CN115202375A - Two-section type accurate landing guiding method and system for wireless charging of unmanned aerial vehicle - Google Patents
Two-section type accurate landing guiding method and system for wireless charging of unmanned aerial vehicle Download PDFInfo
- Publication number
- CN115202375A CN115202375A CN202210850806.4A CN202210850806A CN115202375A CN 115202375 A CN115202375 A CN 115202375A CN 202210850806 A CN202210850806 A CN 202210850806A CN 115202375 A CN115202375 A CN 115202375A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- wireless charging
- infrared
- infrared light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005516 engineering process Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000011218 segmentation Effects 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 238000007689 inspection Methods 0.000 description 7
- 238000010304 firing Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—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
- G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the wireless charging control technology of an unmanned aerial vehicle, and particularly relates to a two-section type accurate landing guiding method and system for wireless charging of the unmanned aerial vehicle. Firstly, guiding the unmanned aerial vehicle to land from an initial flying height to a first preset height range based on RTK positioning; then, guiding the unmanned aerial vehicle to completely land to a target landing point based on a light guide technology, specifically arranging an infrared light emission source array around the target landing point, and sending an infrared signal outwards by the infrared light emission source array after the unmanned aerial vehicle enters a first preset height range; firstly, performing horizontal position deviation analysis on an infrared signal emitted by an infrared light emitting source array, and adjusting the horizontal position of the unmanned aerial vehicle to the centering position of a target landing point; and then, analyzing the vertical height distance, and adjusting the unmanned aerial vehicle to land to a target landing point. The invention improves the landing precision, replaces an additional position centering mechanism required by inaccurate landing of the unmanned aerial vehicle by the traditional platform mechanism, lightens the hangar and greatly saves the cost.
Description
Technical Field
The invention belongs to the wireless charging control technology of an unmanned aerial vehicle, and particularly relates to a two-section type accurate landing guidance method and a two-section type accurate landing guidance system for wireless charging of the unmanned aerial vehicle.
Background
In the energy industry structure of China, the power grid occupies a very important position, and in recent years, various industries put forward higher requirements on a power supply system, such as higher-quality electric energy, more stable power supply performance and the like, so that the concept of a smart power grid is brought forward. In the overall architecture of a robust smart grid, high-voltage power transmission and distribution lines play a very critical role. When the trouble takes place, can cause very big loss, consequently, in order to reduce high voltage transmission and distribution lines accident rate, guarantee electric power system's safe operation, need carry out real-time, effectual monitoring to the circuit state and patrol and examine, this also is a very important link in the smart power grids development process.
Compared with the traditional manual inspection, the unmanned aerial vehicle inspection saves a series of high-position complex actions such as manual climbing and the like, and observation of special phenomena on a high-voltage tower and an electric power line can be completed through a cloud platform camera on the unmanned aerial vehicle, so that the unmanned aerial vehicle inspection system has the advantages of safety, high efficiency and accuracy; secondly, unmanned aerial vehicle can follow power line flight at the high altitude, and the ground environment of complicacy does not have any influence to unmanned aerial vehicle's the process of patrolling and examining at all, has improved work efficiency greatly.
In the indexes of evaluating the performance of the unmanned aerial vehicle, one important index is the cruising ability of the unmanned aerial vehicle, so that the cruising problem of the unmanned aerial vehicle is solved firstly to fully exert the advantages of the unmanned aerial vehicle in the aspect of power inspection. From the energy perspective, the way of increasing the endurance mileage of the unmanned aerial vehicle is summarized mainly into two categories: carry more electric energy or supply electric energy for many times during the mission. For the former, as the current mature storage battery technology has developed to the bottleneck period, the larger storage battery capacity means the larger storage battery volume and weight, so that the increase of the storage battery capacity will affect the maneuvering performance and light weight of the unmanned aerial vehicle; for the way of supplying electric energy for many times, if the charging technology is based on the traditional contact type electric energy conduction mode, the unmanned aerial vehicle is required to return to land in a base station or a mother port when the electric energy needs to be supplemented, and manpower is input to charge the unmanned aerial vehicle. Therefore, it is necessary to design a scheme that can enable the unmanned aerial vehicle to charge flexibly and conveniently in a mission and research the technology for realizing the scheme.
