WO2022083073A1 - 一种基于多传感器融合的无人机停机坪自我清洁系统 - Google Patents

一种基于多传感器融合的无人机停机坪自我清洁系统 Download PDF

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WO2022083073A1
WO2022083073A1 PCT/CN2021/085546 CN2021085546W WO2022083073A1 WO 2022083073 A1 WO2022083073 A1 WO 2022083073A1 CN 2021085546 W CN2021085546 W CN 2021085546W WO 2022083073 A1 WO2022083073 A1 WO 2022083073A1
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apron
sensor
cleaning
subsystem
landing pad
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PCT/CN2021/085546
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English (en)
French (fr)
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富尔江
张克非
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北星空间信息技术研究院(南京)有限公司
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Publication of WO2022083073A1 publication Critical patent/WO2022083073A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/007—Helicopter portable landing pads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B5/00—Cleaning by methods involving the use of air flow or gas flow
    • B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
    • B08B7/0064—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes
    • B08B7/0071—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by temperature changes by heating
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F3/00—Landing stages for helicopters, e.g. located above buildings
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems

Definitions

  • the invention belongs to the field of unmanned aerial vehicles, and relates to a self-cleaning method for an unmanned aerial vehicle apron based on multi-sensor fusion.
  • the tarmac here is the contact surface where a special drone will land.
  • the apron is generally located inside a larger, closable and closable box. Generally speaking, the upper surface of the box is closed. When a drone arrives, on the basis of full communication between the two parties, the upper cover is opened to let the drone land on the apron. The apron will then carry out follow-up maintenance operations on the drone, such as charging, or replacing payloads such as pesticides, seeds, courier packages, and more.
  • the surface of the apron may cause the drone to fail to land smoothly (such as surface icing, accumulation of water, etc.), or be covered with dust, which will affect the safety of charging, especially by contact charging or battery replacement. .
  • the present invention provides a method for self-cleaning of a parking apron.
  • the method is implemented based on multiple types of sensors. On the one hand, it is used to judge whether cleaning is required and which cleaning method; on the other hand, different cleaning methods are performed.
  • Figure 1 shows the composition of the system modules.
  • Identification 1 Temperature and humidity sensor. The sensor determines the temperature and humidity in the box where the apron is located.
  • Identification 2 Weight sensor. It is used to judge whether there is a weight change on the apron surface. On the one hand, the sensor can be used to assist in determining the model of the drone, changing the load of pesticides, seeds, express packages, etc., such as whether it is the specified load, and whether the load is overweight.
  • Mark 3 Photosensitive sensor. Photosensitive sensors are used to detect the accumulation of dust in and near specific areas on the tarmac, such as charging areas.
  • Identification 4 Central processing unit. It is used to analyze the data collected by the above identifications 1-3. And give the above data to make a judgment, if necessary, give instructions to the signs 6-8, and instruct the executive agencies to make corresponding operations respectively or simultaneously.
  • the photosensitive sensor reaches a certain preset value. If it is, it is judged that the surface of the apron is dusty, and the algorithm sends an instruction to the flag 7 to carry out wiper cleaning of the entire platform in the X-axis and Y-axis directions respectively. Then send an instruction to sign 6, that is, the fan will work, blowing air from the bottom to the apron, until the light sensor reading is normal.
  • Mark 7 Wiper cleaning on the entire platform, which can be cleaned in the X-axis and Y-axis directions respectively. Mainly used to scrape off dust, condensation and water, wind.
  • Mark 8 Magnetic induction electric heating works from the system, which is used to heat the ice on the apron surface to melt it into liquid, or the ice-water mixture that facilitates the cleaning of Mark 7.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种基于多传感器融合的、自清洁的无人机停机坪系统。停机坪特指无人机降落的接触面。停机坪一般位于一个更大的可封闭可开合的箱体内部。箱体上表面封闭，当有无人机来时，则在双方充分通信的基础上，打开上盖，让无人机降落到停机坪上。随后，停机坪将对无人机进行后续维护操作，如充电，或更换如农药、种子、快递包裹等在内的载荷。系统根据多种传感器采集的数据自动判断停机坪表面是否需要清洁以及应采用何种方式清洁。系统还自动执行合适的清洁方式。

