CN112965519A - Unmanned aerial vehicle landing guiding equipment, method and system - Google Patents
Unmanned aerial vehicle landing guiding equipment, method and system Download PDFInfo
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Abstract
The application discloses unmanned aerial vehicle landing guiding equipment, a method and a system, wherein the landing guiding equipment comprises a processor module, and an input module, a positioning module and a first communication module which are respectively and electrically connected with the processor module; the input module is used for acquiring instruction information and sending the instruction information to the processor module; the positioning module is used for acquiring the real-time position information of the position of the landing guide equipment and sending the real-time position information to the processor module; the first communication module is used for being in communication connection with the unmanned aerial vehicle; the processor module is used for controlling the positioning module to acquire the real-time position information according to the first instruction information and controlling the first communication module to send the real-time position information to the unmanned aerial vehicle according to the second instruction information; thereby solved the technical problem that the degree of difficulty is big, appointed landing point can not change at will of controlling that exists among the present unmanned aerial vehicle descending mode.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to unmanned aerial vehicle landing guiding equipment, method and system.
Background
The drone generally needs to land at a designated landing point at the end of the voyage.
In the prior art, in the process that the unmanned aerial vehicle lands on the designated landing point, or the unmanned aerial vehicle is manually controlled by an operator to land on the designated landing point, or the coordinate position of the starting and flying point is recorded in advance for the unmanned aerial vehicle and is taken as the designated landing point.
However, in the above scheme, the operator manually controls the landing mode of the unmanned aerial vehicle, which has high requirements on the operator and often causes loss due to improper control; in a mode of landing by taking the coordinate position of the flying point as a designated landing point, the designated landing point is fixed and cannot be randomly changed as required;
that is to say, in the current mode of descending unmanned aerial vehicle to appointed landing point, there is the big, appointed landing point of the degree of difficulty of controlling the problem that can not change at will.
Disclosure of Invention
In view of at least one aspect of the above technical problem, embodiments of the present application provide an apparatus, a method, and a system for guiding a landing of an unmanned aerial vehicle; the landing guide equipment comprises a processor module, an input module, a positioning module and a first communication module, wherein the input module, the positioning module and the first communication module are respectively and electrically connected with the processor module; the input module is used for acquiring instruction information and sending the instruction information to the processor module; the positioning module is used for acquiring the real-time position information of the position of the landing guide equipment and sending the real-time position information to the processor module; the first communication module is used for being in communication connection with the unmanned aerial vehicle; the processor module is used for controlling the positioning module to acquire the real-time position information according to the first instruction information and controlling the first communication module to send the real-time position information to the unmanned aerial vehicle according to the second instruction information; therefore, the unmanned aerial vehicle can land at the designated landing point corresponding to the real-time position information after receiving the real-time position information;
that is to say, in the embodiment of the present application, the landing guidance device may first move to a designated landing point, and then the landing guidance device obtains real-time location information of the designated landing point and sends the real-time location information to the unmanned aerial vehicle, so that the unmanned aerial vehicle can land on the designated landing point; therefore, on one hand, the unmanned aerial vehicle automatically lands according to the real-time position information, manual operation of an operator is not needed, and the loss caused by improper operation is reduced; on the other hand, the operator only needs to move the landing guide equipment to the designated landing point, namely, the designated landing point can be changed in real time according to the requirement; thereby solved the technical problem that the degree of difficulty is big, appointed landing point can not change at will of controlling that exists among the present unmanned aerial vehicle landing mode, realized that unmanned aerial vehicle's landing is controlled the mode and is simple, the landing position is accurate to can change the technological effect of landing point in real time.
The embodiment of the application provides an unmanned aerial vehicle descends guiding device, it includes to descend guiding device:
a processor module;
the input module is electrically connected with the processor module and is used for acquiring instruction information and sending the instruction information to the processor module;
the positioning module is electrically connected with the processor module and is used for acquiring the real-time position information of the position where the landing guide equipment is located and sending the real-time position information to the processor module;
the first communication module is electrically connected with the processor module and is used for being in communication connection with the unmanned aerial vehicle;
the instruction information comprises first instruction information and second instruction information; the processor module is used for
Controlling the positioning module to acquire the real-time position information according to the first instruction information;
and controlling the first communication module to send the real-time position information to the unmanned aerial vehicle according to the second instruction information.
