WO2023011038A1 - Take-off and landing method and system for unmanned aerial vehicle on unmanned aerial vehicle airport - Google Patents

Take-off and landing method and system for unmanned aerial vehicle on unmanned aerial vehicle airport Download PDF

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Publication number
WO2023011038A1
WO2023011038A1 PCT/CN2022/100916 CN2022100916W WO2023011038A1 WO 2023011038 A1 WO2023011038 A1 WO 2023011038A1 CN 2022100916 W CN2022100916 W CN 2022100916W WO 2023011038 A1 WO2023011038 A1 WO 2023011038A1
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Prior art keywords
landing
uav
take
information
unmanned aerial
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PCT/CN2022/100916
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French (fr)
Chinese (zh)
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陈军
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陈军
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Publication of WO2023011038A1 publication Critical patent/WO2023011038A1/en

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    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the invention relates to the technical field of UAV airports, in particular to a method and system for taking off and landing of UAVs at UAV airports.
  • the main technical means of existing airport management aircraft include primary surveillance reflective radar (PSR) and secondary surveillance interrogation-response radar (SSR).
  • PSR primary surveillance reflective radar
  • SSR secondary surveillance interrogation-response radar
  • ADS-B Automatic Dependent Surveillance-Broadcast
  • ADS-B is a surveillance technology in which aircraft automatically provide data generated by onboard navigation equipment and positioning systems through a data link in broadcast mode, including aircraft identification, four-dimensional positioning, and other related additional data.
  • the communication standard of ADS-B is broadcast-type two-way communication, which is used for track tracking and control data communication.
  • the ground-air data link mainly adopts the AEEC618/AEEC622 protocol mode, which is a response-type two-way communication.
  • Mode S 1090 ES Mode S 1090 ES
  • UAT User
  • VDL MODE 4 three main data link technologies available for ADS-B technology.
  • the data refresh rate of the ADS-B communication system is restricted by the response protocol, and its synchronization and real-time performance cannot meet the needs of high-density flight control services.
  • UAVs can be divided into ultra-low-altitude UAVs, low-altitude UAVs, medium-altitude UAVs, high-altitude UAVs and ultra-high-altitude UAVs according to the mission height.
  • the mission height of ultra-low-altitude UAVs is generally between 0 and 100m
  • the mission height of low-altitude UAVs is generally between 100 and 1000m
  • the mission height of medium-altitude UAVs is generally between 1000 and 7000m
  • the mission height of high-altitude UAVs is generally Between 7000 and 18000m
  • the mission height of ultra-high-altitude drones is generally greater than 18000m.
  • V2X vehicle to everything
  • DSRC dedicated short-range communication
  • C-V2X cellular vehicle to everything
  • LTE-V2X and 5G NR-V2X LTE-V2X and 5G NR-V2X
  • the patent of the present invention provides a method for UAV take-off and landing at UAV airports And a system for solving the problems in the above-mentioned background technology.
  • a method for unmanned aerial vehicles to take off and land at unmanned aerial vehicle airports which is used for unmanned aerial vehicles, and the method includes:
  • the take-off and landing route includes: access point, mark point, longitude, latitude and height information of the parking stand;
  • the take-off and landing permission information includes: whether the UAV is allowed to take off and land, and the take-off and landing route is allowed;
  • the UAV airport server perform flight operations according to the take-off and landing flight route of the UAV, and report flight information to the UAV airport server in real time, and the flight information includes: latitude and longitude information, altitude information, and speed information of the actual take-off and landing flight route track points;
  • the take-off and landing completion information includes: when the UAV performs take-off, the landing completion information sent by the UAV when it arrives at the parking stand; or when the UAV performs landing, The takeoff completion message sent by the drone when leaving the access point.
  • the determining the takeoff and landing flight route of the UAV according to the takeoff and landing permission information and the V2X information received in real time also includes:
  • the takeoff and landing flight route of the UAV is determined according to the takeoff and landing permission information, the V2X information received in real time, and the ADS-B information received in real time.
  • the method also includes:
  • the service fee is paid to the UAV airport server.
  • a method for taking off and landing a UAV airport by a UAV is used for an UAV airport server, and the method includes:
  • Release the idle information of the take-off and landing routes of UAV airports in real time through V2X, and the take-off and landing routes include: access points, marking points, longitude, latitude and height information of parking positions;
  • the flight information includes: latitude and longitude information, altitude information, and speed information of the actual take-off and landing flight route track points;
  • the receiving the take-off and landing completion information sent by the UAV further includes: receiving and confirming the service fee paid by the UAV.
  • marking the permitted take-off and landing route as an idle state further includes:
  • an unmanned aerial vehicle includes: a take-off and landing route unit, an unmanned aerial vehicle main unit, and a V2X unit; the unmanned aerial vehicle main unit is electrically connected to the V2X unit;
  • the take-off and landing route unit is used to communicate with the UAV airport server, including: take-off and landing route information, determining the take-off and landing flight route of the UAV, and managing flight according to the take-off and landing flight route;
  • the UAV host unit includes a processor module, a communication module, a storage module, a flight module, and a power supply module, and is used to execute the instructions of the take-off and landing route unit to control the flight of the UAV.
  • a processor module a communication module, a storage module, a flight module, and a power supply module, and is used to execute the instructions of the take-off and landing route unit to control the flight of the UAV.
  • the V2X unit is used for performing V2X protocol communication with the UAV terminal equipped with the V2X unit or the UAV airport server.
  • a drone airport server includes: a take-off and landing route unit, a drone airport host unit, and a V2X unit; the drone airport host unit is electrically connected to the V2X unit;
  • the take-off and landing route unit is used to manage the take-off and landing route information of UAV airports;
  • the host unit of the UAV airport includes a processor module, a communication module, a storage module, and a power module, which are used to execute the instructions of the take-off and landing route unit, and communicate with the UAV through the V2X unit and the communication module;
  • the V2X unit is used for performing V2X protocol communication with the UAV terminal equipped with the V2X unit or the UAV airport server.
  • launch towers can be set up at drone airports, omnidirectional V2X antennas can be installed, or V2X antennas can be set up for directional coverage in the upward airspace.
  • LTE-V2X In line-of-sight communication, LTE-V2X can meet the needs of ultra-low-altitude drones. communication needs.
  • a system for taking off and landing a UAV at an UAV airport includes: a UAV and an UAV airport server; the UAV and the UAV airport server are connected through a V2X protocol network.
  • a non-transitory computer-readable storage medium on which a computer program is stored, is characterized in that, when the computer program is executed by a processor, the above-mentioned steps of the method for taking off and landing a UAV at an UAV airport are realized.
  • the invention provides a method and a system for taking off and landing a UAV at an UAV airport. Has the following beneficial effects:
  • the UAV airport server of the present invention releases the idle information of the take-off and landing routes of the UAV airport in real time through V2X, and dynamically manages the take-off and landing routes, so that the UAV can freely select the parking position of the UAV airport.
  • the airport can conveniently park multiple drones.
  • the UAV airport of the invention can realize the docking of dense UAVs and the management of the surrounding airspace, so as to meet the needs of convenient take-off and landing of UAVs.
  • Fig. 1 is the flow chart of embodiment one of the present invention
  • FIG. 2 is a schematic structural view of Embodiment 3 of the present invention.
  • FIG. 3 is a schematic structural view of Embodiment 4 of the present invention.
