CN113485386A - Method and system for guiding unmanned aerial vehicle to land accurately - Google Patents
Method and system for guiding unmanned aerial vehicle to land accurately Download PDFInfo
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- 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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
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Abstract
The invention discloses a method and a system for guiding an unmanned aerial vehicle to land accurately, and relates to the field of unmanned aerial vehicle control. The method comprises the following steps: the position information of the parking apron is obtained through the second positioning beacon, the flight route is planned according to the position information and the position where the unmanned aerial vehicle is located, the flight route flies to reach the preset place, the relative position between the preset place and the first positioning beacon on the parking apron is planned, the landing route of the unmanned aerial vehicle is planned according to the landing route for landing the unmanned aerial vehicle, the long-distance return route planning of the position where the second positioning beacon and the unmanned aerial vehicle are located is carried out according to the relative position between the preset place and the first positioning beacon on the parking apron, the landing route of the unmanned aerial vehicle is planned, the short-distance guiding is realized, the unmanned aerial vehicle automatically and accurately lands, and the accurate landing can be realized in the small-area and numerous parking aprons.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle control, in particular to a method and a system for guiding an unmanned aerial vehicle to land accurately.
Background
At present, the unmanned aerial vehicle parking apron that wirelessly charges has got into the volume production stage, and this type of parking apron replaces the parking apron with 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.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a system for guiding an unmanned aerial vehicle to accurately land aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows:
a method of guiding a drone to land accurately, comprising:
s1, acquiring the position information of the apron through a second positioning beacon, and planning a flight route according to the position information and the position of the unmanned aerial vehicle;
s2, flying to a preset place according to the flight route;
s3, planning a landing route of the unmanned aerial vehicle according to the relative position of the preset place and the first positioning beacon on the apron;
and S4, landing the unmanned aerial vehicle according to the landing route.
The invention has the beneficial effects that: the long-distance route planning that returns in position that this scheme passes through second location beacon and unmanned aerial vehicle place, according to predetermine the place with the relative position of first location beacon on the air park plans unmanned aerial vehicle's descending route realizes closely the guide, and the automatic accurate descending of unmanned aerial vehicle also can realize accurate descending in small area and numerous air park of quantity.
Further, still include:
arranging a plurality of first positioning beacons at the edge of the apron;
arranging a plurality of first positioning beacons according to the position of the charging port;
marking a master beacon and a slave beacon in a plurality of the first positioning beacons;
setting a second positioning beacon at the apron; the second positioning beacon comprises: a positioning module and a telecommunications module.
The beneficial effect of adopting the further scheme is that: this scheme is through the mode of arranging of a plurality of first locating beacons control unmanned aerial vehicle at the parking position and the direction of stopping on the air park, be convenient for with the mouth that charges in the air park aim at.
Further, the S3 specifically includes:
determining the range of the apron through the arrangement mode, and calculating the landing point of the unmanned aerial vehicle;
calculating the landing direction of the unmanned aerial vehicle according to the position information of the main beacons in the arrangement mode;
and planning the landing route by combining the landing point, the landing direction and the preset place.
The beneficial effect of adopting the further scheme is that: according to the scheme, the range of the apron is determined through the arrangement mode, the landing point of the unmanned aerial vehicle is calculated, and the landing direction of the unmanned aerial vehicle is calculated according to the position information of the main beacons in the arrangement mode; realize the accurate descending of unmanned aerial vehicle at the air park.
Further, the acquiring of the location information of the apron through the second positioning beacon specifically includes:
acquiring the position information of the apron through the positioning module;
and sending the position information to the unmanned aerial vehicle through a remote communication module.
Further, still include: and judging whether the apron is in an idle state or not according to the state information of the main beacon.
The beneficial effect of adopting the further scheme is that: according to the scheme, the unmanned aerial vehicle can judge whether the parking apron is in an idle state through the state information of the main beacon, the situation that the unmanned aerial vehicle blocks up above the parking apron in a busy period is avoided, and the landing efficiency of the unmanned aerial vehicle is improved.
Another technical solution of the present invention for solving the above technical problems is as follows:
a system for guiding a drone to land accurately, comprising: the system comprises a flight path planning module, a flight module, a landing path planning module and a landing module;
the flight path planning module is used for acquiring the position information of the air park through a second positioning beacon and planning a flight path according to the position information and the position of the unmanned aerial vehicle;
the flight module is used for flying to reach a preset place according to the flight route;
the landing route planning module is used for planning a landing route of the unmanned aerial vehicle according to the relative position of the preset place and the first positioning beacon on the apron;
the landing module is used for landing the unmanned aerial vehicle according to the landing route.
