CN106809402B - Automatic auxiliary landing system of rotor unmanned aerial vehicle and control method thereof - Google Patents
Automatic auxiliary landing system of rotor unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN106809402B CN106809402B CN201710176733.4A CN201710176733A CN106809402B CN 106809402 B CN106809402 B CN 106809402B CN 201710176733 A CN201710176733 A CN 201710176733A CN 106809402 B CN106809402 B CN 106809402B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/18—Visual or acoustic landing aids
- B64F1/20—Arrangement of optical beacons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
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Abstract
The invention discloses an automatic auxiliary landing system of a rotor unmanned aerial vehicle and a control method thereof, wherein the system consists of a ground landing base station and a landing auxiliary pod; the ground landing base station comprises a main body frame, a direct-current power supply module, a control module, a working platform, a GPS/wireless communication antenna, a high-power positioning lamp and a metal landing net; the auxiliary landing pod comprises a shell, a transparent fairing, a forward-looking camera module, an ultrasonic ranging camera integrated module, a micro-processing module, a power supply module, an anchor point, a fixing unit and a GPS/wireless communication module, wherein a path algorithm is arranged in the micro-processing module, and the path algorithm can generate a flight path according to GPS position information or light signals of two places. The invention has wide application range and low cost, and can assist the rotor unmanned aerial vehicle to automatically and stably land and recover under complex conditions.
Description
Technical Field
The invention relates to the technical field of rotor unmanned aerial vehicles, in particular to an automatic auxiliary landing system of a rotor unmanned aerial vehicle and a control method thereof.
Background
Rotary-wing drones are required to be widely developed and applied in the civil and military fields with high flexibility and lower take-off and landing conditions. Classical rotorcraft drones, such as multi-rotor drones, single-rotor drones, and coaxial counter-rotating drones, play an important role in addressing environmental monitoring, marine pollution monitoring, geographic information gathering, and the like. Even at the present that automatic flight control systems are more and more mature, take-off and landing of the unmanned aerial vehicles under complex conditions still restrict the application of the unmanned aerial vehicles in wider fields.
In some complex conditions, such as taking off and landing on a sea surface moving platform or a bumpy ground platform, the flight control system and control personnel of the unmanned aerial vehicle are still serious challenges. Traditionally, this type of unmanned aerial vehicle is in automatic or manual operation descending, mainly controls the balance based on artificial vision or the simple sensor on the unmanned aerial vehicle, does not have a set of complete and effectual solution yet at present. Under unstable operating environment, people's sight and single sensor receive the interference very easily, and at the final stage of descending simultaneously, under the combined action of ground effect and external disturbance, unmanned gyroplane takes place to topple very easily, and then the paddle is damaged slightly, then causes the damage to motor and the important instrument and equipment that carries on seriously.
Disclosure of Invention
The invention aims to provide an automatic auxiliary landing system of a rotor unmanned aerial vehicle and a control method thereof, which have wide application range and low cost and can assist the rotor unmanned aerial vehicle to automatically land and recover stably under complex conditions.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an automatic auxiliary landing system of a rotor unmanned aerial vehicle comprises a ground landing base station and a landing auxiliary pod;
the ground landing base station comprises a main body frame, a direct-current power supply module, a control module, a working platform, a GPS/wireless communication antenna, a high-power positioning lamp and a metal landing net; the direct-current power supply module and the control module are arranged in the main body frame, the working platform is arranged on the main body frame, the metal landing net is arranged in the middle of the working platform, two sides of the working platform respectively extend out of a cantilever laterally, each cantilever is provided with a high-power positioning lamp and a GPS/wireless communication antenna, the control module, the high-power positioning lamp and the GPS/wireless communication antenna are all connected with the direct-current power supply module, and the control module is also connected with the high-power positioning lamp and the GPS/wireless communication antenna;
the landing auxiliary pod comprises a shell, a transparent fairing, a forward-looking camera module, an ultrasonic ranging camera integrated module, a micro-processing module, a power supply module, an anchor point, a fixing unit and a GPS/wireless communication module, wherein a path algorithm is arranged in the micro-processing module, and the path algorithm can generate a flight path according to GPS position information or light signals of two places; the transparent fairing is butted at the front end of the shell; the front-view camera module is arranged in the transparent fairing, and the ultrasonic ranging camera integrated module, the micro-processing module, the power supply module and the fixing unit are all positioned in the shell; the bottom of the shell is provided with a ranging window and a fixed window, the ultrasonic ranging camera shooting integrated module consists of an ultrasonic ranging radar and a ground camera which are connected with each other, and the ground camera is downwards arranged at the ranging window; the fixing unit comprises a plurality of fixed telescopic grabs which can extend out of the fixed window; the top of the shell is provided with a communication interface used for communicating with a flight control chip of the unmanned aerial vehicle, the top of the shell is also provided with a plurality of anchor points used for fixing the landing auxiliary pod at the bottom of the unmanned aerial vehicle, and the GPS/wireless communication module is fixed at the rear end of the shell;