Compared with the traditional contact type conduction charging, the Wireless Power Transfer (WPT) is used as an ideal electric energy transmission mode, has higher safety and convenience, and can provide a more flexible access mode for electric equipment. Combine wireless power transmission technique and unmanned aerial vehicle technique of charging, can exert the huge advantage of wireless power transmission technique.
Although the wireless charging technology of unmanned aerial vehicle has certain development, the precision that unmanned aerial vehicle descended to the optimal position of charging in hangar is still not high, visual positioning is mainly used in the present unmanned aerial vehicle landing, satellite positioning etc., but the image information volume of present sensor collection is huge, the occupation space capacity, and target identification requires that the visual algorithm precision is high, image processing time overlength, make unmanned aerial vehicle have higher requirement to the appearance estimation at the landing in-process, the satellite positioning precision is in centimetre level, the precision is lower, so it is necessary to do further optimization to current unmanned aerial vehicle landing guide technology.
Disclosure of Invention
In order to solve the problems, the invention provides a two-section type accurate landing guidance method and a two-section type accurate landing guidance system for wireless charging of an unmanned aerial vehicle, and the specific technical scheme is as follows:
a accurate guidance method that descends of two segmentations for unmanned aerial vehicle is wireless charges includes the following step:
s1: starting a landing process of the unmanned aerial vehicle, and guiding the unmanned aerial vehicle to land from an initial flying height to a first preset height range based on RTK positioning;
s2: guiding the unmanned aerial vehicle to fully land from a first preset height range to a target landing point based on a light guiding technology, and specifically comprising:
s21: arranging an infrared light emission source array around the target landing point, and sending an infrared signal outwards by the infrared light emission source array after the unmanned aerial vehicle enters a first preset height range;
s22: an infrared pod receiver is arranged at the bottom of the unmanned aerial vehicle and used for receiving infrared signals, and the horizontal position deviation analysis is carried out on the infrared signals sent by the infrared light emitting source array, so that the horizontal position of the unmanned aerial vehicle is adjusted to the centering position of the target landing point;
s23: and the unmanned aerial vehicle is adjusted to land to a target landing point by analyzing the vertical height distance of the infrared signal emitted by the infrared light emitting source array.
Preferably, the step S1 includes:
unmanned aerial vehicle and location basic station real-time communication, the location basic station sends GPS observation data and wireless charging station coordinate information for unmanned aerial vehicle together, and unmanned aerial vehicle receives the GPS observation data and the wireless charging station coordinate information of location basic station, gathers the current GPS observation data of self in real time simultaneously, constitutes the difference observation value and carries out real-time processing, gives centimetre level positioning result to guide unmanned aerial vehicle to fly to the first predetermined altitude range of wireless charging station coordinate position top.
Preferably, after the unmanned aerial vehicle enters a first preset height range above the coordinate position of the wireless charging station, the unmanned aerial vehicle sends a landing signal to a charging platform of the wireless charging station, and an infrared signal is sent out of an infrared emission source array arranged around a target landing point of the charging platform.
Preferably, the infrared light emission source array is provided with a plurality of groups, each group is composed of two infrared light sources, the two infrared light sources of each group are symmetrically arranged on the same horizontal plane relative to the centering position of the target landing point, and when the distances between the two infrared light sources in each group and the infrared pod receiver are equal, the horizontal position of the unmanned aerial vehicle is adjusted to the centering position of the target landing point.
Preferably, when the horizontal position of the unmanned aerial vehicle is adjusted to the centering position of the target landing point, the vertical height distance is calculated in step S23 according to the following formula (1):
wherein d is 1 Is the horizontal distance h between any two infrared light sources in the infrared light emitting source array 1 Corresponding to the infrared signal propagation distance between the infrared light source and the infrared pod receiver.
Preferably, the first predetermined height range is 5 ± 0.5m.
