CN205750551U - A kind of vehicle-mounted many rotor wing unmanned aerial vehicles auxiliary recovery system - Google Patents
A kind of vehicle-mounted many rotor wing unmanned aerial vehicles auxiliary recovery system Download PDFInfo
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- CN205750551U CN205750551U CN201620472597.4U CN201620472597U CN205750551U CN 205750551 U CN205750551 U CN 205750551U CN 201620472597 U CN201620472597 U CN 201620472597U CN 205750551 U CN205750551 U CN 205750551U
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Abstract
The utility model discloses a kind of vehicle-mounted many rotor wing unmanned aerial vehicles auxiliary recovery system, belong to unmanned air vehicle technique field.This system includes infrared transmission module, infrared receiving module and wireless communication module.Described infrared transmission module is laid on automobile, and including single chip machine controlling circuit and infrared emission drive circuit, the infrared light launched can be encoded according to certain pseudo-random code sequence, and send by single-chip microcomputer.Described infrared receiving module is responsible for receiving infrared signal and carrying out signal decoding according to the pseudo-random code sequence of agreement, and then determines the signal source and position received.Described wireless communication module includes unmanned plane end and automobile end two parts, it is possible to achieve the communication process between automobile and unmanned plane, lands by mutually transmitting director data auxiliary unmanned plane.This system can efficiently realize the precision approach of many rotor wing unmanned aerial vehicles, highly reliable, and is possible to prevent wireless malicious intercepted, strengthens flight safety.
Description
Technical field
This utility model relates to a kind of vehicle-mounted unmanned aerial vehicle auxiliary recovery system, belongs to unmanned air vehicle technique field.
Background technology
Recently as the full-fledged of automatic control technology and the progress of manufacturing technology, unmanned plane extensively should
For every field such as national defence, mapping, shipping, agricultural productions, and with low cost due to it, and convenient laying, controllable velocity is fast
Etc. advantage, increasing field is try to utilize unmanned plane to assist to improve efficiency.Owing to many rotor wing unmanned aerial vehicles have height
Stability, spot hover ability, VTOL ability and higher carry ability, therefore obtained increasing weight
Depending on.Traditional many rotor wing unmanned aerial vehicles combined ground vehicle, can form a set of vehicle-mounted unmanned aerial vehicle system.This combination can be very big
The operating radius of extension unmanned plane and field of operation, and promote the maneuverability of unmanned plane.
In the operation process of unmanned plane, removal process is a critically important link, and its success or failure are related to unmanned plane
Whether can keep the ability of integrity and subjob again, if reclaiming unsuccessfully, unmanned plane will not have or in short period of time
The most not having goes around performs the condition of operation next time, and this can cause whole system inefficiency, and cost raises, vehicle-mounted many rotors
UAS is also such.Therefore the vehicle-mounted unmanned aerial vehicle auxiliary landing system designing a set of safe and reasonable is necessary.
Traditional pinpoint landing system, by GPS positioning principle, is landed according to the gps coordinate set, this system
Weak point be that the positioning precision of gps signal is limited, receive satellite-signal more weak when error can reach tens
Rice rice the most up to a hundred.When being with and block outward when, there will be the situation that gps signal is lost, cause positioning unsuccessfully, therefore in reality
Border application do not possesses application conditions.
Recovery system or landing aid system that present stage exists are principle based on image identification mostly, and unmanned plane is adopted
The landmark image information that pre-sets of collection ground is mated, and then determines that landing site is carried out landing (application number
201520424105.X), the fall system that helps also having uses vision guided navigation principle, arranges a number of luminous body battle array on ground
Row, the unmanned plane shape by camera collection ground luminous body array, carry out with the ground cooperation mark of storage in object library
Contrast and identification, it is judged that oneself is relative to the position of drop zone, and then realizes descent (application number
201510496861.8)。
Above technology all have employed the principle that visible ray reclaims, by camera collection visible ray information and process,
This landing method is higher to the requirement of visibility, can not realize directly landing under the weather condition such as night, greasy weather, it is impossible to real
Existing all weather operations.Simultaneously because need to use image processing algorithm, therefore amount of calculation is relatively big, the disposal ability to unmanned plane end
Propose challenge.More seriously, once lawless person utilizes identical land marking to disturb, and unmanned plane can be caused to drop
Occurring erroneous judgement when falling, drop to non-purpose region, this situation increases danger and the cost of unmanned plane operation, the most not
It is applicable to real working environment.