the foresight camera module, the micro-processing module, the fixing unit and the GPS/wireless communication module are all connected with the power module, and the micro-processing module is also respectively connected with the foresight camera module, the fixing unit and the GPS/wireless communication module; the ground landing base station and the GPS/wireless communication module of the landing auxiliary pod are used for receiving GPS signals and receiving and transmitting wireless signals.
The main body frame of the ground landing base station is circular, the working platform is rotatably arranged on the main body frame by taking the circular edge of the main body frame as a track, and the metal landing net can also rotate along with the working platform.
The ground landing base station further comprises a direct current motor and a variable speed control mechanism which are arranged in the main body frame, the direct current motor and the variable speed control mechanism are connected with the direct current power supply module, the variable speed control mechanism is further connected with the control module, an output shaft of the direct current motor is arranged upwards, and the output shaft is connected with the working platform to drive the working platform to rotate.
The forward-looking camera module consists of a holder and a wide-angle high-definition camera arranged on the holder, the holder and the wide-angle high-definition camera are both arranged in a transparent fairing, and the holder and the wide-angle high-definition camera are respectively connected with the micro-processing module.
Three fixed telescopic claws are arranged in the fixed unit.
The shell of the landing aid pod is a lightweight shell.
4 anchor points are arranged at the top of the shell of the landing-assistant nacelle.
The control method of the automatic auxiliary landing system of the rotor unmanned aerial vehicle comprises the following steps:
firstly, a rotor unmanned aerial vehicle sends a landing request to a landing auxiliary nacelle;
step two, a microprocessor module of the landing auxiliary pod receives a landing request through a communication interface of the microprocessor module, and the microprocessor module controls a GPS/wireless communication module of the microprocessor module to send out information of the rotor unmanned aerial vehicle to be landed and GPS position information of the rotor unmanned aerial vehicle in an encryption coding mode;
thirdly, after the ground landing base station receives the landing information of the rotor unmanned aerial vehicle to be landed through the GPS/wireless communication module, the ground landing base station sends the confirmation information and the GPS position information of the ground landing base station to the rotor unmanned aerial vehicle in an encryption mode through the GPS/wireless communication module;
step four, after receiving the landing confirmation information and the GPS position information, a microprocessor module of the landing auxiliary pod executes a built-in path algorithm to generate a flight path, continuously communicates with a flight control chip of the rotor unmanned aerial vehicle, and sends the flight path updated in real time to the flight control chip to guide the rotor unmanned aerial vehicle to fly towards the direction of the ground landing base station;
fifthly, the control module of the ground landing base station controls the orientation of a high-power positioning lamp on the working platform to be aligned with the arrival direction of the rotor unmanned aerial vehicle, and meanwhile, the control module controls the GPS/wireless communication module to continuously communicate with the GPS/wireless communication module of the landing auxiliary nacelle, and GPS position information of the two parties is updated constantly;
step six, when the distance between the ground landing base station and the rotor wing unmanned aerial vehicle is close to the working range of the high-power positioning lamp, the control module of the ground landing base station controls to turn on the high-power positioning lamp and drive the high-power positioning lamp to be aligned with the rotor wing unmanned aerial vehicle, the high-power positioning lamp sends out a light positioning signal, meanwhile, the forward-looking camera module of the landing auxiliary nacelle starts to work, a light signal sent out by the positioning lamp is searched, the forward-looking camera module sends the light signal to the micro-processing module of the landing auxiliary nacelle after searching the light signal, and the micro-processing module calculates the light signal to correct a flight path;
seventhly, after the rotor unmanned aerial vehicle reaches a preset position above the ground landing base station, the ultrasonic ranging camera integrated module of the landing auxiliary pod starts to work, and the rotor unmanned aerial vehicle is guided to lock the position of the ground landing base station and continuously reduce the height;
step eight, when the relative height of the landing assistant pod and the ground landing base station reaches a preset value, the landing assistant pod micro-processing module controls the fixing unit to extend out of the fixed telescopic claw, and the fixed telescopic claw hooks the metal landing net in the middle of the working platform to land;
and step nine, after the rotor unmanned aerial vehicle lands, the micro-processing module sends a recovery instruction to the fixing unit, and the fixed telescopic grab of the landing auxiliary nacelle is automatically retracted.
