CN112947524A - Precise landing control method for unmanned aerial vehicle - Google Patents
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses an unmanned aerial vehicle accurate landing control method, which comprises the following steps: s1, the unmanned aerial vehicle flies to the overhead area of the landing platform after receiving the landing command; s2, the control terminal starts the positioning inductor group to control the unmanned aerial vehicle to a preset vertical area of the landing platform; s3, adjusting the horizontal position of the unmanned aerial vehicle to be consistent with the landing area of the landing platform until the unmanned aerial vehicle receives the descending instruction of the control terminal; and S4, after detecting that the unmanned aerial vehicle lands on the landing platform, closing the drive of the unmanned aerial vehicle and finishing landing. According to the technical scheme, the obstacle avoidance and accurate landing can be realized without other auxiliary equipment, and the damage and the influence on the service life of the unmanned aerial vehicle caused by collision between the unmanned aerial vehicle and a landing platform in the landing process can be avoided; and simultaneously, the landing efficiency is effectively improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle accurate landing control method.
Background
Along with the rapid development of the unmanned aerial vehicle technology, more and more unmanned aerial vehicles enter the lives of people. Unmanned aerial vehicle is available round the clock, simple structure, and convenient to use is with low costs, and the inefficiency ratio needn't worry casualties, consequently under high-order environment, unmanned aerial vehicle operation receives favour day by day. The method can be used for scene monitoring, meteorological investigation, highway inspection, exploration and mapping, flood monitoring, aerial photography, traffic management, forest fire and the like, and has extremely wide application prospect. .
However, most of existing unmanned aerial vehicles need be with the help of external supplementary sign in the landing process, and the vibration range of landing is great, and landing accuracy and efficiency are not high.
Disclosure of Invention
The invention mainly aims to provide an unmanned aerial vehicle accurate landing control method, aiming at realizing obstacle avoidance and accurate landing without other auxiliary equipment, and also avoiding damage and influence on the service life of an unmanned aerial vehicle due to collision with a landing platform in the landing process.
The above problems to be solved by the present invention are achieved by the following technical solutions:
an unmanned aerial vehicle accurate landing control method comprises the following steps:
s1, the unmanned aerial vehicle flies to the overhead area of the landing platform after receiving the landing command;
s2, the control terminal starts the positioning inductor group to control the unmanned aerial vehicle to a preset vertical area of the landing platform;
s3, adjusting the horizontal position of the unmanned aerial vehicle to be consistent with the landing area of the landing platform until the unmanned aerial vehicle receives the descending instruction of the control terminal;
and S4, after detecting that the unmanned aerial vehicle lands on the landing platform, closing the drive of the unmanned aerial vehicle and finishing landing.
Preferably, the height H of the overhead region is 20 to 40 m.
Preferably, in S2, the location inductor group includes infrared emitter and infrared receiver, infrared emitter connects on the response area of descending platform, infrared receiver fixes unmanned aerial vehicle' S bottom.
Preferably, the infrared ray transmission coverage area of the infrared ray emitter is the vertical area.
Preferably, the infrared emitters comprise four second infrared emitters, and the second infrared emitters are arranged in a rectangular shape;
and/or the infrared emitter further comprises a first infrared emitter, and the first infrared emitter is positioned in the middle of the rectangle.
Preferably, the second infrared emitters are distributed at four end points of the rectangle and are vertically fixed on the landing area of the landing platform;
or the first infrared emitter is positioned at the intersection point of two induction mounting axes formed by the opposite corners of the rectangle, and the emission line of the first infrared emitter and the emission line of the second infrared emitter are converged into one point.
Preferably, in S3, the infrared receiver corresponding to each second infrared emitter is used as a signal point P, and the signal point and the sensing area form three-dimensional coordinate information, that is, P (x)p，yp，zp)。
Preferably, in S3, z is determined according to each signal point PpThe position of each signal point P of the unmanned aerial vehicle in the vertical area is judged according to the value of the signal point P, and then the inclination of the horizontal position of the unmanned aerial vehicle is obtained.
Preferably, in S4, the driving of the control terminal is controlled so that the signal points P of the drone are located at the same horizontal position during landing.
Preferably, in S4, be equipped with pressure sensor on the landing platform, the pressure value when landing completely of unmanned aerial vehicle is monitored through pressure sensor response, confirms that the landing is accomplished.
Has the advantages that: according to the technical scheme, the position information of the unmanned aerial vehicle before landing is monitored in multiple directions by adopting the positioning sensor, the information is transmitted to the control terminal, and the horizontal state and the landing direction of the landing process of the unmanned aerial vehicle are kept consistent with those of the landing platform by the control terminal, so that the obstacle avoidance and accurate landing are realized without other auxiliary equipment, and the collision between the landing process of the unmanned aerial vehicle and the landing platform, damage and influence on the service life of the unmanned aerial vehicle can be avoided; and simultaneously, the landing efficiency is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling precise landing of an unmanned aerial vehicle according to the invention
Fig. 2 is a top view structural diagram of a landing platform of the precise landing control method for the unmanned aerial vehicle according to the invention.