For vehicle-mounted unmanned aerial vehicle, owing to automobile has mobility, therefore descent can become more complicated, and unmanned plane is not
The location in level point to be completed, the information such as translational speed of automobile to be obtained, the requirement to implementation complexity is higher.Separately
Outward, owing to the level point on automobile is smaller, therefore degree of accuracy is also had the highest requirement.These features require vehicle-mounted unmanned
Machine system has a kind of landing aid system safe and stable, high-precision to complete removal process.
Summary of the invention
This utility model is to realize a kind of vehicle-mounted many rotor wing unmanned aerial vehicles auxiliary recovery system, therefore it is required that this system
Having positioning precision high, safety coefficient is high, it is possible to assist many rotor wing unmanned aerial vehicles to carry out pinpoint landing.
The one many rotor wing unmanned aerial vehicles auxiliary recovery system that the utility model proposes, is according to vehicle-mounted unmanned aerial vehicle landing platform
Having mobility and platform is less, conventional recovery method can cause landing what failed problem proposed.Automobile end carries infrared
Transmitter module and wireless communication module, infrared transmission module detects for unmanned plane as beacon emissions target information, radio communication
Module can exchange data at unmanned plane and automobile end.Location can be improved by the combination of wireless communication module Yu infrared module
Precision, due to infrared light can night etc. non-visually under the conditions of use, therefore can realize all weather operations.
This utility model is achieved through the following technical solutions:
This utility model provides a kind of vehicle-mounted many rotor wing unmanned aerial vehicles auxiliary recovery system, and this system includes:
It is arranged on the landing platform of automobile end and is arranged on wireless communication module and the infrared receiving module of unmanned plane end.
Described landing platform includes infrared transmission module and automobile end wireless communication module.Wherein, infrared transmission module produces and instructs
The infrared signal of unmanned plane landing；Automobile end wireless communication module sends control information to unmanned plane；The nothing of described unmanned plane end
Line communication module passback self information, infrared receiving module receives the infrared signal that automobile end sends.
Within the system, infrared transmission module includes that one piece of single chip machine controlling circuit daughter board and one piece of infrared transmitting tube drive
Circuit daughter board；Wherein, Single-chip Controlling daughter board is used for encoding signal according to CDMA coding techniques, infrared transmitting tube
Drive daughter board signal after encoding to be converted to powerful driving signal, and then drive infrared transmitting tube to send infrared letter
Number；
Infrared receiving module includes one piece of infrared receiving tube circuit daughter board and one piece of decoding circuit daughter board；Wherein, infrared connect
Closed tube circuit daughter board is used for receiving infrared signal, and is amplified signal.Decoding circuit daughter board module is for according to necessarily
Rule carry out signal decoding, and then determine whether the infrared signal received is available signal；
Described CDMA coding techniques is selected one group of pseudo-random code sequence and is encoded, and this pseudo-random code sequence is deposited respectively
It is stored in infrared sending module and corresponding infrared receiving module；
Described decoding circuit daughter board is to enter according to the pseudo-random code sequence of storage in infrared receiving module the decoding of signal
Row, if the signal received can be decoded with the pseudo-random code sequence coupling of storage in infrared receiving module, and recognize
It is available signal, if the signal received can not be with the pseudo-random code sequence of storage in infrared receiving module for this signal
Join, then give up and not decode；
The infrared transmitting tube array design of described infrared emission tube drive circuit daughter board is hemispherical shape, i.e. infrared emission
Pipe is uniformly distributed on hemispherical base plate, and the infrared receiving tube array design of described infrared receiving tube circuit daughter board is the hemisphere bodily form
Shape, i.e. infrared receiver are penetrated pipe and are uniformly distributed on the curved surfaces of hemisphere base plate, transmitting tube and the cutting plane of reception pipe hemisphere
It is respectively used to and automobile dropping zone and the riveting of unmanned plane ventral；
The information of the unmanned plane end portion passback of described wireless communication module includes the type of unmanned plane, id number, current
Highly, landing request and Energy Expenditure Levels；The control information that the automobile end portion of described wireless communication module sends includes
The gait of march of automobile, direct of travel, height and whether agree to landing information.
Infrared transmitting tube on infrared emission tube drive circuit daughter board is parallel connection, and all infrared transmitting tubes are by half
Spherical distribution can be with the identical signal of angular emission that heavenwards is different, each infrared receiving tube of infrared receiving module
Duty all separate with other faces, decoding circuit daughter board respectively to each infrared receiving tube independent scan, if
Certain angle detecting of hemispherical reception pipe array is to signal, and this signal is available signal, then show that object vehicle is right
The direction answered, flight control system is i.e. from this direction approximation object vehicle, until dropping on automobile.