After the scheme is adopted, the invention has the beneficial effects that: the automatic landing and recovery of the rotor unmanned aerial vehicle under the complex environment are realized, the application difficulty of the rotor unmanned aerial vehicle is reduced, and the use environment conditions of the rotor unmanned aerial vehicle are expanded; the ground landing base station and the landing auxiliary pod can be flexibly arranged in various application scenes of the rotor wing unmanned aerial vehicle, the application range is wide, excessive modification on original equipment is not needed, and the use cost is reduced.
The invention is further described with reference to the following drawings and specific embodiments.
Drawings
FIG. 1 is a schematic view of a landing aid pod of the present invention positioned at a ground landing base station;
FIG. 2 is an exploded perspective view of the ground based landing station of the present invention;
FIG. 3 is an exploded perspective view of the landing aid pod of the present invention;
FIG. 4 is a general schematic view of the ground landing base station of the present invention;
FIG. 5 is an overall schematic view of the landing aid pod of the present invention;
fig. 6 is a schematic diagram of a rotorcraft with a landing aid pod landing on a ground landing base station.
Description of the reference symbols
The ground landing base station 1, the main body frame 11, the direct current power supply module 12, the control module 13, the work platform 14, the cantilever 141, the gps/wireless communication antenna 15, the high power position light 16, the metal landing net 17, the direct current motor 18 and the variable speed control mechanism 19, the landing assistance pod 2, the shell, 21 the ranging window 211, the fixed window 212, the communication interface 213, the transparent cowling 22, the forward looking camera module 23, the cloud platform 231, the wide angle high definition camera 232, the ultrasonic ranging camera integrated module 24, the ultrasonic ranging radar 241, the ground camera 242, the microprocessor module 25, the power supply module 26, the anchor point 27, the fixed unit 28, the fixed telescopic grab 281, the gps/wireless communication module 29, the unmanned gyroplane 3.
Detailed Description
As shown in fig. 1, the automatic auxiliary landing system of the unmanned rotorcraft disclosed by the invention comprises a ground landing base station 1 and a landing auxiliary pod 2;
as shown in fig. 2 and 4, the ground landing base station 1 includes a main body frame 11, a dc power supply module 12, a control module 13, a working platform 14, a GPS/wireless communication antenna 15, a high-power positioning lamp 16 and a metal landing net 17; the main body frame 11 can adopt a semi-buried frame, the direct current power supply module 12 and the control module 13 are both arranged in the main body frame 11, the working platform 14 is arranged on the main body frame 11, the metal landing net 17 is arranged in the middle of the working platform 14, two cantilevers 141 respectively extend out from two sides of the working platform 14, each cantilever 141 is provided with a high-power positioning lamp 16 and a GPS/wireless communication antenna 15, the control module 13, the high-power positioning lamp 16 and the GPS/wireless communication antenna 15 of the ground landing base station 1 are all connected with the direct current power supply module 12, and the control module 13 is also connected with the high-power positioning lamp 16 and the GPS/wireless communication antenna 15; the ground landing base station 1 further comprises a direct current motor 18 and a speed change control mechanism 19 which are arranged in the main body frame 11, the direct current motor 18 and the speed change control mechanism 19 are both connected with the direct current power supply module 12, the speed change control mechanism 19 is also connected with the control module 13, an output shaft of the direct current motor is arranged upwards, and the output shaft is connected with the working platform 14 to drive the working platform 14 to rotate.
