CN109178327A - A kind of method that unmanned plane finds seat in the plane - Google Patents
A kind of method that unmanned plane finds seat in the plane Download PDFInfo
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- CN109178327A CN109178327A CN201810849741.5A CN201810849741A CN109178327A CN 109178327 A CN109178327 A CN 109178327A CN 201810849741 A CN201810849741 A CN 201810849741A CN 109178327 A CN109178327 A CN 109178327A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
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Abstract
The invention discloses a kind of unmanned plane find seat in the plane method, the method includes the steps: obtain and unmanned plane with model same model channel position information；It obtains with the seat in the plane status information on model channel, and obtains with seat in the plane information of leaving unused in model channel；According to the idle seat in the plane information, flies on the idle seat in the plane and land.By this method unmanned plane it is known that seat in the plane situation in channel outside channel, it avoids after unmanned plane enters one circle of channel searching and just knows seat in the plane of not leaving unused, the problem of wasting time also avoids unmanned plane from robbing seat in the plane and is easy chaotic problem, guarantee the order in base station.
Description
Technical field
The present invention relates to unmanned plane bootstrap technique fields, the more specifically to a kind of method of unmanned plane searching seat in the plane.
Background technique
With gradualling mature for unmanned air vehicle technique, unmanned plane is applied to every aspect, wherein it is most common for take photo by plane,
Mapping, investigation etc..The application range of unmanned plane is increasing, and the unmanned plane quantity used is also more and more, will be nothing
The many unmanned plane base stations of man-machine foundation, either charging base station or rest base station or be maintenance base station, if multi rack
Unmanned plane enters base station when finding idle seat in the plane landing, will there are problems that some orders, if base station is bigger, nobody
Where machine at the first time idle seat in the plane if cannot being known, but slowly find idle seat in the plane into part, when this undoubtedly wastes very much
Between, and multiple UAVs while the problems such as looking for seat in the plane to be easy to appear the phenomenon that robbing seat in the plane, also be easy to causeing confusion of entering the station.
Summary of the invention
Entering the station the purpose of the present invention is to solve unmanned plane looks for seat in the plane to take a significant amount of time, and multiple UAVs enter the station and look for
Seat in the plane is easy to appear the phenomenon that robbing seat in the plane, is also easy chaotic problem, provides a kind of method that unmanned plane finds seat in the plane.
The purpose of the present invention is achieved through the following technical solutions:
The environmental system for realizing the method includes: that an at least frame unmanned plane, unmanned plane base station, the unmanned plane base station is set
It is equipped with the channel of entering the station of a plurality of different model, and is provided with multiple unmanned planes identical with the channel model in the channel
Position.
A kind of method that unmanned plane finds seat in the plane, the method includes the steps:
Obtain and unmanned plane with model same model channel position information；
It obtains with the seat in the plane status information on model channel, and obtains with the idle seat in the plane information in model channel；
According to the idle seat in the plane information, flies on the idle seat in the plane and land.
Preferably, obtain and unmanned plane with model same model channel position information, the method includes the steps: obtain base
It stands channel information, the essential information of itself is matched with the channel information, obtains matching result；The essential information is extremely
It less include model, the size of unmanned plane of unmanned plane, the channel information includes at least: the unmanned plane model and nothing serviced
Man-machine size.
Preferably, obtain and unmanned plane with model same model channel position information, which comprises when the matching
When being as a result successfully, the base station channel is to obtain the location information in the same model channel with model channel, find homotype
The entry position in number channel, at this time matching pause.
Preferably, obtain and unmanned plane with model same model channel position information, which comprises when the matching
When as a result to fail, the base station channel is not same model channel, then continues to obtain next base station channel information, be matched,
Obtain matching result.
Preferably, which comprises after determining with model channel, obtain state letter in seat in the plane in the same model channel
Breath, and the seat in the plane in the same model channel is counted.