  • FIG. 4 is a system block diagram of Embodiment 5 of the present invention.
  • Embodiment 1 of the present invention discloses a method for unmanned aerial vehicles to take off and land at an unmanned aerial vehicle airport. Referring to FIG. 1, it is used for unmanned aerial vehicles, including the following steps:
  • Step S11 listen to the idle UAV airport take-off and landing route information released by the UAV airport server in real time through V2X.
  • the take-off and landing route includes: access point, mark point, longitude, latitude and height information of the parking stand;
  • Step S12 sending a request for the drone to take off and land on a designated route to the UAV airport server;
  • Step S13 receiving the take-off and landing permission information sent by the UAV airport server, the take-off and landing permission information includes: whether the UAV is allowed to take off and land, and the take-off and landing route;
  • Step S14 Determine the take-off and landing flight route of the UAV according to the take-off and landing permission information and the V2X information received in real time;
  • Flight route UAVs can adopt different flight strategies between different marking points according to the obstacles faced by the V2X information received in real time, such as straight-line flight, curved flight, parabolic flight, etc.
  • Step S15 perform the flight operation according to the take-off and landing flight route of the UAV, and report the flight information to the UAV airport server in real time, the flight information includes: the latitude and longitude and altitude information of the actual take-off and landing flight route track points, speed information;
  • Step S16 sending take-off and landing completion information, the take-off and landing completion information includes: when the UAV performs take-off and arrives at the parking space, the landing completion information sent by the UAV; or when the UAV executes When landing, the takeoff completion message sent by the drone when leaving the access point.
  • a V2X drone airport is invented.
  • the drone can freely select the drone airport, and the drone airport can conveniently park multiple drones.
  • the take-off and landing routes are invented at the same time, which expands the airspace management scope of the UAV airport, so that the UAV airport provides a good airport infrastructure for multiple UAVs to provide public parking services.
  • the receiving sensitivity of the RSU is -97dBm.
  • the maximum coverage radius of the RSU in the UAV airport is about 600 meters in LOS, and the maximum coverage radius in NLOS is about 80 meters. And this meets the communication requirements between the UAV airport server and the ultra-low altitude UAV.
  • the average periodic packet length is 1200 Byte, and the message sending frequency is 2 Hz.
  • the RSU spectrum requirement is 0.1 MHz. This means that a single UAV airport RSU or a one-way UAV airport RSU can meet the intensive flight and docking requirements of hundreds of UAVs under the premise of 20M bandwidth.
  • the determining the takeoff and landing flight route of the UAV according to the takeoff and landing permission information and the V2X information received in real time also includes:
  • the takeoff and landing flight route of the UAV is determined according to the takeoff and landing permission information, the V2X information received in real time, and the ADS-B information received in real time.
  • Integrated ADS-B information to reduce the possibility of collision with other types of aircraft during takeoff and landing.
  • the method also includes:
  • the service fee is paid to the UAV airport server.
  • UAVs use blockchain payment methods to trade with UAV airport servers, decentralized transactions, and reduce the possibility of being tracked, thereby improving the safety space of UAV flight.
  • Embodiment 2 of the present invention discloses a method for taking off and landing a UAV at an UAV airport, which is used for a UAV airport server.
  • the method includes:
  • Release the idle information of the take-off and landing routes of UAV airports in real time through V2X, and the take-off and landing routes include: access points, marking points, longitude, latitude and height information of parking positions;
  • the flight information includes: latitude and longitude information, altitude information, and speed information of the actual take-off and landing flight route track points;
  • a V2X UAV airport is invented, an airport access point takeoff and landing route is invented, and the UAV airport server can facilitate airport airspace management.
  • the drone can freely choose the drone airport, and the drone airport can conveniently park multiple drones.
  • the receiving sensitivity of the RSU is -97dBm.
  • the maximum coverage radius of the RSU in the UAV airport is about 600 meters in LOS, and the maximum coverage radius in NLOS is about 80 meters. And this meets the communication requirements between the UAV airport server and the ultra-low altitude UAV.
  • the average periodic packet length is 1200 Byte, and the message sending frequency is 2 Hz.
  • the RSU spectrum requirement is 0.1 MHz. This means that a single UAV airport RSU or a one-way UAV airport RSU can meet the intensive flight and docking requirements of hundreds of UAVs under the premise of 20M bandwidth.
  • the receiving the take-off and landing completion information sent by the UAV further includes: receiving and confirming the service fee paid by the UAV.
  • UAVs use blockchain payment methods to trade with UAV airport servers, decentralized transactions, and reduce the possibility of being tracked, thereby improving the safety space of UAV flight.
  • marking the permitted take-off and landing route as an idle state further includes:
  • the judgment information of the UAV airport server on the UAV can be quickly corrected in real time, further improving the management of the UAV airport server near the airport. airspace capabilities.
  • Embodiment 3 of the present invention discloses an unmanned aerial vehicle, including: a take-off and landing route unit, an unmanned aerial vehicle main unit, and a V2X unit; the unmanned aerial vehicle main unit is electrically connected to the V2X unit.
  • the take-off and landing route unit is used to communicate with the UAV airport server, including: take-off and landing route information, determining the take-off and landing flight route of the UAV, and managing flight according to the take-off and landing flight route.
  • the UAV host unit includes a processor module, a communication module, a storage module, a flight module, and a power supply module, and is used to execute the instructions of the take-off and landing route unit to control the flight of the UAV.
  • the communication module Through the V2X unit, the communication module and the unmanned Airport server communication; the communication module here is the traditional 4G/5G/WIFI wireless communication technology.
  • the V2X unit is used for performing V2X protocol communication with the UAV terminal equipped with the V2X unit or the UAV airport server.
  • Embodiment 4 of the present invention discloses a drone airport server, including: a take-off and landing route unit, a drone airport host unit, and a V2X unit; the drone airport host unit is electrically connected to the V2X unit.
  • the take-off and landing route unit is used to manage the take-off and landing route information of UAV airports.
  • the host unit of the UAV airport includes a processor module, a communication module, a storage module, and a power module, which are used to execute the command of the take-off and landing route unit, and communicate with the UAV through the V2X unit and the communication module; the communication here
  • the module is a traditional 4G/5G/WIFI wireless communication technology.
  • the V2X unit is used for performing V2X protocol communication with the UAV terminal equipped with the V2X unit or the UAV airport server.
  • Embodiment 5 of the present invention discloses a system for UAV take-off and landing UAV airport, including: UAV, UAV airport server; the UAV and the UAV airport server are networked through the V2X protocol connect.
  • Embodiment 6 of the present invention discloses a non-transitory computer-readable storage medium on which a computer program is stored, and the feature is that, when the computer program is executed by a processor, the steps of the methods in the above-mentioned embodiments are implemented.
  • Storage media can include high-speed random access storage media, and can also include non-volatile storage media, such as hard disks, memory, plug-in hard disks, smart memory cards (Smart Media Card, SMC), Secure Digital (SecureDigital, SD) card, flash memory card (Flash Card), at least one disk storage medium, flash memory device, or other volatile solid-state storage medium, etc.
  • the UAV airport server of the present invention releases the idle information of the take-off and landing routes of the UAV airport in real time through V2X, and dynamically manages the take-off and landing routes, so that the UAV can freely select the parking position of the UAV airport, and the unmanned The airport can conveniently park multiple drones.
  • the UAV airport of the invention can realize the docking of dense UAVs and the management of the surrounding airspace, so as to meet the needs of convenient take-off and landing of UAVs.
