CN110641714A - Single unmanned aerial vehicle charging parking apron guiding landing system based on infrared or visible light beams - Google Patents
Single unmanned aerial vehicle charging parking apron guiding landing system based on infrared or visible light beams Download PDFInfo
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- CN110641714A CN110641714A CN201910829686.8A CN201910829686A CN110641714A CN 110641714 A CN110641714 A CN 110641714A CN 201910829686 A CN201910829686 A CN 201910829686A CN 110641714 A CN110641714 A CN 110641714A
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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
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/18—Visual or acoustic landing aids
- B64F1/20—Arrangement of optical beacons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
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Abstract
The invention relates to a single unmanned aerial vehicle charging parking apron guiding landing system based on infrared or visible light beams, which comprises: the unmanned aerial vehicle is provided with a microprocessor and a light beam transceiver, the light beam transceiver is arranged at the bottom of the unmanned aerial vehicle, can vertically and downwards emit light beams under the control of the microprocessor, and can transmit received light signals from the apron end to the microprocessor; the parking apron end comprises a microprocessor and a light beam transceiver, the light beam transceiver is arranged on the parking apron, can vertically emit a light beam upwards under the control of the microprocessor, and can transmit a received light signal from the unmanned aerial vehicle end to the microprocessor; and the server side calculates the three-dimensional coordinates of the unmanned aerial vehicle and the three-dimensional coordinates of the parking apron according to the three-dimensional coordinates, the flying speed and the flying direction reported by the unmanned aerial vehicle, calculates the relative position distance, forms and sends a guiding scheme instruction for controlling the unmanned aerial vehicle to move along the position connecting line direction, and sends an instruction to the unmanned aerial vehicle through the parking apron side.
Description
Technical Field
The invention relates to the technical field of optical communication, in particular to a single unmanned aerial vehicle charging parking apron guiding landing system based on infrared or visible light beams.
Background
The infrared beam distance measurement can measure a longer distance under the conditions of no reflector and low reflectivity. With the development and progress of LED light source technology, white LEDs with the advantages of high brightness, low power consumption, long lifetime, etc. have gradually replaced fluorescent lamps and incandescent lamps. The white light LED communication is convenient to modulate and quick in response, has obvious advantages compared with ultraviolet and radio frequency modes in the aspects of harmless radiation, confidentiality, stability and the like, becomes a novel Visible Light Communication (VLC) mode, and is gradually popularized to the field of indoor positioning. The existing infrared and LED beam ranging method can maintain the stability of a channel and has strong operability, but a targeted model is lacked for the positioning and sampling requirements of an indoor horizontal moving target, and the acquisition and processing research of radio frequency signals under the condition of a single light source and a single receiver is less.
Particularly, at present, the unmanned aerial vehicle air park that wirelessly charges has got into the volume production stage, and this type of air park replaces the air park for the charging panel, can realize that unmanned aerial vehicle parks the back, need not the wire and can realize charging in real time, has simplified the charging procedure greatly. But this air park has the requirement to the position and the stability that unmanned aerial vehicle stopped, is difficult to effectively carry out induction charging to the unmanned aerial vehicle that stops the skew. In the landing stage of the unmanned aerial vehicle, the unmanned aerial vehicle is mostly remotely controlled by subjective experience of an operator, and the existing automatic control landing precision is difficult to accurately position the area of the parking apron in a small range. Under the premise that wireless charging, surrounding electric equipment and an electromagnetic field can possibly interfere with remote control or automatic landing or shield a radio signal, a landing guide system which is free of interference, easy to sense and energy-saving is researched and adopted, so that the problems are avoided or reduced, and the method becomes a great challenge in the design of a landing system of the unmanned aerial vehicle.
Disclosure of Invention
According to the method, based on a light beam receiving and transmitting combined system of infrared or LED visible light beams, light beam transceivers are respectively installed at the bottom of the unmanned aerial vehicle and the center of the parking apron, the two transceivers are communicated according to binary flashing frequency, landing guidance is carried out according to coordinates of the two transceivers and the behavior state of the unmanned aerial vehicle, and the parking position of the unmanned aerial vehicle is ensured to be accurate and safe. The technical scheme is as follows:
an infrared or visible beam based single drone charging apron guided landing system comprising:
the unmanned aerial vehicle is also provided with a microprocessor and a light beam transceiver, the light beam transceiver is arranged at the bottom of the unmanned aerial vehicle, can vertically emit light beams downwards under the control of the microprocessor and can transmit received light signals from the air park end to the microprocessor;
the parking apron end comprises a microprocessor and a light beam transceiver, the light beam transceiver is arranged on the parking apron, can vertically emit a light beam upwards under the control of the microprocessor, and can transmit a received light signal from the unmanned aerial vehicle end to the microprocessor; the unmanned aerial vehicle end and the air park end carry out optical communication through respective microprocessors and light beam transceivers, and the purpose that the air park sends out instructions and the flight state of the unmanned aerial vehicle is fed back is achieved; the microprocessor at the apron end is also communicated with the server;
the server end calculates the three-dimensional coordinates of the unmanned aerial vehicle and the self three-dimensional coordinates of the parking apron according to the three-dimensional coordinates, the flying speed and the flying direction reported by the unmanned aerial vehicle, calculates the relative position distance, forms and sends a guiding scheme instruction for controlling the unmanned aerial vehicle to move along the direction of the position connecting line, and sends an instruction to the unmanned aerial vehicle through the parking apron end until the relative position distance of the unmanned aerial vehicle is smaller than a preset threshold value, so that the parking success is indicated; and if the light beam transceiver at the apron end interrupts receiving the feedback information of the guided unmanned aerial vehicle after exceeding the preset time period, indicating that the parking is failed, and the apron gives an alarm to the server.
