CN109062261A - A method of guidance unmanned plane enters charging platform - Google Patents
A method of guidance unmanned plane enters charging platform Download PDFInfo
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- CN109062261A CN109062261A CN201810925227.5A CN201810925227A CN109062261A CN 109062261 A CN109062261 A CN 109062261A CN 201810925227 A CN201810925227 A CN 201810925227A CN 109062261 A CN109062261 A CN 109062261A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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Abstract
The invention discloses a kind of methods that guidance unmanned plane enters charging platform, which comprises obtains from unmanned plane and issues pancake signal；According to the pancake signal, the model of unmanned plane is obtained；According to the model of the unmanned plane, the seat in the plane information and status information of aircraft gate in platform are obtained；According to the positional information, guidance information is sent to the unmanned plane；It can accurately be landed onto charging platform by this method unmanned plane, avoid unmanned plane and occur colliding when entering platform and disorderly and unsystematic, while also save the efficiency that the plenty of time improves platform.
Description
Technical field
The present invention relates to wireless telecommunications, the applied technical fields, more specifically to one such as unmanned plane is wirelessly accurately positioned
Kind guidance unmanned plane enters the method for charging platform.
Background technique
It with the development of unmanned air vehicle technique, is continuously increased using field, unmanned plane is in plant protection, logistics, power-line patrolling etc.
Aspect is carried out a large amount of operation, and then unmanned plane cruising ability is still a technical issues that need to address, and the flight time is long
The short performance for determining unmanned plane in a way and application potential, recharging or oiling become long-range operation or field work
Unmanned plane urgent problem to be solved, in addition the goods and materials of unmanned plane carry will realize that automatic loading and unloading is also badly in need of unmanned plane and marches into the arena automatically behaviour
Make, if do not planned the flight path of unmanned plane will lead to unmanned plane enter platform when can be in utter disorder, may send out
The problems such as raw collision.
Summary of the invention
The purpose of the present invention is to solve guidance unmanned planes precisely to land into the method for charging platform.
The purpose of the present invention is achieved through the following technical solutions: a kind of guidance unmanned plane enters the side of charging platform
Method, which comprises obtain from unmanned plane and issue pancake signal；According to the pancake signal, unmanned plane is obtained
Model；According to the model of the unmanned plane, the seat in the plane information and status information of aircraft gate in platform are obtained；According to institute's rheme
Confidence breath sends guidance information to the unmanned plane.
Preferably, the remaining capacity for obtaining unmanned plane is ranked up into platform according to remaining capacity and priority is arranged；Root
It include the guidance information of aircraft gate arrangement information to unmanned plane transmission according to the priority.
Preferably, the location information and unmanned plane during flying plan information of unmanned plane are obtained；According to the flight plan information
Obtain that the unmanned plane reaches platform aircraft gate flies to the time, according to the status information for flying to time and aircraft gate,
Judge aircraft gate vacates time and the minimal difference for flying to the time, matches corresponding aircraft gate according to the minimal difference
Form the aircraft gate arrangement information.
Preferably, the location information for obtaining the unmanned plane include: obtain the latitude and longitude information of the unmanned plane with it is described
The latitude and longitude information of platform calculates the range information of the unmanned plane and platform according to the latitude and longitude information；Described in acquisition
The drop information of unmanned plane and the platform judges that the unmanned plane enters the lifting letter of the platform according to the drop information
Breath.
Preferably, the aircraft gate arrangement information of unmanned plane is obtained；According to the aircraft gate arrangement information, then obtain default
Flight control instruction information, guide the unmanned plane to fly to corresponding aircraft gate；According to the flight control instruction information, so
After obtain preset location information, according to the preset location information, form the navigation information of unmanned plane.
Preferably, the navigation information of unmanned plane is obtained, the signal of unmanned plane request flight control is obtained, reads the control
The information of instruction is matched with the command information of platform, and then platform by control instruction controls the unmanned plane to successful match；
It matches unsuccessful, continues successively to identify pairing, until successful match；Believed according to the information of the control instruction and the guiding
Breath sends key instruction information to the unmanned plane.