  • the disclosed system, device and method can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be Incorporation may either be integrated into another system, or some features may be omitted, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
  • the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute all or part of the steps of the method described in each embodiment of the present invention.
  • a computer device which may be a personal computer, a server, or a network device, etc.
  • a processor processor
  • the foregoing storage medium comprises: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes.

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

A take-off and landing method and system for an unmanned aerial vehicle on an unmanned aerial vehicle airport, relating to the technical field of unmanned aerial vehicle airports. The take-off and landing method for an unmanned aerial vehicle on an unmanned aerial vehicle airport comprises: listening to, in real time by means of V2X, take-off and landing route information of an idle unmanned aerial vehicle airport published by an unmanned aerial vehicle airport server (S11); sending, to the unmanned aerial vehicle airport server, a request for take-off and landing of an unmanned aerial vehicle at a specified route (S12); receiving take-off and landing permission information sent by the unmanned aerial vehicle airport server (S13); determining a take-off and landing flight route of the unmanned aerial vehicle according to the take-off and landing permission information and V2X information received in real time (S14); performing a flight operation according to the take-off and landing flight route of the unmanned aerial vehicle, and reporting flight information to the unmanned aerial vehicle airport server in real time (S15); and sending take-off and landing completion information (S16). Dense landing of unmanned aerial vehicles and surrounding airspace management can be implemented by means of the unmanned aerial vehicle airport, thereby meeting requirements of convenient take-off and landing of the unmanned aerial vehicles.

Description

一种无人机起降无人机机场的方法及***A method and system for unmanned aerial vehicles to take off and land at unmanned aerial vehicle airports 技术领域technical field
本发明涉及无人机机场技术领域，特别的为一种无人机起降无人机机场的方法及***。The invention relates to the technical field of UAV airports, in particular to a method and system for taking off and landing of UAVs at UAV airports.
背景技术Background technique
现有机场管理飞机主要技术手段有一次监视反射式雷达（PSR）和二次监视询问—应答雷达(SSR)等方式。The main technical means of existing airport management aircraft include primary surveillance reflective radar (PSR) and secondary surveillance interrogation-response radar (SSR).
改进的技术中，目前很多机场安装了ADS-B设备，地面和其他航空器可以接收ADS-B数据，并用于各种用途，如在无雷达覆盖地区提供ATC监视，机场场面监视以及未来空-空监视等应用服务。广播式自动相关监视（ADS-B）是一种监视技术，即航空器通过广播模式的数据链，自动提供由机载导航设备和定位***生成的数据，包括航空器识别、四维定位以及其他相关的附加数据。ADS-B的通信制式是广播式双向通信，用来进行航迹跟踪和管制数据通信的地空数据链，主要采用AEEC618/AEEC622协议方式，属应答式双向通信。ADS-B技术可选的数据链技术主要有3种：Mode S 1090 ES、UAT、VDL MODE 4。实际使用中，ADS-B通信制式的数据刷新率受应答协议制约，其同步性和实时性都不能满足高密度飞行管制服务需求。Among the improved technologies, many airports are currently equipped with ADS-B equipment, and ground and other aircraft can receive ADS-B data and use them for various purposes, such as providing ATC surveillance in non-radar coverage areas, airport surface surveillance and future air-to-air Monitoring and other application services. Automatic Dependent Surveillance-Broadcast (ADS-B) is a surveillance technology in which aircraft automatically provide data generated by onboard navigation equipment and positioning systems through a data link in broadcast mode, including aircraft identification, four-dimensional positioning, and other related additional data. The communication standard of ADS-B is broadcast-type two-way communication, which is used for track tracking and control data communication. The ground-air data link mainly adopts the AEEC618/AEEC622 protocol mode, which is a response-type two-way communication. There are three main data link technologies available for ADS-B technology: Mode S 1090 ES, UAT, and VDL MODE 4. In actual use, the data refresh rate of the ADS-B communication system is restricted by the response protocol, and its synchronization and real-time performance cannot meet the needs of high-density flight control services.
目前按任务高度分类，无人机可以分为超低空无人机、低空无人机、中空无人机、高空无人机和超高空无人机。超低空无人机任务高度一般在0～100m之间，低空无人机任务高度一般在100～1000m之间，中空无人机任务高度一般在1000～7000m之间，高空无人机任务高度一般在7000～18000m之间，超高空无人机任务高度一般大于18000m。At present, UAVs can be divided into ultra-low-altitude UAVs, low-altitude UAVs, medium-altitude UAVs, high-altitude UAVs and ultra-high-altitude UAVs according to the mission height. The mission height of ultra-low-altitude UAVs is generally between 0 and 100m, the mission height of low-altitude UAVs is generally between 100 and 1000m, the mission height of medium-altitude UAVs is generally between 1000 and 7000m, and the mission height of high-altitude UAVs is generally Between 7000 and 18000m, the mission height of ultra-high-altitude drones is generally greater than 18000m.
V2X（vehicle to everything）通信的主流技术包括专用短程通信（dedicated short range communication，DSRC）技术和基于蜂窝移动通信***的C-V2X（cellular vehicle to everything）技术（包括LTE-V2X和5G NR-V2X）。V2X技术能够满足在移动环境中提供低时延、高可靠、高速率、安全的通信能力。The mainstream technology of V2X (vehicle to everything) communication includes dedicated short-range communication (dedicated short range communication (DSRC) technology and C-V2X (cellular vehicle to everything) technologies (including LTE-V2X and 5G NR-V2X). V2X technology can provide low-latency, high-reliability, high-speed, and secure communication capabilities in a mobile environment.
技术问题technical problem
发明人发现，随着超低空无人机迅猛发展，迫切需要一种无人机起降无人机机场的方法，无人机自由选择无人机机场停机位，无人机机场可便捷停靠多架无人机。The inventor found that with the rapid development of ultra-low-altitude UAVs, there is an urgent need for a method for UAVs to take off and land at the UAV airport. drone.
为了克服现有技术无人机无法自由选择无人机机场停机位，无人机机场停靠多架无人机便捷性差的缺点，本发明专利提供一种无人机起降无人机机场的方法及***，用于解决上述背景技术中的问题。In order to overcome the shortcomings of the prior art that UAVs cannot freely choose the parking space of UAV airports, and the convenience of parking multiple UAVs at UAV airports is poor, the patent of the present invention provides a method for UAV take-off and landing at UAV airports And a system for solving the problems in the above-mentioned background technology.