In the embodiment of the present disclosure, the input module is further configured to acquire input location information and send the input location information to the processor module; the processor module is also used for
And controlling the first communication module to send the input position information to the unmanned aerial vehicle according to the second instruction information.
In an embodiment of the present disclosure, the input module includes one or more of a key input unit, a touch screen input unit, and a voice input unit.
In the embodiment of the present disclosure, the method further includes:
and the display module is electrically connected with the processor module and is used for displaying the real-time position information, the input position information, the instruction information and the state information of the landing guide equipment.
In the embodiment of the disclosure, the unmanned aerial vehicle comprises a flight control module and a second communication module which are electrically connected; the second communication module is in communication connection with the first communication module, receives the real-time position information and sends the real-time position information to the flight control module.
In an embodiment of the disclosure, the positioning module includes a GPS positioning module.
The embodiment of the application provides an unmanned aerial vehicle landing guide method, the landing guide method is applied to as foretell landing guide equipment, landing guide equipment is used for guiding unmanned aerial vehicle to land, wherein, the landing guide method includes:
receiving first instruction information and acquiring real-time position information of the landing guide equipment according to the first instruction information;
and receiving second instruction information and sending the real-time position information to the unmanned aerial vehicle according to the second instruction information so that the unmanned aerial vehicle lands according to the landing point corresponding to the real-time position information.
In the embodiment of the present disclosure, the input module of the landing guiding device is further configured to acquire input location information and send the input location information to the processor module; wherein the landing guide method further comprises:
acquiring the input position information;
and receiving the second instruction information and sending the input position information to the unmanned aerial vehicle according to the second instruction information so that the unmanned aerial vehicle lands according to the landing point corresponding to the input position information.
The embodiment of the application further provides an unmanned aerial vehicle landing guidance system, the landing guidance system include unmanned aerial vehicle and with unmanned aerial vehicle communication connection's landing guidance device, wherein, the landing guidance device is foretell landing guidance device.
In the embodiment of the disclosure, the unmanned aerial vehicle comprises a flight control module and a second communication module which are electrically connected; the second communication module is in communication connection with the first communication module, receives real-time position information and sends the real-time position information to the flight control module.
In the embodiment of the present disclosure, the unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle.
In the disclosed embodiment, the drone is a fixed wing drone;
the real-time position information comprises first real-time position information and second real-time position information; determining a landing stop point of the fixed-wing unmanned aerial vehicle by any one of the first real-time position information and the second real-time position information, and determining a landing direction of the fixed-wing unmanned aerial vehicle by a connection line of two position points corresponding to the first real-time position information and the second real-time position information respectively; or,
in the landing guide device, the input module is further used for acquiring input position information and sending the input position information to the processor module; the processor module is further used for controlling the first communication module to send the input position information to the fixed-wing unmanned aerial vehicle according to second instruction information; determining a landing stop point of the fixed-wing unmanned aerial vehicle by any one of the real-time position information and the input position information, and determining a landing direction of the fixed-wing unmanned aerial vehicle by a connection line of two position points corresponding to the real-time position information and the input position information respectively; or,
in the landing guide device, the input module is further used for acquiring input position information and sending the input position information to the processor module; the processor module is further used for controlling the first communication module to send the input position information to the fixed-wing unmanned aerial vehicle according to second instruction information; wherein, input positional information includes first input positional information and second input positional information, first input positional information with any one of second input positional information is confirmed fixed wing unmanned aerial vehicle's landing stop point, and, first input positional information with the line of two position points that second input positional information corresponds respectively is confirmed fixed wing unmanned aerial vehicle's landing direction.
The embodiment of the application provides an unmanned aerial vehicle landing guide method, the landing guide method is applied to the landing guide system as above, wherein, the landing guide method includes:
the landing guide equipment receives first instruction information and acquires real-time position information of the landing guide equipment according to the first instruction information;
and the landing guide equipment receives second instruction information and sends the real-time position information to the unmanned aerial vehicle according to the second instruction information, so that the unmanned aerial vehicle lands according to the landing point corresponding to the real-time position information.
In the embodiment of the present disclosure, the input module of the landing guiding device is further configured to acquire input location information and send the input location information to the processor module; wherein the landing guide method further comprises:
the landing guide device acquires the input position information;
and the landing guide equipment receives the second instruction information and sends the input position information to the unmanned aerial vehicle according to the second instruction information so that the unmanned aerial vehicle lands according to the landing point corresponding to the input position information.
