WO2023045498A1

WO2023045498A1 - Unmanned aerial vehicle landing platform and unmanned aerial vehicle landing system

Info

Publication number: WO2023045498A1
Application number: PCT/CN2022/104633
Authority: WO
Inventors: 张笃礼; 龚玉帅
Original assignee: 北京三快在线科技有限公司
Priority date: 2021-09-23
Filing date: 2022-07-08
Publication date: 2023-03-30
Also published as: CN115848634A

Abstract

The present disclosure relates to an unmanned aerial vehicle (UAV) landing platform and a UAV landing system. The UAV landing platform comprises: a positioning board, which is provided with an identification code for a UAV to identify a landing position; a light-emitting portion, which is used for emitting light toward the positioning board, wherein the light-emitting portion comprises a first light-emitting portion located at the bottom portion of the positioning board, and the positioning board is a light-scattering component that may be penetrated by light emitted by the first light-emitting portion; an ambient light collection device, which is used for collecting light intensity information of the environment in which the positioning board is located; and a control device, which is coupled to the ambient light collection device and coupled to a lighting member in the light-emitting portion and which is used for controlling, according to the light intensity information, the lighting member to be in an on state or off state. In this way, the light emitted by the first light-emitting portion may light up the positioning board from the bottom portion. When ambient light is insufficient, the UAV may also obtain a clear image of the identification code on the positioning board, thereby accurately identifying the landing position and ensuring the precise landing of the UAV in cloudiness, night-time and other environments.

Description

UAV landing platform and UAV landing system

technical field

The present disclosure relates to the field of unmanned driving, and in particular, relates to a drone landing platform and a drone landing system.

Background technique

UAV refers to a flying machine controlled by radio remote control equipment and its own program control device. Due to the advantages of relatively low cost, low risk of casualties, good maneuverability, and convenient use, UAVs have extremely broad application prospects in fields such as aerial photography, geological surveys, high-voltage transmission line inspections, and logistics distribution. Taking the logistics distribution scenario as an example, the items purchased by the user can be mounted on the drone, and the items can be delivered through the drone, saving manpower, improving delivery efficiency, and realizing contactless delivery.

Contents of the invention

The purpose of the present disclosure is to provide a drone landing platform and a drone landing system, which can ensure the precise landing of the drone in cloudy, night, rainy and other environments.

In order to achieve the above object, in the first aspect, the present disclosure provides a landing platform for drones, including: a positioning plate, on which an identification code for identifying the landing position of the drone is provided; The positioning plate emits light, wherein the light-emitting portion includes a first light-emitting portion located at the bottom of the positioning plate, and the positioning plate is a light-scattering component that can be penetrated by the light emitted by the first light-emitting portion; ambient light collection A device for collecting light intensity information of the environment where the positioning board is located; a control device, coupled with the ambient light collection device and with the lighting element in the light-emitting part, for The information controls the lighting element to be in the on state or in the off state.

In a second aspect, the present disclosure provides a UAV landing system, the system includes: UAV, the UAV is integrated with an image acquisition device for collecting the image of the identification code set on the positioning board, the The identification code is used for the UAV to identify the landing location; and, the UAV landing platform provided by the first aspect of the present disclosure.

Through the above technical solution, the light-emitting part can be used to emit light toward the positioning plate. The light-emitting part can include a first light-emitting part located at the bottom of the positioning plate. The positioning plate is a light-scattering component that can be penetrated by light emitted by the first light-emitting part. The device is used to collect light intensity information of the environment where the positioning board is located. The light intensity information can represent the intensity of light around the positioning board. The control device can control the lighting parts to be in the on state or off state according to the light intensity information. In this way, the positioning plate can be illuminated from the bottom by the light emitted by the first light emitting part. In this way, in the case of insufficient ambient light, such as in cloudy days, rainy days, at night, when the positioning board is blocked by shadows, etc., the UAV can also obtain a clear image of the identification code on the positioning board, so as to accurately identify the landing position , to ensure the precise landing of drones in cloudy and nighttime environments. In addition, the first light-emitting part is arranged under the positioning plate. On the one hand, the first light-emitting part does not need to be embedded in the positioning plate to maintain the integrity of the positioning plate structure; on the other hand, the first light-emitting part does not occupy the positioning plate. Space above the board to avoid interference with the landing of the drone.

Other features and advantages of the present disclosure will be described in detail in the detailed description that follows.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the description, together with the following specific embodiments, are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the attached picture:

Fig. 1 is a block diagram of a drone landing platform provided by an exemplary embodiment of the present disclosure.