Preferably, which comprises the obtained seat in the plane status information, which is shown, to be in working condition, then not in statistics model
In enclosing；The obtained seat in the plane status information is shown as idle state, then starts counting, until the seat in the plane in same model channel
Statistics is completed, and finally obtains idle seat in the plane quantitative value, and save the idle seat in the plane quantitative value, the idle seat in the plane quantitative value packet
It includes: the first idle seat in the plane quantitative value and the second idle seat in the plane quantitative value.
Preferably, which comprises on the basis of the idle seat in the plane quantitative value, acquisition has entered with model channel
There are no the unmanned plane quantitative values of landing, the first idle seat in the plane quantitative value corresponding with the unmanned plane quantitative value are obtained, by institute
It states the first idle seat in the plane quantitative value to be compared with the idle seat in the plane quantitative value, obtains a comparison result.
Preferably, the comparison result is that the idle seat in the plane quantitative value is equal to the described first idle seat in the plane quantitative value, then
The same model channel is not flown into, continues to obtain next base station channel information being matched, and obtains matching result.
Preferably, which comprises the comparison result is that the idle seat in the plane quantity is greater than the described first idle machine
Digit magnitude, then obtain the specific location of the idle seat in the plane, and flies into the same model channel, and matching terminates.
Preferably, which comprises exclusion has entered the first idle machine equal with the unmanned plane quantity in model channel
After digit magnitude, the second idle seat in the plane quantitative value is obtained, selecting the second idle seat in the plane, any one lands.
Bring of the present invention the utility model has the advantages that by obtain and unmanned plane with model base station with the location information in model channel,
And the entrance in the channel is found, it obtains with the seat in the plane status information on model channel, and count the quantity of idle seat in the plane, passes through
Compare the unmanned plane quantity in the same model channel come into and the quantity of the idle seat in the plane, judges whether there is remaining idle machine
Position flies to remaining idle seat in the plane and lands if there is then obtaining the location information of the remaining idle seat in the plane；If without if
The channel is not entered.It is known that seat in the plane situation in channel in this way outside channel, avoids unmanned plane and enter channel and seek
It looks for after a circle and just knows seat in the plane of not leaving unused, the problem of wasting time, also avoid the problem that unmanned plane robs seat in the plane.Guarantee in base station
Order.
Detailed description of the invention
Fig. 1 is the overall flow figure in the embodiment of the present invention；
Fig. 2 is another overall flow figure 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.
A kind of method that unmanned plane finds seat in the plane is provided, realizes that the method should include: at least a frame unmanned plane, nothing
Man-machine base station, the base station are provided with the channel of entering the station of a plurality of different model, are provided in the channel and the channel model
Identical multiple unmanned seats in the plane.
In embodiments of the present invention, as shown in Figure 1, which comprises
11, obtain and unmanned plane with model homotype channel position information；Specifically, when unmanned plane is flown in base station area
When, base station channel information is successively obtained first, and the essential information of this unmanned plane is matched with the base station channel information；?
The content matched is unmanned machine information, and the unmanned plane information includes unmanned plane model, seat in the plane model, battery size, unmanned captain
The parameters such as degree, height, width.That is, unmanned plane needs to obtain each base station channel information one by one, and judge the channel energy
Whether the unmanned machine information enough serviced and this unmanned machine information identical, if unmanned machine information that the channel can service and
This unmanned machine information is identical, then it is determined that the channel is with this unmanned plane with the same model channel of model, and described in acquisition
With the channel position information in model channel, the channel position information includes at least the channel sequence number of channel in a base station.
Further, by the acquisition module of unmanned plane, each base station channel information is obtained, the acquisition modes can be logical
It crosses and carries out information exchange with the base station, unmanned plane sends the request for obtaining each base station channel information to charging base station, obtains base
It stands permission, receives the base station channel information sent from unmanned plane base station.Unmanned plane can obtain base all in base station simultaneously
It stands channel information, and is matched with the base station channel information.