The invention has the beneficial effects that: the scheme is that the remote return route planning is carried out through the second positioning beacon and the position where the unmanned aerial vehicle is located, the landing route of the unmanned aerial vehicle is planned according to the relative position of the preset place and the first positioning beacon on the parking apron, the accurate landing of the unmanned aerial vehicle is guided in a short distance, and the accurate landing can be carried out in the parking apron with a small area.
Further, still include: the positioning beacon setting module is used for setting a plurality of first positioning beacons at the edge of the apron;
arranging a plurality of first positioning beacons according to the position of the charging port;
marking a master beacon and a slave beacon in a plurality of the first positioning beacons;
setting a second positioning beacon at the apron; the second positioning beacon comprises: a positioning module and a telecommunications module.
The beneficial effect of adopting the further scheme is that: this scheme is through the mode of arranging of a plurality of first locating beacons control unmanned aerial vehicle at the parking position and the direction of stopping on the air park, be convenient for with the mouth that charges in the air park aim at.
Further, the landing route planning module is specifically configured to determine the range of the apron through the arrangement manner, and calculate a landing point of the unmanned aerial vehicle;
calculating the landing direction of the unmanned aerial vehicle according to the position information of the main beacons in the arrangement mode;
and planning the landing route by combining the landing point, the landing direction and the preset place.
The beneficial effect of adopting the further scheme is that: according to the scheme, the range of the apron is determined through the arrangement mode, the landing point of the unmanned aerial vehicle is calculated, and the landing direction of the unmanned aerial vehicle is calculated according to the position information of the main beacons in the arrangement mode; realize the accurate descending of unmanned aerial vehicle at the air park.
Further, the flight path planning module is used for acquiring the position information of the air park through the positioning module;
and sending the position information to the unmanned aerial vehicle through a remote communication module.
Further, still include: and the judging module is used for judging whether the apron is in an idle state or not according to the state information of the main beacon.
The beneficial effect of adopting the further scheme is that: according to the scheme, the unmanned aerial vehicle can judge whether the parking apron is in an idle state through the state information of the main beacon, the situation that the unmanned aerial vehicle blocks up above the parking apron in a busy period is avoided, and the landing efficiency of the unmanned aerial vehicle is improved.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic flow chart of a method for guiding an unmanned aerial vehicle to land accurately according to an embodiment of the present invention;
fig. 2 is a block diagram of a structure for guiding an unmanned aerial vehicle to land accurately according to an embodiment of the present invention;
fig. 3 is a schematic arrangement diagram of a first positioning beacon according to another embodiment of the present invention;
fig. 4 is a schematic flowchart of setting a first positioning beacon and a second positioning beacon according to another embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.
As shown in fig. 1, a method for guiding an unmanned aerial vehicle to land accurately provided by an embodiment of the present invention includes:
s1, acquiring the position information of the apron through the second positioning beacon, and planning a flight route according to the position information and the position of the unmanned aerial vehicle;
in one embodiment, before S1, the method further includes: arranging a plurality of first positioning beacons at the edge of the apron; wherein the edge of the apron may represent the maximum circumcircle of the unmanned aerial vehicle parking position.
Setting a plurality of arrangement modes of first positioning beacons according to the position of the charging port;
marking a master beacon and a slave beacon in a plurality of first positioning beacons;
in another embodiment, the first positioning beacon may be arranged in a manner including: at least n first locating beacons n is more than or equal to 3 and is an odd number, the n first locating beacons are installed on the maximum circumcircle, the parking direction of the unmanned aerial vehicle is determined according to the direction of a charging port of the unmanned aerial vehicle, after the parking direction is determined, the main beacons are marked on the first locating beacons in the corresponding directions, the position beacons closer to the main beacons are distributed more densely, the arrangement mode of the first locating beacons can be as shown in fig. 3, the first locating beacons are distributed on the circumference in the figure, the solid first locating beacons are used for marking the main beacons, the hollow first locating beacons are used for marking the slave beacons, and the parking direction is determined according to the positions of the main beacons.
