CN114721439A - Automatic hangar release and recovery control method and automatic hangar - Google Patents
Automatic hangar release and recovery control method and automatic hangar Download PDFInfo
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Abstract
The invention belongs to the field of unmanned aerial vehicles, and provides an automatic hangar release and recovery control method and an automatic hangar, wherein the method comprises the following steps: receiving a release instruction, and starting a release process; acquiring environment information data, and determining whether a condition for continuously executing a task is met according to the environment information data; the automatic hangar receives voltage state information of the unmanned aerial vehicle, and judges whether the unmanned aerial vehicle has a takeoff condition or not according to voltage data; opening a cabin door of the automatic cabin and lifting the unmanned aerial vehicle; after the cabin is opened in place, waiting for the GNSS state of the unmanned aerial vehicle, and sending the positioning state information Pcode to an automatic hangar for t minutes; if the conditions are met, executing the next step; executing a takeoff command; and after the airplane completes the task, executing recovery operation. The invention solves the problem of judgment flying involved in the release process under the field condition, and has more complete control logic.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, and particularly relates to an automatic hangar release and recovery control method and an automatic hangar.
Background
The intelligent application in the industrial field promotes the great development of the unmanned aerial vehicle technology, and the unmanned aerial vehicle value lies in replacing human beings to finish aerial operation. Taking inspection as an example, the unmanned aerial vehicle has become an important tool in the fields of inspection reconnaissance, emergency rescue and the like due to the advantages of wide visual angle and no terrain limitation. Since the application of the traditional unmanned aerial vehicle needs to be operated by the flyer, training the flyer also becomes a key ring for the application of the unmanned aerial vehicle. With the appearance of the automatic hangar of the unmanned aerial vehicle, the traditional problem that the unmanned aerial vehicle needs to operate by a flying hand is broken, and multi-scene operation of automatic flying of the unmanned aerial vehicle is realized.
In order to meet the requirement of high intelligence, the automatic hangar of the unmanned aerial vehicle is required to have a reasonable and effective control algorithm for releasing and recovering the unmanned aerial vehicle. The current automatic hangar control algorithm is incomplete in logic and cannot meet the requirements of practical application.
Disclosure of Invention
Technical problem to be solved
The embodiment of the invention provides an automatic hangar release and recovery control method and an automatic hangar, which combine with atmospheric data, can well solve the problem of decision flying involved in the release process under the field condition, and meanwhile, the invention defines the control logic, considers various emergency situations and has more complete logic.
(II) technical scheme
In a first aspect, an embodiment of the present invention provides an automatic hangar release and recovery control method, including:
receiving a release instruction, and starting a release process;
acquiring environment information data, determining whether conditions for continuously executing the task are met or not according to the environment information data, stopping executing the task if the conditions are not met, and executing the next step if the conditions are met;
the automatic machine base receives voltage state information of the unmanned aerial vehicle, and judges whether the unmanned aerial vehicle has a takeoff condition or not according to voltage data; if the condition is not met, stopping executing the task, and if the condition is met, executing the next step;
opening a cabin door of the automatic cabin and lifting the unmanned aerial vehicle;
after the cabin is opened in place, waiting for the GNSS state of the unmanned aerial vehicle, and sending the positioning state information Pcode to an automatic hangar for t minutes; if the conditions are met, executing the next step;
executing a takeoff command;
and after the airplane completes the task, executing recovery operation.
The method for determining whether conditions for continuously executing the task are met or not according to the environmental information data comprises the following steps:
the automatic hangar is provided with the following corresponding components: the wind speed sensor is used for measuring the local wind speed Vg; a rain sensor to measure Wg; the temperature sensor measures Tg and judges whether the environmental information data meet the following conditions:
Vg<Vlimit；Wg<Wlimit；TLlimit<Tg<Thlimit；
wherein Vlimit is the maximum allowable takeoff wind speed, Wlimit is the maximum allowable takeoff rainfall, THlimit is the maximum allowable takeoff temperature, and Tlimit is the minimum allowable takeoff temperature;
and if the conditions are not met, stopping executing the task and feeding the task back to the control center, and if the conditions are met, performing the next step.
Wherein, the automatic storehouse passes through voltage data, judges whether unmanned aerial vehicle possesses the condition of taking off, includes:
judging whether the voltage V meets the following conditions: vmax > V > Vmin;
vmax is the maximum allowable takeoff voltage, and Vmin is the minimum allowable takeoff voltage;
if the condition is not met, stopping executing the task and feeding the task back to the control center, and if the condition is met, performing the next step.
