CN110413004A - A kind of accurate landing control method of unmanned plane and system - Google Patents
A kind of accurate landing control method of unmanned plane and system Download PDFInfo
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention relates to air vehicle technique field, in particular to the landing control method and system of a kind of unmanned plane.A kind of accurate landing control method of unmanned plane, the control method include: enter in unmanned plane take off/landing mode before, taken off/landed instruction by ground base station sending, and pass through the landing platform instruction that will take off/land and be forwarded to unmanned plane；After landing platform receives landing instruction, landing instruction is forwarded to unmanned plane, unmanned plane enters landing mode；Position of platform and course information are sent to unmanned plane by landing platform, and guidance unmanned plane drop to landing platform.Information mutual communication between unmanned plane, landing platform and ground base station in the present invention realizes precisely guidance unmanned plane landing, can be widely applied to application fields or the scenes such as high-altitude dangerous operation, vacant lot patrol, intelligent transport.The invention also discloses a kind of accurate landing control systems of unmanned plane including unmanned plane, landing platform and ground base station simultaneously.
Description
Technical field
The present invention relates to air vehicle technique field, in particular to the landing control method and system of a kind of unmanned plane.
Background technique
With the development of society, unmanned plane is gradually promoted in all trades and professions, such as using vehicle as mobile vehicle and nothing
Man-machine be used cooperatively can be realized the functions such as air-ground coordination patrol investigation, the express delivery of high efficient and flexible dispatching.
Taking off and precisely landing for unmanned plane needs the winged control hand of profession mostly to control, and manual control is to operator's
It is required that it is high, while to keep unmanned plane to be constantly in the sight of operator, these deficiencies make the application effect of unmanned plane
Rate is low, at high cost, and application scenarios are limited.With the development of science and technology the scheme of some automatic precisely landings is also proposed in succession, such as
Pure GPS solution, based on GPS and vision scheme combined etc..Wherein, be based purely on the scheme of GPS due to it is difficult to ensure that nobody
The landing precision of machine, it is substantially infeasible for the limited mobile vehicle of the landing platforms size such as vehicle.It is combined based on GPS and vision
Scheme be when unmanned plane is remote from level point using GPS navigation, passed when unmanned plane is close to level point using airborne vision
Sensor obtains the visual indicia at level point and carries out relevant calculation acquisition position of the level point with respect to unmanned plane and course offset amount
Unmanned plane is guided to land, the defect of this scheme is mainly that visual apparatus imaging is illuminated by the light influences, and application scenarios are limited, use
It is not flexible, while unmanned plane itself has attitudes vibration and vibration to be easy to cause visual indicia not in the visual field or image Fuzzy Influence
The identification of visual indicia is to influence precision of landing.
Summary of the invention
The purpose of the present invention is: autonomous rise is realized on the limited mobile platform of mobile platform or space to solve unmanned plane
The problem of flying and precisely landing, the present invention provides a kind of accurate landing control method of unmanned plane and a kind of accurate landing system of unmanned plane
System.
A technical solution of the invention is: a kind of accurate landing control method of unmanned plane, enters in unmanned plane and takes off/drop
It before stamping die formula, is taken off/is landed instruction by ground base station sending, and pass through the landing platform instruction that will take off/land and be forwarded to nobody
Machine；
After landing platform receives landing instruction, landing instruction is forwarded to unmanned plane, unmanned plane enters landing mode；Landing is flat
Position of platform and course information are sent to unmanned plane by platform, and guidance unmanned plane drop to landing platform.
Further, the landing platform in above scheme is horizontally moveable, and is equipped on landing platform for nothing
The man-machine clamping device clamped.It is designed based on the above structure, landing platform executes following steps after receiving landing instruction:
A1. whether detection landing platform is protruding in place, if so, being directly entered step A2；If it is not, then enabling landing platform
It is protruding to enter step A2 afterwards in place；
Whether the clamping device that A2. detection is mounted on landing platform unclamps in place, if so, landing platform is sent out to unmanned plane
Position of platform and course information are sent, while landing being forwarded to instruct, guidance unmanned plane drop to landing platform；If it is not, then enabling clamping
Mechanism sends position of platform and course information from landing platform to unmanned plane again after unclamping in place, while landing being forwarded to instruct, and draws
It leads unmanned plane and drop to landing platform.