技术解决方案technical solution
为实现以上目的，本发明通过以下技术方案予以实现：一种无人机起降无人机机场的方法，用于无人机，所述方法包括：In order to achieve the above purpose, the present invention is achieved through the following technical solutions: a method for unmanned aerial vehicles to take off and land at unmanned aerial vehicle airports, which is used for unmanned aerial vehicles, and the method includes:
通过V2X实时收听无人机机场服务器发布的空闲的无人机机场起飞降落航线信息，所述起飞降落航线包括：接入点、标记点、停机位的经纬度和高度信息；Listen to the idle UAV airport take-off and landing route information released by the UAV airport server in real time through V2X. The take-off and landing route includes: access point, mark point, longitude, latitude and height information of the parking stand;
向所述无人机机场服务器发送无人机在指定航线起飞降落的请求；Send a request for the UAV to take off and land on the specified route to the UAV airport server;
接收所述无人机机场服务器发送的起飞降落许可信息，所述起飞降落许可信息包含：是否许可所述无人机起飞降落、许可起飞降落航线；Receive the take-off and landing permission information sent by the UAV airport server, the take-off and landing permission information includes: whether the UAV is allowed to take off and land, and the take-off and landing route is allowed;
根据所述起飞降落许可信息、实时接收的V2X信息确定无人机起飞降落飞行路线；Determine the takeoff and landing flight route of the UAV according to the takeoff and landing permission information and the V2X information received in real time;
按照所述无人机起飞降落飞行路线执行飞行操作，并实时向所述无人机机场服务器报告飞行信息，所述飞行信息包括：实际起飞降落飞行路线轨迹点的经纬度和高度信息、速度信息；Perform flight operations according to the take-off and landing flight route of the UAV, and report flight information to the UAV airport server in real time, and the flight information includes: latitude and longitude information, altitude information, and speed information of the actual take-off and landing flight route track points;
发送起飞降落完成信息，所述起飞降落完成信息包括：当所述无人机执行起飞时，到达停机位时所述无人机发送的降落完成信息；或当所述无人机执行降落时，离开接入点时所述无人机发送的起飞完成信息。Send take-off and landing completion information, the take-off and landing completion information includes: when the UAV performs take-off, the landing completion information sent by the UAV when it arrives at the parking stand; or when the UAV performs landing, The takeoff completion message sent by the drone when leaving the access point.
进一步地，所述根据所述起飞降落许可信息、实时接收的V2X信息确定无人机起飞降落飞行路线还包括：Further, the determining the takeoff and landing flight route of the UAV according to the takeoff and landing permission information and the V2X information received in real time also includes:
根据所述起飞降落许可信息、实时接收的V2X信息、实时接收的ADS-B信息确定无人机起飞降落飞行路线。The takeoff and landing flight route of the UAV is determined according to the takeoff and landing permission information, the V2X information received in real time, and the ADS-B information received in real time.
进一步地，所述方法还包括：Further, the method also includes:
根据无人机机场服务器区块链收款地址，完成支付服务费给无人机机场服务器。According to the receiving address of the UAV airport server block chain, the service fee is paid to the UAV airport server.
另一方面，一种无人机起降无人机机场的方法，用于无人机机场服务器，所述方法包括：On the other hand, a method for taking off and landing a UAV airport by a UAV is used for an UAV airport server, and the method includes:
通过V2X实时发布无人机机场起飞降落航线空闲信息，所述起飞降落航线包括：接入点、标记点、停机位的经纬度和高度信息；Release the idle information of the take-off and landing routes of UAV airports in real time through V2X, and the take-off and landing routes include: access points, marking points, longitude, latitude and height information of parking positions;
接收无人机发送的在指定起飞降落航线起飞降落的请求；Receive the request sent by the UAV to take off and land on the designated takeoff and landing route;
向所述无人机发送起飞降落许可信息，同时将指定起飞降落航线标记为占用状态，所述起飞降落许可信息包含：是否许可所述无人机起飞降落、许可起飞降落航线； Send take-off and landing permission information to the UAV, and mark the designated take-off and landing route as an occupied state, and the take-off and landing permission information includes: whether the UAV is allowed to take off and land, and the take-off and landing route is permitted;
接收所述无人机发送的飞行信息，所述飞行信息包括：实际起飞降落飞行路线轨迹点的经纬度和高度信息、速度信息；Receive the flight information sent by the UAV, the flight information includes: latitude and longitude information, altitude information, and speed information of the actual take-off and landing flight route track points;
接收所述无人机发送的起飞降落完成信息，当所述无人机执行起飞时，到达停机位时所述无人机发送的降落完成信息；或当所述无人机执行降落时，离开接入点时所述无人机发送的起飞完成信息；Receive the take-off and landing completion information sent by the UAV, when the UAV performs take-off, arrive at the landing position when the UAV sends the landing completion information; or when the UAV performs landing, leave The take-off completion information sent by the UAV during the access point;
将所述许可起飞降落航线标记为空闲状态。Mark the permitted takeoff and landing routes as idle.
进一步地，所述接收所述无人机发送的起飞降落完成信息还包括：接收确认所述无人机支付的服务费。Further, the receiving the take-off and landing completion information sent by the UAV further includes: receiving and confirming the service fee paid by the UAV.
进一步地，所述将所述许可起飞降落航线标记为空闲状态还包括：Further, the marking the permitted take-off and landing route as an idle state further includes:
接收所述无人机广播的V2X信息或ADS-B信息；Receive V2X information or ADS-B information broadcast by the UAV;
通过所述V2X信息或ADS-B信息验证判断所述无人机是否已经离开所述许可起飞降落航线，如已离开，将所述许可起飞降落航线标记为空闲状态。Judging whether the UAV has left the permitted take-off and landing route through the verification of the V2X information or ADS-B information, and marking the permitted take-off and landing route as an idle state if it has left.
另一方面，一种无人机，包括：起飞降落航线单元、无人机主机单元、V2X单元；所述无人机主机单元与所述V2X单元电性连接；On the other hand, an unmanned aerial vehicle includes: a take-off and landing route unit, an unmanned aerial vehicle main unit, and a V2X unit; the unmanned aerial vehicle main unit is electrically connected to the V2X unit;
所述起飞降落航线单元，用于与无人机机场服务器通信包括：起飞降落航线信息、确定无人机起飞降落飞行路线、管理按起飞降落飞行路线飞行；The take-off and landing route unit is used to communicate with the UAV airport server, including: take-off and landing route information, determining the take-off and landing flight route of the UAV, and managing flight according to the take-off and landing flight route;
所述无人机主机单元，包括处理器模块、通信模块、存储模块、飞行模块、电源模块，用于执行起飞降落航线单元指令控制无人机飞行，通过所述V2X单元、通信模块与无人机机场服务器通信；The UAV host unit includes a processor module, a communication module, a storage module, a flight module, and a power supply module, and is used to execute the instructions of the take-off and landing route unit to control the flight of the UAV. Through the V2X unit, the communication module and the unmanned Airport server communication;
所述V2X单元，用于与装备有V2X单元的无人机终端或无人机机场服务器进行V2X协议通信。The V2X unit is used for performing V2X protocol communication with the UAV terminal equipped with the V2X unit or the UAV airport server.
另一方面，一种无人机机场服务器，包括：起飞降落航线单元、无人机机场主机单元、V2X单元；所述无人机机场主机单元与所述V2X单元电性连接；On the other hand, a drone airport server includes: a take-off and landing route unit, a drone airport host unit, and a V2X unit; the drone airport host unit is electrically connected to the V2X unit;
所述起飞降落航线单元，用于管理无人机机场起飞降落航线信息；The take-off and landing route unit is used to manage the take-off and landing route information of UAV airports;
所述无人机机场主机单元，包括处理器模块、通信模块、存储模块、电源模块，用于执行起飞降落航线单元指令、通过所述V2X单元、通信模块与无人机通信；The host unit of the UAV airport includes a processor module, a communication module, a storage module, and a power module, which are used to execute the instructions of the take-off and landing route unit, and communicate with the UAV through the V2X unit and the communication module;
所述V2X单元，用于与装备有V2X单元的无人机终端或无人机机场服务器进行V2X协议通信。The V2X unit is used for performing V2X protocol communication with the UAV terminal equipped with the V2X unit or the UAV airport server.