Fig. 2 is a schematic diagram of a drone landing platform provided by an exemplary embodiment of the present disclosure.

Fig. 3 is a schematic cross-sectional view of the UAV landing platform in the embodiment shown in Fig. 1 .

Detailed ways

Specific embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

In the present disclosure, the orientation words such as "inside" and "outside" used refer to the inside and outside of the contour of the corresponding part unless stated to the contrary. The terms "first" and "second" are used not to denote any order or importance, but to distinguish one element from another. In addition, when the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated.

Fig. 1 is a block diagram of a drone landing platform provided by an exemplary embodiment of the present disclosure. As shown in FIG. 1 , the UAV landing platform may include a positioning board 100 , a light emitting part 200 , an ambient light collection device 400 , and a control device 500 .

Wherein, the positioning board 100 may be provided with an identification code for identifying the landing position of the drone, and the identification code may be, for example, a two-dimensional code, a bar code, or the like. The positioning plate 100 can be set on the ground, or on a building such as a roof, or on a moving object (such as a vehicle) as a part of the moving object. The UAV can be integrated with an image acquisition device, such as a camera, and the image acquisition device can be used to collect the image of the identification code set on the positioning board 100. The UAV can judge whether the positioning board 100 needs to be landed by itself by identifying the identification code. s position.

UAVs often need to perform flight tasks at night, cloudy, rainy and other environments. In the field of surveying, UAVs are required to perform survey tasks in rainy weather and other environments. Under these environmental conditions, the light is insufficient. When the UAV needs to land, the image acquisition device integrated on it may not be able to take a clear picture of the positioning board 100. The image of the identification code, so that it is impossible to accurately identify the location where it needs to land.

Therefore, the unmanned aerial vehicle landing platform in the present disclosure can also include a light emitting part 200 for emitting light toward the positioning board 100, wherein the light emitting part 200 can include a first light emitting part 210 at the bottom of the positioning board 100, and the positioning board 100 can The light-scattering component penetrated by the light emitted by the first light-emitting part 210. FIG. 2 is a schematic diagram of a drone landing platform provided by an exemplary embodiment of the present disclosure. As shown in FIG. The positioning plate 100 can be lighted from the bottom. The positioning plate 100 can be, for example, a milky white plate, and its material can be, for example, polycarbonate (abbreviated as PC). To the effect that the positioning board 100 is evenly lit.

The ambient light collection device 400 is used to collect the light intensity information of the environment where the positioning board 100 is located; the control device 500 is coupled to the ambient light collection device 400 and to the lighting element in the light emitting part 200, and is used to collect light intensity information according to the light intensity information. Controls lighting to be on or off.

Wherein, the ambient light collection device 400 can be, for example, a light sensor, which can be arranged around the positioning board 100 to collect light intensity information of the environment where the positioning board 100 is located. The ambient light collection device 400 can send the collected light intensity information to the control device 500, and the control device 500 can control the lighting element to be on or off according to the light intensity information. For example, when the light intensity information is less than the preset light intensity threshold, it indicates that the light around the positioning board 100 is weak, and it may be cloudy, rainy or nighttime at present, and the control device 500 can control the lighting element to be in the open state, so as to The positioning board 100 is lighted, so as to ensure the precise landing of the UAV in cloudy, rainy, nighttime and other environments. When the light intensity information is greater than or equal to the preset light intensity threshold, it indicates that the light around the positioning board 100 is sufficient, and the UAV can obtain a clear image of the identification code, and the control device 500 can control it without additional supplementary light sources. Lighting is off.

Through the above technical solution, the light emitting part 200 can be used to emit light toward the positioning plate 100, the light emitting part 200 can include a first light emitting part 210 located at the bottom of the positioning plate 100, and the positioning plate 100 can be penetrated by the light emitted by the first light emitting part 210 The astigmatism component, the ambient light collection device 400 is used to collect the light intensity information of the environment where the positioning board 100 is located, the light intensity information can represent the intensity of the light around the positioning board 100, and the control device 500 can control the lighting parts to be turned on according to the light intensity information status or off status. In this way, the positioning plate 100 can be illuminated from the bottom by the light emitted by the first light emitting part 210 . In this way, in the case of insufficient ambient light, such as in cloudy days, rainy days, at night, when the positioning board 100 is blocked by shadows, etc., the drone can also obtain a clear image of the identification code on the positioning board, thereby accurately identifying the landing Position, to ensure the precise landing of drones in cloudy, night and other environments. In addition, the first light-emitting part 210 is arranged under the positioning plate 100. On the one hand, the first light-emitting part 210 does not need to be embedded in the inside of the positioning plate 100 to maintain the integrity of the structure of the positioning plate 100; The part 210 will not occupy the space above the positioning board 100, so as to avoid interference with the landing of the drone.

