WO2017166724A1

WO2017166724A1 - Aircraft apron device, aircraft, and aircraft parking system

Info

Publication number: WO2017166724A1
Application number: PCT/CN2016/098080
Authority: WO
Inventors: 杨震; 李大龙
Original assignee: 乐视控股（北京）有限公司; 乐视体育文化产业发展（北京）有限公司
Priority date: 2016-03-30
Filing date: 2016-09-05
Publication date: 2017-10-05
Also published as: CN105857630A

Abstract

An embodiment of the present disclosure relates to an aircraft apron device, an aircraft, and an aircraft parking system, and the main technical solutions are described below. The aircraft apron device comprises an aircraft parking platform and an identification sign. The aircraft parking platform has an aircraft parking area. The identification sign is arranged at the aircraft parking area. The identification sign is exposed to the exterior of the aircraft apron device. The aircraft comprises an unmanned aerial vehicle, an image acquisition unit, an information acquisition unit, a storage unit, and a control unit. The information acquisition unit is used to acquire second information of a target identification sign in an image acquired by the image acquisition unit. The storage unit stores first information of the identification sign. An input terminal of the control unit is respectively connected to output terminals of the storage unit and the information acquisition unit. The control unit is used to transmit, to the unmanned aerial vehicle, on the basis of the first information and the second information and according to a preset rule, a corresponding control command. The aircraft apron device, aircraft, and aircraft parking system of the embodiment solve a problem in the prior art in which an unmanned aerial vehicle is unable to descend autonomously.

Description

Apron installation, aircraft and aircraft shutdown system

The present application claims priority to Chinese Patent Application No. 2016101927381, filed on March 30, 2016, the disclosure of which is incorporated herein by reference. In this application.

Technical field

Embodiments of the present disclosure relate to the field of flight equipment technology, and in particular, to a tarmac device, an aircraft, and an aircraft shutdown system.

Background technique

The drone, referred to as the "unmanned aerial vehicle", is a non-manned aircraft operated by radio remote control equipment and its own program control device. There is no cockpit on board, but equipment such as autopilot and program control devices are installed. Personnel on the ground, on the ship or at the remote control station of the parent machine can be controlled by radar, remote control and other equipment. The drone can take off like a normal airplane under a remote control or launch it with a booster rocket. It can also be carried by the parent aircraft into the air.

At present, when the drone is landing, it is generally the operator who observes the terrain through the naked eye and uses his own experience to land the drone. The control of landing is more complicated, and the drone has no independent landing function.

Summary of the invention

In view of this, the embodiments of the present disclosure provide a tarmac device, an aircraft, and an aircraft shutdown system, and the main purpose thereof is to solve the defect that the UAV cannot fall autonomously in the related art.

In order to achieve the above object, the present disclosure mainly provides the following technical solutions:

In one aspect, an embodiment of the present disclosure provides a tarmac device comprising:

a parking platform having a parking area for the external aircraft to dock;

An identification mark is disposed on the parking area and exposed outside the apron device.

The object of the present disclosure and solving the technical problems thereof can be further achieved by the following technical measures.

The aforementioned apron device, wherein the identification mark is a cross, a triangle, a circle or a square;

And/or, the identification is marked with an identification mark with a scale;

And/or, the identification is marked as an identification mark with a two-dimensional code.

The foregoing apron device, wherein the parking area has a groove adapted to the contour of the identification mark, and the identification mark is embedded in the groove.

Or, the identification mark is pasted on the parking area.

The foregoing apron device, wherein the parking platform is further provided with a signal sending module.

In another aspect, an embodiment of the present disclosure also provides an aircraft, including:

Drone

An image acquisition unit is disposed on the drone, and an image acquisition unit of the image acquisition unit is exposed outside the aircraft, and the aircraft collects an image identified by an external device by the image acquisition unit;

a storage unit is disposed on the drone, and the first information of the identification mark is stored in the storage unit;

An information collecting unit is disposed on the drone, and an input end of the information collecting unit is connected to an output end of the image collecting unit, and is configured to collect a second target identification mark in the image collected by the image collecting unit information;

a control unit, disposed on the drone, an input end of the control unit is respectively connected to the storage unit and the information collecting unit, and an output end of the control unit is connected to a controlled end of the drone The control unit is configured to send a corresponding control instruction to the drone according to the set rule according to the first information and the second information.