在实际的设备部署中，可以在无人机机场设置发射塔台，安装全向V2X天线，或者设置V2X天线向上空域定向覆盖，在视距通信时，LTE-V2X时可满足超低空无人机的通信需求。In actual equipment deployment, launch towers can be set up at drone airports, omnidirectional V2X antennas can be installed, or V2X antennas can be set up for directional coverage in the upward airspace. In line-of-sight communication, LTE-V2X can meet the needs of ultra-low-altitude drones. communication needs.
另一方面，一种无人机起降无人机机场的***，包括：无人机、无人机机场服务器；所述无人机与所述无人机机场服务器通过V2X协议网络连接。On the other hand, a system for taking off and landing a UAV at an UAV airport includes: a UAV and an UAV airport server; the UAV and the UAV airport server are connected through a V2X protocol network.
另一方面，一种非暂态计算机可读存储介质，其上存储有计算机程序，其特征在于，该计算机程序被处理器执行时实现上述无人机起降无人机机场的方法的步骤。On the other hand, a non-transitory computer-readable storage medium, on which a computer program is stored, is characterized in that, when the computer program is executed by a processor, the above-mentioned steps of the method for taking off and landing a UAV at an UAV airport are realized.
本发明提供了一种无人机起降无人机机场的方法及***。具备以下有益效果：The invention provides a method and a system for taking off and landing a UAV at an UAV airport. Has the following beneficial effects:
本发明中：本发明无人机机场服务器通过V2X实时发布无人机机场起飞降落航线空闲信息，对起飞降落航线进行动态管理，从而实现了无人机自由选择无人机机场停机位，无人机机场可便捷停靠多架无人机。通过本发明无人机机场可实现对密集无人机的停靠以及周边空域管理，满足无人机便捷起飞降落需求。In the present invention: the UAV airport server of the present invention releases the idle information of the take-off and landing routes of the UAV airport in real time through V2X, and dynamically manages the take-off and landing routes, so that the UAV can freely select the parking position of the UAV airport. The airport can conveniently park multiple drones. The UAV airport of the invention can realize the docking of dense UAVs and the management of the surrounding airspace, so as to meet the needs of convenient take-off and landing of UAVs.
附图说明Description of drawings
图1为本发明实施例一的流程图；Fig. 1 is the flow chart of embodiment one of the present invention;
图2为本发明实施例三的结构示意图；FIG. 2 is a schematic structural view of Embodiment 3 of the present invention;
图3为本发明实施例四的结构示意图；FIG. 3 is a schematic structural view of Embodiment 4 of the present invention;
图4为本发明实施例五的***框图。FIG. 4 is a system block diagram of Embodiment 5 of the present invention.
具体实施方式Detailed ways
下面结合附图与实施例对本发明作进一步说明：Below in conjunction with accompanying drawing and embodiment the present invention will be further described:
实施例一：Embodiment one:
本发明实施例一公开了一种无人机起降无人机机场的方法，参照图1，用于无人机，包括以下步骤：Embodiment 1 of the present invention discloses a method for unmanned aerial vehicles to take off and land at an unmanned aerial vehicle airport. Referring to FIG. 1, it is used for unmanned aerial vehicles, including the following steps:
步骤S11，通过V2X实时收听无人机机场服务器发布的空闲的无人机机场起飞降落航线信息，所述起飞降落航线包括：接入点、标记点、停机位的经纬度和高度信息；Step S11, listen to the idle UAV airport take-off and landing route information released by the UAV airport server in real time through V2X. The take-off and landing route includes: access point, mark point, longitude, latitude and height information of the parking stand;
步骤S12，向所述无人机机场服务器发送无人机在指定航线起飞降落的请求；Step S12, sending a request for the drone to take off and land on a designated route to the UAV airport server;
步骤S13，接收所述无人机机场服务器发送的起飞降落许可信息，所述起飞降落许可信息包含：是否许可所述无人机起飞降落、许可起飞降落航线；Step S13, receiving the take-off and landing permission information sent by the UAV airport server, the take-off and landing permission information includes: whether the UAV is allowed to take off and land, and the take-off and landing route;
步骤S14，根据所述起飞降落许可信息、实时接收的V2X信息确定无人机起飞降落飞行路线；依次连接所述许可起飞降落航线的接入点、标记点、目的无人机机场接入点作为飞行路线；无人机可以在不同标记点之间根据实时接收的V2X信息所面临的障碍物采取不同的飞行策略，例如可以直线飞行、曲线飞行、抛物线飞行等。Step S14: Determine the take-off and landing flight route of the UAV according to the take-off and landing permission information and the V2X information received in real time; Flight route: UAVs can adopt different flight strategies between different marking points according to the obstacles faced by the V2X information received in real time, such as straight-line flight, curved flight, parabolic flight, etc.
步骤S15，按照所述无人机起飞降落飞行路线执行飞行操作，并实时向所述无人机机场服务器报告飞行信息，所述飞行信息包括：实际起飞降落飞行路线轨迹点的经纬度和高度信息、速度信息；Step S15, perform the flight operation according to the take-off and landing flight route of the UAV, and report the flight information to the UAV airport server in real time, the flight information includes: the latitude and longitude and altitude information of the actual take-off and landing flight route track points, speed information;
步骤S16，发送起飞降落完成信息，所述起飞降落完成信息包括：当所述无人机执行起飞时，到达停机位时所述无人机发送的降落完成信息；或当所述无人机执行降落时，离开接入点时所述无人机发送的起飞完成信息。Step S16, sending take-off and landing completion information, the take-off and landing completion information includes: when the UAV performs take-off and arrives at the parking space, the landing completion information sent by the UAV; or when the UAV executes When landing, the takeoff completion message sent by the drone when leaving the access point.
本实施例中，发明了V2X无人机机场，通过监听V2X信息，无人机自由选择无人机机场，无人机机场可便捷停靠多架无人机。本实施例中，同时发明了起飞降落航线，这样拓展了无人机机场的空域管理范围，使得无人机机场为多架无人机提供公共停靠服务提供了良好的机场基础设施。In this embodiment, a V2X drone airport is invented. By monitoring the V2X information, the drone can freely select the drone airport, and the drone airport can conveniently park multiple drones. In this embodiment, the take-off and landing routes are invented at the same time, which expands the airspace management scope of the UAV airport, so that the UAV airport provides a good airport infrastructure for multiple UAVs to provide public parking services.
对于LTE-V2X，根据Winner+ B1 LOS 路损模型，假定RSU的接收灵敏度为-97dBm，典型场景下无人机机场RSU在LOS的最大覆盖半径约为600米左右，在NLOS的最大覆盖半径约为80米。而这满足了无人机机场服务器与超低空无人机的通信需求。For LTE-V2X, according to the Winner+ B1 LOS path loss model, it is assumed that the receiving sensitivity of the RSU is -97dBm. In a typical scenario, the maximum coverage radius of the RSU in the UAV airport is about 600 meters in LOS, and the maximum coverage radius in NLOS is about 80 meters. And this meets the communication requirements between the UAV airport server and the ultra-low altitude UAV.
假定平均周期包长1200Byte，消息发送频率2Hz，典型场景中RSU频谱需求为0.1MHz。这意味着单个无人机机场RSU或单方向的无人机机场RSU在20M带宽的前提下，可满足百台无人机密集飞行停靠需求。Assume that the average periodic packet length is 1200 Byte, and the message sending frequency is 2 Hz. In a typical scenario, the RSU spectrum requirement is 0.1 MHz. This means that a single UAV airport RSU or a one-way UAV airport RSU can meet the intensive flight and docking requirements of hundreds of UAVs under the premise of 20M bandwidth.