The two-section type accurate landing guidance system for the wireless charging of the unmanned aerial vehicle realizes the accurate landing guidance control during the wireless charging of the unmanned aerial vehicle by applying the method, and comprises a wireless charging station and the unmanned aerial vehicle;
the wireless charging station is internally provided with a control box, a wireless charging launching pad and an extension cover plate with a photovoltaic panel, the extension cover plate covers the wireless charging launching pad, and an infrared light emission source array is arranged on the wireless charging launching pad; the control box is respectively connected with the wireless charging emission platform, the extension cover plate and the infrared emission source array;
control box and unmanned aerial vehicle intercommunicate, unmanned aerial vehicle includes RTK orientation module, descends to first predetermined altitude range after at unmanned aerial vehicle through RTK orientation module guide from initial flying height, communicates with the control box, and control box control is extended the apron and is extended to both sides, and the wireless firing platform that charges exposes the outside, and the infrared emission source array sends infrared signal is controlled to the control box, and unmanned aerial vehicle docks on the wireless firing platform that charges through light guide unmanned aerial vehicle, and the wireless firing platform that charges of control box control charges for unmanned aerial vehicle.
Preferably, the wireless charging transmitting stations are distributed in a square shape, and 3 infrared light sources are arranged on each side of the wireless charging transmitting stations to form the infrared light emitting source array.
The beneficial effects of the invention are as follows: according to the invention, the unmanned aerial vehicle is guided to land in a high-precision manner by adopting a positioning mode of combining RTK positioning and light guiding, the final landing precision can reach a mm level, the landing precision is improved, an additional position centering mechanism required by inaccurate landing of the unmanned aerial vehicle by a traditional platform mechanism is replaced, the hangar is lightened, and the cost is greatly saved.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings used in the detailed description or the prior art description will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic diagram of two-stage landing of an unmanned aerial vehicle in an embodiment of the invention;
FIG. 2 is a control flow diagram in an embodiment of the present invention;
FIG. 3 is a diagram illustrating the distribution of an array of IR emitters according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a range finding of an array of IR emitters when the drone is in a home position at a target landing point;
FIG. 5 is a distance measurement schematic diagram of an infrared emission source array when the UAV deviates from the centering position of the target landing point;
FIG. 6 is a schematic diagram of wireless infrared pulsed laser ranging.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As shown in fig. 1 and fig. 2, a two-stage precise landing guidance method for wireless charging of an unmanned aerial vehicle according to an embodiment of the present invention includes the following steps:
s1: starting a landing process of the unmanned aerial vehicle, and guiding the unmanned aerial vehicle to land from an initial flying height to a first preset height range based on RTK positioning; in this embodiment, an electric inspection unmanned aerial vehicle is taken as an example, the initial flying height is the current inspection height, the first predetermined height is set to be 5m, and the first predetermined height range is set to be 5 ± 0.5m according to the precision requirement; in the process, the unmanned aerial vehicle and the positioning base station are in real-time communication, the positioning base station sends GPS observation data and wireless charging station coordinate information to the unmanned aerial vehicle, the unmanned aerial vehicle receives the GPS observation data and the wireless charging station coordinate information of the positioning base station, meanwhile, the current GPS observation data of the unmanned aerial vehicle is collected in real time, a differential observation value is formed to be processed in real time, a centimeter-level positioning result is given, and the unmanned aerial vehicle is guided to fly to a first preset height range above the coordinate position of the wireless charging station.
S2: guiding the unmanned aerial vehicle to completely land from a first preset height range to a target landing point based on a light guiding technology, and specifically comprising:
s21: arranging an infrared light emission source array around the target landing point, and after the unmanned aerial vehicle enters a first preset height range above the coordinate position of the wireless charging station, sending a landing signal to a charging platform of the wireless charging station by the unmanned aerial vehicle, and sending an infrared signal outside the infrared light emission source array arranged around the target landing point of the charging platform;
s22: an infrared pod receiver is arranged at the bottom of the unmanned aerial vehicle and used for receiving infrared signals, and the horizontal position of the unmanned aerial vehicle is adjusted to the centering position of the target landing point by performing horizontal position deviation analysis on the infrared signals sent by the infrared light emitting source array;
s23: and the unmanned aerial vehicle is adjusted to land to a target landing point by analyzing the vertical height distance of the infrared signal emitted by the infrared light emitting source array.