Fig. 3 is a schematic cross-sectional view of the UAV landing platform taken along two planes in the embodiment shown in Fig. 2 . As shown in FIG. 3 , the first light-emitting part 210 includes a light guide plate 211 attached to the bottom of the positioning plate 100 and at least one first lighting member 212 located below the light guide plate 211 , wherein the light guide plate 211 at least completely covers the identification code.

Wherein, the first lighting member 212 can be an LED lamp or any other suitable light source. The present disclosure does not limit the number and shape of the first lighting member 212. For example, in order to improve the lighting effect of the positioning board 100, multiple The distance between adjacent first lighting pieces 212 can be set in advance, and strip-shaped light bars can also be set.

The light guide plate 211 can be an optical-grade light-transmitting plate, and its material can be, for example, polymethyl methacrylate (Polymethyl Methacrylate, PMMA), which has a relatively high refractive index and can make the light emitted by the first light emitting part 210 more uniform. Thus, the positioning plate 100 is evenly illuminated. The light guide plate 211 at least completely covers the identification code, which can make the identification code be illuminated as a whole. In this way, the image of the identification code obtained by the drone in cloudy, nighttime and other environments is more complete, which helps to guide the drone to accurately identify landing position.

As shown in FIG. 3 , the first light emitting part 210 may further include a first installation cover 213 and a support member 214 . Wherein, the first installation cover 213 is used for accommodating and installing the first lighting member 212, the first installation cover 213 is a light-transmitting component and is arranged below the light guide plate 211 at intervals, that is, the light emitted by the first lighting member 212 enters The light guide plate 211 is diffused through the air before, which is beneficial to the better diffusion of the light source emitted by the first lighting member 212 , thereby improving the uniformity of the light and improving the uniformity of the positioning plate 100 being lit. The support 214 is connected between the first installation cover 213 and the light guide plate 211 , and in order to prevent the support 214 from being shaded, the support 214 is a light-transmitting component. The embodiment of the present disclosure does not limit the form of the supporting member 214 , for example, it may be a common cylinder or a square column, or as shown in FIG. 3 , the supporting member 214 may be formed by inserting a plurality of plate-shaped members.

In one embodiment, referring to FIG. 2 and FIG. 3 , the first installation cover 213 can be configured as a U-shaped long slot with an opening downward, and the number of the first installation cover 213 is multiple and arranged at equal intervals perpendicular to the extending direction. Each first installation cover 213 is respectively provided with a first lighting element 212 .

For example, the material of the first installation cover 213 can be PC or PMMA, which is used for accommodating and installing the first lighting piece 212. The first installation cover 213 is configured as a U-shaped long groove with an opening downward. Inserting and installing into the U-shaped long groove is easier to install than the ring structure. As shown in FIG. 3 , the supporting member 214 can be arranged perpendicular to the U-shaped long groove. The first installation cover 213 corresponds to the first lighting part 212 one by one, and each first installation cover 213 is respectively provided with a first lighting part 212, and the first lighting part 212 can be a strip-shaped LED lamp, or a plurality of points shape light source. A plurality of first installation covers 213 can be arranged at equal intervals, and the interval between adjacent first installation covers 213 can be calibrated in advance, without specific limitation, so as to ensure the coverage area of the first light emitting part 210 and the uniformity of illumination.

In one embodiment, the supporting member 214 is connected to the edge of the light guide plate 211 .

Wherein, the material of the supporting member 214 can be PC or PMMA, and the supporting member 214 is connected between the first installation cover 213 and the light guide plate 211, and the height of the supporting member 214 can be set in advance, so that the light can be more diffused after a certain height. Uniformly illuminate the light guide plate 211. In an optional embodiment, the size of the light guide plate 211 and the size of the positioning plate 100 can be consistent, so that the positioning plate 100 can be illuminated as a whole, and, since the identification code will usually be located in the middle area of the positioning plate 100, the supporting member 214 can be connected to the edge of the light guide plate 211, in addition to providing stable support, it can also reduce its influence on the light in the middle position.