Wherein, after the cabin of opening targets in place, wait for unmanned aerial vehicle GNSS state to fix a position state information Pcode is sent to the automatic hangar, and latency is t minutes, includes:
judging whether the time t and the positioning state information meet the following conditions:
t < tmax; pmode requires a differential mode;
wherein tmax is the maximum waiting time, and Pmode is the positioning mode;
if the condition is not met, stopping executing the task, feeding the task back to the control center, landing the airplane through the rod position control algorithm, and closing the cabin door.
Wherein, executing the takeoff command comprises:
executing a takeoff command, simultaneously recording the number N of times of sending takeoff instructions, stopping executing tasks if the number of times exceeds 3 times, feeding back to a control center, landing the airplane through a rod position control algorithm, closing the cabin door, and if the number of times exceeds 3 times, enabling the airplane to fly to a preset height and waiting for continuously executing the tasks.
Wherein, after the aircraft finishes the task, carry out the recovery operation, include:
(1) after the airplane completes the task, the airplane flies back to the upper part of the automatic hangar and sends a landing request to ground control software;
(2) after the landing request is received, the control software opens and stops the cabin through a rod position control algorithm, and meanwhile, the rod position is positioned at an opening limit;
(3) after the position of the control rod is finished, the automatic cabin carries out a self-checking process, wherein the self-checking process comprises the confirmation of the rod position and the confirmation of the opening and closing of the cabin cover; if the self-checking passes, sending an executable landing command to the airplane, if the self-checking does not pass, continuing the trial process (2) for N times, after the N times are exceeded, if the self-checking does not pass, informing a ground control center, and simultaneously sending a standby landing command to the unmanned aerial vehicle to enable the unmanned aerial vehicle to land to a standby landing point;
(4) waiting for the airplane to land, locking the unmanned aerial vehicle by the cabin through a rod position control algorithm after the airplane lands on the platform, and performing recovery operation on the unmanned aerial vehicle;
(5) and after the recovery operation is finished, closing the cabin door, and finishing the task.
In a second aspect, the present application provides an automated library comprising a memory, a controller and a computer program stored on the memory and executable on the controller, the controller implementing the steps of any of the methods described above when executing the program.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a controller, implements the steps of any one of the methods described above.
(III) advantageous effects
The algorithm designed by the invention combines the atmospheric data, can well solve the problem of judgment flying involved in the release process under the field condition, and meanwhile, the invention defines the control logic, considers various emergency situations and has more complete logic.
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FIG. 1 is a flow chart of an automatic recovery control algorithm of the present invention.
Detailed Description
The invention is further described below with reference to the figures and examples.
The following description provides examples, and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements described without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as appropriate. For example, the described methods may be performed in an order different than the order described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.
In order to meet the requirement of high intelligence, the automatic hangar of the unmanned aerial vehicle is required to have a reasonable and effective control algorithm for releasing and recovering the unmanned aerial vehicle. The current automatic hangar control algorithm is incomplete in logic, few in considered limiting conditions and needs to be combined with factors such as meteorological condition limiting conditions to assist in achieving release and recovery of the unmanned aerial vehicle.
In the process of carrying out unmanned aerial vehicle release and recovery, there are multiple condition can lead to the work of system to produce danger, include: rainfall exceeding a limit, wind speed exceeding a limit, GNSS system operational anomalies, temperature anomalies, etc. If the above situation occurs, the control algorithm is required to detect the situation and perform corresponding processing. After possessing and listening unusual function, the realization that requires that automatic hangar can be complete is to the release of unmanned aerial vehicle and retrieve the purpose to guarantee to accomplish unmanned aerial vehicle's relevant task.
As shown in fig. 1, to achieve the above purpose, the technical solution includes two parts, which are an automatic release control algorithm and an automatic recovery control algorithm. The automatic release control algorithm scheme is as follows:
(1) and receiving a release instruction and starting a release process.