In the embodiment of the present disclosure, the unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle, or, the unmanned aerial vehicle is a fixed-wing unmanned aerial vehicle.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
in the embodiment of the application, the landing guiding device comprises a processor module, and an input module, a positioning module and a first communication module which are respectively and electrically connected with the processor module; the input module is used for acquiring instruction information and sending the instruction information to the processor module; the positioning module is used for acquiring the real-time position information of the position of the landing guide equipment and sending the real-time position information to the processor module; the first communication module is used for being in communication connection with the unmanned aerial vehicle; the processor module is used for controlling the positioning module to acquire the real-time position information according to the first instruction information and controlling the first communication module to send the real-time position information to the unmanned aerial vehicle according to the second instruction information; therefore, the unmanned aerial vehicle can land at the designated landing point corresponding to the real-time position information after receiving the real-time position information;
that is to say, in the embodiment of the present application, the landing guidance device may first move to a designated landing point, and then the landing guidance device obtains real-time location information of the designated landing point and sends the real-time location information to the unmanned aerial vehicle, so that the unmanned aerial vehicle can land on the designated landing point; therefore, on one hand, the unmanned aerial vehicle automatically lands according to the real-time position information, manual operation of an operator is not needed, and the loss caused by improper operation is reduced; on the other hand, the operator only needs to move the landing guide equipment to the designated landing point, namely, the designated landing point can be changed in real time according to the requirement; thereby solved the technical problem that the degree of difficulty is big, appointed landing point can not change at will of controlling that exists among the present unmanned aerial vehicle landing mode, realized that unmanned aerial vehicle's landing is controlled the mode and is simple, the landing position is accurate to can change the technological effect of landing point in real time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural view of the descent guidance device in the embodiment of the present application.
Fig. 2 is a schematic view of a communication connection structure between the landing guidance device and the unmanned aerial vehicle in the embodiment of the present application.
Fig. 3 is a schematic diagram of the landing of the multi-rotor drone in the embodiment of the present application.
Fig. 4 is a schematic view of landing of the fixed-wing drone in the embodiment of the present application.
Fig. 5 is a flowchart of the fall guiding method according to the embodiment of the present application, wherein the fall guiding method is applied to the fall guiding apparatus.
Fig. 6 is a schematic diagram of the landing guidance device sending the coordinates of the landing point to the drone in two ways in the embodiment of the present application.
Wherein, the reference numbers:
10-a landing guide device, 11-a processor module, 12-an input module, 13-a positioning module, 14-a first communication module, 15 a display module,
121-a key input unit, 122-a touch screen input unit, 123-a voice input unit,
20-unmanned aerial vehicle, 21-multi-rotor unmanned aerial vehicle, 22-fixed wing unmanned aerial vehicle, 23-flight control module, 24-flight power module and 25-second communication module.
Detailed Description
For better understanding of the above technical solutions, the following will describe in detail exemplary embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present application, and not all embodiments of the present application, and it should be understood that the present application is not limited by the exemplary embodiments described herein.
In the prior art, unmanned aerial vehicle has following several kinds of modes of descending: the unmanned aerial vehicle is manually landed by an operator, a flight path landing point is set in advance and uploaded to the unmanned aerial vehicle, and the coordinates of a flying starting point are recorded before the unmanned aerial vehicle takes off and serve as the coordinates of the landing point.
In the above mode, when the operator lands unmanned aerial vehicle manually, the operation degree of difficulty is great and need professional operator to accomplish, and the mode through setting up the route landing point mark landing position can have great deviation with actual landing position on the ground satellite station, and the shortcoming of taking notes take-off point position as the landing point coordinate is that the landing position is fixed can not change at will.
Based on the above, the embodiment of the application provides an unmanned aerial vehicle landing guiding device, where the landing guiding device 10 includes a processor module 11, an input module 12, a positioning module 13, and a first communication module 14; the input module 12 is electrically connected with the processor module 11, and the input module 12 is used for acquiring instruction information and sending the instruction information to the processor module 11; the positioning module 13 is electrically connected with the processor module 11, and the positioning module 13 is used for acquiring the real-time position information of the position where the landing guide device 10 is located and sending the real-time position information to the processor module 11; the first communication module 14 is electrically connected with the processor module 11, and the first communication module 14 is used for being in communication connection with the unmanned aerial vehicle 20; the instruction information comprises first instruction information and second instruction information; the processor module 11 is used for
Controlling the positioning module 13 to acquire the real-time position information according to the first instruction information;
and controlling the first communication module 14 to send the real-time position information to the unmanned aerial vehicle 20 according to the second instruction information.