进一步地，所述根据所述起飞降落许可信息、实时接收的V2X信息确定无人机起飞降落飞行路线还包括：Further, the determining the takeoff and landing flight route of the UAV according to the takeoff and landing permission information and the V2X information received in real time also includes:
根据所述起飞降落许可信息、实时接收的V2X信息、实时接收的ADS-B信息确定无人机起飞降落飞行路线。The takeoff and landing flight route of the UAV is determined according to the takeoff and landing permission information, the V2X information received in real time, and the ADS-B information received in real time.
综合ADS-B信息，减少起飞降落中碰撞其他各类飞行器的可能性。Integrated ADS-B information to reduce the possibility of collision with other types of aircraft during takeoff and landing.
进一步地，所述方法还包括：Further, the method also includes:
根据无人机机场服务器区块链收款地址，完成支付服务费给无人机机场服务器。According to the receiving address of the UAV airport server block chain, the service fee is paid to the UAV airport server.
无人机采用区块链支付方式与无人机机场服务器交易，去中心交易，减少被跟踪的可能性，从而提高了无人机飞行的安全空间。UAVs use blockchain payment methods to trade with UAV airport servers, decentralized transactions, and reduce the possibility of being tracked, thereby improving the safety space of UAV flight.
实施例二：Embodiment two:
本发明实施例二公开了一种无人机起降无人机机场的方法，用于无人机机场服务器，所述方法包括：Embodiment 2 of the present invention discloses a method for taking off and landing a UAV at an UAV airport, which is used for a UAV airport server. The method includes:
通过V2X实时发布无人机机场起飞降落航线空闲信息，所述起飞降落航线包括：接入点、标记点、停机位的经纬度和高度信息；Release the idle information of the take-off and landing routes of UAV airports in real time through V2X, and the take-off and landing routes include: access points, marking points, longitude, latitude and height information of parking positions;
接收无人机发送的在指定起飞降落航线起飞降落的请求；Receive the request sent by the UAV to take off and land on the designated takeoff and landing route;
向所述无人机发送起飞降落许可信息，同时将指定起飞降落航线标记为占用状态，所述起飞降落许可信息包含：是否许可所述无人机起飞降落、许可起飞降落航线； Send take-off and landing permission information to the UAV, and mark the designated take-off and landing route as an occupied state, and the take-off and landing permission information includes: whether the UAV is allowed to take off and land, and the take-off and landing route is permitted;
接收所述无人机发送的飞行信息，所述飞行信息包括：实际起飞降落飞行路线轨迹点的经纬度和高度信息、速度信息；Receive the flight information sent by the UAV, the flight information includes: latitude and longitude information, altitude information, and speed information of the actual take-off and landing flight route track points;
接收所述无人机发送的起飞降落完成信息，当所述无人机执行起飞时，到达停机位时所述无人机发送的降落完成信息；或当所述无人机执行降落时，离开接入点时所述无人机发送的起飞完成信息；Receive the take-off and landing completion information sent by the UAV, when the UAV performs take-off, arrive at the landing position when the UAV sends the landing completion information; or when the UAV performs landing, leave The take-off completion information sent by the UAV during the access point;
将所述许可起飞降落航线标记为空闲状态。Mark the permitted takeoff and landing routes as idle.
本实施例中，发明了V2X无人机机场，发明了机场接入点起飞降落航线，无人机机场服务器可方便进行机场空域管理。通过监听V2X信息，无人机自由选择无人机机场，无人机机场可便捷停靠多架无人机。In this embodiment, a V2X UAV airport is invented, an airport access point takeoff and landing route is invented, and the UAV airport server can facilitate airport airspace management. By monitoring V2X information, the drone can freely choose the drone airport, and the drone airport can conveniently park multiple drones.
对于LTE-V2X，根据Winner+ B1 LOS 路损模型，假定RSU的接收灵敏度为-97dBm，典型场景下无人机机场RSU在LOS的最大覆盖半径约为600米左右，在NLOS的最大覆盖半径约为80米。而这满足了无人机机场服务器与超低空无人机的通信需求。For LTE-V2X, according to the Winner+ B1 LOS path loss model, it is assumed that the receiving sensitivity of the RSU is -97dBm. In a typical scenario, the maximum coverage radius of the RSU in the UAV airport is about 600 meters in LOS, and the maximum coverage radius in NLOS is about 80 meters. And this meets the communication requirements between the UAV airport server and the ultra-low altitude UAV.
假定平均周期包长1200Byte，消息发送频率2Hz，典型场景中RSU频谱需求为0.1MHz。这意味着单个无人机机场RSU或单方向的无人机机场RSU在20M带宽的前提下，可满足百台无人机密集飞行停靠需求。Assume that the average periodic packet length is 1200 Byte, and the message sending frequency is 2 Hz. In a typical scenario, the RSU spectrum requirement is 0.1 MHz. This means that a single UAV airport RSU or a one-way UAV airport RSU can meet the intensive flight and docking requirements of hundreds of UAVs under the premise of 20M bandwidth.
进一步地，所述接收所述无人机发送的起飞降落完成信息还包括：接收确认所述无人机支付的服务费。Further, the receiving the take-off and landing completion information sent by the UAV further includes: receiving and confirming the service fee paid by the UAV.
无人机采用区块链支付方式与无人机机场服务器交易，去中心交易，减少被跟踪的可能性，从而提高了无人机飞行的安全空间。UAVs use blockchain payment methods to trade with UAV airport servers, decentralized transactions, and reduce the possibility of being tracked, thereby improving the safety space of UAV flight.
进一步地，所述将所述许可起飞降落航线标记为空闲状态还包括：Further, the marking the permitted take-off and landing route as an idle state further includes:
接收所述无人机广播的V2X信息或ADS-B信息；Receive V2X information or ADS-B information broadcast by the UAV;
通过所述V2X信息或ADS-B信息验证判断所述无人机是否已经离开所述许可起飞降落航线，如已离开，将所述许可起飞降落航线标记为空闲状态。Judging whether the UAV has left the permitted take-off and landing route through the verification of the V2X information or ADS-B information, and marking the permitted take-off and landing route as an idle state if it has left.
当网络链路不畅通或被干扰时，通过所述V2X信息或ADS-B信息可快速实时修正无人机机场服务器对无人机的判断信息，进一步的提升了无人机机场服务器管理机场附近空域的能力。When the network link is not smooth or interfered, through the V2X information or ADS-B information, the judgment information of the UAV airport server on the UAV can be quickly corrected in real time, further improving the management of the UAV airport server near the airport. airspace capabilities.
实施例三：Embodiment three:
本发明实施例三公开了一种无人机，包括：起飞降落航线单元、无人机主机单元、V2X单元；所述无人机主机单元与所述V2X单元电性连接。Embodiment 3 of the present invention discloses an unmanned aerial vehicle, including: a take-off and landing route unit, an unmanned aerial vehicle main unit, and a V2X unit; the unmanned aerial vehicle main unit is electrically connected to the V2X unit.
所述起飞降落航线单元，用于与无人机机场服务器通信包括：起飞降落航线信息、确定无人机起飞降落飞行路线、管理按起飞降落飞行路线飞行。The take-off and landing route unit is used to communicate with the UAV airport server, including: take-off and landing route information, determining the take-off and landing flight route of the UAV, and managing flight according to the take-off and landing flight route.