As shown in fig. 3 and 5, the landing assistance pod 2 includes a housing 21, a transparent cowling 22, a forward-looking camera module 23, an ultrasonic ranging camera integrated module 24, a microprocessor module 25, a power supply module 26, an anchor point 27, a fixing unit 28 and a GPS/wireless communication module 29, wherein the microprocessor module 25 is internally provided with a path algorithm which can generate a flight path according to GPS position information or light signals of two places; the transparent cowling 22 is butted against the front end of the outer casing 21; the forward-looking camera module 23 is arranged in the transparent fairing, the forward-looking camera module 23 is composed of a holder 231 and a wide-angle high-definition camera 232 mounted on the holder 231, the holder 231 and the wide-angle high-definition camera 232 are both arranged in the transparent fairing 22, and the holder 231 and the wide-angle high-definition camera 232 are respectively connected with the micro-processing module 25; the ultrasonic ranging camera shooting integrated module 24, the micro-processing module 25, the power supply module 26 and the fixing unit 28 are all positioned in the shell 21; a ranging window 211 and a fixed window 212 are formed at the bottom of the housing 21, the ultrasonic ranging and camera shooting integrated module 24 is composed of an ultrasonic ranging radar 241 and a ground camera 242 which are connected with each other, and the ground camera 242 is arranged at the ranging window 211 downwards; the fixing unit 28 includes a plurality of fixed telescopic grabs 281 that can extend out from the fixed window 212, three fixed telescopic grabs 281 are provided in the fixing unit 28 of this embodiment, and the three fixed telescopic grabs 281 are arranged by triangle, so that the unmanned gyroplane can land more stably; the top of the shell 21 is provided with a communication interface 213 used for communicating with a flight control chip of the unmanned aerial vehicle, the communication interface 213 is connected with the microprocessor module 25, the top of the shell 21 is also provided with a plurality of anchor points 27 used for fixing the landing auxiliary pod 2 at the bottom of the unmanned aerial vehicle, and the GPS/wireless communication module 29 is fixed at the rear end of the shell 21; after the structure is adopted, when the landing auxiliary nacelle 2 is used, the landing auxiliary nacelle 2 is positioned at the bottom of the unmanned aerial vehicle through the anchor point 27 to achieve synchronous flight with the unmanned aerial vehicle, and is connected to a flight control chip of the unmanned aerial vehicle from a communication interface of the landing auxiliary nacelle 2 through a signal line to achieve communication with the rotor unmanned aerial vehicle 3.
The forward-looking camera module 23, the micro-processing module 25, the fixing unit 28 and the GPS/wireless communication module 29 are all connected with the power module 26, and the micro-processing module 25 is also respectively connected with the forward-looking camera module 23, the fixing unit 28 and the GPS/wireless communication module 29 so as to control the work of other modules through the micro-processing module 25; the GPS/ wireless communication modules 15 and 29 of the ground landing base station 1 and the landing assistant pod 2 are used for receiving GPS signals and transmitting and receiving wireless signals.
In this embodiment, the main body frame 11 of the ground landing base station 1 is circular, the working platform 14 is rotatably disposed on the main body frame 11 by using the circular edge of the main body frame 11 as a track, and the metal landing net 17 can also rotate along with the working platform 14, so that the orientations of the high-power positioning lamps 16 at the two sides of the working platform 14 can be conveniently adjusted.
To further reduce the load of the rotorcraft, the housing 21 of the landing aid pod 2 is a lightweight housing.
For better force balance of the explosive rotor drone, 4 anchor points 27 are provided on top of the housing 21 of the landing aid pod 2.