As shown in fig. 3, the infrared light emission source array is provided with a plurality of groups, each group is composed of two infrared light sources, the two infrared light sources of each group are symmetrically arranged on the same horizontal plane relative to the centering position of the target landing point, and when the distances between the two infrared light sources of each group and the infrared pod receiver are equal, the horizontal position of the unmanned aerial vehicle is adjusted to the centering position of the target landing point.
As can be seen from fig. 3, in this embodiment, the wireless charging launching pad is distributed in a square shape, 3 infrared light sources are arranged on each side of the wireless charging launching pad to form an infrared light source array, the infrared light source array groups respectively and rapidly send infrared signals in sequence, the unmanned aerial vehicle performs light source detection on visible light sources of the launching platform through an infrared pod for bottom inspection, and a receiver of the infrared pod of the unmanned aerial vehicle is located at the center of the bottom of the unmanned aerial vehicle and receives 6 groups of infrared light source launching array information; as can be seen from the analysis in conjunction with fig. 4 and 5, when the drone pod is in the most intermediate position relative to the stopping platform, the measured distances h of the two ir light sources corresponding to each of the 6 groups of ir light source emission pulses are equal, i.e., h1= h7, h2= h8, h3= h9, h4= h10, h5= h11, and h6= h12, the drone horizontal offset control can be achieved by keeping h equal for each group.
Specifically, the position of the unmanned aerial vehicle is detected by comparing symmetrical infrared emission information, and for each group of symmetrical infrared emission light sources and infrared pod receiving positions, the schematic diagram is shown in fig. 4 and 5:
as can be seen from the figure, h 1 cosα+h 2 cosβ＝d 1 ，h 1 sinα＝h 2 sinβ；
The two simultaneous formulas can be obtained:
the offset position of each set of emission sources relative to each other is calculated from this formula, so that when the horizontal position of the drone has been adjusted to the centered position of the target landing point: in step S23, the vertical height distance is calculated according to the following equation (1):
wherein d is 1 Is the horizontal distance h between any two infrared light sources in the infrared light emitting source array 1 Corresponding to the infrared signal propagation distance between the infrared light source and the infrared pod receiver.
In conclusion, when the unmanned aerial vehicle lands in the light guiding stage, the unmanned aerial vehicle searches for a target on the platform through the infrared pod, and after the target is captured, the unmanned aerial vehicle switches to a target tracking mode to measure the direction and distance of the target, and meanwhile, the relative position is continuously adjusted to be kept at the home position, so that the unmanned aerial vehicle is guided to fly to the target landing point.
The infrared ranging uses infrared light as a light source to carry out ranging, the refractive index of the infrared light is small when the infrared light passes through other substances, so that the infrared light can be considered by the long-distance range finder, the transmission of the infrared light needs time, when the infrared light is sent out from the range finder and touches a reflector to be reflected back to be received by the range finder, and then the distance can be calculated according to the time from sending to receiving of the infrared light and the transmission speed of the infrared light.
The schematic diagram of the wireless infrared pulse laser ranging is shown in fig. 6, pulse type infrared ranging is adopted, when the ranging is carried out, an infrared emission source sends continuous pulse signals to a target, and the distance of the target point can be calculated by measuring the arrival time interval of reflected pulses.
As above this embodiment is 12 infrared light source emission array combinations, and the infrared pod on the unmanned aerial vehicle only receives an infrared pulse signal once, and unmanned aerial vehicle machine carries the end and calculates the distance and the storage data, and after 12 infrared light source were all sent the range finding signal, this 1 group 12 data of unmanned aerial vehicle machine carried the end contrast and judge unmanned aerial vehicle's relative position, only should correspond 2 range finding data of a set of equal height D of just calculating.