As shown in FIG. 3 , the unmanned aerial vehicle landing platform may further include a shading plate 300 surrounding the edge of the positioning board 100 , which may enhance the brightness contrast between the positioning board 100 and adjacent components. Wherein, the light-shielding plate 300 may be set at the same height as the positioning plate 100 , or in a manner having a certain height difference with the positioning plate 100 as shown in FIG. 3 . For example, in the case where the unmanned aerial vehicle landing platform has the above-mentioned light guide plate 211, the light shielding plate 300 can be set at the same thickness as the light guide plate 211 and flush, and the light from the first light emitting part 210 will not pass between the positioning plate 100 and the light shielding plate 300. shot out from the gap in between. Wherein, the material of the light shielding plate 300 may be, for example, polyvinyl chloride (PVC for short).

In one embodiment, the light emitting part 200 may further include at least one second light emitting part 220 located at the side of the positioning board 100 , and the second light emitting part 220 is used for emitting light toward the top surface of the positioning board 100 . The present disclosure does not limit the number of the second light emitting portions 220 , for example, four second light emitting portions 220 may be disposed around the positioning plate 100 . The first light emitting part 210 and the second light emitting part 220 can emit light toward the positioning plate 100 at the same time, or emit light toward the positioning plate 100 independently. The first light emitting part 210 and the second light emitting part 220 can be selectively turned on or off respectively, and different requirements can be met through different brightness and color combinations.

The second light emitting part 220 includes a second lighting part 221 and a second mounting cover 222 for accommodating and installing the second lighting part 221 , and the second mounting cover 222 is a light-transmitting component. The second lighting part 221 can be an LED lamp, such as an LED light bar or a dot-shaped LED lamp. The light emitted by the second lighting part 221 is irradiated on the positioning board 100 after being transmitted through the second mounting cover 222, so that the positioning board 100 is illuminated. light up.

For example, the second installation cover 222 can be configured as a hollow plate-like structure standing on the side of the positioning plate 100, and at least one side of the second installation cover 222 facing the positioning plate 100 is a light-scattering component, and the second installation cover 222 The side facing the positioning board 100 can be, for example, a milky white PC board to play the effect of astigmatism, so that the light irradiated on the positioning board 100 is more uniform.

The control device 500 in FIG. 1 described above is coupled to the ambient light collection device 400 and to the lighting element in the light emitting part 200, and is used to control the lighting element to be on or off according to light intensity information. Here, the illuminating element may include the first illuminating element 212 in the above-mentioned first light emitting part 210 , and may also include the second illuminating element 221 in the second light emitting part 220 .

Wherein, the control device 500 can be coupled with the first lighting part 212 and the second lighting part 221, and can control the first lighting part 212 and the second lighting part 221 to be in the on state respectively, when the first lighting part 212 is controlled to be in the on state , the positioning board 100 can be lit from the bottom, and when the second lighting part 221 is controlled to be in the open state, the positioning board 100 can be lit from the side, and the control device 500 can also control the first lighting part 212 and the second lighting part 221 At the same time, it is in an open state, so that the positioning plate 100 can be lighted from the bottom and the side at the same time.

For example, when the light intensity information collected by the ambient light collection device 400 is greater than or equal to the preset light intensity threshold, it indicates that the light around the positioning board 100 is sufficient, and the UAV can obtain a clear image of the identification code. By supplementing additional light sources, the control device 500 can control the first lighting element 212 and the second lighting element 221 to be in an off state. Exemplarily, a plurality of ambient light collecting devices 400 may be arranged around the positioning board 100, for example, including an ambient light collecting device 400 for collecting light from the side edge of the positioning board 100, an ambient light collecting device 400 for collecting light in the middle of the positioning board 100, etc. , when it is detected that the light at the side edge of the positioning plate 100 is weak and the light at the middle position is strong, the control device 500 can control the second lighting part 221 to be in the on state, and control the first lighting part 212 to be in the off state, so that only The positioning plate 100 is illuminated from the side. When it is detected that the light at the middle position of the positioning plate 100 is weak and the light at the side edges is strong, the control device 500 can control the first lighting part 212 to be in the on state, and control the second lighting part 221 to be in the off state, so that only from The bottom will light up the positioning board 100 .