Further, after A2 step, landing platform also executes following steps:
A3. landing platform receives the falling signal that unmanned plane is sent；
A4. clamping device is enabled to be clamped unmanned plane, landing platform is inwardly withdrawn in place later.
Unmanned plane also further by the specific identifier object on detection landing platform or can extract visual signature in landing
Obtain the position of landing platform.
On the basis of above scheme, before ground base station issues landing instruction, by landing platform acquisition differential corrections letter
Number and landing platform position, course information, and differential corrections signal is sent to unmanned plane, unmanned plane enters Differential positioning
State, in this case unmanned plane positioning accuracy with higher.
Before unmanned plane enters mode of taking off, instruction of taking off is issued from ground base station to landing platform；When landing platform is water
It is flat removable, and when being equipped with clamping device, landing platform receives take off instruction after execute following steps:
B1. whether detection landing platform is protruding in place, if so, being directly entered step B2；If it is not, then enabling landing platform
It is protruding to enter step B2 afterwards in place；
Whether the clamping device B2. detected on landing platform unclamps in place, if so, landing platform takes off to unmanned plane forwarding
Instruction, unmanned plane take off；If it is not, instruction of taking off is forwarded from landing platform to unmanned plane again after then enabling clamping device unclamp in place,
Unmanned plane enters mode of taking off.
On the basis of above scheme, unmanned plane enters charge mode after droping to landing platform, and charge mode is wireless
Charging or contact contact charging.
When landing platform is horizontal removable, and is equipped with clamping device, what unmanned plane was completed to enter after above-mentioned A4 step
Charge mode the following steps are included:
C1. unmanned plane is moved to the charge position on landing platform under the action of clamping device, and clamping device is to unmanned plane
It is clamped locking；
C2. unmanned plane charges.
Another technical solution of the invention is: a kind of accurate landing system of unmanned plane, it includes: unmanned plane, lands and put down
Platform and ground base station；
UAV flight has: flight controller, RTK positioning device, first communication module；Flight controller respectively with RTK
Positioning device, first communication module establish signal connection；First communication module is used to establish with landing platform and communicate to connect, flight
For realizing the control of unmanned plane posture and position in the sky, flight controller can also be obtained for controller and RTK positioning device
The state of flight relevant information of unmanned plane.
Landing platform is equipped with: landing platform controller, the platform positioning device for including the base station RTK, the second communication mould
Block；Landing platform controller is established signal and is connect with platform positioning device, second communication module respectively；Second communication module is used for
It establishes and communicates to connect with unmanned plane, ground base station；The base station RTK in platform positioning device is used to send to RTK positioning device and use
In the Differential corrections for improving RTK positioning device precision, platform positioning device is also used to provide guidance when unmanned plane lands
The position of its landing platform precisely to land and course information；The operation that landing platform controller is used to receive ground base station refers to
It enables, acquisition platform positioning device information, controlled landing platform movement simultaneously can also be by unmanned plane during flying state correlation
Information feeds back to ground base station；Landing platform is mounted on mobile vehicle, and the base station RTK, can be with movement using dynamic base station configuration
The relative positional accuracy that carrier is moved together without influencing unmanned plane and landing platform.
Ground base station includes: ground control end, third communication module；Ground control end and third communication module establish signal
Connection；Third communication module is used to establish with landing platform and communicate to connect, and ground control end is as operator and landing system
Interactive window for sending various instructions to landing platform, and can indirectly control unmanned plane and complete various tasks, while also can
From the state of flight relevant information of landing platform indirect gain unmanned plane.
In above scheme, specifically, second communication module is established wirelessly with first communication module, third communication module respectively
Signal connection, communication are wirelessly transferred using serial ports.
