CN118092477A - Landing method and device based on movable parking apron - Google Patents
Landing method and device based on movable parking apron Download PDFInfo
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- CN118092477A CN118092477A CN202410518213.7A CN202410518213A CN118092477A CN 118092477 A CN118092477 A CN 118092477A CN 202410518213 A CN202410518213 A CN 202410518213A CN 118092477 A CN118092477 A CN 118092477A
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- 238000001514 detection method Methods 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 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
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Abstract
The invention discloses a landing method and a landing device based on a movable parking apron, which are used for the landing device of the movable parking apron, wherein the method comprises the following steps: s1, receiving a landing instruction, automatically moving to a preset position, sending the instruction to control a light master control switch to be turned on, and turning on a guide lamp group on the movable parking apron at the moment, wherein a helicopter can smoothly land by means of the guide lamp group of the movable parking apron; s2, the helicopter receives the landing instruction and moves to a nearby airspace above the movable parking apron. The beneficial effects are that: the accuracy and the safety of helicopter landing are improved. The on-off of the guide lamp group is controlled according to the interval between the helicopter and the stand, so that the flexibility of opening the guide lamp is improved, the landing flexibility of the helicopter is improved, and the helicopter can be ensured to accurately drop onto the movable parking apron.
Description
Technical Field
The invention relates to the technical field of mobile parking apron, in particular to a landing method and device based on a mobile parking apron.
Background
The movable apron is mainly used for taking off and landing of an airplane, and the requirement on the apron is complex due to the special characteristics of taking off and landing of the airplane and safety. Currently, many helipads are provided on high-rise roofs or viaducts. Thus, the use of car-mounted mobile tarmac is slowly started. Meanwhile, the number of the corresponding helicopters in the air is greatly increased, and the increase of the number of the helicopters can bring the problem of difficult shutdown of the helicopters.
At present, in order to facilitate the take-off and landing of a helicopter, when the helicopter takes off and lands, a person selects an apron to bear the helicopter, corresponding service personnel are needed to ensure the stability of taking off or landing of an unmanned helicopter, and the existing movable apron is relatively weak in links such as monitoring and intelligent control on the basis of ensuring the normal landing of the helicopter.
For the problems in the related art, no effective solution has been proposed at present.
Disclosure of Invention
Aiming at the problems in the related art, the invention provides a landing method and a landing device based on a movable apron, which are used for overcoming the technical problems existing in the related art.
For this purpose, the invention adopts the following specific technical scheme:
A landing method and device based on a mobile tarmac for a landing device of the mobile tarmac, the method comprising:
S1, receiving a landing instruction, automatically moving to a preset position, sending the instruction to control a light master control switch to be turned on, and turning on a guide lamp group on the movable parking apron at the moment, wherein a helicopter can smoothly land by means of the guide lamp group of the movable parking apron;
s2, the helicopter receives the landing instruction and moves to a nearby airspace above the movable parking apron;
S3, determining the distance between the helicopter and the movable parking apron according to the real-time position information of the helicopter and the movable parking apron;
S4, controlling the helicopter to land to the movable parking apron based on the lighted guiding lamp group;
s5, generating monocular positioning data according to the inertial navigation data and the image data acquired by the monocular camera when the helicopter falls down at low altitude;
s6, the helicopter slides down to the movable parking apron.
Preferably, whether the helicopter is suitable for implementing landing is judged through the monocular positioning data, if not, the helicopter is guided to be adjusted to a gesture capable of implementing landing by controlling the guide lamp group to be lighted in a preset lighting mode, so that the helicopter is guided to be controlled according to the lighting mode of the guide lamp group.
Preferably, acquiring the flight attitude of the helicopter includes acquiring detection information of a position sensor group arranged on the movable apron in real time; and determining the flight attitude of the helicopter based on the detection information.
Preferably, the guiding light groups are distributed around the edge of the movable parking apron in a rectangular array mode, and when the nose and the tail of the helicopter are respectively positioned on a half line of the rectangular array formed by the guiding light groups and the airframe is positioned on the midpoint of the diagonal line of the rectangular array, the flight attitude of the helicopter is the flight attitude of standard landing.
Preferably, when the helicopter is in a standard landing flying attitude, the guide lamp group emits red light to give the helicopter a direct landing attitude.
Preferably, when the nose of the helicopter deviates from a half line of the matrix, the guiding lamp group emits yellow light, so that the nose, the body and the tail of the helicopter are aligned to the corresponding positions of the rectangle, and the flight attitude of the helicopter is a nonstandard flight attitude.
Preferably, the position sensor group comprises a plurality of infrared sensors, and the infrared sensors are distributed on the stand in a rectangular array.
According to another aspect of the invention, a landing device based on a mobile apron is provided, and the landing device based on the mobile apron comprises the mobile apron and a helicopter, wherein a position sensor group and a signal receiving and transmitting module are arranged in the mobile apron, and a guiding lamp group and a monocular camera are arranged at the top of the mobile apron.