Specifically, referring to fig. 1 and 2, the processor module is electrically connected to the input module, the positioning module and the first communication module respectively; then, the positioning module is used for acquiring real-time position information of the position where the landing guide equipment is located and sending the real-time position information to the processor module, the input module is used for acquiring instruction information and sending the instruction information to the processor module, and the first communication module is in communication connection with the unmanned aerial vehicle and used for sending the real-time position information; and the instruction information comprises first instruction information and second instruction information, wherein the first instruction information corresponds to the positioning module to acquire the real-time position information, and the second instruction information corresponds to the first communication module to send the real-time position information to the unmanned aerial vehicle.
That is, when the drone needs to land, the landing guide device is first moved to a designated landing point, for example, the landing guide device is taken to the designated landing point by an operator;
then, the input module acquires first instruction information, for example, by an operator pressing a corresponding key 1;
at the moment, the processor module receives the first instruction information, and the processor module controls the positioning module to acquire real-time position information of a specified drop point where the drop guide equipment is located according to the first instruction information, wherein the real-time position information is sent to the processor module by the positioning module, and the real-time position information is longitude and latitude information of the specified drop point;
then, the input module acquires second instruction information again, for example, the operator presses the corresponding key 2 to complete the operation;
at the moment, the processor module receives the second instruction information, and controls the first communication module to send the real-time position information to the unmanned aerial vehicle according to the second instruction information;
like this, this unmanned aerial vehicle receives the real-time positional information of this appointed landing point and can descend according to this real-time positional information, and unmanned aerial vehicle lands to appointed landing point promptly.
In the landing process, on one hand, the real-time position information can be adjusted at any time according to needs, and the landing guide equipment only needs to be moved to a specified place needing to be landed, so that the use is convenient; on the other hand, the real-time position information is acquired by the positioning module at the actual position of the designated landing point, so that the accuracy of the landing point can be ensured by guiding the unmanned aerial vehicle to land through the actually acquired real-time position information; on the other hand, unmanned aerial vehicle can descend by oneself after acquireing real-time position information, and need not operator manual control, has reduced and has controlled the step, and convenience simple to use is good to the user commonality of difference.
In this embodiment, specifically, the input module includes, for example, a key 1 and a key 2, where the key 1 and the key 2 correspond to the first instruction information and the second instruction information respectively, that is, by pressing the key 1, the input module obtains the first instruction information, and by pressing the key 2, the input module obtains the second instruction information; or, the input module only includes a key 3, the first and second pressing of the key 3 correspond to the first instruction information and the second instruction information respectively, that is, by pressing the key 3 for the first time, the input module obtains the first instruction information, by pressing the key 3 for the second time, the input module obtains the second instruction information, and the process is repeated; or, the input module does not include an entity key and is controlled by voice, different voices respectively correspond to the first instruction information and the second instruction information, for example, an operator sends out 'voice 1', the input module obtains the first instruction information, the operator sends out 'voice 2', and the input module obtains the second instruction information; it can be understood that the specific implementation of the input module is merely an example, and the input module may be controlled in other manners.
In this embodiment, specifically, the positioning module adopts a GPS positioning mode or other positioning modes.
In this embodiment, specifically, this first communication module and unmanned aerial vehicle should be wireless communication.
In one possible embodiment, the input module 12 is further configured to obtain input location information and send the input location information to the processor module 11; the processor module 11 is also used for
And controlling the first communication module 14 to send the input position information to the unmanned aerial vehicle 20 according to the second instruction information.
That is, in this embodiment, this instruction landing point for example for when the landing guiding device can't move or inconvenient position of moving to, this input module still can be through the corresponding input position information of operator manual input guide unmanned aerial vehicle landing, increased the flexibility of landing.