This utility model contrast prior art has a following innovative point:
The vehicle-mounted many rotor wing unmanned aerial vehicles aided positioning system that the utility model proposes utilizes infrared light as beacon, contrasts one
As surface mark or light signal, interference can be prevented effectively from, it is possible to achieve all weather operations.
The infrared signal of beacon is compiled by the vehicle-mounted many rotor wing unmanned aerial vehicles aided positioning system that the utility model proposes
Code, unmanned plane only receives legal coding and just thinks that this signal is useful signal, is possible to prevent the malice of landing phases to do
Disturb, enhance safety.
Infrared emission end is arranged to hemispherical by the vehicle-mounted many rotor wing unmanned aerial vehicles aided positioning system that the utility model proposes
Shape, can be with the different angular emission infrared signal of heavenwards, it is to avoid transmitting dead band, and unmanned plane can be allowed the most real in any angle
Existing signal receives.
Infrared receiver end is arranged to hemispherical by the vehicle-mounted many rotor wing unmanned aerial vehicles aided positioning system that the utility model proposes
Shape, and carry is at unmanned plane ventral, can receive the infrared signal of the angle different from ground on high, it is to avoid receive dead
District, can allow unmanned plane all realize signal in any angle and receive, it is achieved the effective guiding to unmanned plane of the automobile end landing platform.
Accompanying drawing explanation
Fig. 1 is the system construction drawing of vehicle-mounted many rotor wing unmanned aerial vehicles aided positioning system；
Fig. 2 is hemispherical infrared transmitting tube array and the profile of hemispherical infrared receiving tube array.
Detailed description of the invention
Below in conjunction with drawings and Examples, this utility model is further described.
This utility model provides a kind of vehicle-mounted many rotor wing unmanned aerial vehicles auxiliary recovery system, mainly include infrared transmission module,
Infrared receiving module and wireless communication module.
As it is shown in figure 1, infrared transmission module includes single chip machine controlling circuit daughter board and infrared emission tube drive circuit daughter board,
Infrared receiving module includes decoding circuit plate and infrared receiving tube circuit daughter board, clear, in the present embodiment by apparatus for describing
The 2.4G wireless communication module of body replaces the wireless communication module mentioned in description, and it includes automobile end and two, unmanned plane end
Part.
Wherein, single chip machine controlling circuit is responsible for exporting control signal, controls the work of transmitting tube drive circuit daughter board, and then drives
Dynamic infrared tube array sends infrared light.Described control signal is a kind of CDMA coding signal, and during coding, single-chip microcomputer reads red
The pseudo noise code of emission module stores, and produce a transmitting signal by this group pseudo noise code, by infrared transmitting tube array
Output.The pin of infrared transmitting tube array all uses parallel way to connect, and thus can guarantee that the warp that each transmitting tube exports
Crossing the signal after coding is all to synchronize, and will not produce entanglement.Infrared transmitting tube array is uniformly laid in hemispheric insulation
On base plate, in order to the direction infrared radiation signal that heavenwards is different.Due to the generally existence of thermal source, can exist perhaps in the environment
Many infrared sources, these signals may affect the reception of normal signal, therefore use CDMA also for
The capacity of resisting disturbance of raising system.
Infrared receiving module is responsible for receiving infrared signal and carrying out decoding effort, and its reception pipe circuit daughter board is one and half
Spherical insulating base is constituted, and substrate has laid the infrared receiving tube of many reception signals, is responsible for receiving from ground
Infrared signal.Owing to carrying highly sensitive needs, the signal output pin of each reception pipe is independent connection status.Work as nothing
When man-machine needs land, infrared receiving module can be opened in advance, scan the signal on each reception pipe.Infrared receiving tube connects
Signal is given after receiving signal the amplifying circuit of rear end, and the signal after amplifying circuit will amplify is given decoding circuit plate and is solved
Code work.If containing pseudo noise code inside the signal received, and this pseudo noise code can with the puppet of receiver module storage with
Machine code mates, and i.e. thinks that the signal received is legal useful signal, and receiver module continues to follow the trail of this signal, passes through 2.4G simultaneously
Wireless communication module sends message request landing.If the signal received is noise signal or other illegal signals, system
This signal will be shielded, continually look for useful signal simultaneously.