As shown in fig. 6, the control method of the automatic auxiliary landing system of the unmanned rotorcraft includes the following steps:
step one, the rotor unmanned aerial vehicle 3 sends a landing request to the landing auxiliary nacelle 2;
step two, the microprocessor module 25 of the landing assistance pod 2 receives a landing request through the communication interface 213 thereof, and the microprocessor module 25 controls the GPS/wireless communication module 29 thereof to send out the information of the unmanned gyroplane to be landed and the GPS position information thereof in an encrypted coding manner;
thirdly, after the ground landing base station 1 receives the landing information of the rotor unmanned aerial vehicle to be landed through the GPS/wireless communication module 15, the GPS/wireless communication module 15 sends the confirmation information and the GPS position information of the ground landing base station 1 to the rotor unmanned aerial vehicle 3 in an encryption mode;
step four, after receiving the landing confirmation information and the GPS position information, the microprocessor module 25 of the landing auxiliary nacelle 2 executes a built-in path algorithm to generate a flight path, the microprocessor module 25 continuously communicates with a flight control chip of the rotor unmanned aerial vehicle 3, and sends the real-time updated flight path to the flight control chip to guide the rotor unmanned aerial vehicle 3 to fly towards the ground landing base station;
step five, the control module 13 of the ground landing base station 1 controls the orientation of the high-power positioning lamp 16 on the working platform 14 to enable the high-power positioning lamp to be aligned with the direction of arrival of the rotor unmanned aerial vehicle 3, meanwhile, the control module 13 controls the GPS/wireless communication module 15 to continuously communicate with the GPS/wireless communication module 29 of the landing auxiliary nacelle 2, and GPS position information of the two parties is updated constantly;
step six, when the distance between the ground landing base station 1 and the rotor unmanned aerial vehicle 3 is close to the working range of the high-power positioning lamp 16, the control module 13 of the ground landing base station 1 controls to turn on the high-power positioning lamp 16 and drive the high-power positioning lamp to be aligned with the rotor unmanned aerial vehicle 3, the high-power positioning lamp 16 sends a light positioning signal, meanwhile, the forward-looking camera module 23 of the landing auxiliary pod starts to work, a light signal sent by the positioning lamp is searched, the forward-looking camera module 23 sends the light signal to the micro-processing module 25 of the landing auxiliary pod after searching the light signal, and the micro-processing module 25 calculates the light signal to correct a flight path;
seventhly, after the rotor unmanned aerial vehicle 3 reaches a preset position above the ground landing base station 1, the ultrasonic ranging camera integrated module 24 of the landing auxiliary pod 2 starts to work, and the rotor unmanned aerial vehicle 3 is guided to lock the position of the ground landing base station and continuously reduce the height;
step eight, when the relative height of the landing auxiliary pod 2 and the ground landing base station 1 reaches a preset value, the micro-processing module 25 of the landing auxiliary pod 2 controls the fixing unit 28 to extend out of the fixed telescopic claw 28, and the fixed telescopic claw 28 hooks the metal landing net 17 in the middle of the working platform 14 to land;
step nine, after the rotor unmanned aerial vehicle 3 lands, the micro-processing module 13 sends a recovery instruction to the fixing unit 28, and the fixed telescopic claw of the landing auxiliary nacelle 2 is automatically retracted.
The above are merely specific examples of the present invention, and do not limit the scope of the present invention. All equivalent changes made according to the design idea of the present application fall within the protection scope of the present application.