In the aforementioned aircraft, wherein the image acquisition unit of the image acquisition unit is exposed at the bottom, the head or the tail of the aircraft.

In the above-mentioned aircraft, the bottom surface of the drone is provided with a through hole communicating with the inside, the image collecting unit is disposed inside the drone, and the image collecting unit of the image collecting unit passes the Through hole exposure;

Alternatively, the image acquisition unit is detachably mounted on the drone.

The aforementioned aircraft, wherein the image acquisition unit is a camera.

In another aspect, an embodiment of the present disclosure also provides an aircraft shutdown system, including:

An aircraft, which is an aircraft of any of the above;

A tarmac device, which is any of the apron devices described above, configured to be docked by the aircraft.

The above aircraft shutdown system also includes:

A vehicle, the parking platform of the apron device is disposed on the vehicle.

The above aircraft shutdown system, wherein

The vehicle has a ceiling, and a parking platform of the apron device is disposed on the ceiling, and a parking area of the apron device is horizontally disposed and exposed outside the aircraft shutdown system.

With the above technical solution, the apron device, the aircraft and the aircraft shutdown system of the present disclosure have at least the following beneficial effects:

In the technical solution provided by the present disclosure, the apron device and the aircraft are used together, since the identification mark is disposed on the parking area of the apron device, and the image collecting unit, the information collecting unit, the storage unit, and the drone are disposed on the drone. control unit. The first information of the identification mark is stored in the storage unit. The drone can collect the image of the identification mark on the apron device through the image acquisition unit on the landing, and the image acquisition unit outputs the collected image containing the identification mark to the information collection unit, and the information collection unit collects the image collection. The second information of the target identification mark in the image collected by the unit. The control unit may calculate the distance and the relative direction of the drone from the apron device according to the set rules according to the first information and the second information, thereby generating corresponding control commands to control the flight path of the drone, so that no The man-machine landed on the tarmac, which solved the defect that the UAV could not land on its own in the related art.

The above description is only an overview of the technical solutions of the present disclosure, and the technical means of the present disclosure can be more clearly understood, and can be implemented in accordance with the contents of the specification, and the following detailed description will be made with reference to the preferred embodiments of the present disclosure and the accompanying drawings.

DRAWINGS

The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.

1 is a schematic diagram of an aircraft shutdown system according to an embodiment of the present disclosure;

2 is a schematic structural view of a tarmac device according to an embodiment of the present disclosure;

3 is a structural block diagram of an aircraft provided by an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of an identification on a tarmac device marked with a cross shape according to an embodiment of the present disclosure; FIG.

FIG. 5 is an image acquisition unit on an aircraft provided at a certain moment according to an embodiment of the present disclosure. A schematic diagram of a target cross-shaped mark in an image containing a cross-shaped mark;

FIG. 6 is a schematic structural diagram of an aircraft according to an embodiment of the present disclosure; FIG.

7 is a structural block diagram of an aircraft shutdown system according to an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of another aircraft shutdown system according to an embodiment of the present disclosure.

Implementation

The technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the drawings in the embodiments of the present disclosure. It is a partial embodiment of the present disclosure, and not all of the embodiments.

As shown in FIG. 1, an aircraft shutdown system 100, including an apron device 10 and an aircraft 20, is provided in accordance with an embodiment of the present disclosure.

As shown in FIGS. 1 and 2, the apron device 10 described above includes an immobilization platform 1 and an identification mark 2. There is a shutdown area 11 on the parking platform 1. The aircraft 20 can be docked on the parking area 11. The identification mark 2 is disposed on the parking area 11 and is exposed outside the apron device 10 so that the external image capturing unit 3, such as a camera or a human eye, can observe the identification mark 2.