Owing to infrared transmitting tube array and infrared receiver array are distributed on hemispherical insulating base, therefore outside both
Shape is completely the same.As a example by infrared transmitting tube array, as in figure 2 it is shown, be the profile of hemispherical infrared transmitting tube array, 1 is
Hemispherical base plate, has insulation characterisitic, plays a supporting role, and supports the shape of array；2 is emitting diode, with other two
Pole pipe is together as the unit launching signal；3 is the joint face of hemispherical base plate cross section and the fixing point on automobile.Owing to this is
System positioning precision is higher, and therefore this infrared emission array fixed position on automobile determines the landing position of many rotor wing unmanned aerial vehicles
Put.
When the infrared receiving tube array received of unmanned plane end is to after legal infrared signal, described unmanned plane end 2.4G without
Line communication module can send range of information to the 2.4G wireless communication module of automobile end, including type, the flight of this unmanned plane
Id number, present level, landing request and Energy Expenditure Levels, and wait the reply of automobile end.If automobile termination receives
Agree to after information that this unmanned plane lands, then can be sent the information allowing landing by the 2.4G wireless communication module of automobile end,
And the speed of Current vehicle, the terrain clearance information in level point on automobile.Unmanned plane termination starts after receiving same message
Enter descent.If not receiving the approval information that automobile end is beamed back for a long time, continue to send solicited message.
After unmanned plane enters descent, the 2.4G wireless communication module of unmanned plane end and automobile end will not be broken off a friendship
Change data, thus can guarantee that unmanned plane grasps the velocity information of automobile in real time, it is ensured that landing accuracy.Unmanned plane decoding unit
According to current receive pipe array is able to receive that the numbering receiving pipe of legal infrared signal determine infrared sources relative to
The position of unmanned plane, and send control signal control unmanned plane according to this RELATIVE POSITION TRACKING automobile, constantly from the sky at rear
In near object vehicle to be landed, slowly regulate the speed, reduce height, until dropping on automobile.
The above, detailed description of the invention the most of the present utility model, but protection domain of the present utility model is not limited to
This, any those familiar with the art in the technical scope that the utility model proposes, the change that can readily occur in
Or replace, all should contain within protection domain of the present utility model.
Claims (7)
1. vehicle-mounted many rotor wing unmanned aerial vehicles auxiliary recovery system, including being arranged on the landing platform of automobile end and being arranged on nothing
The wireless communication module of man-machine end and infrared receiving module；It is characterized in that:
Described landing platform includes infrared transmission module and automobile end wireless communication module；Wherein, infrared transmission module produces
Instruct the infrared signal that unmanned plane lands；Automobile end wireless communication module sends control information to unmanned plane；
The wireless communication module passback self information of described unmanned plane end；Infrared receiving module receives the infrared of automobile end transmission
Signal.
One the most according to claim 1 vehicle-mounted many rotor wing unmanned aerial vehicles recovery system, it is characterised in that described infrared emission
Module includes one piece of single chip machine controlling circuit daughter board and one piece of infrared emission tube drive circuit daughter board；Wherein, Single-chip Controlling electricity
Way plate is for encoding signal according to CDMA coding techniques, and infrared transmitting tube drives daughter board for by after coding
Signal is converted to powerful driving signal, and then drives infrared transmitting tube to send infrared signal；
Described infrared receiving module includes one piece of infrared receiving tube circuit daughter board and one piece of decoding circuit daughter board；Wherein, infrared connect
Closed tube circuit daughter board is used for receiving infrared signal, and is amplified signal, and decoding circuit daughter board module is for receiving
Signal carries out signal decoding, and then determines whether the infrared signal received is available signal.
3. according to the vehicle-mounted many rotor wing unmanned aerial vehicles recovery system of the one described in claim 1 or claim 2, it is characterised in that
Described CDMA coding techniques is selected one group of pseudo-random code sequence and is encoded, and this pseudo-random code sequence is stored respectively in infrared
In sending module and corresponding infrared receiving module.
4. according to the vehicle-mounted many rotor wing unmanned aerial vehicles recovery system of the one described in claim 1 or claim 2, it is characterised in that
Described decoding circuit daughter board is to carry out according to the pseudo-random code sequence of storage in infrared receiving module the decoding of signal；
If the signal received can be decoded with the pseudo-random code sequence coupling of storage in infrared receiving module, and think
This signal is available signal；
If the signal received can not then be given up not decode with the pseudo-random code sequence coupling of storage in infrared receiving module.