The specific embodiment of the invention also provides a two-section type accurate landing guidance system for wireless charging of the unmanned aerial vehicle, and the method is applied to realize accurate landing guidance control during wireless charging of the unmanned aerial vehicle, and comprises a wireless charging station and the unmanned aerial vehicle;
the wireless charging station is internally provided with a control box, a wireless charging launching pad and an extension cover plate with a photovoltaic panel, the extension cover plate covers the wireless charging launching pad, and an infrared light emission source array is arranged on the wireless charging launching pad; the control box is respectively connected with the wireless charging emission platform, the extension cover plate and the infrared emission source array;
control box and unmanned aerial vehicle intercommunicate, unmanned aerial vehicle includes RTK orientation module, descends to first predetermined altitude range after at unmanned aerial vehicle through RTK orientation module guide from initial flying height, communicates with the control box, and control box control is extended the apron and is extended to both sides, and the wireless firing platform that charges exposes the outside, and the infrared emission source array sends infrared signal is controlled to the control box, and unmanned aerial vehicle docks on the wireless firing platform that charges through light guide unmanned aerial vehicle, and the wireless firing platform that charges of control box control charges for unmanned aerial vehicle.
The wireless charging transmitting stations are distributed in a square shape, and each edge of the wireless charging transmitting stations is provided with 3 infrared light sources to form the infrared light emitting source array, as shown in fig. 3.
According to the two-section type accurate landing guiding method and system for wireless charging of the unmanned aerial vehicle, the unmanned aerial vehicle is guided to land with high precision by adopting a two-section type guiding mode, so that the landing precision reaches a mm level, the charging efficiency of the unmanned aerial vehicle during wireless charging after automatic landing is effectively ensured, the design of other mechanical centering mechanisms is reduced, the hangar is lightened, and the system cost is saved.
Those of ordinary skill in the art will appreciate that the elements of the examples described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the components of the examples have been described above generally in terms of their functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present application, it should be understood that the division of a unit is only one logical function division, and in actual implementation, there may be another division manner, for example, multiple units may be combined into one unit, one unit may be split into multiple units, or some features may be omitted.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being covered by the appended claims and their equivalents.
Claims (8)
1. A accurate guidance method that descends of two segmentations for unmanned aerial vehicle is wireless to charge, its characterized in that includes following step:
s1: starting a landing process of the unmanned aerial vehicle, and guiding the unmanned aerial vehicle to land from an initial flying height to a first preset height range based on RTK positioning;
s2: guiding the unmanned aerial vehicle to fully land from a first preset height range to a target landing point based on a light guiding technology, and specifically comprising:
s21: arranging an infrared light emission source array around the target landing point, and sending an infrared signal outwards by the infrared light emission source array after the unmanned aerial vehicle enters a first preset height range;
s22: an infrared pod receiver is arranged at the bottom of the unmanned aerial vehicle and used for receiving infrared signals, and the horizontal position deviation analysis is carried out on the infrared signals sent by the infrared light emitting source array, so that the horizontal position of the unmanned aerial vehicle is adjusted to the centering position of the target landing point;
s23: and the unmanned aerial vehicle is adjusted to land to a target landing point by analyzing the vertical height distance of the infrared signal emitted by the infrared light emitting source array.
2. The two-stage precise landing guidance method for the wireless charging of the unmanned aerial vehicle according to claim 1, wherein the step S1 includes:
the unmanned aerial vehicle and the positioning base station are in real-time communication, the positioning base station sends the GPS observation data and the wireless charging station coordinate information to the unmanned aerial vehicle together, the unmanned aerial vehicle receives the GPS observation data and the wireless charging station coordinate information of the positioning base station, meanwhile, the current GPS observation data of the unmanned aerial vehicle is collected in real time, a differential observation value is formed for real-time processing, a centimeter-level positioning result is given, and the unmanned aerial vehicle is guided to fly to a first preset height range above the wireless charging station coordinate position.
3. The two-stage precise landing guide method for the wireless charging of the unmanned aerial vehicle according to claim 1 or 2, wherein when the unmanned aerial vehicle enters a first predetermined height range above the coordinate position of the wireless charging station, the unmanned aerial vehicle sends a landing signal to a charging platform of the wireless charging station, and an infrared signal is sent outside an infrared emission source array arranged around a target landing point of the charging platform.