Preferably, the signal transceiver module receives a landing instruction and controls the movable parking apron to move to a preset position, and the signal transceiver module transmits information through electromagnetic waves.
The beneficial effects of the invention are as follows: the helicopter is through the mode that sends the signal to the guide lamp group on the portable apron, and control guide lamp group lights to guide the helicopter to land according to the guide of guide lamp group and berth, need not to stand near the stand through other staff and guide the helicopter to land, directly carries out the effect that light was guided to the helicopter through guide lamp group, has improved the accuracy and the security that the helicopter landed. The on-off of the guide lamp group is controlled according to the interval between the helicopter and the stand, so that the flexibility of opening the guide lamp is improved, the landing flexibility of the helicopter is improved, and the helicopter can be ensured to accurately drop onto the movable parking apron.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a mobile tarmac-based landing method according to an embodiment of the present invention.
Detailed Description
For the purpose of further illustrating the various embodiments, the present invention provides the accompanying drawings, which are a part of the disclosure of the present invention, and which are mainly used to illustrate the embodiments and, together with the description, serve to explain the principles of the embodiments, and with reference to these descriptions, one skilled in the art will recognize other possible implementations and advantages of the present invention, wherein elements are not drawn to scale, and like reference numerals are generally used to designate like elements.
According to the embodiment of the invention, a landing method and a landing device based on a movable apron are provided.
Embodiment one;
As shown in fig. 1, according to an embodiment of the present invention, a landing method and a landing device based on a mobile tarmac are used for the landing device of the mobile tarmac, and the method includes:
Step S1, receiving a landing instruction by the movable parking apron, automatically moving to a preset position, sending the instruction to control a light master control switch to be turned on, and turning on a guide lamp group on the movable parking apron at the moment, wherein a helicopter can smoothly land by means of the guide lamp group of the movable parking apron;
S2, the helicopter receives the landing instruction and moves to a nearby airspace above the movable parking apron;
step S3, determining the distance between the helicopter and the movable parking apron according to the real-time position information of the helicopter and the movable parking apron;
s4, controlling the helicopter to land to the movable parking apron based on the lighted guiding lamp group;
S5, generating monocular positioning data according to inertial navigation data and image data acquired by a monocular camera when the helicopter falls in a low altitude;
and S6, sliding the helicopter onto the movable parking apron.
Embodiment two;
As shown in fig. 1, whether the helicopter is suitable for implementing landing is judged by the monocular positioning data, if not, the helicopter is guided to adjust to a gesture capable of implementing landing by controlling the guiding lamp group to light in a preset lighting mode, and the flying gesture of the helicopter is obtained by acquiring detection information of a position sensor group arranged on the movable parking apron in real time; and determining the flight attitude of the helicopter based on the detection information.
Embodiment three;
As shown in fig. 1, the guiding light groups are distributed around the edge of the movable apron in a rectangular array manner, the nose and the tail of the helicopter are respectively positioned on the half line of the rectangular array formed by the guiding light groups, when the fuselage is positioned on the midpoint of the diagonal line of the rectangular array, the flight attitude of the helicopter is a standard landing flight attitude, when the helicopter is in the standard landing flight attitude, the guiding light groups emit red light so as to give the helicopter a direct landing attitude, and when the nose of the helicopter deviates from the half line of the matrix, the guiding light groups emit yellow light so that the nose, the fuselage and the tail of the helicopter are aligned with the corresponding positions of the rectangle, the flight attitude of the helicopter is a non-standard flight attitude, and the position sensor group comprises a plurality of infrared sensors which are distributed in the rectangular array at the position of the helicopter.
Fourth embodiment;
As shown in fig. 1, a landing device based on a mobile apron is provided, which is used for the landing method based on the mobile apron, and comprises a mobile apron and a helicopter, wherein a position sensor group and a signal transceiver module are arranged in the mobile apron, a guide lamp group and a monocular camera are arranged at the top of the mobile apron, the signal transceiver module receives a landing instruction, controls the mobile apron to move to a preset position, and the signal transceiver module transmits information through electromagnetic waves.