Preferably, key instruction information is obtained；According to the key instruction information, the unmanned plane is guided to fly to specified
Position；Enter the specified location information of platform according to the unmanned plane, the subtask information of platform is sent to the unmanned plane.
Preferably, the subtask information for obtaining the unmanned plane, judge the platform need to start the equipment that matches with
The unmanned plane connection, which goes forward side by side to take action, to be made.
Preferably, the unmanned plane main task information is obtained, is judged according to the subtask information, if the subtask is believed
Breath completes the main task information for then starting the unmanned plane, continues the subtask information if not completing.
Preferably, the control instruction information of unmanned plane is obtained；According to the control instruction information, the supply of unmanned plane is obtained
Information；According to the supply information, the charge position information and loading position information of platform are obtained；Believed according to the control instruction
Breath, obtains the detection prompt information of unmanned plane；According to detection prompt information, judges whether to need to detect, if desired detect, obtain
Make even platform detection location information and guide the unmanned plane fly to detection position, restore former task status if not needing.
Bring of the present invention is the utility model has the advantages that issue pancake signal by obtaining from unmanned plane；It is requested according to described
Land signal obtains the model of unmanned plane；According to the model of the unmanned plane, the seat in the plane information and shape of aircraft gate in platform are obtained
State information；According to the seat in the plane information, guidance information is sent to the unmanned plane；It can accurately by this method unmanned plane
On land to charging platform, avoids unmanned plane and occur colliding when entering platform and disorderly and unsystematic, also save simultaneously
Plenty of time improves the efficiency of platform.
Detailed description of the invention
Fig. 1 is the overall flow figure in the embodiment of the present invention；
Fig. 2 is the another overall flow in the embodiment of the present invention；
Fig. 3 is the another overall flow in the embodiment of the present invention.
Specific embodiment
The preferred embodiment of the present invention is described below, those of ordinary skill in the art will be according to described below with this
The relevant technologies in field are realized, and can be more clearly understood that innovation and bring benefit of the invention.
As shown in Figure 1-3, providing a kind of method for guiding unmanned plane to enter charging platform, realize that the method should wrap
Include: at least a frame unmanned plane, a charging platform are provided with multiple aircraft gates on the platform.
In embodiments of the present invention, as shown in Figure 1, which comprises
S1, it obtains from unmanned plane sending pancake signal；Specifically, the reception tower of the platform passes through wireless receiver
Signal is received, the reception tower of the platform is in the pancake signal for being connected to unmanned plane sending；
S2, according to the pancake signal, obtain the model of unmanned plane；Specifically, according to the landing of the unmanned plane
Infrared scanning is carried out to the unmanned plane when signal, the model of the unmanned plane, shape are collected by identification module and is
The information states such as no loading cargo；
Further, have the unmanned plane of agreement with the platform, can configure default wave band channel be conducive to platform with
Quick information exchange between unmanned plane；The reaction efficiency for accelerating platform simultaneously reduces the time waste of platform；
Further, there is the unmanned plane of agreement with the platform, can get the right for preferentially entering platform, so that platform
Working efficiency improves；
S3, according to the model of the unmanned plane, obtain the seat in the plane information and status information of aircraft gate in platform；Specifically
, whether according to the information state that identification module is collected, detecting has the seat in the plane to match with the unmanned plane to believe in the platform
Breath；
S4, according to the seat in the plane information, if there is the seat in the plane information to match, send guidance information to the unmanned plane；
Specifically, sending guidance information to the unmanned plane according to matched seat in the plane information, the unmanned plane is according to the guidance information
Fly to specified aircraft gate；
S5, according to the seat in the plane information, if the seat in the plane information not matched, send refusal information to it is described nobody
Machine, unmanned plane receive the refusal information that the platform is sent, and the unmanned plane not can enter the platform then.