Claims (8)
1. Rotor unmanned aerial vehicle's automatic supplementary descending system, its characterized in that: the system consists of a ground landing base station and a landing auxiliary pod;
the ground landing base station comprises a main body frame, a direct-current power supply module, a control module, a working platform, a GPS/wireless communication antenna, a high-power positioning lamp and a metal landing net; the direct-current power supply module and the control module are arranged in the main body frame, the working platform is arranged on the main body frame, the metal landing net is arranged in the middle of the working platform, two sides of the working platform respectively extend out of a cantilever laterally, each cantilever is provided with a high-power positioning lamp and a GPS/wireless communication antenna, the control module, the high-power positioning lamp and the GPS/wireless communication antenna are all connected with the direct-current power supply module, and the control module is also connected with the high-power positioning lamp and the GPS/wireless communication antenna;
the landing auxiliary pod comprises a shell, a transparent fairing, a forward-looking camera module, an ultrasonic ranging camera integrated module, a micro-processing module, a power supply module, an anchor point, a fixing unit and a GPS/wireless communication module, wherein a path algorithm is arranged in the micro-processing module, and the path algorithm can generate a flight path according to GPS position information or light signals of two places; the transparent fairing is butted at the front end of the shell; the front-view camera module is arranged in the transparent fairing, and the ultrasonic ranging camera integrated module, the micro-processing module, the power supply module and the fixing unit are all positioned in the shell; the bottom of the shell is provided with a ranging window and a fixed window, the ultrasonic ranging camera shooting integrated module consists of an ultrasonic ranging radar and a ground camera which are connected with each other, and the ground camera is downwards arranged at the ranging window; the fixing unit comprises a plurality of fixed telescopic claws which can extend out of the fixed window; the top of the shell is provided with a communication interface used for communicating with a flight control chip of the unmanned aerial vehicle, the top of the shell is also provided with a plurality of anchor points used for fixing the landing auxiliary pod at the bottom of the unmanned aerial vehicle, and the GPS/wireless communication module is fixed at the rear end of the shell;
the foresight camera module, the micro-processing module, the fixing unit and the GPS/wireless communication module are all connected with the power supply module, and the micro-processing module is also respectively connected with the foresight camera module, the fixing unit and the GPS/wireless communication module; the ground landing base station and the GPS/wireless communication module of the landing auxiliary pod are used for receiving GPS signals and receiving and transmitting wireless signals.
2. An autonomous descent assist system for a rotary-wing drone according to claim 1, further characterized by: the main body frame of the ground landing base station is circular, the working platform is rotatably arranged on the main body frame by taking the circular edge of the main body frame as a track, and the metal landing net can also rotate along with the working platform.
3. An automatic assisted descent system for a rotary-wing drone according to claim 2, wherein: the ground landing base station further comprises a direct current motor and a variable speed control mechanism which are arranged in the main body frame, the direct current motor and the variable speed control mechanism are connected with the direct current power supply module, the variable speed control mechanism is further connected with the control module, an output shaft of the direct current motor is arranged upwards, and the output shaft is connected with the working platform to drive the working platform to rotate.
4. An automatic assisted descent system for a rotary-wing drone according to claim 1, characterised in that: the forward-looking camera module consists of a holder and a wide-angle high-definition camera arranged on the holder, the holder and the wide-angle high-definition camera are both arranged in a transparent fairing, and the holder and the wide-angle high-definition camera are respectively connected with the micro-processing module.
5. An automatic assisted descent system for a rotary-wing drone according to claim 1, characterised in that: three fixed telescopic claws are arranged in the fixed unit.
6. An autonomous descent assist system for a rotary-wing drone according to claim 1, further characterized by: the housing of the landing aid pod is a lightweight housing.
7. An autonomous descent assist system for a rotary-wing drone according to claim 1, further characterized by: 4 anchor points are arranged at the top of the shell of the landing aid nacelle.