On the basis of above scheme, further, above-mentioned platform positioning device further include: at least one GPS antenna leads to
It crosses GPS antenna and position and the course information of the guidance landing platform that unmanned plane precisely lands is provided.
On the basis of above scheme, further, landing platform is equipped with: for carrying out clamping limit to unmanned plane
Clamping device, the motion position detection mechanism for detecting clamping device movement position；Motion position detection mechanism and clamping machine
Structure works under the control of landing platform controller.Further, landing platform is made of landing plate with fixed platform；It is fixed
Platform is fixedly connected with mobile vehicle, and is connect by horizontal extension mechanism with landing plate；Clamping device setting is on landing plate；
Motion position detection mechanism simultaneously detects the movement position of horizontal extension mechanism；Horizontal extension mechanism is in landing platform control
It works under the control of device processed, under the control of landing platform controller, horizontal extension mechanism can be realized Telescopic, enable landing
Plate generates mutual moving displacement with respect to the fixed platform of lower section in a certain range, so that carrying when unmanned plane landing far from mobile
The equipment that the photoelectricity installed above body visits the protrusions such as mast and communication antenna, to guarantee the safety of unmanned plane landing.In
The also settable charhing unit of landing platform；Charhing unit is that wireless charging module or charhing unit set for parallel connection on landing plate
The charging contact set.
The utility model has the advantages that information mutual communication, realization precisely guide nothing between unmanned plane, landing platform and ground base station in the present invention
Man-machine landing can be widely applied to application fields or the scenes such as high-altitude dangerous operation, vacant lot patrol, intelligent transport.
The precision of unmanned plane RTK positioning device can be improved in platform positioning device in landing platform of the present invention, and can provide
The position of landing platform and course information, high reliablity；Horizontal extension mechanism in landing platform guarantees that unmanned plane is same in landing
When will not interfere with the other component influenced on mobile carrier, space utilization rate is high；The setting of clamping device can guarantee that unmanned plane is fallen
Stability behind position is not easy to tilt or be detached from, highly-safe.
Detailed description of the invention
Fig. 1 is structure composition block diagram of the invention；
The control method flow chart that Fig. 2 takes when being landed by unmanned plane in the embodiment of the present invention 2；
The control method flow chart that Fig. 3 takes when being taken off by unmanned plane in the embodiment of the present invention 4；
Fig. 4 is the structure composition block diagram of the embodiment of the present invention 7；
Fig. 5 drops to schematic diagram when landing platform for unmanned plane in the embodiment of the present invention 8；
Fig. 6 is end-state schematic diagram when unmanned plane drops to landing platform in the embodiment of the present invention 8.
In figure: 1- unmanned plane, 11- flight controller, 12-RTK positioning device, 13- first communication module, 14- operation are set
Standby, 15- undercarriage, 2- landing platform, 21- landing platform controller, 22- platform positioning device, the base station 221-RTK, 222- are bis-
GPS, 23- second communication module, 24- clamping device, 25- horizontal extension mechanism, 26- motion position detection mechanism, 27- landing
Plate, 28- fixed platform, 29- charhing unit, 3- ground base station, 31- ground control end, 32- third communication module.
Specific embodiment
Embodiment 1, a kind of accurate landing control method of unmanned plane, unmanned plane 1 enter take off/landing mode before, by ground
Face base station 3 issues and takes off/land instruction, and passes through the instruction that will take off/land of landing platform 2 and be forwarded to unmanned plane 1.
After landing platform 2 receives landing instruction, landing instruction is forwarded to unmanned plane 1, unmanned plane 1 enters landing mode；Drop
It falls platform 2 and position of platform and course information is sent to unmanned plane 1, guidance unmanned plane 1 drop to landing platform 2.
In this example, landing platform 2 provides guidance information to unmanned plane 1 by the GPS carried.Unmanned plane 1 is gone back in landing
The position of specific identifier object or extraction visual signature acquisition landing platform 2 on detection landing platform 2 can further be passed through.