As shown in Fig. 2, in embodiments of the present invention, obtaining the remaining capacity of the unmanned plane, carried out according to remaining capacity
Sequence enters platform and priority is arranged；It include aircraft gate arrangement information to unmanned plane transmission according to the priority
Guidance information；Specifically, the reception tower of the platform receives signal by wireless receiver, the reception tower of the platform is being connected to
The pancake signal that unmanned plane issues；It is swept according to infrared ray is carried out to the unmanned plane when approaching signal of the unmanned plane
It retouches, the model of the unmanned plane, shape are collected by identification module and whether loads the information states such as cargo；Judge unmanned plane
Whether have agreement with platform, if there is the unmanned plane of agreement, enter platform by Priority Queues sequence, if not no agreement nobody
Machine is then waited by the sequence of no Priority Queues and enters platform；According to the information state that identification module is collected, detecting in the platform is
It is no to have the seat in the plane information to match with the unmanned plane；It is low according to the unmanned plane remaining capacity according to matched seat in the plane information
Preferentially enter platform, more than the unmanned plane remaining capacity it is rear enter platform, while send include aircraft gate arrangement information
Guidance information be given on the unmanned plane；If the seat in the plane information not matched, refusal information is sent to the unmanned plane,
Unmanned plane receives the refusal information that the platform is sent, and the unmanned plane not can enter the platform then.
In embodiments of the present invention, the location information and unmanned plane during flying plan information of unmanned plane are obtained；Flown according to described
What row plan information obtained that the unmanned plane reaches platform aircraft gate flies to the time, according to time and the aircraft gate flown to
Status information, judge aircraft gate vacates time and the minimal difference for flying to the time, according to minimal difference matching pair
The aircraft gate answered forms the aircraft gate arrangement information；Believe specifically, the reception tower of the platform is received by wireless receiver
Number, the reception tower of the platform is in the pancake signal for being connected to unmanned plane sending；When according to the approaching signal of the unmanned plane
Infrared scanning is carried out to the unmanned plane, the model of the unmanned plane, shape are collected by identification module and whether is loaded
The information states such as cargo；Judge unmanned plane and whether platform have agreement, if there is the unmanned plane of agreement, by Priority Queues sort into
Enter platform, if the not unmanned plane of agreement, is waited by the sequence of no Priority Queues and enter platform；The letter collected according to identification module
Situation is ceased, whether detect has the seat in the plane information to match with the unmanned plane in the platform；According to matched seat in the plane information, root
The time is flown to according to flying to from the position of the unmanned plane to required for matched aircraft gate position, checks aircraft gate on platform
Vacate the time, it is described fly to the time be more than or equal to it is described vacate the time, then guide the unmanned plane directly to fly to the position of aircraft gate
Set, if it is described fly to the time be less than it is described vacate the time, need that the unmanned plane is guided to replace the aircraft gate to match, or
Unmanned plane waiting of being diversion is guided to vacate and fly to the aircraft gate again；If the seat in the plane information not matched, refusal letter is sent
It ceases to the unmanned plane, unmanned plane receives the refusal information that the platform is sent, and the unmanned plane not can enter then described flat
Platform.