5. according to the vehicle-mounted many rotor wing unmanned aerial vehicles recovery system of the one described in claim 1 or claim 2, it is characterised in that
The infrared transmitting tube array design of described infrared emission tube drive circuit daughter board is that hemispherical shape, i.e. infrared transmitting tube uniformly divide
Being distributed on hemispherical base plate, the infrared receiving tube array design of described infrared receiving tube circuit daughter board is hemispherical shape, the reddest
Outer reception is penetrated pipe and is uniformly distributed on the curved surfaces of hemisphere base plate, and the cutting plane of transmitting tube and reception pipe hemisphere is respectively used to
With automobile dropping zone and the riveting of unmanned plane ventral.
6. according to the vehicle-mounted many rotor wing unmanned aerial vehicles recovery system of the one described in claim 1 or claim 2, it is characterised in that
The information of the unmanned plane end portion passback of described wireless communication module includes unmanned plane type, id number, present level, landing please
Ask and Energy Expenditure Levels；The control information that the automobile end portion of described wireless communication module sends includes the traveling speed of automobile
Degree, direct of travel, height and whether agree to landing information.
7. according to the vehicle-mounted many rotor wing unmanned aerial vehicles recovery system of the one described in claim 1 or claim 2, it is characterised in that
Infrared transmitting tube on infrared emission tube drive circuit daughter board is parallel connection, and all infrared transmitting tubes pass through hemispheric point
Cloth can be with the identical signal of angular emission that heavenwards is different, the work shape of each infrared receiving tube of infrared receiving module
State is all separate with other reception pipes, and decoding circuit daughter board is respectively to each infrared receiving tube independent scan, and decoding circuit is pressed
Distribution situation according to the infrared receiving tube receiving useful signal determines the object vehicle position relative to unmanned plane.
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| 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 |
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| CN108001694A (en) * | 2017-11-29 | 2018-05-08 | 天津聚飞创新科技有限公司 | Unmanned plane landing system and method |
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| CN108134575A (en) * | 2017-11-30 | 2018-06-08 | 南京绿新能源研究院有限公司 | Based on unmanned plane in photovoltaic power station failure cruise formula diagnostic device and method |
| CN109334541A (en) * | 2018-08-24 | 2019-02-15 | 南京航空航天大学 | A kind of vehicle-mounted multi-rotor unmanned aerial vehicle group cooperative system and method |
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| CN107403481A (en) * | 2017-04-28 | 2017-11-28 | 深圳市微舵科技有限公司 | Information interaction system and information collecting device for unmanned vehicle |
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| 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 |
| CN107985556A (en) * | 2017-11-29 | 2018-05-04 | 天津聚飞创新科技有限公司 | Unmanned plane hovering system and method |
| CN108001694A (en) * | 2017-11-29 | 2018-05-08 | 天津聚飞创新科技有限公司 | Unmanned plane landing system and method |
| CN108008737A (en) * | 2017-11-29 | 2018-05-08 | 安徽玄同工业设计有限公司 | A kind of release of vehicle-mounted unmanned aerial vehicle and retracting device |
| CN108134575A (en) * | 2017-11-30 | 2018-06-08 | 南京绿新能源研究院有限公司 | Based on unmanned plane in photovoltaic power station failure cruise formula diagnostic device and method |
| CN108134575B (en) * | 2017-11-30 | 2024-03-29 | 南京绿新能源研究院有限公司 | Device and method for cruising fault diagnosis of distributed photovoltaic power station based on unmanned aerial vehicle |
| CN109334541A (en) * | 2018-08-24 | 2019-02-15 | 南京航空航天大学 | A kind of vehicle-mounted multi-rotor unmanned aerial vehicle group cooperative system and method |
| CN110044212A (en) * | 2019-03-12 | 2019-07-23 | 西安电子科技大学 | The rotor wing unmanned aerial vehicle of view-based access control model metrical information arrests recovery method |
| CN109767144A (en) * | 2019-03-21 | 2019-05-17 | 孔祥明 | A kind of construction site personnel potency management system and method |
| CN110757503A (en) * | 2019-09-27 | 2020-02-07 | 安徽延达智能科技有限公司 | Fire control investigation robot lift cloud platform mechanism |
| CN111006584A (en) * | 2019-11-24 | 2020-04-14 | 西安呱牛信息技术有限公司 | Unmanned aerial vehicle measurement control method and system based on satellite navigation |
| CN112580873A (en) * | 2020-12-21 | 2021-03-30 | 海南金垦赛博信息科技有限公司 | Tropical farm planning and management system based on GIS and remote sensing technology |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20180523 |