The process of using the system to achieve guided descent is as follows:
the method comprises the following steps: the unmanned aerial vehicle flies to the sky above the parking apron, the bottom light beam transceiver receives and senses the light signal sent by the center light beam transceiver of the parking apron, so that the sky of the apron is indicated, the unmanned aerial vehicle actively sends a communication request to the parking apron, the parking apron selects to reply yes or no, if yes, a stable communication link is established, and an unmanned aerial vehicle operator manually or automatically sends a request to the parking apron by unmanned aerial vehicle setting to land on the apron; if not, the parking apron refuses to communicate with the unmanned aerial vehicle, and the perception inquiry process is finished;
step two: after a stable communication link is established, the unmanned aerial vehicle inquires whether landing can be performed; when the parking apron server replies to the descent, the unmanned aerial vehicle starts a state reporting process; if not, the parking apron refuses to communicate with the unmanned aerial vehicle, and the perception inquiry process is finished;
step three: the unmanned aerial vehicle starts a state reporting process, and reports the three-dimensional coordinates and the flight state of the unmanned aerial vehicle to the parking apron through the stable communication link; and the parking apron end service calculates the relative positions of the computer and the apron, simulates the state of the unmanned aerial vehicle, forms a guiding scheme, and sends the guiding scheme to the unmanned aerial vehicle end, and the unmanned aerial vehicle responds and executes the scheme requirement.
The invention is based on a light beam receiving and transmitting combined system of infrared or LED visible light beams, light beam transceivers are respectively installed at the bottom of the unmanned aerial vehicle and the center of the parking apron, the two transceivers are communicated according to binary flashing frequency, and landing guidance is carried out according to coordinates of the two transceivers and the behavior state of the unmanned aerial vehicle, so that the accurate and safe parking position of the unmanned aerial vehicle is ensured. The infrared or LED visible light beam guiding method designed on the basis of the model enables the unmanned aerial vehicle to land, so that electromagnetic shielding or interference is completely avoided, the problems that the existing guiding method is inaccurate and is difficult to implement in a self-adaptive mode and the like can be solved, the behavior state information of the unmanned aerial vehicle can be rapidly and accurately provided, the unmanned aerial vehicle is accurately guided to land, the use efficiency of the wireless charging parking apron is improved, and the accident rate is reduced.
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FIG. 1 illustrates the assembly steps of the present invention
FIG. 2 is the operation flow of the present invention
FIG. 3 is an operational schematic of the present invention
Detailed Description
Reference will now be made in detail to implementations of the present invention. The following embodiments will be described with reference to the accompanying drawings for the purpose of illustrating the invention.
According to the method, based on a light beam receiving and transmitting combined system of infrared or LED visible light beams, light beam transceivers are respectively installed at the bottom of the unmanned aerial vehicle and the center of the parking apron, the two transceivers are communicated according to binary flashing frequency, landing guidance is carried out according to coordinates of the two transceivers and the behavior state of the unmanned aerial vehicle, and the parking position of the unmanned aerial vehicle is ensured to be accurate and safe. The invention relates to a single unmanned aerial vehicle charging apron guiding landing system based on infrared or visible light beams, which comprises:
the unmanned aerial vehicle can acquire three-dimensional coordinates, flight speed and direction information, a light beam transceiver which vertically emits downwards is arranged at the bottom of the unmanned aerial vehicle, and a light beam transceiver which vertically emits upwards is arranged at the center of the parking apron. Free space optical communication is carried out between the two, and the command sent by the parking apron and the state feedback of the unmanned aerial vehicle are realized.
And the high-frequency chip microprocessor is used for controlling the behavior of the two-end light beam transceiver. The system is used for translating binary codes and electronic signals of information such as parking apron inquiry information and instructions, unmanned aerial vehicle states and coordinates, confirmation of accurate parking success and failure alarm, remote control confirmation/denial of operators and the like, and transmitting the information by the light beam transceiver.