In embodiments of the present invention, the location information for obtaining unmanned plane include obtain the latitude and longitude information of the unmanned plane with
The latitude and longitude information of the platform calculates the range information of the unmanned plane and platform according to the latitude and longitude information；It obtains
The drop information of the unmanned plane and the platform judges that the unmanned plane enters the liter of the platform according to the drop information
Information drops；Specifically, obtain the longitude and latitude of unmanned plane and platform by the storing map in navigation module, recycle longitude and latitude away from
From the arc length that formula calculates unmanned plane and platform,
If the longitude that certain is put on platform is j, latitude w, northeast taken just, and southwest takes negative, then space coordinate of this point is:
X=cos (w) * cos (j)
Y=cos (w) * sin (j)
Z=sin (w)
Find out space coordinate difference A (x1, y1, z1) of platform and unmanned plane two o'clock, B (x2, y2, z2)；
A, B two o'clock arc folded in the great circle for crossing the centre of sphere is the shortest distance on spherical surface；
First by distance between two points=two o'clock abscissa x difference, the quadratic sum of the difference of ordinate y, the difference three of ordinate z is opened
Radical sign；
OA, OB, AB (linear distance) are acquired, O is origin (0,0,0)；
Central angle=arccos ((OA^2+OB^2-AB^2)/(2*OA*OB)) of this great circle is obtained by the cosine law；
Then according to arc length formula: arc length=central angle (indicates) * earth radius with radian；
It can also arc length=central angle (being indicated with angle)/180* π * earth radius；
If platform is horizontal plane, the position of unmanned plane is detected by the scan module on platform, if there are two framves simultaneously
Unmanned plane needs to enter platform and model and quality are all identical, when the position for detecting a frame unmanned plane is above horizontal plane,
When the position for detecting another frame unmanned plane is below horizontal plane, then the consumption problem in view of unmanned plane electricity is needed, nobody
The process of machine decline needs the electricity consumed certainly fewer than the electricity that the process that unmanned plane rises needs to consume, then is risen nobody
Machine arranges the seat in the plane information of aircraft gate closer than the seat in the plane information distance for declining unmanned plane and the flight time is short.
In embodiments of the present invention, the aircraft gate arrangement information of unmanned plane is obtained；According to the aircraft gate arrangement information, so
After obtain preset flight control instruction information, fly to corresponding aircraft gate；According to the flight control instruction information, then obtain
Preset location information is taken, according to the preset location information, forms the navigation information of unmanned plane；Specifically, passing through nobody
The aircraft gate arrangement information of machine gets the flight control instruction information of unmanned plane and location information forms navigation information, by leading
Corresponding aircraft gate is flown to information guiding unmanned plane；
Further, the navigation information generates different route informations according to the position of the aircraft gate, as around circle flight
Radian value, arc length value etc., the route information again feedback information to unmanned plane generate flight control instruction information.
In embodiments of the present invention, the navigation information of unmanned plane is obtained, the signal of unmanned plane request flight control is obtained, reads
The information of the control instruction is taken to be matched with the command information of platform, then platform by control instruction controls institute to successful match
State unmanned plane；It matches unsuccessful, continues successively to identify pairing, until successful match；According to the information of the control instruction and institute
Navigation information is stated, sends key instruction information to the unmanned plane；According to the key instruction information, the unmanned plane is guided to fly
To specified position；Enter the specified location information of platform according to the unmanned plane, sends the secondary of platform to the unmanned plane and appoint
Business information；
Further, the subtask information for obtaining the unmanned plane, judge the platform need to start the equipment that matches with
The unmanned plane connection, which goes forward side by side to take action, to be made；Specifically, the subtask information includes movement in platform, detection, loading and logical
Cross wireless charging etc..
Further, the unmanned plane main task information is obtained, is judged according to the subtask information, if the subtask is believed
Breath completes the main task information for then starting the unmanned plane, continues the subtask information if not completing；The main task is
The main line task of unmanned plane is such as transported, surveys and draws and is sowed.