The reference numbers illustrate: 1-unmanned aerial vehicle; 2-landing the platform; 21-a sensing area; 22-a landing zone; 231-a first infrared emitter; 230-an induction mounting axis; 232-second infrared emitter.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture, and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if the meaning of "and/or" and/or "appears throughout, the meaning includes three parallel schemes, for example," A and/or B "includes scheme A, or scheme B, or a scheme satisfying both schemes A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides an unmanned aerial vehicle accurate landing control method.
As shown in the drawings, in an embodiment of the present invention, the method for controlling precise landing of the unmanned aerial vehicle; the method comprises the following steps:
s1, the unmanned aerial vehicle 1 flies to the overhead area of the landing platform 2 after receiving the landing instruction; wherein the height H of the overhead region is 20-40m, and the most preferred height H is 23 m; the unmanned aerial vehicle 1 is a four-wing unmanned aerial vehicle in the embodiment;
s2, the control terminal starts the positioning inductor group to control the unmanned aerial vehicle 1 to a preset vertical area of the landing platform 2;
s3, adjusting the horizontal position of the unmanned aerial vehicle 1 to be consistent with the landing area of the landing platform 2 until the unmanned aerial vehicle 1 receives a descending instruction of the control terminal;
and S4, after detecting that the unmanned aerial vehicle 1 lands on the landing platform 2, closing the drive of the unmanned aerial vehicle 2 and finishing landing.
According to the technical scheme, the position information of the unmanned aerial vehicle before landing is monitored in multiple directions by adopting the positioning sensor, the information is transmitted to the control terminal, and the horizontal state and the landing direction of the landing process of the unmanned aerial vehicle are kept consistent with those of the landing platform by the control terminal, so that the obstacle avoidance and accurate landing are realized without other auxiliary equipment, and the collision between the landing process of the unmanned aerial vehicle and the landing platform, damage and influence on the service life of the unmanned aerial vehicle can be avoided; and simultaneously, the landing efficiency is effectively improved.
In the embodiment, the control terminal refers to a terminal controller capable of controlling the takeoff, the flight and the landing of the unmanned aerial vehicle; specifically, the control terminal may select a communication device control terminal, such as a mobile phone; a control terminal of an LED display screen can also be selected; computers, notebook computers and the like can also be selected; no fundamental limitations are to be made therein by way of example.
The four-wing unmanned aerial vehicle is an aircraft with four propellers, and the four propellers are in a cross-shaped crossed structure; the aircraft is also a six-degree-of-freedom vertical take-off and landing machine, so the aircraft is very suitable for flying under static and quasi-static conditions; on the other hand, however, a quad-rotor helicopter has four input forces and six outputs, so that it is an under-actuated system (under-actuated system refers to a low-input multi-output system). Unlike a conventional rotary-wing helicopter, which has propellers with variable pitch, a quad-rotor helicopter has two sets of propellers, front and rear, and left and right, that rotate in opposite directions and changes the lift by changing the speed of the propellers, thereby changing the attitude and position of the quad-rotor helicopter.
Specifically, as shown in fig. 1 and 2, in S2, the positioning sensor group includes an infrared emitter and an infrared receiver, the infrared emitter is connected to the sensing area 21 of the landing platform 2, and the infrared receiver is fixed at the bottom of the drone 1; and the infrared emission transmission coverage area of the infrared emitter is the vertical area; infrared emitter transmits infrared signal toward unmanned aerial vehicle on the descending platform, receives infrared signal by infrared receiver, transmits unmanned aerial vehicle's state to control terminal again, lays the basis for subsequent control.
The infrared transmitter transmits light rays to the unmanned aerial vehicle within a certain range through the infrared transmitting tube, so that the signal transmission effect is achieved; the infrared receiver receives the infrared signal of the infrared transmitter, can independently receive and output the infrared signal and is compatible with the TTL electric frequency signal, and can transmit the induction signal to the control terminal.
Specifically, in one embodiment, the infrared emitters include four second infrared emitters 232, the second infrared emitters 232 are arranged in a rectangular shape, and the second infrared emitters 232 are distributed at four end points of the rectangular shape and vertically fixed on the landing area 22 of the landing platform 2. The vertical area can ensure that the unmanned aerial vehicle can accurately land to the landing platform by forming the vertical area through the transmission line tracks of the plurality of groups of second infrared transmitters.