Specifically, when the unmanned aerial vehicle needs to land, the input module first acquires input position information, for example, the input module includes a key keyboard, an operator can input corresponding input position information through the key keyboard, and the input position information is sent to the processor module by the input module; the input position information is, for example, latitude and longitude information of a specified landing point;
then, the input module acquires second instruction information again, for example, the operator presses the corresponding key 2 to complete the operation;
at the moment, the processor module receives the second instruction information, and controls the first communication module to send the input position information to the unmanned aerial vehicle according to the second instruction information;
like this, this unmanned aerial vehicle receives this appointed landing point's input position information and can descend according to this input position information, and unmanned aerial vehicle lands to appointed landing point promptly, has increased the flexibility of descending.
With reference to the foregoing embodiments, it can be understood that the input module can simultaneously acquire the first instruction information and the input position information, where the first instruction information corresponds to actual position information of the landing guide device, and the input position information is predetermined position information of an operator; then, the operator can select which positional information to send for unmanned aerial vehicle according to actual need, and then guide unmanned aerial vehicle to descend, has increased the practicality.
In one possible embodiment, the input module 12 includes one or more of a key input unit 121, a touch screen input unit 122, and a voice input unit 123.
That is, the input module may be a key input unit, such as a key pad having numbers and letters, etc.; alternatively, the input module may be a touch screen input unit, such as a touch display screen with a virtual keyboard; alternatively, the input module may be a voice input unit, for example, performing corresponding control through voice; or, the input module is a combination of the key input unit, the touch screen input unit and the voice input unit;
in this embodiment, according to actual need, through selecting multiple input mode, increased the convenience of use of falling guiding device.
In one possible embodiment, the landing guide device 10 further comprises a display module 15, the display module 15 being electrically connected to the processor module 11, the display module 15 being configured to display the real-time location information, the input location information, the instruction information and the status information of the landing guide device.
Specifically, in this embodiment, a display module is added to the landing guiding device, the display module is, for example, a display screen or a touch display screen capable of performing corresponding operations, and the display module is electrically connected to the processor module, so that the display module can display the real-time position information, the input position information, the instruction information, and the like; in addition, the display module can also display the state information of the landing guide device, and the state information comprises electric quantity information and the like.
In one possible embodiment, the drone 20 comprises a flight control module 23 and a second communication module 25 electrically connected; wherein, the second communication module 25 is connected to the first communication module 14 in a communication manner, and the second communication module 25 receives the real-time position information and transmits the real-time position information to the flight control module 23.
Specifically, in this embodiment, the second communication module of the unmanned aerial vehicle is used for being in communication connection with the first communication module of the landing guide device, that is, receiving the real-time location information, the input location information, and the like, and then, the second communication module sends the real-time location information and the input location information to the flight control module, so that the flight control module can control the flight power module 24 to land according to the real-time location information and the input location information.
In one possible embodiment, the positioning module 13 comprises a GPS positioning module.
The embodiment of the present application still provides an unmanned aerial vehicle guidance system that descends, and this descending guidance system includes unmanned aerial vehicle 20 and the landing guidance device with unmanned aerial vehicle communication connection, and wherein, this landing guidance device is foretell landing guidance device 10.
In one possible embodiment, the drone 20 comprises a flight control module 23 and a second communication module 25 electrically connected; the second communication module 25 is in communication connection with the first communication module 14, and the second communication module 25 receives the real-time position information and sends the real-time position information to the flight control module 23.
In one possible embodiment, the drone 20 is a multi-rotor drone 21.
In this embodiment, combine fig. 3, this unmanned aerial vehicle is many rotor unmanned aerial vehicle, and many rotor unmanned aerial vehicle are the VTOL mode, combine the aforesaid, only need confirm a position point (A point in fig. 3), and many rotor unmanned aerial vehicle can carry out the vertical landing according to foretell real-time positional information or input positional information promptly.