As shown in FIG. 3, the above-described aircraft 20 includes a drone 7, an image acquisition unit 3, an information collection unit 5, a storage unit 4, and a control unit 6. The image acquisition unit 3, the information collection unit 5, the storage unit 4, and the control unit 6 are all disposed on the drone 7. The first information of the identification mark 2 on the apron device 10 is stored in the storage unit 4. The image acquisition unit 31 of the image acquisition unit 3 is exposed outside the aircraft 20, and the aircraft 20 collects an image of the identification mark 2 on the apron device 10 through the image acquisition unit 31. The output of the image acquisition unit 3 is connected to the input of the information acquisition unit 5. The image collecting unit 3 sends the collected image containing the identification mark 2 to the information collecting unit 5, and the information collecting unit 5 collects the second information of the target identification mark in the image. The outputs of the storage unit 4 and the information acquisition unit 5 are both connected to the input of the control unit 6, and the output of the control unit 6 is connected to the controlled end 71 of the drone 7. The control unit 6 can generate a corresponding control command according to the first information and the second information, and according to the set rule, and the control unit 6 sends the control command to the controlled end 71 of the drone 7 to control the unmanned person. The flight path of the machine 7.

As the drone 7 is closer to the apron device 10, the contour of the target recognition mark in the image collected by the image acquisition unit 3 on the drone 7 gradually increases; on the contrary, the farther the drone 7 is farther away from the apron At the time of the device 10, the outline of the target recognition mark in the image acquired by the image acquisition unit 3 tends to gradually decrease. When the drone 7 is parked on the parking area 11 on the tarmac device 10, at this time on the drone 7 The outline of the target recognition mark 2 in the image acquired by the image acquisition unit 3 is maximized.

In a specific application example, the aforementioned identification mark 2 is a cross mark. The first information of the cross-shaped indication is stored in the storage unit 4, such as the length information of the four sides stored in the cross shape, and the four sides are four sides extending in four directions starting from the central intersection indicated by the cross. . Figure 4 shows a schematic view of the cross-shaped design of the apron device 10. The four sides indicated by the cross in Figure 4 are a, b, c and d, respectively. The storage unit 4 stores length information of each of the four sides a, b, c, and d. When the drone 7 is flying in the air, an image marked by a cross on the apron device 10 is collected by the image capturing unit 3. FIG. 5 is a schematic diagram showing a target cross-shaped indication in an image containing a cross-shaped mark collected by the image acquisition unit 3 at a certain time. The four sides indicated by the target cross in Fig. 5 are a1, b1, c1 and d1, respectively. The information collecting unit 5 can collect the length information of each of a1, b1, c1 and d1, and transmit the collected information to the control unit 6. The control unit 6 can compare the respective sides, that is, a is compared with a1, b is compared with b1, c is compared with c1, d is compared with d1, and according to the set algorithm, according to the first information Calculating with the second information to calculate the distance and relative direction of the drone 7 from the apron device 10, thereby generating corresponding control commands, controlling the flight path of the drone 7, and causing the drone 7 to land on the tarmac on.

It should be noted here that the foregoing control unit 6 can be a single chip microcomputer or a microprocessor. The storage unit 4 may be a hard disk, a memory card, a flash memory or the like. The image acquisition unit 3 can be a camera or the like. The specific structure of the control unit 6, the storage unit 4, the information collection unit 5, and the image acquisition unit 3 is a common technique in the related art, and may be selected in the related art as needed, and details are not described herein again.

In order to make the image of the identification mark 2 on the apron device 10 collected by the image capturing unit 31 when the aircraft 20 is landing, the collecting direction of the image collecting unit 31 should be set downward, so that when the drone 7 is flying in the air, the image is collected. The portion 31 can acquire an image of the identification mark 2 on the ground apron device 10.

Optionally, the image capturing unit 31 of the image capturing unit 3 should be exposed at the bottom of the aircraft 20 with the technical effect of facilitating the image collecting unit 31 to collect objects below the aircraft 20.

However, in an alternative embodiment, the image capturing unit 31 of the image capturing unit 3 may also be exposed on the head or the tail of the aircraft 20, etc., and may be specifically set according to actual needs of the user.

In order to save the volume of the aircraft 20, as shown in Fig. 6, the bottom surface of the aforementioned unmanned aerial vehicle 7 is provided with a through hole 72 communicating with the inside. The image pickup unit 3 is disposed inside the drone 7, and the image pickup portion 31 of the image pickup unit 3 is exposed through the through hole 72. In this way, the drone 7 can be effectively combined with the image acquisition unit 3 to achieve the technical effect of saving the volume of the aircraft 20 and simplifying the appearance of the aircraft 20.

It should be noted here that the image capturing portion 31 is adapted to the contour of the opening of the through hole 72, for example, both of which are circular or square.