所述无人机主机单元，包括处理器模块、通信模块、存储模块、飞行模块、电源模块，用于执行起飞降落航线单元指令控制无人机飞行，通过所述V2X单元、通信模块与无人机机场服务器通信；此处的通信模块为传统的4G/5G/WIFI无线通信技术。The UAV host unit includes a processor module, a communication module, a storage module, a flight module, and a power supply module, and is used to execute the instructions of the take-off and landing route unit to control the flight of the UAV. Through the V2X unit, the communication module and the unmanned Airport server communication; the communication module here is the traditional 4G/5G/WIFI wireless communication technology.
所述V2X单元，用于与装备有V2X单元的无人机终端或无人机机场服务器进行V2X协议通信。The V2X unit is used for performing V2X protocol communication with the UAV terminal equipped with the V2X unit or the UAV airport server.
实施例四：Embodiment four:
本发明实施例四公开了一种无人机机场服务器，包括：起飞降落航线单元、无人机机场主机单元、V2X单元；所述无人机机场主机单元与所述V2X单元电性连接。Embodiment 4 of the present invention discloses a drone airport server, including: a take-off and landing route unit, a drone airport host unit, and a V2X unit; the drone airport host unit is electrically connected to the V2X unit.
所述起飞降落航线单元，用于管理无人机机场起飞降落航线信息。The take-off and landing route unit is used to manage the take-off and landing route information of UAV airports.
所述无人机机场主机单元，包括处理器模块、通信模块、存储模块、电源模块，用于执行起飞降落航线单元指令、通过所述V2X单元、通信模块与无人机通信；此处的通信模块为传统的4G/5G/WIFI无线通信技术。The host unit of the UAV airport includes a processor module, a communication module, a storage module, and a power module, which are used to execute the command of the take-off and landing route unit, and communicate with the UAV through the V2X unit and the communication module; the communication here The module is a traditional 4G/5G/WIFI wireless communication technology.
所述V2X单元，用于与装备有V2X单元的无人机终端或无人机机场服务器进行V2X协议通信。The V2X unit is used for performing V2X protocol communication with the UAV terminal equipped with the V2X unit or the UAV airport server.
实施例五：Embodiment five:
本发明实施例五公开了一种无人机起降无人机机场的***，包括：无人机、无人机机场服务器；所述无人机与所述无人机机场服务器通过V2X协议网络连接。Embodiment 5 of the present invention discloses a system for UAV take-off and landing UAV airport, including: UAV, UAV airport server; the UAV and the UAV airport server are networked through the V2X protocol connect.
实施例六：Embodiment six:
本发明实施例六公开了一种非暂态计算机可读存储介质，其上存储有计算机程序，其特征在于，该计算机程序被处理器执行时实现上述实施例的方法的步骤。存储介质可以包括高速随机存取存储介质，还可以包括非易失性存储介质，例如硬盘、内存、插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(SecureDigital,SD)卡，闪存卡(Flash Card)、至少一个磁盘存储介质件、闪存器件、或其他易失性固态存储介质件等。Embodiment 6 of the present invention discloses a non-transitory computer-readable storage medium on which a computer program is stored, and the feature is that, when the computer program is executed by a processor, the steps of the methods in the above-mentioned embodiments are implemented. Storage media can include high-speed random access storage media, and can also include non-volatile storage media, such as hard disks, memory, plug-in hard disks, smart memory cards (Smart Media Card, SMC), Secure Digital (SecureDigital, SD) card, flash memory card (Flash Card), at least one disk storage medium, flash memory device, or other volatile solid-state storage medium, etc.
本发明中，本发明无人机机场服务器通过V2X实时发布无人机机场起飞降落航线空闲信息，对起飞降落航线进行动态管理，从而实现了无人机自由选择无人机机场停机位，无人机机场可便捷停靠多架无人机。通过本发明无人机机场可实现对密集无人机的停靠以及周边空域管理，满足无人机便捷起飞降落需求。In the present invention, the UAV airport server of the present invention releases the idle information of the take-off and landing routes of the UAV airport in real time through V2X, and dynamically manages the take-off and landing routes, so that the UAV can freely select the parking position of the UAV airport, and the unmanned The airport can conveniently park multiple drones. The UAV airport of the invention can realize the docking of dense UAVs and the management of the surrounding airspace, so as to meet the needs of convenient take-off and landing of UAVs.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的单元，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的***、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that, for the convenience and brevity of description, the units described above are only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned by different Completion of functional modules means that the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. For the specific working processes of the above-described systems, devices, and units, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not repeated here.
在本申请所提供的几个实施例中，应该理解到，所揭露的***，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be Incorporation may either be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) execute all or part of the steps of the method described in each embodiment of the present invention. And the foregoing storage medium comprises: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes.
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (10)

  1. 一种无人机起降无人机机场的方法，其特征在于，用于无人机，所述方法包括：A method for unmanned aerial vehicle takeoff and landing unmanned aerial vehicle airport, is characterized in that, is used for unmanned aerial vehicle, and described method comprises:
    通过V2X实时收听无人机机场服务器发布的空闲的无人机机场起飞降落航线信息，所述起飞降落航线包括：接入点、标记点、停机位的经纬度和高度信息；Listen to the idle UAV airport take-off and landing route information released by the UAV airport server in real time through V2X. The take-off and landing route includes: access point, mark point, longitude, latitude and height information of the parking stand;
    向所述无人机机场服务器发送无人机在指定航线起飞降落的请求；Send a request for the UAV to take off and land on the specified route to the UAV airport server;
    接收所述无人机机场服务器发送的起飞降落许可信息，所述起飞降落许可信息包含：是否许可所述无人机起飞降落、许可起飞降落航线；Receive the take-off and landing permission information sent by the UAV airport server, the take-off and landing permission information includes: whether the UAV is allowed to take off and land, and the take-off and landing route is allowed;
    根据所述起飞降落许可信息、实时接收的V2X信息确定无人机起飞降落飞行路线；Determine the takeoff and landing flight route of the UAV according to the takeoff and landing permission information and the V2X information received in real time;
    按照所述无人机起飞降落飞行路线执行飞行操作，并实时向所述无人机机场服务器报告飞行信息，所述飞行信息包括：实际起飞降落飞行路线轨迹点的经纬度和高度信息、速度信息；Perform flight operations according to the take-off and landing flight route of the UAV, and report flight information to the UAV airport server in real time, and the flight information includes: latitude and longitude information, altitude information, and speed information of the actual take-off and landing flight route track points;
    发送起飞降落完成信息，所述起飞降落完成信息包括：当所述无人机执行起飞时，到达停机位时所述无人机发送的降落完成信息；或当所述无人机执行降落时，离开接入点时所述无人机发送的起飞完成信息。Send take-off and landing completion information, the take-off and landing completion information includes: when the UAV performs take-off, the landing completion information sent by the UAV when it arrives at the parking stand; or when the UAV performs landing, The takeoff completion message sent by the drone when leaving the access point.