In one possible embodiment, the drone 20 is a fixed wing drone 22;
the real-time position information comprises first real-time position information and second real-time position information; any one of the first real-time position information and the second real-time position information determines a landing stop point of the fixed-wing unmanned aerial vehicle 22, and a connecting line of two position points corresponding to the first real-time position information and the second real-time position information respectively determines a landing direction of the fixed-wing unmanned aerial vehicle 22; or,
in the landing guide apparatus 10, the input module 12 is also configured to acquire input location information and send the input location information to the processor module 11; the processor module 11 is further configured to control the first communication module 14 to send the input location information to the fixed-wing drone 22 according to the second instruction information; any one of the real-time position information and the input position information determines a landing stop point of the fixed-wing drone 22, and a connecting line of two position points corresponding to the real-time position information and the input position information respectively determines a landing direction of the fixed-wing drone 22; or,
in the landing guide apparatus 10, the input module 12 is also configured to acquire input location information and send the input location information to the processor module 11; the processor module 11 is further configured to control the first communication module 14 to send the input location information to the fixed-wing drone 22 according to the second instruction information; the input position information includes first input position information and second input position information, any one of the first input position information and the second input position information determines a landing stop point of the fixed-wing drone 22, and the landing direction of the fixed-wing drone 22 is determined by a connecting line of two position points corresponding to the first input position information and the second input position information respectively.
That is, in this embodiment, the drone is a fixed-wing drone, and since the fixed-wing drone is a rolloff landing, at this time, after a position point is determined as a landing stop point, a direction of rolloff needs to be determined; that is, at least two position points (point B, C in fig. 4) are determined, wherein the first position point is used as a landing stop point, and a connecting line between the second position point and the first position point determines the direction of the sliding.
Regarding the two position points, in the present embodiment, the following three ways can be adopted for determination:
one way is that both the two location points are obtained by a positioning module of the landing guide device, that is, the real-time location information includes first real-time location information and second real-time location information, and the positioning module obtains the first real-time location information and the second real-time location information at the two location points respectively; the landing stopping point of the fixed-wing unmanned aerial vehicle is determined by any one of the first real-time position information and the second real-time position information, and the landing direction of the fixed-wing unmanned aerial vehicle is determined by the connecting line of two position points corresponding to the first real-time position information and the second real-time position information respectively;
in another mode, one of the two position points is acquired by a positioning module of the landing guide device, and the other position point is acquired by an input module of the landing guide device, namely, one position point corresponds to the real-time position information, and the other position point corresponds to the input position information; determining a landing stop point of the fixed-wing unmanned aerial vehicle by any one of the real-time position information and the input position information, and determining a landing direction of the fixed-wing unmanned aerial vehicle by a connecting line of two position points corresponding to the real-time position information and the input position information respectively;
in another mode, the two location points are both obtained through an input module of the landing guide device, that is, the input location information includes first input location information and second input location information, and the input module obtains the first input location information and the second input location information through two times of input by an operator; the landing stop point of the fixed-wing unmanned aerial vehicle is determined by any one of the first input position information and the second input position information, and the landing direction of the fixed-wing unmanned aerial vehicle is determined by the connecting line of the two position points corresponding to the first input position information and the second input position information respectively.
Corresponding to the embodiment of the landing guiding device, the embodiment of the present application further provides a method for guiding the landing of the unmanned aerial vehicle, where the method is applied to the landing guiding device, and the landing guiding device is used for guiding the unmanned aerial vehicle to land, where, referring to fig. 5, the method for guiding the landing of the unmanned aerial vehicle includes:
s10, receiving first instruction information and acquiring real-time position information of the landing guide equipment according to the first instruction information;
s20, receiving second instruction information and sending the real-time position information to the unmanned aerial vehicle according to the second instruction information, so that the unmanned aerial vehicle can land according to the landing point corresponding to the real-time position information.
Specifically, in step S10, the input module of the guiding device receives the first instruction information, for example, through "key 1", and sends the first instruction information to the processor module, and then the processor module obtains the real-time location information of the location of the guiding device through the positioning module.
In step S20, the input module of the landing guidance device receives the second instruction information, for example, through "key 2" and sends the second instruction information to the processor module, and then the processor module sends the real-time location information to the unmanned aerial vehicle through the first communication module; in this way, after the unmanned aerial vehicle receives the real-time position information, the landing coordinates are updated, and then the unmanned aerial vehicle lands according to the updated landing coordinates, so that the unmanned aerial vehicle can land at the landing point corresponding to the real-time position information accurately; the landing point is the location where the landing guide device is located.
In one possible embodiment, the input module of the landing guide device is further configured to obtain input location information and send the input location information to the processor module; wherein, this fall guide method still includes:
s11, acquiring the input position information;
and S21, receiving second instruction information and sending the input position information to the unmanned aerial vehicle according to the second instruction information so that the unmanned aerial vehicle lands according to the landing point corresponding to the input position information.