In an alternative embodiment, the aforementioned image acquisition unit 3 can also be detachably mounted on the drone 7, so that when the image acquisition unit 3 is damaged, the image acquisition unit 3 can be promptly taken from the drone 7 Detach on. Of course, both the image capturing unit 3 and the drone 7 can also be designed in an integrated manner, and can be specifically set according to the actual needs of the user, as long as the image capturing unit 3 can be stably fixed to the drone 7 .

The identification mark 2 on the apron device 10 described above serves primarily as a guide and guide. The specific shape of the identification mark 2 can be set according to the actual needs of the user. For example, the identification mark 2 can be a geometric shape such as a cross, a triangle, a circle or a square. The identification mark 2 may also be an identification mark with a scale, or the identification mark 2 may be an identification mark with a two-dimensional code, or the identification mark 2 may be other complicated patterns or the like. The specific shape of the identification mark 2 is not listed here as long as it can be resolved by the control system on the aircraft 20.

In order to stably fix the identification mark 2 on the parking area 11, the aforementioned parking area 11 may be provided with a groove (not shown) adapted to the outline of the identification mark 2. The identification mark 2 is just embedded in the groove. In order to improve the stabilizing effect, the portion of the identification mark 2 corresponding to the groove wall of the groove may be coated with glue to prevent the identification mark 2 from coming off the groove.

In an alternative embodiment, the foregoing identification mark 2 may be pasted on the parking area 11 or printed on the parking area 11, and may be set according to the actual needs of the user, and details are not described herein.

In order to assist the aircraft 20 in positioning the apron device 10, as shown in FIG. 7, the apron device 10 is provided with a signal transmitting module 9, and the aircraft 20 is provided with a signal receiving module 8 matched with the signal transmitting module 9. The signal receiving module 8 is connected to the control unit 6. When the aircraft 20 is far away from the apron device 10, and the image capturing unit 3 on the aircraft 20 cannot collect the identification mark 2 on the apron device 10, the aircraft 20 may first stop the information sent by the receiving signal transmitting module 9. The ping device 10 performs coarse positioning to direct the aircraft 20 to fly near the tarmac device 10 until the image acquisition unit 3 on the aircraft 20 can acquire the identification 2 on the tarmac device 10 and then pass the image acquisition on the aircraft 20 The interaction between the unit 3, the storage unit 4 and the control unit 6 causes the aircraft 20 to be stably lowered onto the apron device 10.

The above signal transmitting module 9 and signal receiving module 8 may both be GP1610385S modules, etc. Can be set according to the actual needs of users.

As shown in FIG. 8, the aforementioned aircraft shutdown system 100 further includes a vehicle 40 on which the shutdown platform 1 of the apron device 10 is disposed. Thus, when the person drives out to travel, the drone 7 can be parked on the vehicle 40, and the drone 7 is more convenient to stop.

The position of the above-mentioned parking platform 1 on the vehicle 40 can be set according to the actual needs of the user. In a specific application example, as shown in FIG. 8, the aforementioned vehicle 40 has a ceiling 401, the apron device 10 is disposed on the ceiling 401, the parking area 11 of the apron device 10 is horizontally disposed, and is exposed in the aircraft shutdown system 100. The outside, so that the drone 7 can be stably parked on the parking area 11 of the apron device 10.

Embodiments of the present disclosure also provide a tarmac device including an immobilization platform and an identification tag. There is a parking area on the parking platform for the aircraft to dock. The identification mark is placed on the parking area and the identification mark is exposed on the outside of the apron device. It should be noted that the apron device involved in the embodiment may adopt the related structure of the apron device 10 described in the embodiment of the aircraft stop system 100 described above. For the specific implementation and working principle, refer to the aircraft stop system 100 described above. Corresponding contents in the embodiments are not described herein again.

Embodiments of the present disclosure also provide an aircraft including a drone, an image acquisition unit, an information collection unit, a storage unit, and a control unit. The image acquisition unit, the information collection unit, the storage unit, and the control unit are all disposed on the drone. The image acquisition unit of the image acquisition unit is exposed outside the aircraft, and the aircraft collects an image of the identification mark on the external device through the image acquisition unit. The input end of the information collecting unit is connected to the output end of the image collecting unit, and the information collecting unit is configured to collect the second information of the target identification mark in the image collected by the image collecting unit. The first information of the identification mark is stored in the storage unit. The input ends of the control unit are respectively connected to the output ends of the storage unit and the information collecting unit, and the output end of the control unit is connected to the drone. The control unit is configured to send a corresponding control instruction to the drone according to the set rule according to the first information and the second information. It should be noted that the aircraft involved in the embodiment may adopt the related structure of the aircraft 20 described in the above embodiment of the aircraft shutdown system 100. The specific implementation and working principle can be referred to the embodiment of the aircraft shutdown system 100 described above. The corresponding content will not be described here.