In one embodiment, the first positioning beacon may be an infrared beam transceiver or a visible light transceiver, or an ultra-high frequency transceiver, and is installed on the periphery of the apron according to the arrangement mode, and the bottom of the unmanned aerial vehicle is also provided with a corresponding transceiver; it should be noted that the apron and the unmanned aerial vehicle are also provided with high-frequency chip microprocessors for controlling the behavior of the transceivers, so as to determine the successful stopping and failure alarm of the accurate stopping from the information and instructions of the apron inquiry, the state information of the apron, the state and coordinates of the unmanned aerial vehicle.
Setting a second positioning beacon at the apron; the second positioning beacon includes: a positioning module and a telecommunications module. In one embodiment, the positioning module may include: a GPS module or a GSM module; the remote communication module may include: 4G module, 5G module, LoRa or GPRS.
S2, flying to a preset place according to the flight path; in one embodiment, the predetermined location may be an edge of a circular airspace centered on the apron, the circular airspace being sufficient for the unmanned aerial vehicle to make a deceleration turn.
S3, planning a landing route of the unmanned aerial vehicle according to the relative position of the preset place and the first positioning beacon on the apron;
in one embodiment, the range of the apron is determined through the arrangement mode, and the landing point of the unmanned aerial vehicle is calculated; it should be noted that, the boundary is determined according to the range encircled by the arrangement mode of the first positioning beacon, and the stop position of the unmanned aerial vehicle, that is, the landing point of the unmanned aerial vehicle, is obtained according to the size of the body and the boundary.
Calculating the landing direction of the unmanned aerial vehicle according to the position information of the main beacon in the arrangement mode; in one embodiment, as shown in fig. 3, the first positioning beacons are distributed on the circumference, the solid first positioning beacons mark the main beacon, and the hollow first positioning beacons mark the auxiliary beacon, and the parking direction, i.e. the arrow direction in the figure, is determined according to the position of the main beacon.
And planning a landing route by combining the landing point, the landing direction and the preset place.
And S4, landing the unmanned aerial vehicle according to the landing route.
In one embodiment, the landing route planning may be performed by the service desk according to the landing point, the landing direction, and the preset location, and then sent to the unmanned aerial vehicle for execution, or the unmanned aerial vehicle may calculate the landing route according to the landing point, the landing direction, and the preset location by its own processor, and then perform flight control of the unmanned aerial vehicle according to the landing route to realize landing.
The long-distance route planning that returns in position that this scheme passes through second location beacon and unmanned aerial vehicle place, according to the relative position of presetting the place and the first location beacon on the air park, plans unmanned aerial vehicle's descending route, realizes closely guiding accurate descending, also can accurately descend in the air park of small area.
Preferably, in any of the above embodiments, as shown in fig. 4, the method further includes:
s110, arranging a plurality of first positioning beacons at the edge of the apron;
s111, setting a plurality of arrangement modes of first positioning beacons according to the position of the charging port;
s112, marking a master beacon and a slave beacon in the plurality of first positioning beacons;
s113, setting a second positioning beacon at the apron; the second positioning beacon includes: a positioning module and a telecommunications module.
This scheme is through the mode of arranging of a plurality of first locating beacons control unmanned aerial vehicle at the parking position and the direction of stopping on the air park, be convenient for with the mouth that charges in the air park aim at.
Preferably, in any of the above embodiments, S3 specifically includes:
determining the range of the apron through the arrangement mode, and calculating the landing point of the unmanned aerial vehicle;
calculating the landing direction of the unmanned aerial vehicle according to the position information of the main beacon in the arrangement mode;
and planning a landing route by combining the landing point, the landing direction and the preset place.
According to the scheme, the range of the apron is determined through the arrangement mode, the landing point of the unmanned aerial vehicle is calculated, and the landing direction of the unmanned aerial vehicle is calculated according to the position information of the main beacons in the arrangement mode; realize the accurate descending of unmanned aerial vehicle at the air park.
Preferably, in any of the above embodiments, the acquiring the location information of the apron through the second positioning beacon specifically includes:
acquiring the position information of the apron through a positioning module;
and sending the position information to the unmanned aerial vehicle through the remote communication module.