Specifically, in step S11, the input module of the drop guide apparatus may also directly acquire an input position information, for example, through a "keyboard" or the like, and send the input position information to the processor module; the input position information is, for example, latitude and longitude information input by an operator according to actual needs.
In step S21, the input module of the landing guidance device receives the second instruction information, for example, by "key 2" and sends the second instruction information to the processor module, and then the processor module sends the input position information to the drone through the first communication module; in this way, after the unmanned aerial vehicle receives the input position information, the landing coordinates are updated, and then the unmanned aerial vehicle lands according to the updated landing coordinates, so that the unmanned aerial vehicle can land at the landing point corresponding to the input position information accurately; the landing point is, for example, a location that the landing guide device cannot reach directly.
That is, in this embodiment, with reference to fig. 6, regarding the landing coordinates of the landing point of the unmanned aerial vehicle, the landing guidance device may send the landing coordinates to the unmanned aerial vehicle through two methods, where one method is that the landing guidance device obtains real-time position information of the landing guidance device according to the first instruction information, and then sends the real-time position information as the landing coordinates to the unmanned aerial vehicle; the other method is that the landing guide equipment directly acquires input position information, and then the input position information is used as a landing coordinate and sent to the unmanned aerial vehicle; in this embodiment, the two methods can be selected according to actual needs; and, when the drone is a fixed wing drone, according to the above description, two coordinate points need to be determined, and at this time, the two coordinate points can be obtained by any of the above methods, respectively.
Corresponding to the embodiment of above-mentioned landing guidance system, this application still provides an unmanned aerial vehicle landing guidance method, and this landing guidance method is applied to foretell landing guidance system, and wherein, this landing guidance method includes:
s1, the landing guiding device receives the first instruction information and obtains the real-time position information of the landing guiding device according to the first instruction information;
and S2, the landing guide equipment receives the second instruction information and sends the real-time position information to the unmanned aerial vehicle according to the second instruction information, so that the unmanned aerial vehicle lands according to the landing point corresponding to the real-time position information.
In one possible embodiment, the input module of the landing guide device is further configured to obtain input location information and send the input location information to the processor module; wherein, this fall guide method still includes:
s101, the landing guide equipment acquires the input position information;
s201, the landing guide device receives second instruction information and sends the input position information to the unmanned aerial vehicle according to the second instruction information, so that the unmanned aerial vehicle lands according to the landing point corresponding to the input position information.
In one possible embodiment, the drone is a multi-rotor drone, or, the drone is a fixed-wing drone.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of exemplary aspects and embodiments have been discussed above, those of skill in the art will recognize that certain variations, modifications, alterations, additions and sub-combinations thereof are encompassed within the scope of the invention.
Claims (15)
1. An unmanned aerial vehicle landing guide apparatus, characterized in that the landing guide apparatus (10) comprises:
a processor module (11);
the input module (12) is electrically connected with the processor module (11), and the input module (12) is used for acquiring instruction information and sending the instruction information to the processor module (11);
the positioning module (13) is electrically connected with the processor module (11), and the positioning module (13) is used for acquiring the real-time position information of the position of the landing guide device (10) and sending the real-time position information to the processor module (11);
a first communication module (14) electrically connected with the processor module (11), the first communication module (14) being used for being in communication connection with a drone (20);
the instruction information comprises first instruction information and second instruction information; the processor module (11) is used for
Controlling the positioning module (13) to acquire the real-time position information according to the first instruction information;
controlling the first communication module (14) to send the real-time position information to the unmanned aerial vehicle (20) according to the second instruction information.
2. A fall guide apparatus according to claim 1, wherein the input module (12) is further configured to obtain input location information and to send the input location information to the processor module (11); the processor module (11) is also used for
Controlling the first communication module (14) to send the input position information to the unmanned aerial vehicle (20) according to the second instruction information.
3. A fall guide apparatus according to claim 2, wherein the input module (12) comprises one or more of a key input unit (121), a touch screen input unit (122) and a voice input unit (123).
4. A drop guide apparatus as claimed in claim 2, further comprising:
the display module (15) is electrically connected with the processor module (11), and the display module (15) is used for displaying the real-time position information, the input position information, the instruction information and the state information of the landing guide device (10).