Embodiment 2, referring to attached drawing 2, on the basis of embodiment 1, further, landing platform 2 is horizontally moveable, and
The clamping device 24 for being clamped to unmanned plane 1 is equipped on landing platform 2；In this example, by the way that horizontal extension machine is arranged
Structure 27 realizes the movement of landing platform 2, and by setting motion position detection mechanism 26 to the movement position of landing platform 2 and
The aid state of clamping device 24 is detected.
It is designed based on the above structure, landing platform 2 executes following steps after receiving landing instruction:
A1. whether protruding in place by the detection landing platform 2 of motion position detection mechanism 26, if so, being directly entered step
Rapid A2；If it is not, horizontal extension mechanism 27 is then driven to enable landing platform 2 is protruding to enter step A2 afterwards in place；
A2. detect whether the clamping device 24 being mounted on landing platform 2 unclamps in place by motion position detection mechanism 26,
If so, landing platform 2 sends position of platform and course information to unmanned plane 1, while forwarding landing to instruct, guidance unmanned plane 1 drops
Drop down onto landing platform 2；If it is not, sending position of platform from landing platform 2 to unmanned plane 1 again after then enabling clamping device 24 unclamp in place
And course information, while landing being forwarded to instruct, guidance unmanned plane 1 drop to landing platform 2.
Unmanned plane 1 realizes landing using the mode that uniform descent-hovering-freely falling body lands, and hovers in uniform descent-
Accelerometer detection signal is substantially steady in journey, and accelerometer detection signal can generate mutation during hovering-landing, thus
Judge that unmanned plane 1 realizes landing, realizes the motor stalling of unmanned plane 1 after landing, and falling signal is sent to landing landing
Platform 2.
After unmanned plane 1 lands, i.e., after A2 step, landing platform 2 also executes following steps:
A3. landing platform 2 receives the falling signal that unmanned plane 1 is sent；
A4. clamping device 24 is enabled to be clamped unmanned plane 1, landing platform 2 is inwardly withdrawn in place later.
Embodiment 3 before ground base station 3 issues landing instruction, is acquired on the basis of embodiment 1,2 by landing platform 2
The position of differential corrections signal and landing platform 2, course information, and differential corrections signal is sent to unmanned plane 1, unmanned plane
1 enters Differential positioning state, and unmanned plane 1 has higher positioning accuracy and is conducive to realize accurate landing in this case.Unmanned plane 1
Differential positioning state can also be entered before take off, into after Differential positioning state, instruction of taking off, nothing are issued by ground base station 2
Man-machine 1, which takes off, starts utonomous working.
Unmanned plane 1 in this example is equipped with RTK positioning device 12, and landing platform 2 is equipped with the base station RTK 221；Pass through RTK
Base station 221 sends the Differential corrections for improving 12 precision of RTK positioning device to RTK positioning device 12.
Embodiment 4, referring to attached drawing 3, on the basis of embodiment 1-3, before unmanned plane 1 enters mode of taking off, by ground base
It stands and 3 takes off instruction to the publication of landing platform 2；Based on the structure design of landing platform 2 in embodiment 2, landing platform 2, which is connected to, to take off
Following steps are executed after instruction:
B1. whether protruding in place by the detection landing platform 2 of motion position detection mechanism 26, if so, being directly entered step
Rapid B2；If it is not, horizontal extension mechanism 27 is then driven to enable landing platform 2 is protruding to enter step B2 afterwards in place；
B2. detect whether the clamping device 24 on landing platform 2 unclamps in place by motion position detection mechanism 26, if so,
Landing platform 2 forwards instruction of taking off to unmanned plane 1, and unmanned plane 1 takes off；If it is not, then enable clamping device 24 unclamp in place after again by
Landing platform 2 forwards instruction of taking off to unmanned plane 1, and unmanned plane 1 enters mode of taking off.
Embodiment 5, on the basis of examples 1 to 4, unmanned plane 1 enter charge mode, charging after droping to landing platform 2
Mode is wireless charging or contact contact charging.