The parking apron end light beam transceiver and the microprocessor are inserted on the development board together, and the development board and a control room server connected with the parking apron through wires and circuits transmit control signals, feedback signals and electric energy. And the microprocessor sets the light beam brightness and carries out state self-checking on the optical transceiver according to the instruction of the server.
And the server calculates the three-dimensional coordinates of the air park according to the three-dimensional coordinates, the flying speed and the direction reported by the unmanned aerial vehicle, obtains the relative position distance, automatically forms and sends a scheme instruction of moving along the position connecting line direction. Until the relative position distance is smaller than a preset threshold value, the parking is successful; and if the parking apron end transceiver interrupts receiving the feedback information of the guided unmanned aerial vehicle after exceeding the preset time period, the server gives an alarm when the parking is failed.
FIG. 1 shows the sequence of five steps of the invention, respectively:
(1) the installation machine, the light beam transceiver and the microprocessor at two ends of the terrace, etc.: the light beam transceiver is vertically emitted downwards at the bottom of the unmanned aerial vehicle, and the light beam transceiver is vertically emitted upwards at the center of the apron. The unmanned aerial vehicle end light beam transceiver is connected with the high-frequency chip microprocessor; and the parking apron end light beam transceiver and the microprocessor are inserted on the development board together, and the microprocessor sets the light beam brightness and carries out state self-checking on the light transceiver according to the instruction of the server end. The unmanned aerial vehicle can acquire three-dimensional coordinates, flight speed and direction information,
(2) adjusting parameters of the light beam transceivers at the two ends: the central position of the parking apron is adjusted and arranged to be vertical to the upward light beam transceiver, and the positions and the directions of the light source transmitter and the receiver are fixed. In the light source emitting process, the central point of the light source needs to be kept vertical, the illumination of the light source is unchanged, and the illumination range is uniform. The light beam transceiver which is vertically downward at the bottom of the unmanned aerial vehicle is adjusted and arranged, and the positions and the directions of a light source transmitter and a receiver are fixed. In the light source emitting process, the central point of the light source needs to be kept vertical, the illumination of the light source is unchanged, and the illumination range is uniform.
(3) Connecting and wiring: a network cable and a circuit are arranged underground a development board connected with a light beam transceiver at the parking apron end, and a control room server and a power supply are connected to realize transmission of control signals, feedback signals and electric energy.
(4) Setting two-end optical communication codes: at server end and unmanned aerial vehicle remote control cabinet, respectively to the high frequency chip microprocessor at both ends, the code sets up each beam transmitter beam frequency: each transmitter is encoded with either an infrared beam or an LED visible beam, both of which are easily recognized by the receiver. The light beams emitted by different light source emitters are coded and identified at different flashing frequencies so as to avoid misjudgment after being reflected to a receiver.
(5) And carrying out working state debugging and unmanned aerial vehicle landing test on the light beam transceivers at the two ends.
FIG. 2 is a flow chart of the present invention. The method comprises the following actions of sensing a code pair, reporting a three-dimensional coordinate by an unmanned aerial vehicle, calculating a relative position and an unmanned aerial vehicle state (judging whether to guide) by an apron end server, forming an apron and sending a guide scheme instruction, responding and executing the instruction by the unmanned aerial vehicle, confirming the success (starting charging) or failure (alarming) of parking, and the like. The communication process between the unmanned aerial vehicle and the parking apron is completely realized by the light beam transceivers of the unmanned aerial vehicle and the parking apron.
The method comprises the following steps: when the unmanned aerial vehicle flies to the sky above the apron, the bottom light beam transceiver receives and senses the light signal sent by the center light beam transceiver of the apron, and therefore the empty position of the apron is indicated. The unmanned aerial vehicle actively sends a communication request to the parking apron, and the parking apron selects to reply yes or no. If the selection is yes, a stable communication link is established, an unmanned aerial vehicle operator manually or the unmanned aerial vehicle is automatically set to send a request to the parking apron and the unmanned aerial vehicle is planned to land on the apron; if not, the apron refuses to communicate with the unmanned aerial vehicle, and the perception inquiry process is finished.
Step two: after a stable communication link is established, the unmanned aerial vehicle inquires whether landing can be performed; when the parking apron server replies to the descent, the unmanned aerial vehicle starts a state reporting process; if not, the apron refuses to communicate with the unmanned aerial vehicle, and the perception inquiry process is finished.