4. The two-stage accurate landing guidance method for unmanned aerial vehicle wireless charging according to claim 1, wherein the infrared light emission source array is provided with a plurality of groups, each group is composed of two infrared light sources, the two infrared light sources of each group are symmetrically arranged on the same horizontal plane relative to the centering position of the target landing point, and when the distances between the two infrared light sources of each group and the infrared pod receiver are equal, the horizontal position of the unmanned aerial vehicle is adjusted to the centering position of the target landing point.
5. The two-stage accurate landing guidance method for the wireless charging of the unmanned aerial vehicle according to claim 1, wherein when the horizontal position of the unmanned aerial vehicle is adjusted to the centering position of the target landing point, the vertical height distance is calculated in step S23 according to the following formula (1):
wherein d is 1 Horizontal spacing, h, of any two infrared sources in the array of infrared emission sources 1 Corresponding to the infrared signal propagation distance between the infrared light source and the infrared pod receiver.
6. The two-stage precise landing guidance method for unmanned aerial vehicle wireless charging according to claim 1, wherein the first predetermined height range is 5 ± 0.5m.
7. The two-section type accurate landing guidance system for the wireless charging of the unmanned aerial vehicle is characterized in that the method of any one of claims 1 to 6 is applied to realize accurate landing guidance control during the wireless charging of the unmanned aerial vehicle, and the system comprises a wireless charging station and the unmanned aerial vehicle;
the wireless charging station is internally provided with a control box, a wireless charging launching pad and an extension cover plate with a photovoltaic panel, the extension cover plate covers the wireless charging launching pad, and an infrared light emission source array is arranged on the wireless charging launching pad; the control box is respectively connected with the wireless charging emission platform, the extension cover plate and the infrared emission source array;
control box and unmanned aerial vehicle intercommunicate, unmanned aerial vehicle includes RTK locating module, passes through RTK locating module at unmanned aerial vehicle and guides after descending to first predetermined altitude range from initial flying height, communicates with the control box, and control box control is extended the apron and is extended to both sides, and wireless transmitting station that charges exposes the outside, and the control box control infrared emission source array sends infrared signal, and unmanned aerial vehicle docks on wireless transmitting station that charges through light guide unmanned aerial vehicle, and the wireless transmitting station that charges of control box control charges for unmanned aerial vehicle.
8. The two-stage accurate landing guidance system for unmanned aerial vehicle wireless charging according to claim 7, wherein the wireless charging launchers are distributed in a square shape, and 3 infrared light sources are arranged on each side of the wireless charging launchers to form the infrared light source array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210850806.4A CN115202375A (en) | 2022-07-20 | 2022-07-20 | Two-section type accurate landing guiding method and system for wireless charging of unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210850806.4A CN115202375A (en) | 2022-07-20 | 2022-07-20 | Two-section type accurate landing guiding method and system for wireless charging of unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115202375A true CN115202375A (en) | 2022-10-18 |
Family
ID=83582094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210850806.4A Pending CN115202375A (en) | 2022-07-20 | 2022-07-20 | Two-section type accurate landing guiding method and system for wireless charging of unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115202375A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107908197A (en) * | 2017-11-23 | 2018-04-13 | 深圳市智璟科技有限公司 | The accurate landing system of unmanned plane and method based on infrared beacon and vision |
| CN108614582A (en) * | 2018-04-08 | 2018-10-02 | 北京领航智能科技发展有限公司 | The accurate landing method of unmanned plane based on RTK technologies |
| CN109080843A (en) * | 2018-08-14 | 2018-12-25 | 深圳市烽焌信息科技有限公司 | A kind of alignment methods of unmanned plane charge position |