Description

[根据细则37.2由ISA制定的发明名称]　一种基于多传感器融合的无人机停机坪自我清洁系统 技术领域
本发明属于无人机领域，涉及一种基于多传感器融合的无人机停机坪自我清洁方法。
背景技术
此处的停机坪特制无人机降落的接触面。该停机坪一般位于一个更大的可封闭可开合的箱体内部。一般而言，该箱体上表面封闭，当有无人机来时，则在双方充分通信的基础上，打开上盖，让无人机降落到停机坪上。随后，该停机坪将对无人机进行后续维护操作，如充电，或更换如农药、种子、快递包裹等在内的载荷。
如果停机坪表面不够清洁，可能会导致无人机无法平稳降落(如表面结冰、存在积水等)、或布满灰尘，影响充电的安全性，尤其是采用触点充电或换电池等方式。
在当前及未来的无人机场景中，越来越依靠非人工维护的停机坪，尤其在偏远地区，如大多数电力线塔和石油管道所在的荒漠、山林间等人迹罕至的地方。事实上，依靠人工维护的方式并不经济。因此，在考虑去人工化的过程中，无人机停机坪势必拥有自我清洁的能力。
当前的无人机停机坪一般不具备自我清洁的功能。对上述场景的实现实际造成了困扰。
发明内容
本发明提出一种停机坪自我清洁的方法。该方法基于多类传感器实现。一方面，用于判断是否需要清洁，以及是哪种清洁方式；另一方面，执行不同的清洁方式。
附图说明
图1为系统模块组成图。
具体实施方式
图1的模块说明如下：
标识1：温湿度传感器。该传感器判断停机坪所在箱体内的温度和湿度情况。
标识2：重量传感器。用于判断停机坪表面是否发生重量变化。一方面，该传感器可用于辅助确定无人机的型号，更换农药、种子、快递包裹等载荷情况，如是否是指定的载荷，以及载荷是否超重等。
标识3：光敏传感器。光敏传感器用于检测停机坪上特定区域(如充电区域)及其附 近的积灰情况。
标识4：中央处理器单元。用于分析上述标识1-标识3所采集的数据。并给予上述数据做出判断，必要时，对标识6-标识8给出指令，命该执行机构分别或同时做出相应操作。
标识5：算法判断。判断主要分别为三类，即
(1)温度和湿度是否达到某预设的阈值，同时，重量传感器是否有一定范围内的增加；如果是，则判断表面有积水(如昼夜温差产生的积水)，算法发出指令给标志6，即风扇工作，从底部向停机坪吹风，随后，发出指令给标志7，分别进行X轴和Y轴方向的全平台雨刮式清扫。进行停机坪表面干燥。直到重量传感器数值减少。
(2)温度传感器是否低于某个阈值，尤其是重量传感器有较大的数值增加。如果是，则判断停机坪表面有冰层。算法发出指令给标志8，即磁感应电加热自系统工作，用于加热停机坪表面的冰。当温度传感器上升至某一阈值，则进一步执行(1)中的内容。
(3)光敏传感器达到某一个预设值。如果是，则判断停机坪表面积灰，算法发出指令给标志7，分别进行X轴和Y轴方向的全平台雨刮式清扫。然后再发指令给标志6，即风扇工作，从底部向停机坪吹风，直到光敏传感器读数正常。
标识6：风扇机构。主要用于吹去特定区域的积灰浮尘等；
标识7：全平台雨刮式清扫，可分别进行X轴和Y轴方向的清扫。主要用于刮去积灰浮尘、凝露和积水，风。
标识8：磁感应电加热自系统工作，用于加热停机坪表面的冰，使其融化成液体，或便于标识7清扫的冰水混合体。
基于上述操作，基本满足无人机降落的基本要求，并便于载荷的增加、减少等工作，以及充电的顺利进行。整个过程无需人员参与，完全实现自主运行。
虽然本发明已以较佳实施例公开如上，但它们并不是用来限定本发明的，任何熟习此技艺者，在不脱离本发明之精神和范围内，自当可作各种变化或润饰，因此本发明的保护范围应当以本申请的权利要求保护范围所界定的为准。

Claims (9)

  1. 一种基于多传感器融合的、自清洁的无人机停机坪系统，所述系统能够独立采集数据、分析数据和输出给执行机构完成相应作业，所述系统包括：
    温湿度传感器，用于判断停机坪所在箱体内的温度和湿度情况；
    重量传感器，用于判断停机坪表面是否发生重量变化；
    光敏传感器，用于检测停机坪上特定区域及其附近的积灰情况；以及
    执行机构，所述执行机构包括：具有X-Y轴方向的清扫子系统、基于磁感应的电加热子系统以及风扇子系统。
  2. 如权利要求1所述的系统，其中所述重量传感器用于辅助确定无人机的型号以及确定更换农药、种子、快递包裹等载荷情况。
  3. 如权利要求1所述的系统，其中所述清扫子系统包括全平台雨刮式清扫装置，用于分别进行X轴和Y轴方向的清扫，以刮去积灰浮尘、凝露和积水。
  4. 如权利要求3所述的系统，其中所述电加热子系统用于加热停机坪表面的冰，使其融化成液体或融化成便于所述清扫子系统清扫的冰水混合体。
  5. 如权利要求4所述的系统，其中所述风扇子系统包括风扇机构，用于吹去特定区域的积灰浮尘。
  6. 如权利要求5所述的系统，还包括：
    中央处理器单元，用于分析所述温湿度传感器、所述重量传感器和所述光敏传感器所采集的数据，并根据分析结果做出判断，并且在必要时，对所述全平台雨刮式清扫装置、所述电加热子系统以及所述风扇机构给出指令，从而分别或同时做出相应操作。
  7. 如权利要求6所述的系统，其中所述中央处理器单元判断温度和湿度是否达到预设的阈值，同时，确定所述重量传感器的读数是否有一定范围内的增加；如果是，则判断表面有积水，并发出指令给所述风扇机构，以使所述风扇机构从底部向停机坪吹风，随后，发出指令给所述全平台雨刮式清扫装置，以分别进行X轴和Y轴方向的全平台雨刮式清扫，并进行停机坪表面干燥，直到所述重量传感器的读数减少。
  8. 如权利要求6所述的系统，其中所述中央处理器单元判断所述温度传感器的读数是否低于预设的阈值，并确定所述重量传感器的读数是否增加，如果是，则判断停机坪表面有冰层，并发出指令给所述电加热子系统，用于加热停机坪表面的冰，直至所述温度传感器的读数上升至预设的阈值。
  9. 如权利要求6所述的系统，其中所述中央处理器单元判断所述光敏传感器的读数是否达到预设值，如果是，则判断停机坪表面积灰，并发出指令给所述全平台雨刮式清扫装置，分别进行X轴和Y轴方向的全平台雨刮式清扫，然后再发指令给所述风扇机构，从底部向停机坪吹风，直到所述光敏传感器读数正常。
PCT/CN2021/085546 2020-10-22 2021-04-06 一种基于多传感器融合的无人机停机坪自我清洁系统 WO2022083073A1 (zh)

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