Specifically, as shown in fig. 2, in another embodiment, the infrared emitters include four second infrared emitters 232, the second infrared emitters 232 are arranged in a rectangular manner, and the second infrared emitters 232 are distributed at four end points of the rectangle and are fixed on the landing area 22 of the landing platform 2 in an inward inclined manner; the infrared ray emitter further includes a first infrared ray emitter 231, the first infrared ray emitter 231 is located at an intersection of two induction mounting axes 230 formed at opposite corners of the rectangle, and a transmission line of the first infrared ray emitter 231 and a transmission line of the second infrared ray emitter 232 converge into a point. Through the second infrared ray assemble can make unmanned aerial vehicle begin to fall the point and reach more accurately a little, again by the descending guide of first infrared emission, and then can ensure that unmanned aerial vehicle can descend to descending platform more accurately.
Specifically, in S3, the infrared receiver corresponding to each second infrared emitter 232 is used as a signal point P, and the signal point and the sensing region 21 form three-dimensional coordinate information, i.e. P (x)p，yp，zp)。
Specifically, in S3, z is determined according to each signal point PpThe position of each signal point P of the unmanned aerial vehicle 1 in the vertical area is determined according to the value of (a), and then the inclination of the horizontal position of the unmanned aerial vehicle 1 is obtained.
Specifically, in S4, the driving of the control terminal is controlled so that the signal points P of the drone 1 are located at the same horizontal position during the landing process. Avoid unmanned aerial vehicle to take place unbalanced striking descending at last descending in-process, influence its life.
Specifically, in S4, be equipped with pressure sensor on the landing platform 2, the pressure value when landing completely of unmanned aerial vehicle is monitored through pressure sensor response, and then confirms that the landing is accomplished.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The precise landing control method for the unmanned aerial vehicle is characterized by comprising the following steps:
s1, the unmanned aerial vehicle flies to the overhead area of the landing platform after receiving the landing command;
s2, the control terminal starts the positioning inductor group to control the unmanned aerial vehicle to a preset vertical area of the landing platform;
s3, adjusting the horizontal position of the unmanned aerial vehicle to be consistent with the landing area of the landing platform until the unmanned aerial vehicle receives the descending instruction of the control terminal;
and S4, after detecting that the unmanned aerial vehicle lands on the landing platform, closing the drive of the unmanned aerial vehicle and finishing landing.
2. The precise landing control method for the unmanned aerial vehicle according to claim 1, wherein the height H of the overhead area is 20-40 m.
3. An unmanned aerial vehicle precision landing control method according to claim 1, wherein in S2, the positioning sensor group includes an infrared emitter and an infrared receiver, the infrared emitter is connected to the sensing area of the landing platform, and the infrared receiver is fixed to the bottom of the unmanned aerial vehicle.
4. An unmanned aerial vehicle precision landing control method according to claim 3, wherein the infrared emission transmission coverage area of the infrared emitter is the vertical area.
5. The precise landing control method for the unmanned aerial vehicle as claimed in claim 3, wherein the infrared emitters comprise four second infrared emitters, and the second infrared emitters are arranged in a rectangular shape;
and/or the infrared emitter further comprises a first infrared emitter, and the first infrared emitter is positioned in the middle of the rectangle.
6. An unmanned aerial vehicle precision landing control method according to claim 5, wherein the second infrared emitters are distributed at four end points of the rectangle and vertically fixed on a landing area of the landing platform;
or the first infrared emitter is positioned at the intersection point of two induction mounting axes formed by the opposite corners of the rectangle, and the emission line of the first infrared emitter and the emission line of the second infrared emitter are converged into one point.
7. An unmanned aerial vehicle precision landing control method according to claim 1, wherein in S3, the infrared receiver corresponding to each second infrared emitter serves as a signal point P, and the signal point and the sensing area form three-dimensional coordinate information, namely P (x) andp，yp，zp)。
8. an unmanned aerial vehicle precision landing control method according to claim 7, wherein in S3, z according to each signal point P ispThe position of each signal point P of the unmanned aerial vehicle in the vertical area is judged according to the value of the signal point P, and then the inclination of the horizontal position of the unmanned aerial vehicle is obtained.
9. The method according to claim 8, wherein in step S4, the driving of the control terminal is controlled so that the signal points P are located at the same horizontal position during the landing of the drone.
10. The method according to claim 1, wherein in S4, the landing platform is provided with a pressure sensor, and the pressure sensor senses and monitors a pressure value of the unmanned aerial vehicle when landing completely, so as to confirm completion of landing.
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| CN115202375A (en) * | 2022-07-20 | 2022-10-18 | 广西电网有限责任公司电力科学研究院 | Two-section type accurate landing guiding method and system for wireless charging of unmanned aerial vehicle |
| CN117746692A (en) * | 2024-02-19 | 2024-03-22 | 中国民用航空飞行学院 | Airport modularization adjustment method based on capacity envelope curve |
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