In embodiments of the present invention, the base station is provided with the channel of multiple and different models, each channel be different model without
Man-machine service, and each channel is provided with multiple unmanned plane seats in the plane of same model；And each channel is provided with the information of oneself
Module.The information module can be the information carrier that information labels or information terminal etc. are stored with this channel relevant information；
The information carrier storage is at least stored with seat in the plane information in base station channel information and channel.
In embodiments of the present invention, the unmanned plane setting can be identification there are many module, the acquisition module is obtained
Module, such as radio frequency identification, information labels on each channel for identification, and obtain each channel information；The acquisition module can
To be to receive information identification, such as receiver, each channel information sent for receiving each channel information terminal.
12, it obtains with the seat in the plane status information on model channel, and obtains the idle seat in the plane information in base station；Specifically, described
Seat in the plane status information is in working condition, the first idle state, the second idle state；The working condition corresponds to work seat in the plane, the
One idle state corresponds to the first idle seat in the plane, the corresponding second idle seat in the plane of the one or two idle state.The first idle seat in the plane
For the scheduled pre- drop seat in the plane of unmanned plane, it is, the unmanned plane that the pre- drop seat in the plane has been entered channel subscribes, only
It is to fly to seat in the plane not yet to shut down temporarily in idle state；Second idle seat in the plane is scheduled not surplus by unmanned plane in channel
Remaining seat in the plane is in real idle state.The idle seat in the plane information includes the information such as quantity, the position of idle seat in the plane,
Further, determine base station channel be with model base station channel after can just to continue to obtain the same model logical
Unmanned plane seat in the plane status information in road, seat in the plane status information are sent on the information carrier by base station, as long as unmanned plane is known
Other or information of the reception from the information carrier, so that it may obtain the unmanned plane seat in the plane state letter in the base station channel
Breath counts the quantity of idle seat in the plane according to unmanned plane seat in the plane status information, and obtains the position letter of the idle seat in the plane
Breath.
13, it according to the idle seat in the plane information, flies on the idle seat in the plane and lands.Determine the idle seat in the plane position
After confidence breath, using the idle seat in the plane as destination, is navigate on the idle seat in the plane and landed by the navigation system of unmanned plane.
The navigation system can be inertial navigation, radionavigation etc., and the inertial navigation refers to the inertia being mounted on unmanned plane
Baseline system (IRS).It is mainly made of 3 accelerometers and 3 gyroscopes.Accelerometer is used to measure 3 translations of unmanned plane
Acceleration of motion, the direction of the local line that hangs low of instruction；Angular displacement of the gyroscope for 3 rotational motions of survey aircraft, instruction
The direction of earth rotation.Computer integrates the acceleration measured twice, calculates the position of unmanned plane.Radionavigation
Refer to and positioning is oriented by propagation time or phase and phase angle of the measurement radiobeam from transmitting station to receiving platform.Ground
Radar fix is also a kind of radionavigational mode.
In the another implementation of the present invention, as shown in Figure 2:
111, obtain and unmanned plane with model same model channel position information, the method includes the steps: obtain base station
The essential information of itself is matched with the channel information, obtains matching result by channel information；The essential information is at least
Including unmanned plane model, seat in the plane model, battery size, the parameters such as unmanned plane length, height, width.The channel information is at least
Including unmanned plane model, seat in the plane model, battery size, the parameters such as unmanned plane length, height, width.Because of different unmanned planes
Model, seat in the plane model, battery size, unmanned plane length, height, width etc. be not also identical.Specifically, the channel can be taken
The unmanned machine information of business is matched with this unmanned machine information, obtains matching result.
