and the computer 3 analyzes the first position information and the second position information to obtain the relative position information .

Optionally, in addition to the above-mentioned method of instantly adjusting the attitude of the platform 2 corresponding to the aircraft 1 or using magnetic attraction to achieve a more stable parking of the aircraft 1 on the platform 2, the aircraft 1 can provide the The connecting element 4 has two ends, one of the two ends is fixed to the aircraft 1, and the other of the two ends of the connecting element 4 is combined with the retraction of the carrier 2 The device 5 activates the retracting device 5 to move the aircraft 1 in a direction close to the carrier 2 . It should be noted that the way in which the connecting element 4 is matched with the retracting device 5 can be applied to the system/method of the present invention at the same time as the above-mentioned first magnetic part 1M and the second magnetic part 21M, so as to enhance the ability of the aircraft 1 to be used in different situations. In a stable state, it can still be parked stably on the carrier 2.

To sum up, the aircraft parking method and system of the present invention acquire the attitude of the aircraft and the carrier through the image capture device and identifiable marks and/or through the position sensing unit and attitude sensing unit and/or or position information, and then the computer obtains the relative attitude information and/or relative position information of the aircraft relative to the carrier (especially the relative parking part) based on the attitude and/or position information and related compensation information, thereby controlling the parking part in real time The attitude corresponds to the attitude of the aircraft, so that the aircraft can be parked in the parking part in the expected manner, ensuring that the aircraft lands at the parking part at the correct angle, and avoiding unexpected collisions that may cause parking failure or related objects (aircraft or carrier) ) is damaged due to collision, and can improve the stability and smoothness of the aircraft parking in the parking part. In addition, through the arrangement of the first magnetic part of the aircraft and the second magnetic part of the parking part, a magnetic force of attraction is generated between the aircraft and the parking part, and guided by the attraction of the magnetic force, the aircraft is reduced in landing at the parking part. During the process, the aircraft can be parked more firmly in the parking part due to the inability to maintain a stable and expected attitude due to various factors. In addition, the computer determines based on the relative position information that the relative distance between the aircraft and the carrier (especially the parking part) is not greater than the preset length. Actuating the first magnetic part and the second magnetic part generates a magnetic force that attracts each other, which can prevent the magnetic force from interfering with the movement of the aircraft when the aircraft is not landing on the carrier. In addition, through the configuration of the connecting element and the retracting device, the aircraft can no longer be moved away from the carrier due to strong wind or violent shaking, which helps the aircraft to park stably in the parking part.

Although the present invention has been disclosed using the above-mentioned preferred embodiments, they are not intended to limit the invention. Anyone skilled in the art can make various changes and modifications to the above-described embodiments without departing from the spirit and scope of the invention. The technical scope protected by the invention, therefore, the protection scope of the invention shall include all changes within the literal and equivalent scope described in the appended patent application scope. In addition, when several of the above-mentioned embodiments, examples or methods can be combined, the present invention includes any combination of implementations.

1: aircraft

10:Ontology

11:Flight power module

12:Image capture device

2: Carrier stage

2A: Recognizable mark

20: base

21: Parking Department

22: Stage adjustment mechanism

22A:Telescopic rod

3:Computer

P10: Reference plane

P21: Parking part plane

Claims (6)

An aircraft parking method includes: step 1: using a computer to obtain relative attitude information and relative position information of a first reference datum of an aircraft relative to a second reference datum of a carrier, the relative attitude information is based on The pitch angle, yaw angle and roll angle of the aircraft are defined; Step 2: During the process of parking the aircraft on the platform, the computer adjusts a parking part of the platform based on the relative attitude information, so that the A reference plane of the aircraft is parallel to a parking section plane defined by the parking section, and the computer analyzes the relative position information to calculate a relative distance between the aircraft and the parking section, and the computer determines the relative distance Whether it is not greater than a preset length, and in a state where the relative distance is not greater than the preset length, a magnetic force of attraction is generated between the aircraft and the parking part; Step 3: Park the aircraft on the platform During the process, and in a state before the aircraft and the parking part are in contact, repeat the aforementioned step one to update the attitude information and the relative position information, and then repeat the aforementioned step two to adjust the parking part of the carrier and Determine whether the aforementioned magnetic force of attraction is generated. For example, the aircraft parking method of claim 1, wherein an image capture device is provided on the aircraft and an identifiable mark is provided on the platform; an image to be identified containing the identifiable mark is intercepted through the image capture device; whereby The computer analyzes the image to be recognized to obtain the relative posture information and the relative position information. For example, the aircraft parking method of claim 2, wherein an image analysis method is used to analyze the image to be identified. The image analysis method is based on a perspective multi-point positioning method, and each of the at least three positions of the carrier is pre-established. The three-dimensional coordinates of the person are analyzed to obtain the relative posture information and the relative position information by analyzing the image to be identified. For example, the aircraft parking method of claim 1, wherein a first An attitude sensing unit and a first position sensing unit. The first attitude sensing unit is used to obtain a first attitude information corresponding to the current attitude of the aircraft. The first position sensing unit is used to obtain a first attitude information corresponding to the current attitude of the aircraft. A first position information of the position; a second attitude sensing unit and a second position sensing unit are provided on the platform, and the second attitude sensing unit is used to obtain a second attitude corresponding to the current attitude of the platform Information, the second position sensing unit is used to obtain a second position information corresponding to the current position of the carrier; the computer analyzes the first posture information and the second posture information to obtain the relative posture information, by The computer analyzes the first location information and the second location information to obtain the relative location information. The aircraft parking method according to any one of claims 1 to 4, wherein a connecting element is provided on the aircraft, the connecting element has two ends, one of the two ends is fixed to the aircraft, and the connecting element is The other of the two ends is coupled to a retracting device of the carrier, and the retracting device is actuated to cause the aircraft to move in a direction close to the carrier. An aircraft parking system includes: an aircraft having a body defining a reference plane; the aircraft having a flight power module for controlling the movement of the aircraft; the aircraft having a first magnetic part; a carrier platform , has a base, a parking part, and a stage adjustment mechanism. The stage adjustment mechanism is connected between the base and the parking part for adjusting the angle change of the parking part relative to the base to produce a three-dimensional space. , the parking part has a second magnetic part; a computer that is coupled to and controls the flight power module and the stage adjustment mechanism respectively, and executes the aircraft parking method according to any one of claims 1 to 5.