(2) The corresponding wind speed sensor is arranged in the automatic hangar, and the local wind speed Vg is measured; a rain sensor to measure Wg; and the temperature sensor is used for measuring Tg environment information and giving out whether the system has the condition of continuously executing the task or not by using a specific algorithm according to the original data. The specific algorithm logic is as follows:
Vg<Vlimit；Wg<Wlimit；TLlimit<Tg<THlimit。
wherein Vlimit is the maximum allowable takeoff wind speed, Wlimit is the maximum allowable takeoff rainfall, THlimit is the maximum allowable takeoff temperature, and Tlimit is the minimum allowable takeoff temperature.
And if the condition is not met, stopping executing the task and feeding back to the control center. And if the conditions are met, carrying out the next step.
(3) After the environment detection condition is met, the automatic hangar receives the voltage state information V on the unmanned aerial vehicle, the hangar judges whether the unmanned aerial vehicle has a takeoff condition or not through voltage data, and the algorithm logic is as follows:
Vmax>V>Vmin。
where Vmax is the maximum allowed takeoff voltage and Vmin is the minimum allowed takeoff voltage.
And if the condition is not met, stopping executing the task and feeding back to the control center. And if the conditions are met, carrying out the next step.
(4) After the voltage detection is met, the automatic hangar opens the cabin door and lifts the airplane through a rod position control algorithm. After the opening instruction, the bin door motor rotates, the left bin and the right bin are opened for limiting, the horizontal motor rotates, the horizontal rod is collected for limiting, and the vertical motor rotates, and the vertical rod is collected for limiting. When all the limits are triggered, the airplane takes off, the bin gate is closed, the bin gate motor rotates, the left bin and the right bin are closed and limited, and the process is finished.
(5) And after the cabin is opened in place, waiting for the GNSS state of the unmanned aerial vehicle, and sending the positioning state information Pcode to the automatic hangar for t minutes. The relevant algorithm logic is as follows:
t < tmax; pmode requires a differential mode.
Where tmax is the maximum latency, Pmode is the positioning mode, requiring that the latency not exceed tmax.
And if the condition is not met, stopping executing the task and feeding back to the control center. Meanwhile, the airplane is landed and the cabin door is closed through a rod position control algorithm. And if the conditions are met, carrying out the next step.
(6) And after the conditions are met, executing a takeoff command, simultaneously recording the number N of times of sending takeoff instructions, stopping executing the task if the number of times exceeds 3 times, and feeding back to the control center. Meanwhile, the airplane is landed and the cabin door is closed through a rod position control algorithm. If so, the aircraft will fly at the takeoff altitude. Waiting for the task to continue.
The automatic recovery control algorithm scheme is as follows:
(1) after the airplane completes the task, the airplane flies back to the upper part of the automatic hangar and sends a landing request to the ground control software.
(2) After the landing request is received, the control software opens and stops the cabin through a rod position control algorithm, and meanwhile, the rod position is positioned at an opening limit.
(3) After the position of the control rod is finished, the automatic cabin carries out a self-checking process, wherein the self-checking process comprises the confirmation of the rod position and the confirmation of the opening and closing of the cabin cover. If the self-checking passes, sending an executable landing command to the airplane, if not, continuing the trial process (2) for N times, and after the N times are exceeded, if the trial process is not successful, informing the ground control center, and simultaneously sending a standby landing command to the unmanned aerial vehicle to land the unmanned aerial vehicle to a standby landing point.
(4) Waiting for the aircraft to descend, after descending to the platform, the cabin passes through pole position control algorithm, locks unmanned aerial vehicle to unmanned aerial vehicle's recovery operation is carried out.
(5) And after the recovery operation is finished, closing the cabin door, and finishing the task.
The algorithm designed by the invention combines the atmospheric data, can well solve the decision flying problem related in the release process under the field condition, and meanwhile, the invention defines the control logic, considers various emergency situations and has more complete logic.
The invention also provides an automatic hangar, which comprises a memory, a controller and a computer program which is stored on the memory and can run on the controller, wherein the controller realizes the steps of any one of the methods when executing the program.