Preferably, in any of the above embodiments, further comprising: and judging whether the apron is in an idle state or not according to the state information of the main beacon. In a certain embodiment, the first positioning beacon may be an infrared beam transceiver or a visible light transceiver, or may be an ultra-high frequency transceiver, and sends the state information of the apron to the unmanned aerial vehicle through the apron transceiver, and the unmanned aerial vehicle determines whether the apron is idle according to the state information. For example: and setting a state bit in the state information of the apron, wherein if the state bit is 1, the apron is idle, and if the state bit is 0, the apron is busy, and the unmanned aerial vehicle does not receive the stop of a new unmanned aerial vehicle. And the unmanned aerial vehicle analyzes the received parking apron state information to obtain the state position information so as to judge the state of the parking apron. In one embodiment, the status information may be associated with status information of a charging port in the apron, where the status of the charging port is idle, which is one of the conditions for determining that the apron is idle.
According to the scheme, the unmanned aerial vehicle can judge whether the parking apron is in an idle state through the state information of the main beacon, the situation that the unmanned aerial vehicle blocks up above the parking apron in a busy period is avoided, and the landing efficiency of the unmanned aerial vehicle is improved.
In one embodiment, as shown in fig. 2, a system for guiding a drone to land accurately includes: a flight path planning module 1101, a flight module 1102, a landing path planning module 1103, and a landing module 1104;
the flight path planning module 1101 is configured to obtain the position information of the apron through the second positioning beacon, and plan a flight path according to the position information and the position of the unmanned aerial vehicle;
the flight module 1102 is used for flying to a preset place according to a flight route;
the landing route planning module 1103 is configured to plan a landing route of the unmanned aerial vehicle according to a relative position between a preset location and a first positioning beacon on the apron;
the landing module 1104 is used for landing the unmanned aerial vehicle according to the landing route.
The long-distance route planning that returns in position that this scheme passes through second location beacon and unmanned aerial vehicle place, according to the relative position of presetting the place and the first location beacon on the air park, plans unmanned aerial vehicle's descending route, realizes closely guiding accurate descending, also can accurately descend in the air park of small area.
Preferably, in any of the above embodiments, further comprising: the positioning beacon setting module is used for setting a plurality of first positioning beacons at the edge of the apron;
setting a plurality of arrangement modes of first positioning beacons according to the position of the charging port;
marking a master beacon and a slave beacon in a plurality of first positioning beacons;
setting a second positioning beacon at the apron; the second positioning beacon includes: a positioning module and a telecommunications module.
This scheme is through the mode of arranging of a plurality of first locating beacons control unmanned aerial vehicle at the parking position and the direction of stopping on the air park, be convenient for with the mouth that charges in the air park aim at.
Preferably, in any of the above embodiments, the landing route planning module 1103 is specifically configured to determine the range of the apron through an arrangement manner, and calculate the landing point of the unmanned aerial vehicle;
calculating the landing direction of the unmanned aerial vehicle according to the position information of the main beacon in the arrangement mode;
and planning a landing route by combining the landing point, the landing direction and the preset place.
According to the scheme, the range of the apron is determined through the arrangement mode, the landing point of the unmanned aerial vehicle is calculated, and the landing direction of the unmanned aerial vehicle is calculated according to the position information of the main beacons in the arrangement mode; realize the accurate descending of unmanned aerial vehicle at the air park.
Preferably, in any of the above embodiments, the flight path planning module 1101 is configured to obtain the position information of the apron through the positioning module;
and sending the position information to the unmanned aerial vehicle through the remote communication module.
Preferably, in any of the above embodiments, further comprising: and the judging module is used for judging whether the parking apron is in an idle state or not according to the state information of the main beacon.
According to the scheme, the unmanned aerial vehicle can judge whether the parking apron is in an idle state through the state information of the main beacon, the situation that the unmanned aerial vehicle blocks up above the parking apron in a busy period is avoided, and the landing efficiency of the unmanned aerial vehicle is improved.
It is understood that some or all of the alternative embodiments described above may be included in some embodiments.
It should be noted that the above embodiments are product embodiments corresponding to the previous method embodiments, and for the description of each optional implementation in the product embodiments, reference may be made to corresponding descriptions in the above method embodiments, and details are not described here again.
The reader should understand that in the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for guiding an unmanned aerial vehicle to land accurately is characterized by comprising the following steps:
s1, acquiring the position information of the apron through a second positioning beacon, and planning a flight route according to the position information and the position of the unmanned aerial vehicle;
s2, flying to a preset place according to the flight route;
s3, planning a landing route of the unmanned aerial vehicle according to the relative position of the preset place and the first positioning beacon on the apron;
and S4, landing the unmanned aerial vehicle according to the landing route.