In embodiments of the present invention, the reception tower of the platform receives signal by wireless receiver, and the platform connects
Tower is received in the pancake signal for being connected to unmanned plane sending；The unmanned plane is carried out according to when the approaching signal of the unmanned plane
Infrared scanning collects the model of the unmanned plane, shape by identification module and whether loads the information states such as cargo；Sentence
Whether disconnected unmanned plane and platform have agreement, if there is the unmanned plane of agreement, enter platform by Priority Queues sequence, if without agreement
Unmanned plane, then by no Priority Queues sequence wait enter platform；According to the information state that identification module is collected, detect described flat
Whether the seat in the plane information that with the unmanned plane matches is had in platform；According to matched seat in the plane information, according to from the unmanned plane
Position is flown to and flies to the time required for matched aircraft gate position, checks that the time is vacated in aircraft gate on platform, described to fly
To the time be more than or equal to it is described vacate the time, then guide the unmanned plane directly to fly to the position of aircraft gate, if described when flying to
Between be less than it is described vacate the time, then need that the unmanned plane is guided to replace the aircraft gate to match, or the guidance unmanned plane
Waiting of being diversion is vacated flies to the aircraft gate again；
31, the control instruction information of unmanned plane is obtained；According to the control instruction information,
311, the supply information of unmanned plane is obtained；According to the supply information,
312, the charge position information and loading position information of platform are obtained；
31, according to the control instruction information,
321, the detection prompt information of unmanned plane is obtained；According to detection prompt information, judge whether to need to detect,
322, it if desired detects, obtain the detection location information of platform and flies to detection position,
32, restore former task status if not needing.
Be illustrated so that a kind of tetraplocaulous four axis unmanned plane during flying device of tool enters charging platform as an example below: when four axis without
When aircraft (postorder abbreviation unmanned plane) awing needs to charge, refuels or detect, it must just select nearby
One charging platform landing, unmanned plane issue the signal of a pancake first, and charging platform can be according to the request of unmanned plane
Approaching signal identified, identifies the model of unmanned plane, resemblance and whether judge unmanned plane with charging platform have association
View cooperation is waited by the sequence of no Priority Queues if the not unmanned plane of agreement and enters charging platform；It is collected according to identification module
Information state, whether detect has the seat in the plane information to match with the unmanned plane in the charging platform；According to matched machine
Position information, flies to the time according to flying to from the position of the unmanned plane to required for matched aircraft gate position, checks and fill
The time is vacated in aircraft gate on level platform, it is described fly to the time be more than or equal to it is described vacate the time, then guide the unmanned plane direct
Fly to the position of aircraft gate, if it is described fly to the time be less than it is described vacate the time, need to guide the unmanned plane more commutation
The aircraft gate matched, or the waiting of being diversion of the guidance unmanned plane are vacated and fly to the aircraft gate again；According to the remaining electricity of the unmanned plane
The low charging platform that preferentially enters is measured, it is rear into charging platform more than the unmanned plane remaining capacity, while sending includes to stop
The guidance information of seat in the plane arrangement information is given on the unmanned plane；Guidance unmanned plane enters charging platform and is charged, refueled, filled
The operation of the various demands such as load and detection, charging platform first stores the main line task of unmanned plane, when unmanned plane completes
Demand on charging platform, charging platform then select one according to the position of unmanned plane and quickly leave course line, are sent to unmanned plane
And restore the main line task of unmanned plane, the course line that unmanned plane independently restores main line task after the range for flying away from charging platform is continued
Flight sends refusal information to the unmanned plane, unmanned plane receives the chargin level if the seat in the plane information not matched
The refusal information that platform is sent, the unmanned plane not can enter the charging platform then.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
A specific embodiment of the invention is only limited to these instructions.General technical staff of the technical field of the invention is come
It says, without departing from the inventive concept of the premise, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to this hair
Bright protection scope.
Claims (10)
1. a kind of guidance unmanned plane enters the method for charging platform, which is characterized in that the described method includes:
It obtains from unmanned plane and issues pancake signal；
According to the pancake signal, the model of unmanned plane is obtained；
According to the model of the unmanned plane, the seat in the plane information and status information of aircraft gate in platform are obtained；According to the seat in the plane
Information sends guidance information to the unmanned plane.
2. a kind of guidance unmanned plane according to claim 1 enters the method for charging platform, which is characterized in that the method
Further include:
The remaining capacity for obtaining unmanned plane is ranked up into platform according to remaining capacity and priority is arranged；
It include the guidance information of aircraft gate arrangement information to unmanned plane transmission according to the priority.