112, obtain and unmanned plane with model same model channel position information, which comprises when the matching knot
When fruit is successfully, the channel is to obtain the location information in the same model channel with model channel, find same model channel
Entry position, at this time matching pause.Specifically, if unmanned machine information and this unmanned plane that the channel can service are believed
Manner of breathing is same, then successful match, then it is determined that the channel is then to obtain described same with this unmanned plane with the same model channel of model
The sequence number in model channel.
113, obtain and unmanned plane with model same model channel position information, which comprises when the matching knot
When fruit is failure, the meaning is exactly that the unmanned machine information that the channel can service and this unmanned machine information be not identical, described logical
Road is not same model channel, then repeats the step.
121, the described method includes: after determining with model channel, seat in the plane status information in the same model channel is obtained,
And the seat in the plane in the same model channel is counted.It should be noted that all unmanned plane seats in the plane being arranged in the channel
Model be all consistent with the channel model, that is to say, that base station channel is only arranged a kind of unmanned plane seat in the plane, described logical
Road only services a kind of unmanned plane of model.Determine the base station channel be with model channel after, as long as obtaining institute in the channel
There is the status information of unmanned plane seat in the plane, the unmanned plane seat in the plane is counted.
122, the described method includes: the obtained seat in the plane status information shows and is in working condition, then not in scope of statistics
It is interior；The obtained seat in the plane status information is shown as idle state, then starts counting, and unites until the seat in the plane in same model channel
It counts into, finally obtains idle seat in the plane quantitative value, and the idle seat in the plane quantitative value is calculated as a.Judge the idle seat in the plane number
The size of magnitude illustrates then to enter step 113 without idle seat in the plane in the channel if idle seat in the plane quantitative value a is 0；If
When the idle quantitative value a is greater than 0, illustrate then to save the idle seat in the plane quantitative value a there are also idle seat in the plane in channel.It is described
Idle seat in the plane quantitative value a includes: the first idle seat in the plane quantitative value and the second idle seat in the plane quantitative value.
123, the described method includes: on the basis of the idle seat in the plane quantitative value, acquisition has entered with model channel also
The unmanned plane quantitative value that do not land.The first idle seat in the plane quantitative value corresponding with the unmanned plane quantitative value is calculated, is counted
For b, quantitative value a is compared with quantitative value b.A is equal to b, then illustrates that the idle seat in the plane in the channel of base station has been introduced into
The unmanned plane in channel subscribes, without the remaining second idle seat in the plane.This unmanned plane does not fly into this with model channel, this nobody
Machine needs to enter step 113；A is greater than b and then illustrates after eliminating the first idle seat in the plane in channel, idle there are also remaining second
At this moment idle seat in the plane is reserved to base station in seat in the plane.
In still another embodiment of the process, the idle seat in the plane quantitative value, the first idle seat in the plane quantitative value can directly lead to
It crosses base station statistics to obtain, and seat in the plane quantitative value would sit idle for by base station and be compared in acquisition channel with the first idle seat in the plane quantitative value
Second idle seat in the plane information.
131, the second forward idle seat in the plane location information is obtained, according to the described second idle seat in the plane information, is flown to described
Second idle seat in the plane position is landed, and the matching of base station channel terminates.
In another embodiment of the present invention, after dropping on the idle seat in the plane, it can according to need and asked to base station
Service is asked, the content of service can be charging, stop or repair.Multinomial service can also be requested simultaneously.In the institute of offer
The necessary condition for stating service content is that the seat in the plane must be provided with being provided with the service content respective execution mechanisms.Such as it is described
Seat in the plane can provide charging service, charge if it is by way of replacing the unmanned machine battery of battery to unmanned plane, then
It will be provided with replacement cell apparatus on the seat in the plane, be also possible to by being provided with replacement cell apparatus on unmanned plane；Institute
Stating replacement cell apparatus can be mobilizable manipulator.It charges if it is by way of plug-in to unmanned plane,
So unmanned plane seat in the plane, which is provided with, directly fills interface, is provided on unmanned plane and directly to fill that interface is corresponding directly to fill structure with described, such as
It is charged by USB interface.It can also be by being respectively arranged with wireless charging module on unmanned plane seat in the plane and unmanned plane
It charges.