2. The method of guiding precise landing of a drone of claim 1, further comprising:
arranging a plurality of first positioning beacons at the edge of the apron;
arranging a plurality of first positioning beacons according to the position of the charging port;
marking a master beacon and a slave beacon in a plurality of the first positioning beacons;
setting a second positioning beacon at the apron; the second positioning beacon comprises: a positioning module and a telecommunications module.
3. The method for guiding the unmanned aerial vehicle to land accurately according to claim 2, wherein the S3 specifically comprises:
determining the range of the apron through the arrangement mode, and calculating the landing point of the unmanned aerial vehicle;
calculating the landing direction of the unmanned aerial vehicle according to the position information of the main beacons in the arrangement mode;
and planning the landing route by combining the landing point, the landing direction and the preset place.
4. The method according to claim 2, wherein the acquiring the position information of the apron through the second positioning beacon specifically includes:
acquiring the position information of the apron through the positioning module;
and sending the position information to the unmanned aerial vehicle through a remote communication module.
5. The method for guiding the unmanned aerial vehicle to land accurately according to claim 2 or 3, further comprising: and judging whether the apron is in an idle state or not according to the state information of the main beacon.
6. The utility model provides a system for guide unmanned aerial vehicle precision is descended which characterized in that includes: the system comprises a flight path planning module, a flight module, a landing path planning module and a landing module;
the flight path planning module is used for acquiring the position information of the air park through a second positioning beacon and planning a flight path according to the position information and the position of the unmanned aerial vehicle;
the flight module is used for flying to reach a preset place according to the flight route;
the landing route planning module is used for planning a landing route of the unmanned aerial vehicle according to the relative position of the preset place and the first positioning beacon on the apron;
the landing module is used for landing the unmanned aerial vehicle according to the landing route.
7. The system of claim 6, further comprising: the positioning beacon setting module is used for setting a plurality of first positioning beacons at the edge of the apron;
arranging a plurality of first positioning beacons according to the position of the charging port;
marking a master beacon and a slave beacon in a plurality of the first positioning beacons;
setting a second positioning beacon at the apron; the second positioning beacon comprises: a positioning module and a telecommunications module.
8. The system for guiding the unmanned aerial vehicle to land accurately according to claim 7, wherein the landing route planning module is specifically configured to determine the range of the apron through the arrangement manner, and calculate a landing place of the unmanned aerial vehicle;
calculating the landing direction of the unmanned aerial vehicle according to the position information of the main beacons in the arrangement mode;
and planning the landing route by combining the landing point, the landing direction and the preset place.
9. The system for guiding the unmanned aerial vehicle to land accurately according to claim 7, wherein the flight path planning module is configured to obtain the position information of the apron through the positioning module;
and sending the position information to the unmanned aerial vehicle through a remote communication module.
10. The system for guiding the precise landing of a drone according to claim 7 or 8, further comprising: and the judging module is used for judging whether the apron is in an idle state or not according to the state information of the main beacon.
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| CN114489139A (en) * | 2022-02-08 | 2022-05-13 | 浙江极客桥智能装备股份有限公司 | Unmanned aerial vehicle automatic rising and falling control method, system, terminal and medium |
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| CN107402396A (en) * | 2017-09-09 | 2017-11-28 | 厦门大壮深飞科技有限公司 | UAV Landing guiding system and method based on multimode navigation |
| US20200031438A1 (en) * | 2018-07-25 | 2020-01-30 | Thomas Lawrence Moses | Unmanned Aerial Vehicle Search and Rescue System |
| CN110297498A (en) * | 2019-06-13 | 2019-10-01 | 暨南大学 | A kind of rail polling method and system based on wireless charging unmanned plane |
| CN112965516A (en) * | 2021-01-29 | 2021-06-15 | 涵涡智航科技(玉溪)有限公司 | High-precision aircraft guided landing system and method |
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| CN114489139A (en) * | 2022-02-08 | 2022-05-13 | 浙江极客桥智能装备股份有限公司 | Unmanned aerial vehicle automatic rising and falling control method, system, terminal and medium |
| CN114489139B (en) * | 2022-02-08 | 2024-02-02 | 浙江极客桥智能装备股份有限公司 | Unmanned aerial vehicle automatic landing control method, system, terminal and medium |
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