3. a kind of guidance unmanned plane according to claim 1 enters the method for charging platform, which is characterized in that the method
Further include:
Obtain the location information and unmanned plane during flying plan information of unmanned plane；
The time is flown to according to what the flight plan information obtained that the unmanned plane reaches platform aircraft gate, when according to described flying to
Between and aircraft gate status information, judge aircraft gate vacates time and the minimal difference for flying to the time, according to described
Minimal difference matches corresponding aircraft gate and forms the aircraft gate arrangement information.
4. a kind of guidance unmanned plane according to claim 3 enters the method for charging platform, which is characterized in that described in acquisition
The location information of unmanned plane includes:
The latitude and longitude information of the unmanned plane and the latitude and longitude information of the platform are obtained,
The range information of the unmanned plane and platform is calculated according to the latitude and longitude information；
The drop information of the unmanned plane Yu the platform is obtained,
Judge that the unmanned plane enters the lifting information of the platform according to the drop information.
5. a kind of guidance unmanned plane according to claim 3 enters the method for charging platform, which is characterized in that the method
Further include:
Obtain the aircraft gate arrangement information of unmanned plane；
According to the aircraft gate arrangement information, preset flight control instruction information is then obtained, the unmanned plane is guided to fly to
Corresponding aircraft gate；
According to the flight control instruction information, preset location information is then obtained, according to the preset location information, shape
At the navigation information of unmanned plane.
6. a kind of guidance unmanned plane according to claim 5 enters the method for charging platform, which is characterized in that the method
Further include:
Obtain the navigation information of unmanned plane；
The signal for obtaining unmanned plane request flight control reads the information of the control instruction and the command information progress of platform
Match, then platform by control instruction controls the unmanned plane to successful match；It matches unsuccessful, continues successively to identify pairing, until
Successful match；
According to the information of the control instruction and the navigation information, key instruction information is sent to the unmanned plane.
7. a kind of guidance unmanned plane according to claim 6 enters the method for charging platform, which is characterized in that the method
Further include:
Obtain key instruction information；
According to the key instruction information, the unmanned plane is guided to fly to specified position；
Enter the specified location information of platform according to the unmanned plane, the subtask information of platform is sent to the unmanned plane.
8. a kind of guidance unmanned plane according to claim 7 enters the method for charging platform, which is characterized in that the method
Further include:
The subtask information for obtaining the unmanned plane judges that the platform needs to start the equipment to match and the unmanned plane connects
Action of going forward side by side is connect to make.
9. a kind of guidance unmanned plane according to claim 8 enters the method for charging platform, which is characterized in that the method
Further include:
The unmanned plane main task information is obtained, is judged according to the subtask information, is opened if the subtask information is completed
The main task information for moving the unmanned plane continues the subtask information if not completing.
10. a kind of -9 any guidance unmanned planes enter the method for charging platform according to claim 1, which is characterized in that
The method also includes:
Obtain the control instruction information of unmanned plane；
According to the control instruction information, the supply information of unmanned plane is obtained；
According to the supply information, the charge position information and loading position information of platform are obtained；
According to the control instruction information, the detection prompt information of unmanned plane is obtained；
According to detection prompt information, judges whether to need to detect, if desired detect, obtain the detection location information of platform and draw
It leads the unmanned plane and flies to detection position, restore former task status if not needing.
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| CN110641714A (en) * | 2019-09-03 | 2020-01-03 | 天津大学 | Single unmanned aerial vehicle charging parking apron guiding landing system based on infrared or visible light beams |
| CN110641715A (en) * | 2019-09-17 | 2020-01-03 | 天津大学 | Many unmanned aerial vehicle charge parking apron district guide descending management system |
| CN111596687A (en) * | 2020-05-26 | 2020-08-28 | 北京航空航天大学 | Landing guide device and method for mobile platform of vertical take-off and landing unmanned aerial vehicle |
| CN113271772A (en) * | 2019-01-22 | 2021-08-17 | 株式会社尼罗沃克 | Unmanned aerial vehicle system and control method of unmanned aerial vehicle system |
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