In the present invention, the embodiment of the automatic hangar is basically similar to the embodiment of the method for controlling the release and recovery of the automatic hangar, and the related points refer to the description of the embodiment of the method for controlling the release and recovery of the automatic hangar.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is used for realizing the steps of the automatic hangar release and recovery control method when being executed by a processor. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
All functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An automatic hangar release and recovery control method is characterized by comprising the following steps:
receiving a release instruction, and starting a release process;
acquiring environment information data, determining whether conditions for continuously executing the task are met or not according to the environment information data, stopping executing the task if the conditions are not met, and executing the next step if the conditions are met;
the automatic machine base receives voltage state information of the unmanned aerial vehicle, and judges whether the unmanned aerial vehicle has a takeoff condition or not according to voltage data; if the condition is not met, stopping executing the task, and if the condition is met, executing the next step;
opening a cabin door of the automatic cabin and lifting the unmanned aerial vehicle;
after the cabin is opened in place, waiting for the GNSS state of the unmanned aerial vehicle, and sending the positioning state information Pcode to an automatic hangar for t minutes; if the conditions are met, executing the next step;
executing a takeoff command;
and after the airplane completes the task, executing recovery operation.
2. The automated hangar release and recovery control method of claim 1, wherein the step of obtaining environmental information data and determining whether conditions for continuing to execute the task are met based on the environmental information data comprises:
the automatic hangar is provided with the following corresponding components: the wind speed sensor is used for measuring the local wind speed Vg; a rain sensor to measure Wg; the temperature sensor measures Tg and judges whether the environmental information data meet the following conditions:
Vg<Vlimit；Wg<Wlimit；TLlimit<Tg<Thlimit；
wherein Vlimit is the maximum allowable takeoff wind speed, Wlimit is the maximum allowable takeoff rainfall, THlimit is the maximum allowable takeoff temperature, and Tlimit is the minimum allowable takeoff temperature;
and if the conditions are not met, stopping executing the task and feeding the task back to the control center, and if the conditions are met, performing the next step.
3. The method for controlling release and recovery of an automatic hangar as claimed in claim 2, wherein the automatic hangar determines whether the unmanned aerial vehicle has a takeoff condition by using voltage data, comprising:
judging whether the voltage V meets the following conditions: vmax > V > Vmin;
vmax is the maximum allowable takeoff voltage, and Vmin is the minimum allowable takeoff voltage;
if the condition is not met, stopping executing the task and feeding the task back to the control center, and if the condition is met, performing the next step.
4. The automatic hangar release and recovery control method of any one of claims 1 to 3, wherein after the cabin is opened in place, the unmanned aerial vehicle waits for the GNSS state and sends the positioning state information Pcode to the automatic hangar for t minutes, and the method comprises the following steps:
judging whether the time t and the positioning state information meet the following conditions:
t < tmax; pcode requires differential mode;
wherein tmax is the maximum waiting time, and Pmode is the positioning mode;
if the condition is not met, stopping executing the task, feeding the task back to the control center, landing the airplane through the rod position control algorithm, and closing the cabin door.
5. The automated hangar release and recovery control method of any of claims 1-3, wherein executing a takeoff command comprises:
executing a takeoff command, simultaneously recording the number N of times of sending takeoff instructions, stopping executing tasks if the number of times exceeds 3 times, feeding back to a control center, landing the airplane through a rod position control algorithm, closing the cabin door, and if the number of times exceeds 3 times, enabling the airplane to fly to a preset height and waiting for continuously executing the tasks.
6. The automated hangar release and recovery control method of any of claims 1-3, wherein the recovery operation is performed after the aircraft completes the mission, comprising:
(1) after the airplane completes the task, the airplane flies back to the upper part of the automatic hangar and sends a landing request to ground control software;
(2) after the landing request is received, the control software opens and stops the cabin through a rod position control algorithm, and meanwhile, the rod position is positioned at an opening limit;
(3) after the position of the control rod is finished, the automatic cabin carries out a self-checking process, wherein the self-checking process comprises the confirmation of the rod position and the confirmation of the opening and closing of the cabin cover; if the self-checking passes, sending an executable landing command to the airplane, if the self-checking does not pass, continuing the trial process (2) for N times, after the N times are exceeded, if the self-checking does not pass, informing a ground control center, and simultaneously sending a standby landing command to the unmanned aerial vehicle to enable the unmanned aerial vehicle to land to a standby landing point;
(4) waiting for landing of the airplane, after landing to the platform, locking the unmanned aerial vehicle by the cabin through a rod position control algorithm, and performing recovery operation on the unmanned aerial vehicle;
(5) and after the recovery operation is finished, closing the cabin door, and finishing the task.
7. An automated library comprising a memory, a controller and a computer program stored on the memory and executable on the controller, wherein the steps of the method of any of claims 1-3 are performed by the controller when the program is executed.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a controller, carries out the steps of the method according to any one of claims 1 to 3.
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