Step three: the unmanned aerial vehicle starts a state reporting process, and reports the three-dimensional coordinates and flight states (speed, direction and the like) of the unmanned aerial vehicle to the parking apron through a stable communication link; and the parking apron end server calculates the relative positions of the computer and the apron, simulates the state of the unmanned aerial vehicle, forms a guiding scheme and sends the guiding scheme to the unmanned aerial vehicle end. The drone responds and executes the protocol requirements. The step is continuously circulated until the relative position of the unmanned aerial vehicle and the apron meets the requirement within the threshold time, and the unmanned aerial vehicle stops successfully when the guidance is finished; if the two are disconnected or exceed the preset threshold time length, the guiding fails, and the unmanned aerial vehicle control end and the parking apron server end both give an alarm.
Fig. 3 is a schematic diagram of the operation of the present invention. The unmanned aerial vehicle is respectively positioned in A, B, C position and D state, and the system guides the situation. The plane of the point O is the apron, and the circle is a chargeable area. The blue round point is a light beam transceiver at the unmanned aerial vehicle end, the red round point is a light beam transceiver at the apron end,
under A position, the unmanned aerial vehicle is in flight state, and both the relative position of the transceivers at both ends and the distance L are in the range of the communication threshold value, and the successful guidance between the unmanned aerial vehicle and the parking apron can be realized.
Under the B position, unmanned aerial vehicle is in the state of berthing, and both ends transceiver relative position and distance are all in ending threshold value scope, end the guide, probably realize charging between with the air park.
Under the position C, the unmanned aerial vehicle is in a flying state, the relative positions and the distances of the transceivers at the two ends are both out of the range of the communication threshold value, and the unmanned aerial vehicle cannot realize guidance with the parking apron or a guidance failure server gives an alarm.
Under the D state, unmanned aerial vehicle is in upset or the unstable flight state of side direction, and both ends transceiver relative position and distance are outside communication threshold value scope, can not realize the guide with between the air park, or guide failure server warning.
Claims (2)
1. An infrared or visible beam based single drone charging apron guided landing system comprising:
the unmanned aerial vehicle is provided with a microprocessor and a light beam transceiver, wherein the light beam transceiver is arranged at the bottom of the unmanned aerial vehicle, can vertically and downwards emit light beams under the control of the microprocessor, and can transmit received light signals from the air park end to the microprocessor.
The parking apron end comprises a microprocessor and a light beam transceiver, the light beam transceiver is arranged on the parking apron, can vertically emit a light beam upwards under the control of the microprocessor, and can transmit a received light signal from the unmanned aerial vehicle end to the microprocessor; the unmanned aerial vehicle end and the air park end carry out optical communication through respective microprocessors and light beam transceivers, and the purpose that the air park sends out instructions and the flight state of the unmanned aerial vehicle is fed back is achieved; the microprocessor at the apron end is also communicated with the server;
the server end calculates the three-dimensional coordinates of the unmanned aerial vehicle and the self three-dimensional coordinates of the parking apron according to the three-dimensional coordinates, the flying speed and the flying direction reported by the unmanned aerial vehicle, calculates the relative position distance, forms and sends a guiding scheme instruction for controlling the unmanned aerial vehicle to move along the direction of the position connecting line, and sends an instruction to the unmanned aerial vehicle through the parking apron end until the relative position distance of the unmanned aerial vehicle is smaller than a preset threshold value, so that the parking success is indicated; and if the light beam transceiver at the apron end interrupts receiving the feedback information of the guided unmanned aerial vehicle after exceeding the preset time period, indicating that the parking is failed, and the apron gives an alarm to the server.
2. A guided descent system according to claim 1, wherein the guided descent is effected using the system as follows:
the method comprises the following steps: the unmanned aerial vehicle flies to the sky above the parking apron, the bottom light beam transceiver receives and senses the light signal sent by the center light beam transceiver of the parking apron, so that the sky of the apron is indicated, the unmanned aerial vehicle actively sends a communication request to the parking apron, the parking apron selects to reply yes or no, if yes, a stable communication link is established, and an unmanned aerial vehicle operator manually or automatically sends a request to the parking apron by unmanned aerial vehicle setting to land on the apron; if not, the parking apron refuses to communicate with the unmanned aerial vehicle, and the perception inquiry process is finished;
step two: after a stable communication link is established, the unmanned aerial vehicle inquires whether landing can be performed; when the parking apron server replies to the descent, the unmanned aerial vehicle starts a state reporting process; if not, the parking apron refuses to communicate with the unmanned aerial vehicle, and the perception inquiry process is finished;
step three: the unmanned aerial vehicle starts a state reporting process, and reports the three-dimensional coordinates and the flight state of the unmanned aerial vehicle to the parking apron through the stable communication link; and the parking apron end service calculates the relative positions of the computer and the apron, simulates the state of the unmanned aerial vehicle, forms a guiding scheme, and sends the guiding scheme to the unmanned aerial vehicle end, and the unmanned aerial vehicle responds and executes the scheme requirement.
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