8. An automatic assisted descent system for a rotary-wing drone according to claim 1, characterised in that: the control method comprises the following steps:
firstly, a rotor unmanned aerial vehicle sends a landing request to a landing auxiliary nacelle;
step two, a microprocessor module of the landing auxiliary nacelle receives a landing request through a communication interface of the landing auxiliary nacelle, and the microprocessor module controls a GPS/wireless communication module of the microprocessor module to send out information of the rotor unmanned aerial vehicle to be landed and GPS position information of the rotor unmanned aerial vehicle in an encryption coding mode;
thirdly, after the ground landing base station receives the landing information of the rotor unmanned aerial vehicle to be landed through the GPS/wireless communication module, the ground landing base station sends confirmation information and GPS position information of the ground landing base station to the rotor unmanned aerial vehicle in an encryption mode through the GPS/wireless communication module;
step four, after receiving the landing confirmation information and the GPS position information, a microprocessor module of the landing auxiliary pod executes a built-in path algorithm to generate a flight path, continuously communicates with a flight control chip of the rotor unmanned aerial vehicle, and sends the flight path updated in real time to the flight control chip to guide the rotor unmanned aerial vehicle to fly towards the direction of the ground landing base station;
fifthly, the control module of the ground landing base station controls the orientation of a high-power positioning lamp on the working platform to enable the high-power positioning lamp to be aligned with the arrival direction of the rotor wing unmanned aerial vehicle, meanwhile, the control module controls the GPS/wireless communication module to continuously communicate with the GPS/wireless communication module of the landing auxiliary nacelle, and GPS position information of the two parties is constantly updated;
step six, when the distance between the ground landing base station and the rotor unmanned aerial vehicle is close to the working range of the high-power positioning lamp, the control module of the ground landing base station controls to turn on the high-power positioning lamp and drive the high-power positioning lamp to aim at the rotor unmanned aerial vehicle, the high-power positioning lamp sends out a light positioning signal, meanwhile, a forward-looking camera module of the landing auxiliary pod starts to work, a light signal sent out by the positioning lamp is searched, the forward-looking camera module sends the light signal to a micro-processing module of the landing auxiliary pod after searching for the light signal, and the micro-processing module calculates the light signal so as to correct a flight path;
seventhly, after the rotor unmanned aerial vehicle reaches a preset position above the ground landing base station, the ultrasonic ranging camera integrated module of the landing auxiliary pod starts to work, and the rotor unmanned aerial vehicle is guided to lock the position of the ground landing base station and continuously reduce the height;
step eight, when the relative height of the landing auxiliary pod and the ground landing base station reaches a preset value, the landing auxiliary pod microprocessor module controls the fixing unit to extend out of the fixed telescopic claw, and the fixed telescopic claw hooks the metal landing net in the middle of the working platform to land;
and step nine, after the rotor unmanned aerial vehicle lands, the micro-processing module sends a recovery instruction to the fixing unit, and the fixed telescopic grab of the landing auxiliary nacelle is automatically retracted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710176733.4A CN106809402B (en) | 2017-03-23 | 2017-03-23 | Automatic auxiliary landing system of rotor unmanned aerial vehicle and control method thereof |
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| CN201710176733.4A CN106809402B (en) | 2017-03-23 | 2017-03-23 | Automatic auxiliary landing system of rotor unmanned aerial vehicle and control method thereof |
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| CN106809402A CN106809402A (en) | 2017-06-09 |
| CN106809402B true CN106809402B (en) | 2023-04-07 |
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| CN107515615A (en) * | 2017-08-30 | 2017-12-26 | 泸州深远世宁无人机科技有限公司 | For the landing-gear of unmanned plane in particular circumstances |
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| CN109383826A (en) * | 2018-10-09 | 2019-02-26 | 成都戎创航空科技有限公司 | Rotor wing unmanned aerial vehicle lands auxiliary system automatically |
| CN109335012A (en) * | 2018-12-01 | 2019-02-15 | 江苏鸿鹄无人机应用科技有限公司 | A kind of unmanned plane landing stage |
| CN110044212B (en) * | 2019-03-12 | 2021-07-30 | 西安电子科技大学 | Rotor unmanned aerial vehicle capture recovery method based on vision measurement information |
| CN113655804B (en) * | 2020-05-12 | 2023-07-07 | 北京三快在线科技有限公司 | Method and system for guiding unmanned aerial vehicle to land, auxiliary positioning system and unmanned aerial vehicle |
| CN113110536B (en) * | 2021-03-24 | 2021-10-01 | 南京晓庄学院 | Unmanned aerial vehicle auxiliary landing platform based on machine vision and landing method thereof |
| CN115158685A (en) * | 2022-05-12 | 2022-10-11 | 国网宁夏电力有限公司超高压公司 | Unmanned aerial vehicle recovery system and method for transformer substation |
| CN115352626A (en) * | 2022-08-17 | 2022-11-18 | 喜鹊颂人工智能科技有限公司 | Intelligent self-cruising unmanned distribution machine |
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