  2. 根据权利要求1所述的一种无人机起降无人机机场的方法，其特征在于，所述根据所述起飞降落许可信息、实时接收的V2X信息确定无人机起飞降落飞行路线还包括：A method for taking off and landing a UAV at an airport for UAVs according to claim 1, wherein said determining the takeoff and landing flight route of the UAV according to the takeoff and landing permission information and the V2X information received in real time also includes :
    根据所述起飞降落许可信息、实时接收的V2X信息、实时接收的ADS-B信息确定无人机起飞降落飞行路线。The takeoff and landing flight route of the UAV is determined according to the takeoff and landing permission information, the V2X information received in real time, and the ADS-B information received in real time.
  3. 根据权利要求1所述的一种无人机起降无人机机场的方法，其特征在于，所述方法还包括：A method for unmanned aerial vehicles to take off and land at an unmanned aerial vehicle airport according to claim 1, wherein the method further comprises:
    根据无人机机场服务器区块链收款地址，完成支付服务费给无人机机场服务器。According to the receiving address of the UAV airport server block chain, the service fee is paid to the UAV airport server.
  4. 一种无人机起降无人机机场的方法，其特征在于，用于无人机机场服务器，所述方法包括：A method for unmanned aerial vehicle take-off and landing unmanned aerial vehicle airport, is characterized in that, is used for unmanned aerial vehicle airport server, and described method comprises:
    通过V2X实时发布无人机机场起飞降落航线空闲信息，所述起飞降落航线包括：接入点、标记点、停机位的经纬度和高度信息；Release the idle information of the take-off and landing routes of UAV airports in real time through V2X, and the take-off and landing routes include: access points, marking points, longitude, latitude and height information of parking positions;
    接收无人机发送的在指定起飞降落航线起飞降落的请求；Receive the request sent by the UAV to take off and land on the designated takeoff and landing route;
    向所述无人机发送起飞降落许可信息，同时将指定起飞降落航线标记为占用状态，所述起飞降落许可信息包含：是否许可所述无人机起飞降落、许可起飞降落航线；Send take-off and landing permission information to the UAV, and mark the designated take-off and landing route as an occupied state, and the take-off and landing permission information includes: whether the UAV is allowed to take off and land, and the take-off and landing route is permitted;
    接收所述无人机发送的飞行信息，所述飞行信息包括：实际起飞降落飞行路线轨迹点的经纬度和高度信息、速度信息；Receive the flight information sent by the UAV, the flight information includes: latitude and longitude information, altitude information, and speed information of the actual take-off and landing flight route track points;
    接收所述无人机发送的起飞降落完成信息，当所述无人机执行起飞时，到达停机位时所述无人机发送的降落完成信息；或当所述无人机执行降落时，离开接入点时所述无人机发送的起飞完成信息；Receive the take-off and landing completion information sent by the UAV, when the UAV performs take-off, arrive at the landing position when the UAV sends the landing completion information; or when the UAV performs landing, leave The take-off completion information sent by the UAV during the access point;
    将所述许可起飞降落航线标记为空闲状态。Mark the permitted takeoff and landing routes as idle.
  5. 根据权利要求4所述的一种无人机起降无人机机场的方法，其特征在于，所述接收所述无人机发送的起飞降落完成信息还包括：接收确认所述无人机支付的服务费。A method for taking off and landing a UAV at an UAV airport according to claim 4, wherein the receiving the takeoff and landing completion information sent by the UAV further includes: receiving and confirming the payment of the UAV service fee.
  6. 根据权利要求4所述的一种无人机起降无人机机场的方法，其特征在于，所述将所述许可起飞降落航线标记为空闲状态还包括：A method for unmanned aerial vehicles to take off and land at an unmanned aerial vehicle airport according to claim 4, wherein the marking of the permitted takeoff and landing route as an idle state also includes:
    接收所述无人机广播的V2X信息或ADS-B信息；Receive V2X information or ADS-B information broadcast by the UAV;
    通过所述V2X信息或ADS-B信息验证判断所述无人机是否已经离开所述许可起飞降落航线，如已离开，将所述许可起飞降落航线标记为空闲状态。Judging whether the UAV has left the permitted take-off and landing route through the verification of the V2X information or ADS-B information, and marking the permitted take-off and landing route as an idle state if it has left.
  7. 一种无人机，其特征在于，包括：起飞降落航线单元、无人机主机单元、V2X单元；所述无人机主机单元与所述V2X单元电性连接；An unmanned aerial vehicle, characterized in that it includes: a take-off and landing route unit, an unmanned aerial vehicle main unit, and a V2X unit; the unmanned aerial vehicle main unit is electrically connected to the V2X unit;
    所述起飞降落航线单元，用于与无人机机场服务器通信包括：起飞降落航线信息、确定无人机起飞降落飞行路线、管理按起飞降落飞行路线飞行；The take-off and landing route unit is used to communicate with the UAV airport server, including: take-off and landing route information, determining the take-off and landing flight route of the UAV, and managing flight according to the take-off and landing flight route;
    所述无人机主机单元，包括处理器模块、通信模块、存储模块、飞行模块、电源模块，用于执行起飞降落航线单元指令控制所述无人机飞行，通过所述V2X单元、通信模块与所述无人机机场服务器通信；The UAV host unit includes a processor module, a communication module, a storage module, a flight module, and a power module, and is used to execute the command of the take-off and landing route unit to control the flight of the UAV. Through the V2X unit, communication module and The drone airport server communicates;
    所述V2X单元，用于与装备有V2X单元的无人机终端或无人机机场服务器进行V2X协议通信。The V2X unit is used for performing V2X protocol communication with the UAV terminal equipped with the V2X unit or the UAV airport server.
  8. 一种无人机机场服务器，其特征在于，包括：起飞降落航线单元、无人机机场主机单元、V2X单元；所述无人机机场主机单元与所述V2X单元电性连接；A drone airport server, characterized in that it includes: a take-off and landing route unit, a drone airport host unit, and a V2X unit; the drone airport host unit is electrically connected to the V2X unit;
    所述起飞降落航线单元，用于管理无人机机场起飞降落航线信息；The take-off and landing route unit is used to manage the take-off and landing route information of UAV airports;
    所述无人机机场主机单元，包括处理器模块、通信模块、存储模块、电源模块，用于执行起飞降落航线单元指令、通过所述V2X单元、通信模块与无人机通信；The host unit of the UAV airport includes a processor module, a communication module, a storage module, and a power module, which are used to execute the instructions of the take-off and landing route unit, and communicate with the UAV through the V2X unit and the communication module;
    所述V2X单元，用于与装备有V2X单元的无人机终端或无人机机场服务器进行V2X协议通信。The V2X unit is used for performing V2X protocol communication with the UAV terminal equipped with the V2X unit or the UAV airport server.
  9. 一种无人机起降无人机机场的***，其特征在于，包括：如权利要求7所述的无人机、如权利要求8所述的无人机机场服务器。A system for unmanned aerial vehicles to take off and land at UAV airports, comprising: the UAV as claimed in claim 7, and the UAV airport server as claimed in claim 8.
  10. 一种非暂态计算机可读存储介质，其上存储有计算机程序，其特征在于，该计算机程序被处理器执行时实现如权利要求1至6任一项所述一种无人机起降无人机机场的方法的步骤。A non-transitory computer-readable storage medium, on which a computer program is stored, characterized in that, when the computer program is executed by a processor, it realizes an unmanned aerial vehicle taking off and landing as described in any one of claims 1 to 6. The steps of the method of man-machine airport.
PCT/CN2022/100916 2021-08-01 2022-06-23 Take-off and landing method and system for unmanned aerial vehicle on unmanned aerial vehicle airport WO2023011038A1 (en)

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