Further, when using based on the structure design of landing platform 2 in embodiment 2, unmanned plane 1 completes embodiment
In 2 after A4 step, into charge mode the following steps are included:
C1. unmanned plane 1 is moved to the charge position on landing platform 2 under the action of clamping device 24, and clamping device 24 is right
Unmanned plane 1 is clamped locking；
C2. unmanned plane 1 charges.
Embodiment 6, referring to attached drawing 1,5, a kind of accurate landing system of unmanned plane, it include: unmanned plane 1, landing platform 2 with
And ground base station 3.
Unmanned plane 1 is equipped with flight controller 11, RTK positioning device 12, first communication module 13；Flight controller 11
It establishes signal with RTK positioning device 12, first communication module 13 respectively and connect；First communication module 13 is used for and landing platform 2
Establish communication connection, flight controller 11 and RTK positioning device 12 for realizing unmanned plane 1 posture and position in the sky control
System, flight controller 11 can also obtain the state of flight relevant information of unmanned plane 1.
Landing platform 2 equipped with: landing platform controller 21, the platform positioning device 22 including the base station RTK 221,
Second communication module 23；Landing platform controller 21 establishes signal company with platform positioning device 22, second communication module 23 respectively
It connects；Second communication module 23 is used to establish with unmanned plane 1, ground base station 3 and communicate to connect；RTK base in platform positioning device 22
221 are stood for sending the Differential corrections for improving 12 precision of RTK positioning device, platform positioning to RTK positioning device 12
Device 22 is also used to provide the position and the course information that guide its landing platform 2 precisely to land, this example when unmanned plane 1 lands
In, the position of landing platform 2 and course information are acquired by GPS antenna 222, to avoid equipment fault or signal bad, GPS antenna
222 can be used redundant configuration, i.e., 2 GPS antennas 222 are arranged in platform positioning device 22；Landing platform controller 21 is used for
The operational order of ground base station 3 is received, 22 information of acquisition platform positioning device, the movement of landing platform 2 is controlled while being gone back
1 state of flight relevant information of unmanned plane can be fed back to ground base station 3；Landing platform 2 is mounted on mobile vehicle, RTK base
221 are stood using dynamic base station configuration, the opposite position without influence unmanned plane 1 and landing platform 2 can be moved together with mobile vehicle
Set precision.
Ground base station 3 includes: ground control end 31, third communication module 32；Ground control end 31 and third communication module
32 establish signal connection；Third communication module 32 is used to establish with landing platform 2 and communicate to connect, and ground control end 31 is as operation
The window of personnel and landing system interaction for sending various instructions to landing platform 2, and can indirectly control unmanned plane and complete respectively
Kind task, while also can be from the state of flight relevant information of 2 indirect gain unmanned plane 1 of landing platform.
Unmanned plane 1, landing platform 2 and ground base station 3 can pass through first communication module 13, second communication module respectively
23, third communication module 32 establishes mutual wireless signal connection.In this example, second communication module 23 is communicated with first respectively
Module 13, third communication module 32 establish wireless signal connection, are realized by landing platform 2 logical between unmanned plane 1 and ground base station 3
Believe that transfer, communication are wirelessly transferred using serial ports.
Embodiment 7, referring to attached drawing 4, on the basis of embodiment 6, to unmanned plane 1, landing platform 2 is further is limited
It is fixed:
Unmanned plane 1 may also be configured with operating equipment 14, such as equipment is investigated in inspection；Operating equipment 14 and flight controller 11
Signal connection is established, 14 operation of operating equipment can be indirectly controlled by ground control end 31.
Landing platform 2 is equipped with: for carrying out clamping limit to unmanned plane 1 and guaranteeing the clamping machine of 1 stability of unmanned plane
Structure 24, the motion position detection mechanism 26 for detecting 24 movement position of clamping device.