In one embodiment, the control device 500 can also be used to control the brightness information of the lighting component according to the light intensity information when the lighting component is turned on. For example, the smaller the light intensity information is, the larger the brightness information of the lighting component is. The greater the intensity information, the smaller the brightness information of the lighting element, so that the brightness information of the lighting element can be dynamically adjusted according to the ambient light, so that the brightness of the positioning board 100 can be adapted to the ambient light.

The present disclosure also provides a UAV landing system, which includes a UAV and the UAV landing platform provided in any one of the above-mentioned embodiments, and the UAV is integrated with an image acquisition device, which is used to collect images set on the positioning board. The image of the identification code, the identification code is used to identify the landing position of the drone.

The preferred embodiments of the present disclosure have been described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure. These simple modifications all belong to the protection scope of the present disclosure.

In addition, it should be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner if there is no contradiction. The combination method will not be described separately.

In addition, various implementations of the present disclosure can be combined arbitrarily, as long as they do not violate the idea of the present disclosure, they should also be regarded as the content disclosed in the present disclosure.

Claims

An unmanned aerial vehicle landing platform is characterized in that, comprising:

Positioning plate (100), described positioning plate (100) is provided with the identification code that is used for unmanned aerial vehicle identification landing position;

A light emitting part (200), configured to emit light toward the positioning plate (100), wherein the light emitting part (200) includes a first light emitting part (210) located at the bottom of the positioning plate (100), and the positioning The plate (100) is a light-scattering component that can be penetrated by the light emitted by the first light emitting part (210);

An ambient light collection device (400), configured to collect light intensity information of the environment where the positioning board (100) is located;

A control device (500), coupled to the ambient light collection device (400) and to the lighting element in the light emitting part (200), for controlling the lighting element to be turned on according to the light intensity information status or off status.
The unmanned aerial vehicle landing platform according to claim 1, wherein the first light-emitting part (210) includes a light guide plate (211) attached to the bottom of the positioning plate (100) and a light guide plate (211) located at the bottom of the light guide plate (211) at least one first lighting element (212) below, wherein the light guide plate (211) at least completely covers the identification code.
The unmanned aerial vehicle landing platform according to claim 2, characterized in that, the first light emitting part (210) also includes:

At least one first installation cover (213), used for accommodating and installing the at least one first lighting element (212), the at least one first installation cover (213) is a light-transmitting component and is arranged on the light guide plate at intervals below (211); and

A support (214), connected between the at least one first installation cover (213) and the light guide plate (211), the support (214) is a light-transmitting component.
The drone landing platform according to claim 3, characterized in that, the support (214) is connected to the edge of the light guide plate (211).
The unmanned aerial vehicle landing platform according to claim 3, characterized in that, each first installation cover in the at least one first installation cover (213) is configured as a U-shaped long slot with an opening downward, and the at least one The number of first installation covers (213) is multiple and arranged at equal intervals perpendicular to the extension direction, each of the at least one first installation covers (213) is respectively provided with the at least one first lighting element (212 ) in one of.
The unmanned aerial vehicle landing platform according to claim 1, characterized in that, the unmanned aerial vehicle landing platform further comprises a light shield (300) surrounding the edge of the positioning plate (100).
The unmanned aerial vehicle landing platform according to claim 1, characterized in that, the light emitting part (200) further comprises at least one second light emitting part (220) located on the side of the positioning plate (100), the first light emitting part (220) The two light emitting parts (220) are used for emitting light toward the top surface of the positioning plate (100).
The unmanned aerial vehicle landing platform according to claim 7, characterized in that, the second light-emitting part (220) includes a second lighting part (221) and a second installation for accommodating and installing the second lighting part (221). A cover (222), the second installation cover (222) is a light-transmitting component.
The unmanned aerial vehicle landing platform according to claim 8, characterized in that, the second installation cover (222) is configured as a hollow plate-like structure standing on the side of the positioning plate (100), and the second At least one side of the second mounting cover (222) facing the positioning plate (100) is a light-diffusing component.
The unmanned aerial vehicle landing platform according to claim 1, is characterized in that,

The control device (500) is further used for controlling the brightness information of the lighting element according to the light intensity information when the lighting element is controlled to be in an on state.
A kind of unmanned aerial vehicle landing system, is characterized in that, described system comprises:

An unmanned aerial vehicle, the unmanned aerial vehicle is integrated with an image acquisition device, which is used to collect the image of the identification code set on the positioning board, and the identification code is used for the unmanned aerial vehicle to identify the landing position; and,

The unmanned aerial vehicle landing platform described in any one of claims 1-10.