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 method that unmanned plane finds seat in the plane, which is characterized in that the method includes the steps:
Obtain and unmanned plane with model same model channel position information；
It obtains with the seat in the plane status information on model channel, and obtains with seat in the plane information of leaving unused in model channel；
According to the idle seat in the plane information, flies on the idle seat in the plane and land.
2. the method that a kind of unmanned plane according to claim 1 finds seat in the plane, which is characterized in that obtain and unmanned plane homotype
Number same model channel position information, the method includes the steps: obtain base station channel information, by the essential information of itself and institute
It states base station channel information to be matched, obtains matching result；The essential information includes at least the model of unmanned plane, unmanned plane
Size, the channel information include at least: the unmanned plane model and unmanned plane size serviced.
3. the method that a kind of unmanned plane according to claim 2 finds seat in the plane, which is characterized in that obtain and unmanned plane homotype
Number same model channel position information, which comprises when the matching result is successfully, the base station channel is as same
Model channel obtains the location information in the same model channel, finds the entry position in same model channel, at this time matching pause.
4. the method that a kind of unmanned plane according to claim 2 finds seat in the plane, which is characterized in that obtain and unmanned plane homotype
Number same model channel position information, which comprises when the matching result be failure when, the base station channel is not same
Model channel is then continued to obtain next base station channel information, be matched, and matching result is obtained.
5. the method that a kind of unmanned plane according to claim 1 finds seat in the plane, which is characterized in that the described method includes: really
After determining with model channel, seat in the plane status information in the same model channel is obtained, and to the seat in the plane in the same model channel
It is counted.
6. the method that a kind of unmanned plane according to claim 1 finds seat in the plane, which is characterized in that the described method includes:
To the seat in the plane status information show and be in working condition, then not in scope of statistics；The obtained seat in the plane status information is aobvious
It is shown as idle state, then is started counting, is completed until the seat in the plane in same model channel is counted, finally obtains idle seat in the plane quantity
Value, and the idle seat in the plane quantitative value is saved, the idle seat in the plane quantitative value includes: the first idle seat in the plane quantitative value, Yi Ji
Two idle seat in the plane quantitative values.
7. the method that a kind of unmanned plane according to claim 1 finds seat in the plane, which is characterized in that the described method includes:
On the basis of the idle seat in the plane quantitative value, the unmanned plane quantitative value for having entered and having landed not yet with model channel is obtained, is obtained
The first idle seat in the plane quantitative value corresponding with the unmanned plane quantitative value leaves unused the described first idle seat in the plane quantitative value with described
Seat in the plane quantitative value is compared, and obtains a comparison result.
8. the method that a kind of unmanned plane according to claim 7 finds seat in the plane, which is characterized in that the comparison result is institute
Idle seat in the plane quantitative value is stated equal to the described first idle seat in the plane quantitative value, then does not fly into the same model channel, continues under acquisition
One base station channel information is matched, and matching result is obtained.
9. the method that a kind of unmanned plane according to claim 7 finds seat in the plane, which is characterized in that the described method includes: institute
Stating comparison result is that the idle seat in the plane quantity is greater than the described first idle seat in the plane quantitative value, then obtains the tool of the idle seat in the plane
Body position, and the same model channel is flown into, matching terminates.
10. the method that a kind of unmanned plane according to claim 9 finds seat in the plane, which is characterized in that the described method includes: row
After having entered the first idle seat in the plane quantitative value equal with the unmanned plane quantity in model channel, the second idle seat in the plane number is obtained
Magnitude, selecting the second idle seat in the plane, any one lands.
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Cited By (1)
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| US11283529B2 (en) * | 2019-02-19 | 2022-03-22 | At&T Intellectual Property I, L.P. | Network management of aerial devices |
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