In this example, landing platform 2 specifically by for 1 takeoff and landing of unmanned plane landing plate 27, with mobile vehicle is fixed connects
The fixed platform 28 connect forms；Fixed platform 28 is connect by horizontal extension mechanism 25 with landing plate 27；Movement position detection machine
Structure 26 can also detect the working condition of horizontal extension mechanism 25.
Clamping device 24, horizontal extension mechanism 25, motion position detection mechanism 26 are established with landing platform controller 21
Signal connection, under the control of landing platform controller 21, clamping device 24 can be realized the lock function to unmanned plane 1, water
Flat telescoping mechanism 25 can be realized Telescopic, and landing platform controller 21 can also be obtained by motion position detection mechanism 26
Detect clamping device 24 and 25 movement position signal of horizontal extension mechanism.
Embodiment 8 on the basis of embodiment 7, is done further unmanned plane 1, landing platform 2 referring to attached drawing 5,6
It limits:
Unmanned plane 1 uses open more gyroplanes or culvert type gyroplane, and unmanned plane 1 is equipped with undercarriage 15.
For the charging to unmanned plane 1 is realized, landing platform 2 also configures charhing unit 29；It include two groups in clamping device 24
Bidirectional push rod, after unmanned plane 1 drop to landing plate 27, bidirectional push rod clamps undercarriage 15, and unmanned plane 1 is pushed into drop
The charge position for falling the middle part of plate 27 charges.
Charhing unit 29 is wireless charging module or charhing unit 29 is the charging contact being arranged on landing plate 27.When
When being charged using contact contacting type, 15 bottom of undercarriage is equipped with multiple charging contacts, and landing 27 upper surface charge position of plate is provided with
The charging contact of corresponding charging contact, unmanned plane 1 is in contact with the charging contact of landing platform 2, realizes automatic charging.To keep away
It can not charge caused by contact-free is bad, charging contact is set as multiple groups contact parallel with one another.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (13)
1. a kind of accurate landing control method of unmanned plane, it is characterised in that: unmanned plane (1) enter take off/landing mode before, by
Ground base station (3) sending is taken off/lands instruction, and is passed through landing platform (2) instruction that will take off/land and be forwarded to the unmanned plane
(1)；
The landing platform (2) receive landing instruction after, Xiang Suoshu unmanned plane (1) forwarding landing instruction, the unmanned plane (1) into
Enter landing mode；Position of platform and course information are sent to the unmanned plane (1) by the landing platform (2), guide the nothing
Man-machine (1) drop to the landing platform (2).
2. a kind of accurate landing control method of unmanned plane as described in claim 1, it is characterised in that: the landing platform (2)
Following steps are executed after receiving landing instruction:
A1. it is whether protruding in place to detect the landing platform (2), if so, being directly entered step A2；If it is not, described in then enabling
Landing platform (2) is protruding to enter step A2 afterwards in place；
Whether the clamping device (24) that A2. detection is mounted on the landing platform (2) unclamps in place, if so, the landing is flat
Platform (2) Xiang Suoshu unmanned plane (1) sends position of platform and course information, while landing being forwarded to instruct, and guides the unmanned plane (1)
It drop to the landing platform (2)；If it is not, again by the landing platform (2) after then enabling the clamping device (24) to unclamp in place
Position of platform and course information are sent to the unmanned plane (1), while landing being forwarded to instruct, the unmanned plane (1) is guided to land
To the landing platform (2).
3. a kind of accurate landing control method of unmanned plane as claimed in claim 2, it is characterised in that: after the A2 step, institute
It states landing platform (2) and executes following steps:
A3. the landing platform (2) receives the falling signal that the unmanned plane (1) sends；
A4. the clamping device (24) is enabled to be clamped the unmanned plane (1), the landing platform (2) is inwardly withdrawn later
In place.
4. the accurate landing control method of unmanned plane as described in any one of claims 1-3, it is characterised in that: the ground base station
(3) before issuing landing instruction, by the landing platform (2) acquire differential corrections signal and the landing platform (2) position,
Course information, and differential corrections signal is sent to the unmanned plane (1), the unmanned plane (1) enters Differential positioning state.