In summary, by means of the technical scheme, the helicopter controls the guide lamp set to light up in a manner of sending signals to the guide lamp set on the movable parking apron so as to guide the helicopter to land and stop according to the guidance of the guide lamp set, other staff is not required to stand near the stand to guide the helicopter to land, and the guide lamp set is directly used for guiding the light of the helicopter, so that the landing accuracy and safety of the helicopter are improved. The on-off of the guide lamp group is controlled according to the interval between the helicopter and the stand, so that the flexibility of opening the guide lamp is improved, the landing flexibility of the helicopter is improved, and the helicopter can be ensured to accurately drop onto the movable parking apron.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (9)
1. A landing method based on a mobile tarmac, characterized by a landing device for the mobile tarmac, the method comprising:
S1, receiving a landing instruction, automatically moving to a preset position, sending the instruction to control a light master control switch to be turned on, and turning on a guide lamp group on the movable parking apron at the moment, wherein a helicopter can smoothly land by means of the guide lamp group of the movable parking apron;
s2, the helicopter receives the landing instruction and moves to a nearby airspace above the movable parking apron;
S3, determining the distance between the helicopter and the movable parking apron according to the real-time position information of the helicopter and the movable parking apron;
S4, controlling the helicopter to land to the movable parking apron based on the lighted guiding lamp group;
s5, generating monocular positioning data according to the inertial navigation data and the image data acquired by the monocular camera when the helicopter falls down at low altitude;
s6, the helicopter slides down to the movable parking apron.
2. The landing method based on a mobile apron according to claim 1, wherein whether the helicopter is suitable for landing is judged by the monocular positioning data, if not, the helicopter is guided to adjust to a gesture capable of landing according to the lighting mode of the guiding light group by controlling the guiding light group to light in a preset lighting mode.
3. The method of claim 2, wherein acquiring the attitude of the helicopter comprises acquiring in real time detection information of a set of position sensors provided on the mobile tarmac; and determining the flight attitude of the helicopter based on the detection information.
4. A method of landing on a mobile tarmac basis according to claim 3, wherein the pilot lamp sets are distributed in a rectangular array around the edge of the mobile tarmac, and the flight attitude of the helicopter is a standard landing flight attitude when the nose and tail of the helicopter are located on the half-line of the rectangular array formed by the pilot lamp sets and the fuselage is located at the midpoint of the diagonal of the rectangular array, respectively.
5. The method of claim 4, wherein when the helicopter is in a standard landing attitude, the pilot lamp set emits red light to give the helicopter a direct landing attitude.
6. The method of claim 5, wherein the guiding light group emits yellow light when the nose of the helicopter deviates from the half line of the matrix, so that the nose, the body and the tail of the helicopter are aligned with the corresponding positions of the rectangle, and the flight attitude of the helicopter is a non-standard flight attitude.
7. The method and apparatus for mobile apron-based landing of claim 6, wherein the set of position sensors includes a plurality of infrared sensors distributed in a rectangular array at the stand.
8. The landing device based on the mobile apron is characterized by being used for the landing method based on the mobile apron according to any one of claims 1-7, and comprises a mobile apron and a helicopter, wherein a position sensor group and a signal transceiver module are arranged in the mobile apron, and a guide lamp group and a monocular camera are arranged at the top of the mobile apron.
9. The landing gear based on mobile apron according to claim 8, wherein the signal transceiver module receives landing instructions to control the mobile apron to move to a preset position, and the signal transceiver module transmits information through electromagnetic waves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410518213.7A CN118092477A (en) | 2024-04-28 | 2024-04-28 | Landing method and device based on movable parking apron |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410518213.7A CN118092477A (en) | 2024-04-28 | 2024-04-28 | Landing method and device based on movable parking apron |
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| CN118092477A true CN118092477A (en) | 2024-05-28 |
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| CN202410518213.7A Pending CN118092477A (en) | 2024-04-28 | 2024-04-28 | Landing method and device based on movable parking apron |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103163881A (en) * | 2011-12-16 | 2013-06-19 | 国家电网公司 | Power transmission line inspection system based on fixed-wing unmanned aerial vehicle |
| CN103697889A (en) * | 2013-12-29 | 2014-04-02 | 北京航空航天大学 | Unmanned aerial vehicle self-navigation and positioning method based on multi-model distributed filtration |
| CN112009713A (en) * | 2020-08-21 | 2020-12-01 | 深圳安航科技有限公司 | Helicopter landing guiding method, system, computer equipment and storage medium thereof |
| CN214245424U (en) * | 2020-11-20 | 2021-09-21 | 悦飞通用航空(青岛)有限公司 | Mobile parking apron |
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- 2024-04-28 CN CN202410518213.7A patent/CN118092477A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103163881A (en) * | 2011-12-16 | 2013-06-19 | 国家电网公司 | Power transmission line inspection system based on fixed-wing unmanned aerial vehicle |
| CN103697889A (en) * | 2013-12-29 | 2014-04-02 | 北京航空航天大学 | Unmanned aerial vehicle self-navigation and positioning method based on multi-model distributed filtration |
| CN112009713A (en) * | 2020-08-21 | 2020-12-01 | 深圳安航科技有限公司 | Helicopter landing guiding method, system, computer equipment and storage medium thereof |
| CN214245424U (en) * | 2020-11-20 | 2021-09-21 | 悦飞通用航空(青岛)有限公司 | Mobile parking apron |
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