In accordance with the above embodiments, the apron device 10, aircraft 20, and aircraft shutdown system 100 of the present disclosure have at least the following advantages:

In the technical solution provided above, the apron device 10 and the aircraft 20 are used together due to An identification mark 2 is provided on the parking area 11 of the tarmac device 10, and the image pickup unit 3, the information collecting unit 5, the storage unit 4, and the control unit 6 are disposed on the drone 7. The first information of the identification mark 2 is stored in the storage unit 4. The drone 7 can collect the image of the identification mark 2 on the apron device 10 through the image capturing unit 3 on the landing, and the image collecting unit 3 outputs the collected image containing the identification mark 2 to the information collecting unit 5 . The information collecting unit 5 acquires the second information of the target identification mark 2 in the image collected by the image capturing unit 3. The control unit 6 can calculate the distance and relative direction of the drone 7 from the apron device 10 according to the set rules according to the first information and the second information, thereby generating corresponding control commands to control the flight of the drone 7 The trajectory causes the drone 7 to land on the tarmac, thereby solving the defect that the drone 7 cannot fall autonomously in the related art.

It should be noted that the above embodiments are only for explaining the technical solutions of the present disclosure, and are not intended to be limiting; although the present disclosure has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that The technical solutions described in the foregoing embodiments are modified, or the equivalents of the technical features are replaced by the equivalents. The modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Industrial applicability

Claims

A tarmac device comprising:

a parking platform having a parking area for the external aircraft to dock;

An identification mark is disposed on the parking area and exposed outside the apron device.
The apron device according to claim 1, wherein

The identification mark is a cross, a triangle, a circle or a square;

And/or, the identification is marked with an identification mark with a scale;

And/or, the identification is marked as an identification mark with a two-dimensional code.
The apron device according to claim 1, wherein

The parking area has a groove adapted to the contour of the identification mark, and the identification mark is embedded in the groove;

Or, the identification mark is pasted on the parking area.
The apron device according to claim 1, wherein

A signal transmitting module is further disposed on the parking platform.
An aircraft comprising:

Drone

An image acquisition unit is disposed on the drone, and an image acquisition unit of the image acquisition unit is exposed outside the aircraft, and the aircraft collects an image identified by an external device by the image acquisition unit;

a storage unit is disposed on the drone, and the first information of the identification mark is stored in the storage unit;

An information collecting unit is disposed on the drone, and an input end of the information collecting unit is connected to an output end of the image collecting unit, and is configured to collect a second target identification mark in the image collected by the image collecting unit information;

a control unit is disposed on the drone, and an input end of the control unit is respectively connected to an output end of the storage unit and the information collecting unit, and an output end of the control unit and a receiving end of the drone The control unit is configured to send a corresponding control instruction to the drone according to the set rule according to the first information and the second information.
The aircraft according to claim 5, wherein

The image acquisition unit of the image acquisition unit is exposed at the bottom, head or tail of the aircraft.
The aircraft according to claim 6, wherein

The bottom surface of the drone is provided with a through hole communicating with the inside, the image collecting unit is disposed inside the drone, and the image collecting unit of the image collecting unit is exposed through the through hole;

Alternatively, the image acquisition unit is detachably mounted on the drone.
An aircraft shutdown system comprising:

An aircraft, which is an aircraft according to any one of claims 5 to 7;

A tarmac device for the apron device of any one of claims 1 to 4 for docking the aircraft.
The aircraft shutdown system of claim 8 further comprising:

A vehicle, the parking platform of the apron device is disposed on the vehicle.
The aircraft shutdown system of claim 9 wherein

The vehicle has a ceiling, and a parking platform of the apron device is disposed on the ceiling, and a parking area of the apron device is horizontally disposed and exposed outside the aircraft shutdown system.