5. A landing guide apparatus according to claim 1, wherein the drone (20) includes an electrically connected flight control module (23) and a second communication module (25); the second communication module (25) is in communication connection with the first communication module (14), and the second communication module (25) receives the real-time position information and sends the real-time position information to the flight control module (23).
6. A fall guide apparatus according to claim 1, wherein the location module (13) comprises a GPS location module.
7. An unmanned aerial vehicle landing guidance method, wherein the landing guidance method is applied to the landing guidance device according to claim 1, and the landing guidance device is used for guiding the unmanned aerial vehicle to land, wherein the landing guidance method comprises the following steps:
receiving first instruction information and acquiring real-time position information of the landing guide equipment according to the first instruction information;
and receiving second instruction information and sending the real-time position information to the unmanned aerial vehicle according to the second instruction information so that the unmanned aerial vehicle lands according to the landing point corresponding to the real-time position information.
8. A fall guidance method according to claim 7, wherein the input module of the fall guidance apparatus is further configured to obtain input location information and send the input location information to a processor module; wherein the landing guide method further comprises:
acquiring the input position information;
and receiving the second instruction information and sending the input position information to the unmanned aerial vehicle according to the second instruction information so that the unmanned aerial vehicle lands according to the landing point corresponding to the input position information.
9. An unmanned aerial vehicle landing guidance system, characterized in that, the landing guidance system includes unmanned aerial vehicle (20) and with unmanned aerial vehicle (20) communication connection's landing guidance equipment, wherein, the landing guidance equipment is landing guidance equipment (10) of any one of claims 1 ~ 6.
10. A fall guidance system according to claim 9, wherein the drone (20) comprises an electrically connected flight control module (23) and a second communication module (25); the second communication module (25) is in communication connection with the first communication module (14), and the second communication module (25) receives real-time position information and sends the real-time position information to the flight control module (23).
11. A landing guide system according to claim 10, wherein the drone (20) is a multi-rotor drone (21).
12. A fall guide system according to claim 10, wherein the drone (20) is a fixed wing drone (22);
the real-time position information comprises first real-time position information and second real-time position information; any one of the first real-time position information and the second real-time position information determines a landing stop point of the fixed-wing unmanned aerial vehicle (22), and a connecting line of two position points corresponding to the first real-time position information and the second real-time position information respectively determines a landing direction of the fixed-wing unmanned aerial vehicle (22); or,
in the landing guiding device (10), the input module (12) is further configured to acquire input location information and send the input location information to the processor module (11); the processor module (11) is further configured to control the first communication module (14) to send the input location information to the fixed-wing drone (22) according to second instruction information; determining a landing stop point of the fixed-wing unmanned aerial vehicle (22) by any one of the real-time position information and the input position information, and determining a landing direction of the fixed-wing unmanned aerial vehicle (22) by a connection line of two position points corresponding to the real-time position information and the input position information respectively; or,
in the landing guiding device (10), the input module (12) is further configured to acquire input location information and send the input location information to the processor module (11); the processor module (11) is further configured to control the first communication module (14) to send the input location information to the fixed-wing drone (22) according to second instruction information; wherein, the input position information includes first input position information and second input position information, the landing stop point of fixed wing unmanned aerial vehicle (22) is confirmed to any one of first input position information and the second input position information, and, the landing direction of fixed wing unmanned aerial vehicle (22) is confirmed to the line of two position points that first input position information and the second input position information correspond respectively.
13. An unmanned aerial vehicle landing guidance method, wherein the landing guidance method is applied to the landing guidance system according to claim 9, wherein the landing guidance method comprises the following steps:
the landing guide equipment receives first instruction information and acquires real-time position information of the landing guide equipment according to the first instruction information;
and the landing guide equipment receives second instruction information and sends the real-time position information to the unmanned aerial vehicle according to the second instruction information, so that the unmanned aerial vehicle lands according to the landing point corresponding to the real-time position information.
14. A drop guidance method as claimed in claim 13, wherein the input module of the drop guidance apparatus is further configured to obtain input location information and to send the input location information to a processor module; wherein the landing guide method further comprises:
the landing guide device acquires the input position information;
and the landing guide equipment receives the second instruction information and sends the input position information to the unmanned aerial vehicle according to the second instruction information so that the unmanned aerial vehicle lands according to the landing point corresponding to the input position information.
15. A method of guidance for landing according to claim 14, wherein the drone is a multi-rotor drone or the drone is a fixed wing drone.
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