5. the accurate landing control method of a kind of unmanned plane as described in any one of claims 1-3, it is characterised in that: the landing
Platform (2) receive take off instruction after execute following steps:
B1. it is whether protruding in place to detect the landing platform (2), if so, being directly entered step B2；If it is not, described in then enabling
Landing platform (2) is protruding to enter step B2 afterwards in place；
Whether the clamping device (24) B2. detected on the landing platform (2) unclamps in place, if so, the landing platform (2) to
The unmanned plane (1) forwards instruction of taking off, and the unmanned plane (1) is taken off；If it is not, the clamping device (24) is then enabled to unclamp in place
Instruction of taking off is forwarded by the landing platform (2) Xiang Suoshu unmanned plane (1) again afterwards, the unmanned plane (1) enters mode of taking off.
6. the accurate landing control method of unmanned plane as described in any one of claims 1-3, it is characterised in that: the unmanned plane
(1) flat by detecting the specific identifier object on the landing platform (2) or extracting the visual signature acquisition landing in landing
The position of platform (2).
7. the accurate landing control method of unmanned plane as described in any one of claims 1-3, it is characterised in that: the unmanned plane
(1) it drop to the landing platform (2) and enters charge mode afterwards, the charge mode is wireless charging or contact contact charging.
8. the accurate landing control method of unmanned plane as claimed in claim 3, it is characterised in that: after the A4 step, the nothing
Man-machine (1) enters charge mode, and the charge mode is wireless charging or contact contact charging, and the charge mode includes following
Step:
C1. the unmanned plane (1) is moved to the charging on the landing platform (2) under the action of the clamping device (24)
Position, the clamping device (24) are clamped locking to the unmanned plane (1)；
C2. unmanned plane (1) charging.
9. a kind of accurate landing system of unmanned plane, it includes: unmanned plane (1), landing platform (2) and ground base station (3), spy
Sign is:
The unmanned plane (1) is equipped with flight controller (11), RTK positioning device (12), first communication module (13)；It is described
Flight controller (11) is established signal and is connect with the RTK positioning device (12), the first communication module (13) respectively；
The landing platform (2) equipped with: landing platform controller (21), include the base station RTK (221) platform positioning device
(22), second communication module (23)；The landing platform controller (21) respectively with the platform positioning device (22), described
Two communication modules (23) establish signal connection；
The ground base station (3) includes: ground control end (31), third communication module (32)；The ground control end (31) with
The third communication module (32) establishes signal connection；
The second communication module (23) establishes nothing with the first communication module (13), the third communication module (32) respectively
The connection of line signal.
10. a kind of accurate landing system of unmanned plane as claimed in claim 9, it is characterised in that: the platform positioning device
(22) further include: the GPS antenna (222) of at least one.
11. the accurate landing system of a kind of unmanned plane as described in claim 9 or 10, it is characterised in that: the landing platform (2)
It is equipped with: for carrying out the clamping device (24) of clamping limit to the unmanned plane (1), for detecting the clamping device (24)
The motion position detection mechanism (26) of movement position；The motion position detection mechanism (26) and the clamping device (24) are in institute
It states and works under the control of landing platform controller (21).
12. a kind of accurate landing system of unmanned plane as claimed in claim 11, it is characterised in that: the landing platform (2) by
Land plate (27) and fixed platform (28) composition；The fixed platform (28) is fixedly connected with mobile vehicle, and is stretched by level
Contracting mechanism (25) is connect with the landing plate (27)；The clamping device (24) is arranged on the landing plate (27)；The fortune
Dynamic position detecting mechanism (26) detect the movement position of the horizontal extension mechanism (25)；The horizontal extension mechanism
(25) it works under the control of the landing platform controller (21).
13. a kind of accurate landing system of unmanned plane as claimed in claim 11, it is characterised in that: the landing platform (2) is also
Equipped with charhing unit (29)；The charhing unit (29) is wireless charging module or the charhing unit (29) is the drop
Fall the charging contact being arranged in parallel on plate (27).
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