| CN111176323A (en) * | 2019-12-30 | 2020-05-19 | 湖南华诺星空电子技术有限公司 | Radar and infrared integrated unmanned aerial vehicle landing control method and device |
| CN211403245U (en) * | 2020-03-31 | 2020-09-01 | 华电电力科学研究院有限公司 | Landing system for unmanned aerial vehicle |
| CN112947524A (en) * | 2021-03-09 | 2021-06-11 | 广东鸿源智能科技有限公司 | Precise landing control method for unmanned aerial vehicle |
| CN113534825A (en) * | 2021-08-18 | 2021-10-22 | 广东电网有限责任公司 | Control system and control method for automatic parking of unmanned aerial vehicle |
-
2022
- 2022-07-20 CN CN202210850806.4A patent/CN115202375A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107908197A (en) * | 2017-11-23 | 2018-04-13 | 深圳市智璟科技有限公司 | The accurate landing system of unmanned plane and method based on infrared beacon and vision |
| CN108614582A (en) * | 2018-04-08 | 2018-10-02 | 北京领航智能科技发展有限公司 | The accurate landing method of unmanned plane based on RTK technologies |
| CN109080843A (en) * | 2018-08-14 | 2018-12-25 | 深圳市烽焌信息科技有限公司 | A kind of alignment methods of unmanned plane charge position |
| CN111176323A (en) * | 2019-12-30 | 2020-05-19 | 湖南华诺星空电子技术有限公司 | Radar and infrared integrated unmanned aerial vehicle landing control method and device |
| CN211403245U (en) * | 2020-03-31 | 2020-09-01 | 华电电力科学研究院有限公司 | Landing system for unmanned aerial vehicle |
| CN112947524A (en) * | 2021-03-09 | 2021-06-11 | 广东鸿源智能科技有限公司 | Precise landing control method for unmanned aerial vehicle |
| CN113534825A (en) * | 2021-08-18 | 2021-10-22 | 广东电网有限责任公司 | Control system and control method for automatic parking of unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Luo et al. | A survey of intelligent transmission line inspection based on unmanned aerial vehicle | |
| CN105805560B (en) | A kind of gas pipeline leakage detecting system based on unmanned plane | |
| CN104015931B (en) | Vision localization, measurement and control method, system and experimental platform for automatic refueling dead zone of unmanned aerial vehicle | |
| CN107196410B (en) | ground transformer substation inspection system and method | |
| CN104881042B (en) | A kind of multiple dimensioned air remote sensing test platform | |
| CN105449876A (en) | Automatic wireless charging system for power line-patrol multi-rotor type aircraft | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| CN113534184B (en) | Laser-perceived agricultural robot space positioning method | |
| CN108422884A (en) | Electric car electric energy replenishment system based on unmanned plane | |
| CN209102898U (en) | A kind of Tunnel Second Lining detection system based on High Performance Unmanned Aerial Vehicle | |
| CN115202376A (en) | Unmanned aerial vehicle patrols and examines electric power grid management and control platform based on individual soldier removes | |
| CN109945861A (en) | Small drone is directed at tracking device and method with ground surface end uni-directional wireless optic communication | |
| CN115951620B (en) | Unmanned aerial vehicle intelligent equipment management and control system | |
| CN113271357B (en) | Ground-air cooperative networking system and control method | |
| CN113359786A (en) | Multi-rotor unmanned aerial vehicle accurate landing guiding method integrating flying heights | |
| CN213690329U (en) | Autonomous carrier landing system of fixed-wing unmanned aerial vehicle | |
| CN112598813A (en) | Intelligent inspection system and inspection method thereof | |
| CN111459190A (en) | Unmanned aerial vehicle for automatic inspection of large-scale centralized photovoltaic power station and inspection method | |
| CN110850889A (en) | Unmanned aerial vehicle autonomous inspection system based on RTK navigation | |
| CN113961021A (en) | Power inspection unmanned aerial vehicle autonomous take-off and landing method based on two-dimensional code positioning | |
| CN115202375A (en) | Two-section type accurate landing guiding method and system for wireless charging of unmanned aerial vehicle | |
| CN113485414A (en) | Fault processing system and method for computer monitoring device of substation | |
| CN115167531A (en) | Three-section type accurate landing guidance method and system for wireless charging of unmanned aerial vehicle | |
| Cui et al. | Route optimization method of UAV autonomous transmission line detection based on BeiDou positioning service | |
| CN110979717A (en) | Novel portable beacon method for shipborne vertical take-off and landing reconnaissance and shooting unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |