CN207417175U - Unmanned plane launching and recovering equipment and unmanned plane landing system - Google Patents
Unmanned plane launching and recovering equipment and unmanned plane landing system Download PDFInfo
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- CN207417175U CN207417175U CN201721517428.9U CN201721517428U CN207417175U CN 207417175 U CN207417175 U CN 207417175U CN 201721517428 U CN201721517428 U CN 201721517428U CN 207417175 U CN207417175 U CN 207417175U
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- 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
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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Abstract
The utility model embodiment provides a kind of unmanned plane launching and recovering equipment and unmanned plane landing system.Wherein, unmanned plane launching and recovering equipment includes：Mobile landing platform, mobile landing platform includes at least one landing cabin, and is correspondingly arranged on hatch door on each landing cabin；Communication device, communication device are communicated wirelessly with external unmanned plane；For positioning the positioner of mobile landing position of platform, it is arranged on mobile landing platform；Controller, it is connected respectively with communication device, positioner and hatch door, controller obtains the mobile landing position of platform for being used to instruct external unmanned plane landing of positioner positioning, and mobile landing position of platform is sent to external unmanned plane and control hatch door opening and closing by instruction communication device.The utility model embodiment can realize that unmanned plane takes off from a place, in the operating mode of another place landing, and then increase the covered working region scope of unmanned plane work efficiency and unmanned plane institute.
Description
Technical field
The utility model is related to unmanned air vehicle technique field more particularly to a kind of unmanned plane launching and recovering equipment and unmanned plane landing systems
System.
Background technology
UAV abbreviation unmanned plane is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned vehicle.With the development of unmanned air vehicle technique, unmanned plane is conveniently carried out greatly in plant protection, logistics, power-line patrolling etc.
The operation of amount.
In the prior art, most of unmanned plane landing platforms are fixed on some position.Unmanned plane is from unmanned plane landing platform
After position is taken off, if wanting to make a return voyage, also needing to be back to unmanned plane landing platform position could complete to land.And in reality
In, unmanned plane would generally fly to a working region job far from departure location, if wanting to make a return voyage, must just fly
Very long a distance can just be back to unmanned plane landing platform, it is seen then that in the prior art, unmanned plane needs to protect when preparing and making a return voyage
Holding a certain amount of electricity can just guarantee successfully to drop to landing platform.
It is well known that the battery capacity charge of major part unmanned plane is limited at present, big volume and electricity is occupied if making a return voyage, it will necessarily
Cause unmanned plane work efficiency low, the covered working region range shorter of institute.
Utility model content
The utility model embodiment provides a kind of unmanned plane launching and recovering equipment and unmanned plane landing system, to realize unmanned plane
It takes off from a place, in the operating mode of another place landing, and then increase unmanned plane work efficiency and unmanned plane can cover
Working region scope.
Then, in one embodiment of the utility model, a kind of unmanned plane launching and recovering equipment is provided.The unmanned plane landing
Equipment includes：Mobile landing platform, the mobile landing platform includes at least one landing cabin, and correspondence is set on each landing cabin
It is equipped with hatch door；Communication device, the communication device are communicated wirelessly with external unmanned plane；It is put down for positioning the mobile landing
The positioner of platform position is arranged on the mobile landing platform；Controller, respectively with the communication device, the positioning
Device and hatch door connection, the controller acquisition positioner positioning are used to instruct the external unmanned plane to land
Mobile landing position of platform, indicate the communication device by the mobile landing position of platform be sent to the outside nobody
Machine and the control hatch door open and close.
Optionally, the mobile landing platform further includes mobile vehicle；At least one landing cabin is arranged at described
On mobile vehicle.
Optionally, the controller is connected with the mobile vehicle, to control the movement of the mobile vehicle.
Optionally, it is provided with wireless charger at the landing cabin；The controller is connected with the wireless charger,
The external unmanned plane controlled when droping on the landing cabin wireless charger work with to the external unmanned plane into
Row wireless charging.
Optionally, the unmanned plane launching and recovering equipment further includes：Charging controller；The charging controller and the nothing
Micro USB electric appliance connects, and operating voltage is provided for the wireless charger.
Optionally, the landing cabin is equipped with landing positioning mark.
Optionally, the landing positioning is identified by multiple warning lamps according to setting pattern arrangement form；Alternatively, the landing
Positioning mark is laid with by fluorescent belt according to setting pattern.
Optionally, the setting pattern includes：Circular pattern and in the circular pattern and cross the circular pattern center of circle
Two cross linear patterns.
Optionally, two cross linears are vertical described in the setting pattern.
In another embodiment of the utility model, a kind of unmanned plane landing system is provided, which is characterized in that bag
It includes：Above-mentioned unmanned plane launching and recovering equipment and unmanned plane；Wherein, the unmanned plane includes：Fly control unit, landing unit, shooting
Unit, wireless charging receiving coil and the battery being connected with the wireless charging receiving coil；The landing unit and the nothing
Communication device wireless telecommunications connection in man-machine launching and recovering equipment, sends landing solicited message to unmanned plane launching and recovering equipment and receives institute
State the mobile landing position of platform of unmanned plane launching and recovering equipment feedback；The winged control unit is connected with the landing unit, according to institute
Mobile landing position of platform is stated to fly to the mobile landing platform overhead；The landing unit is connected with the shooting unit,
The winged control unit is guided according to the image information that the shooting unit shooting mobile landing platform obtains, so that described fly
Controlling unit controls the unmanned plane to complete landing.
In the technical solution that the utility model embodiment provides, it is removable that the landing platform of landing function is provided for unmanned plane
Dynamic landing platform, also, when unmanned plane needs landing, the location information of current landing platform can be got, and according to current
The location information of landing platform completes landing.It takes off as it can be seen that the utility model embodiment realizes unmanned plane from a place, another
The operating mode of one place landing.So, when unmanned plane acts a certain working region of flying to and works, mobile landing platform can
Being moved to the working region nearby waits unmanned plane to make a return voyage, and so drastically reduces unmanned plane and makes a return voyage distance, so as to increasing
The covered working region scope of unmanned plane work efficiency and unmanned plane institute.In addition, the setting can effectively protect of hatch door nobody
Machine is to reduce extent of the destruction of the harsh weather to it.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is
Some embodiments of the utility model, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structure diagram for the unmanned plane launching and recovering equipment that one embodiment of the utility model provides；
Fig. 2 is the structure diagram for the unmanned plane launching and recovering equipment that one embodiment of the utility model provides；
Fig. 3 is the structure diagram at the first direction visual angle for the mobile vehicle that one embodiment of the utility model provides；
Fig. 4 is the structure diagram at the second direction visual angle for the mobile vehicle that one embodiment of the utility model provides；
Fig. 5 is the structure diagram at the third direction visual angle for the mobile vehicle that one embodiment of the utility model provides；
Fig. 6 is the structure diagram for the unmanned plane that one embodiment of the utility model provides；
Fig. 7 is the structural representation at the first direction visual angle for the unmanned plane landing system that one embodiment of the utility model provides
Figure；
Fig. 8 is the structural representation at the second direction visual angle for the unmanned plane landing system that one embodiment of the utility model provides
Figure；
Fig. 9 is the structure diagram for the unmanned plane landing system that one embodiment of the utility model provides.
Figure 10 is the structure diagram for the landing positioning mark that one embodiment of the utility model provides.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe.Obviously, the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those skilled in the art are obtained without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Fig. 1 is the structure diagram for the unmanned plane launching and recovering equipment that one embodiment of the utility model provides；Fig. 2 is new for this practicality
The structure diagram for the unmanned plane launching and recovering equipment that one embodiment of type provides.As depicted in figs. 1 and 2, above-mentioned unmanned plane launching and recovering equipment
Including：Mobile landing platform 5, as shown in figure 4, mobile landing platform 5 includes at least one landing cabin, and it is right on each landing cabin
Hatch door 31 should be provided with；Communication device 7, the communication device 7 are communicated wirelessly with external unmanned plane；It is moved for positioning
The positioner 8 of 5 position of platform is dropped, is arranged on mobile landing platform 5；Controller 3, respectively with communication device 7, positioner
8 and hatch door 31 connect, what what the controller 3 obtained that the positioner 8 positions landed for instructing the external unmanned plane
Mobile landing position of platform indicates that the mobile landing position of platform is sent to the external unmanned plane by the communication device 7,
And the control hatch door 31 opens and closes.
Wherein, communication device 7 is connected with external unmanned plane wireless telecommunications；The controller 3 respectively with the communication device 7
Connected with the positioner 8, with receive that external unmanned plane is sent in communication device 7 landing solicited message after, instruction is fixed
The first position information of mobile landing platform 5 after the acquisition stagnation of movement of device 8 of position；And indicate communication device 7 by the first position
Information is sent to external unmanned plane.
Wherein, controller 3 wired or wireless can be connected with each hatch door 31, and controller can be referred to by sending to open the door to hatch door
Order is so that hatch door 31 is opened.When unmanned plane will take off, hatch door is opened；After unmanned plane flies away from mobile landing platform, close
Hatch door；When unmanned plane will make a return voyage, hatch door is opened；After unmanned plane lands, hatch door is closed；The is being sent to external unmanned plane
After one location information, the corresponding hatch door in landing cabin for controlling to receive external unmanned plane is opened；When external unmanned plane is completed to drop
Fall behind, corresponding hatch door is controlled to close.So, especially when running into rugged environment weather, unmanned plane enters landing cabin,
And hatch door is closed, it can effectively avoid destruction of the harsh weather to unmanned plane.
In the technical solution that the utility model embodiment provides, it is removable that the landing platform of landing function is provided for unmanned plane
Dynamic landing platform, also, when unmanned plane needs landing, the location information of current landing platform can be got, and according to current
The location information of landing platform completes landing.It takes off as it can be seen that the utility model embodiment realizes unmanned plane from a place, another
The operating mode of one place landing.So, when unmanned plane acts a certain working region of flying to and works, mobile landing platform can
Being moved to the working region nearby waits unmanned plane to make a return voyage, and so drastically reduces unmanned plane and makes a return voyage distance, so as to increasing
The covered working region scope of unmanned plane work efficiency and unmanned plane institute.In addition, the setting can effectively protect of hatch door nobody
Machine is to reduce extent of the destruction of the harsh weather to it.
As shown in figure 3, the mobile landing platform 5 further includes：Mobile vehicle 55, at least one landing cabin are respectively provided with
On the mobile vehicle 55, wherein, the mobile vehicle 55 can be vehicle (vehicle is illustrated that in Fig. 3) or ship, this
Utility model is not especially limited this.
In practical applications, mobile vehicle can be manned or unmanned.When for it is manned when, by driver
Control the movement of mobile vehicle；When mobile vehicle is unmanned, then controller 3 is connected with mobile vehicle 55, with control
The movement of mobile vehicle 55.Specifically, after communication device 7 receives the landing solicited message that external unmanned plane is sent, controller 3
Stagnation of movement instruction is sent to mobile vehicle 55, so that mobile landing carrier 55 is receiving stagnation of movement instruction or driving to specified stagnation of movement position
Stagnation of movement action is performed afterwards；After unmanned plane is completed to land, controller 3 sends driving instruction to mobile vehicle 55, so that mobile carry
Body 55 is travelled at the position indicated to driving instruction.Wherein, controller 3 and mobile vehicle 55 can be that wired connection is alternatively nothing
Line connects, and the utility model is not especially limited this.
In practical applications, when unmanned plane receives execution task, it is necessary to depart from mobile landing platform, and take off to finger
Determine working region and perform task.Unmanned plane is during execution task, except breaking down or meeting with the evils such as heavy rain because of machine
Situations such as bad environment, can also be because of not enough power supply, it is necessary to make a return voyage, it is necessary to landing of making a return voyage.Therefore, can be that unmanned plane launching and recovering equipment increases
Add charge function, to charge to unmanned plane, avoid the need for frequently replacing the huge workload that battery is brought for unmanned plane.
Specifically, it is provided with wireless charger 1 at landing cabin；Controller 3 is connected with wireless charger 1, is drop in external unmanned plane
Wireless charger 1 is controlled to work to carry out wireless charging to unmanned plane when on landing cabin.Wireless charging is provided on unmanned plane to connect
Take-up circle and the battery being connected with wireless charging receiving coil.After wireless charger detects wireless charging receiving coil, open
Beginning charges to unmanned plane.
Wherein, the wireless charger 1 in above-described embodiment can be connected by connecting line with controller 3 and realize wired connection,
Also can wireless connection be realized by wireless communication module, this present embodiment is not especially limited.It is of the prior art rise and fall it is flat
Platform only supports unmanned plane to rise and fall, and function is too single, it is impossible to more helps are played to unmanned plane, can not meet following unmanned plane
The big batch of industry, the use of high intensity.And existing technology be by quick-replaceable battery come solve aircraft matter of time and
Distance problem, but the interruption of work, and landing platform mobility of the prior art deficiency can be brought by frequently replacing battery,
It also needs to manually carry out intervening when unmanned plane is landed just to can ensure that unmanned plane landing is accurate, the degree of automation is low.In addition, this reality
With the unmanned plane launching and recovering equipment that new embodiment provides by setting multiple landing cabins, can supporting multi rack time unmanned plane while rising
Fall and/or charge, disclosure satisfy that multi rack time unmanned plane takes turns to operate, so as to short, the air mileage that solves the unmanned plane aircraft time
The problem of limited, can realize that multiple UAVs are carried out at the same time work.
In order to be best understood from the operating status of external unmanned plane, diagnosis can also be set to fill on unmanned plane launching and recovering equipment
Put, diagnostic device is connected with communicator 7, according to the attitude information transmitted by the external unmanned plane that communicator 7 receives come
The operating status of the external unmanned plane is diagnosed, if operating status is abnormality, exports information warning.It can so know in time
The operating status of road unmanned plane realizes the on-call maintenance to unmanned plane.
As shown in Figure 1, the unmanned plane launching and recovering equipment that above-described embodiment provides may also include：Charging controller 4；Charging valve
Reason device 4 is connected with wireless charger 1, and operating voltage is provided for wireless charger 1.Controller 3 is all provided with charging controller 4
It puts on mobile landing platform 5.When it is implemented, charging controller 4 and 1 wired connection of wireless charger, for by alternating current
By the way that the operating voltage needed for it is provided after the processing such as decompression, rectifying and wave-filtering for wireless charger.Controller 3 is filled with Charge Management
4 are put wired or wireless to connect.Controller 3 lands to send to charging controller 4 behind landing cabin and start in external unmanned plane
Instruction, so that charging controller 4 is powered for wireless charger 1.
As shown in Figure 1, being set side by side on mobile landing platform 5 there are two landing cabin, controller 3 and charging controller 4 are equal
It is arranged between two landing cabins.Further, controller 3 is located at the two of mobile landing platform 5 with charging controller 4 respectively
The edge of relative side.The situation in two landing cabins is only enumerated herein, in practical applications the landing on landing platform
Cabin can be one, three, four or more, and the utility model is symmetrically not especially limited.
Further, the unmanned plane launching and recovering equipment may also include：For detecting the whether idle detection device in landing cabin；
Controller 3 is connected with the detection device.Controller 3 indicates the communication after detection device has detected vacant landing cabin
The first position information is sent to the external unmanned plane by device 7.
In a kind of achievable scheme, detection device is connected respectively with the wireless charger 1 at least one landing cabin,
It is whether in running order to judge whether landing cabin is blank state where wireless charger by detecting wireless charger 1.
Judge whether landing cabin is vacant shape where wireless charger except through whether detection wireless charger is in running order
State, can also set laser beam emitting device and laser receiver, laser beam emitting device transmitting laser on landing cabin, and laser connects
Receiving apparatus receives reflection laser, and wherein reflection laser is reflected for the laser that laser beam emitting device is launched by barrier
Laser, detection device are connected respectively with laser beam emitting device and laser receiver, according to laser emission time and reflection laser
Receiving time between time difference judge whether landing cabin is blank state.Such as：One time threshold, time difference are set
More than time threshold, then judge landing cabin for blank state；Time difference is less than or equal to time threshold, then judges that landing cabin is not
Blank state.Operation principle is：When landing has unmanned plane on landing cabin, the laser that laser beam emitting device is sent can get to nobody
It on machine, therefore can be reflected back quickly, therefore the above-mentioned time difference can be very short；When there is no unmanned plane on landing cabin, Laser emission
The laser that device is sent can emit to aerial, and by that just can be reflected back or even not receive reflection laser for a long time,
Therefore the above-mentioned time difference can be very long.
Further, in order to realize the accurate landing of unmanned plane, landing positioning mark 2 can be set on the landing cabin.
Using the landing positioning mark being arranged on landing cabin the unmanned plane being in above landing cabin is guided accurately to land in landing
On cabin, reduce and only rely on light stream and GPS navigation in the prior art there are position error, realize that precisely landing reduces subsequent
Manual operation improves the degree of automation.
Further, the landing positioning mark referred in above-described embodiment is by multiple warning lamps according to setting pattern arrangement shape
Into；Alternatively, landing positioning mark is laid with by fluorescent belt according to setting pattern.In a kind of achievable technical solution, such as
Shown in Figure 10, setting pattern includes：Circular pattern 21 and in the circular pattern 21 and cross the two of circular pattern 21 center of circle
Bar 22 pattern of cross linear.Further, for the ease of the calculating of image identification, two intersect directly described in above-mentioned setting pattern
Line 22 can be vertically arranged.
The present embodiment is because unmanned plane is clapped at different locations why using circular and cross linear pattern
When taking the photograph, the image that circular pattern is clapped is different ellipses, can be gone out based on ellipse with backstepping directly over landing positioning mark
Specific location, it is relatively simple compared with other shapes ellipse backstepping process.Unmanned plane reaches the surface for positioning mark of landing
Afterwards, the circular size that can be taken by comparing and the difference of actual circular dimension and the ruler of the cross linear taken
Height of the unmanned plane apart from landing cabin is calculated in the very little difference with actual straight-line dimension.
As shown in Figure 7 and Figure 8, above-mentioned unmanned plane landing system includes：Above-mentioned unmanned plane launching and recovering equipment and unmanned plane
10.Wherein, as shown in fig. 6, the unmanned plane 10 includes：Fly control unit 101, landing unit 102, shooting unit 103, wireless charging
Receiving coil and the battery being connected with the wireless charging receiving coil；The landing unit 102 is set with the unmanned plane landing
Communication device wireless telecommunications connection in standby sends landing solicited message to unmanned plane launching and recovering equipment and receives the unmanned plane and rises
The mobile landing position of platform of equipment feedback drops；The winged control unit 101 and the landing unit 102 connect, according to the shifting
It flies to the mobile landing platform overhead dynamic landing position of platform；The landing unit 102 connects with the shooting unit 103
It connects, the image information guiding winged control unit 101 that the mobile landing platform obtains is shot according to the shooting unit 103,
So that the winged control unit 101 controls the unmanned plane to complete landing.
Unmanned plane lands behind landing cabin, and the wireless charger 1 in landing cabin is corresponding with wireless charging receiving coil, control
Device 3 controls wireless charger 1 to charge unmanned plane 10.
Above-mentioned winged control unit and landing unit can be mounted in the hardware entities on unmanned plane, like flying to control chip, landing
Chip etc.；Or fly control unit and landing unit as virtual module, i.e., the functional software on unmanned plane；Shooting unit is
Hardware entities on unmanned plane.The utility model is not especially limited this.Such as：Shooting unit can be mounted on
Holder camera below unmanned plane.
As depicted in figs. 1 and 2, which includes mobile landing platform 5；As shown in Figure 4 and Figure 5, it is mobile
Landing platform 5 includes at least one landing cabin, and is correspondingly arranged on hatch door 31 on each landing cabin；Communication device 7；For positioning
The positioner 8 of mobile 5 position of landing platform, is arranged on mobile landing platform 5；Controller 3, respectively with the communication device
7th, the positioner 8 and the hatch door 31 connect, be used to indicate the communication device 7 by for instruct unmanned plane land shifting
Dynamic 5 position of landing platform is sent to unmanned plane, and for the hatch door 31 to be controlled to open and close.
In the technical solution that the utility model embodiment provides, it is removable that the landing platform of landing function is provided for unmanned plane
Dynamic landing platform, also, when unmanned plane needs landing, the location information of current landing platform can be got, and according to current
The location information of landing platform completes landing.It takes off as it can be seen that the utility model embodiment realizes unmanned plane from a place, another
The operating mode of one place landing.So, when unmanned plane acts a certain working region of flying to and works, mobile landing platform can
Being moved to the working region nearby waits unmanned plane to make a return voyage, and so drastically reduces unmanned plane and makes a return voyage distance, so as to increasing
The covered working region scope of unmanned plane work efficiency and unmanned plane institute.
Further, unmanned plane may also include monitoring unit, which is connected with landing unit, to monitor to remain
When remaining electricity is less than threshold value or when the environmental parameter that gets does not meet flight environment of vehicle requirement, sent out to the unmanned plane launching and recovering equipment
Send landing solicited message.
Need exist for supplement be：The unmanned plane launching and recovering equipment referred in the present embodiment, which can be used in above-described embodiment, to be provided
Technical solution realize that concrete implementation structure and working principle can be found in the related content in above-described embodiment, herein no longer
It repeats.
In a kind of achievable scheme, as shown in figure 9, the unmanned plane landing system includes unmanned plane launching and recovering equipment, nothing
Man-machine A and unmanned plane B；Wherein, the wireless charger A being connected respectively with charging controller is provided on unmanned plane launching and recovering equipment
With wireless charger B, the hatch door A being connected respectively with controller and hatch door B is additionally provided with.Unmanned plane launching and recovering equipment, unmanned plane A and
Unmanned plane B can be used the technical solution provided in above-described embodiment and realize that concrete implementation structure and working principle can be found in
Corresponding contents in above-described embodiment, details are not described herein again.It will be introduced briefly the workflow of the unmanned plane landing system below：
S1, the assignment instructions that unmanned plane launching and recovering equipment receives outworker or master controller is assigned.
The corresponding hatch door A in landing cabin where S2, unmanned plane launching and recovering equipment control unmanned plane A is opened；Unmanned plane launching and recovering equipment
First is sent to unmanned plane A to take off instruction, so that unmanned plane A flies to specified regional work；After unmanned plane A is flown away from, nobody
Machine launching and recovering equipment control hatch door A is closed.
When S3, unmanned plane A working flights, monitor remaining capacity or obtain environmental parameter；If unmanned plane A monitors remaining electricity
When amount does not meet flight environment of vehicle requirement less than predetermined threshold value or environmental parameter, the transmission to unmanned plane launching and recovering equipment, which is landed, asks.
S4, unmanned plane launching and recovering equipment are after the landing solicited message of unmanned plane A transmissions is received, stagnation of movement, and obtain movement
Landing position of platform.
The corresponding hatch door B in landing cabin where S5, unmanned plane launching and recovering equipment control unmanned plane B is opened；Unmanned plane launching and recovering equipment
To unmanned plane B second is sent to take off instruction, described second takes off instruct in carry the current location information of unmanned plane A；In nothing
After man-machine B is flown away from, unmanned plane launching and recovering equipment control hatch door B is closed.
After S6, unmanned plane B reach unmanned plane A positions, signal is taken over to the transmission of unmanned plane launching and recovering equipment.
S7, unmanned plane launching and recovering equipment send mobile landing position of platform to unmanned plane A；Unmanned plane launching and recovering equipment controls nobody
The corresponding hatch door A in landing cabin is opened where machine A.
After S8, unmanned plane A receive mobile landing position of platform, fly to the top of mobile landing platform, and shoot, root
Landing is completed according to the image information taken.
The corresponding hatch door A in landing cabin where S9, unmanned plane launching and recovering equipment control unmanned plane A is closed.
Above-mentioned steps S8 is a process repeatedly, i.e. camera unit A is continuously clapped during unmanned plane A is moved
Take the photograph landing positioning mark, landing unit A after unmanned plane A often adjusts a position just based on adjustment after shoot landing positioning mark
The image of knowledge carries out an image identification, in order to fly the position that control unit A constantly adjusts unmanned plane A so that unmanned plane A is reached
The surface of landing positioning mark.
You need to add is that, in technical solution provided in this embodiment, mark guiding unmanned plane is positioned using landing herein
The principle of landing is as follows：Unmanned plane landing unit be can get landing positioning mark size and shape (such as from unmanned plane
Memory in obtain or from the controller on landing platform obtain etc.).It is assumed that landing positioning is identified as shown in Figure 10
Shape, wherein passing throughThe outer circle of type, the picture of the unmanned plane shooting at different position is different ellipses, can be with backstepping
Go out the specific displacement that unmanned plane positions mark surface away from landing.When unmanned plane is reached directly over LED warning lamps, landing unit root
According to the excircle dimension and straight length in shooting picture, it can be deduced that unmanned plane compared with vacant aircraft gate altitude information, from
And realize precision approach.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It still can modify to the technical solution recorded in foregoing embodiments or which part technical characteristic is carried out etc.
With replacement；And these modifications or replacement, the essence of appropriate technical solution is not made to depart from various embodiments of the utility model technology
The spirit and scope of scheme.
Claims (10)
1. a kind of unmanned plane launching and recovering equipment, which is characterized in that including：
Mobile landing platform, the mobile landing platform includes at least one landing cabin, and is correspondingly arranged on each landing cabin
Hatch door；
Communication device, the communication device are communicated wirelessly with external unmanned plane；
For positioning the positioner of the mobile landing position of platform, it is arranged on the mobile landing platform；
Controller is connected respectively with the communication device, the positioner and the hatch door, and it is described fixed that the controller obtains
Position device positioning is used to instruct the mobile landing position of platform that the external unmanned plane lands, and indicates the communication device by institute
It states mobile landing position of platform and is sent to the external unmanned plane and the control hatch door opening and closing.
2. unmanned plane launching and recovering equipment according to claim 1, which is characterized in that the mobile landing platform further includes movement
Carrier；At least one landing cabin is arranged on the mobile vehicle.
3. unmanned plane launching and recovering equipment according to claim 2, which is characterized in that
The controller is connected with the mobile vehicle, controls the movement of the mobile vehicle.
4. unmanned plane launching and recovering equipment according to any one of claim 1-3, which is characterized in that set at the landing cabin
There is wireless charger；
The controller is connected with the wireless charger, and institute is controlled when the external unmanned plane is drop on the landing cabin
Wireless charger work is stated to carry out wireless charging to the external unmanned plane.
5. unmanned plane launching and recovering equipment according to claim 4, which is characterized in that further include：Charging controller；
The charging controller is connected with the wireless charger, and operating voltage is provided for the wireless charger.
6. unmanned plane launching and recovering equipment according to any one of claim 1-3, which is characterized in that the landing cabin is equipped with
Landing positioning mark.
7. unmanned plane launching and recovering equipment according to claim 6, which is characterized in that the landing positioning mark is by multiple warnings
Lamp is according to setting pattern arrangement form；
Alternatively, the landing positioning mark is laid with by fluorescent belt according to setting pattern.
8. unmanned plane launching and recovering equipment according to claim 7, which is characterized in that the setting pattern includes：Circular pattern
And in the circular pattern and cross two cross linear patterns in the circular pattern center of circle.
9. unmanned plane launching and recovering equipment according to claim 8, which is characterized in that two intersections described in the setting pattern
Straight line is vertical.
10. a kind of unmanned plane landing system, which is characterized in that including：Nobody any one of the claims 1 to 9
Machine launching and recovering equipment and unmanned plane；Wherein, the unmanned plane includes：Fly control unit, landing unit, shooting unit, wireless charging
Receiving coil and the battery being connected with the wireless charging receiving coil；
The landing unit is connected with the communication device wireless telecommunications in the unmanned plane launching and recovering equipment, to unmanned plane launching and recovering equipment
It sends landing solicited message and receives the mobile landing position of platform of the unmanned plane launching and recovering equipment feedback；
The winged control unit is connected with the landing unit, is flown according to the mobile landing position of platform to the mobile landing
Platform overhead；
The landing unit is connected with the shooting unit, shoots what the mobile landing platform obtained according to the shooting unit
Image information guides the winged control unit, so that the winged control unit controls the unmanned plane to complete landing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721517428.9U CN207417175U (en) | 2017-11-14 | 2017-11-14 | Unmanned plane launching and recovering equipment and unmanned plane landing system |
Applications Claiming Priority (1)
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| CN109159677A (en) * | 2018-08-01 | 2019-01-08 | 深圳市旭发智能科技有限公司 | A kind of unmanned plane charging base station |
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