CN106542105B - Aircraft moving landing method and system - Google Patents
Aircraft moving landing method and system Download PDFInfo
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- CN106542105B CN106542105B CN201610882709.8A CN201610882709A CN106542105B CN 106542105 B CN106542105 B CN 106542105B CN 201610882709 A CN201610882709 A CN 201610882709A CN 106542105 B CN106542105 B CN 106542105B
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
The invention provides an aircraft moving and landing method and an aircraft moving and landing system. The aircraft moving landing method provided by the invention comprises the steps of obtaining the position information of a landing target and the position information of the aircraft, enabling the aircraft to be close to the landing target, and turning off power when the aircraft is within the range of the preset height difference and the preset horizontal distance difference, so that the aircraft is thrown onto the landing target. The invention has the advantages that the aircraft can stably move and land, and the landing process is slightly interfered by the outside.
Description
Technical Field
the invention relates to the technical field of aircrafts, in particular to a moving landing method and a moving landing system for an aircraft.
background
At present, aircrafts such as a multi-axis aircraft and the like generally automatically land through a computer vision system, acquire an image of a landing target through a camera, and safely land on the landing target by identifying and aligning the landing target through computer vision. However, when the multi-axis aircraft is close to the landing target, the fuselage of the multi-axis aircraft may shake due to reasons such as airflow disturbance or external interference, and then the camera may shake, and the computer vision system is difficult to recognize and align the shaken image of the landing target, so that the multi-axis aircraft cannot land on the landing target stably. Furthermore, when the landing target is positioned on the moving landing platform, the landing target also shakes, so that the landing difficulty of the multi-axis aircraft is further increased, and the power of the aircraft is not stopped before the aircraft lands, so that the aircraft is easy to rush out from the landing platform due to a strong ground effect, and the aircraft is likely to be accidentally damaged.
Disclosure of Invention
a first object of the present invention is to provide a method for stably moving and landing an aircraft;
a second object of the present invention is to provide a mobile landing system for stably landing an aircraft.
In order to achieve the first object, the invention provides an aircraft moving and landing method, which comprises the following steps: acquiring position information of a landing target; acquiring position information of an aircraft; a step of approaching the aircraft to a landing target; calculating a height difference and a horizontal distance difference between the aircraft and the landing target; when the preset conditions are met, the aircraft closes the power and drops on the landing target; the predetermined condition includes when the height difference is less than or equal to a predetermined height difference and the horizontal distance difference is less than or equal to a predetermined horizontal distance difference.
according to the scheme, when the relative position between the aircraft and the landing target is within a certain range, the aircraft can land by stopping the power of the aircraft. When the aircraft is close to the landing target, because reasons such as air current disturbance, external disturbance, landing platform self remove, the aircraft can't accurate point land landing on the landing platform, thereby it is difficult to go on to remove the landing, and when the relative landing target of aircraft is located certain extent, then control more easily, realize the landing of point to face promptly, the aircraft can land in the scope that contains the landing platform of landing target, it is before the landing platform that the aircraft lands, aircraft power has stopped, thereby after landing on the landing platform, can not dash out from the landing platform, in order to realize the safe landing of aircraft.
The more specific scheme is that the step that the aircraft approaches the landing target comprises the step that the aircraft establishes a flight path according to the position information of the aircraft and the acquired position information of the landing target; the aircraft flies according to the flight path.
According to the scheme, the flight path is automatically established by the aircraft according to the position information of the aircraft and the landing target, manual control is not needed, misoperation can be prevented, and the aircraft can land safely and stably.
More specifically, the step of obtaining the position information of the aircraft comprises obtaining relative altitude information of the aircraft; the aircraft obtains the position information of the landing target, and the aircraft obtains the image information of the landing target; the step of calculating the altitude difference and the horizontal distance difference between the aircraft and the landing target includes calculating the horizontal distance difference between the aircraft and the landing target according to the altitude information and the image information; the step of bringing the aircraft close to the landing target includes bringing the landing target close to the center of the image.
According to the scheme, the aircraft can calculate the angle of the landing target relative to the aircraft according to the image information, the landing target is generally arranged on the movable landing platform, the relative height of the landing target is generally not changed within a large range, so that the height information of the landing target can be basically determined, the aircraft calculates the height difference according to the height information of the aircraft and the height information of the landing platform, then the horizontal distance difference can be calculated according to the height difference and the angle, and the landing target is close to the center of the image, namely, the aircraft is opposite to the landing target, so that the aircraft can land stably.
More specifically, the step of acquiring the image information of the landing target by the aircraft comprises: the landing target identification system comprises an aircraft, and is characterized in that a camera device is arranged on the aircraft, a light source emitting light with a preset wavelength is arranged on the landing target, the light source strobes at a preset frequency under the control of a second processor, the camera device comprises a light filter transmitting the light with the preset wavelength, a first processor connected with the camera device is arranged on the aircraft, and the first processor identifies the landing target according to a numerical value of the preset frequency and image information acquired by the camera device.
according to the scheme, the optical filter which transmits the preset wavelength is arranged on the camera device, so that the relative position between the aircraft and the landing target can be determined by sensing the specific wavelength strobe light emitted by the light source. In the actual external environment, sunlight is reflected and refracted by the surfaces of various materials, and light emitted by various light-emitting bodies is mixed, light with various wavelengths can be emitted to the camera, so that the camera can capture wrong targets, the light source of the invention strobes at a specific frequency under the control of the second processor, the camera and the first processor can further accurately sense and identify landing targets, even if the wavelengths are the same, but the strobing frequencies are different, the camera and the first processor can identify that an object emitting the light is not a landing target, so that error identification is less prone to occur, and the aircraft lands stably and safely.
More specifically, the camera device comprises a first camera with a downward lens, a second camera and a third camera which are symmetrically distributed on two sides of the first camera, the lenses of the second camera and the third camera are obliquely and downwards arranged, the first camera, the second camera and the third camera are respectively provided with a light filter, and if the light source cannot be identified through image information acquired by the first camera, the light source is identified through the image information acquired by the second camera or the third camera.
by the scheme, the visual angle of the camera can be increased by applying the three cameras, so that the landing target can be conveniently captured, and the position of the aircraft relative to the landing target can be conveniently adjusted.
In another more specific scheme, the step of acquiring the position information of the aircraft comprises acquiring relative altitude information of the aircraft; the landing target is arranged on the landing platform; and in the moving and landing process, when the sudden change amplitude of the relative altitude information is greater than or equal to the altitude of the landing platform, judging that the aircraft enters the position above the landing platform. As can be seen from the above, when the relative altitude information changes suddenly, the aircraft can be shown to enter the space above the landing platform.
Preferably, before the power of the aircraft is turned off, the aircraft accelerates for a preset time along the movement direction of the landing target or until the speed difference between the aircraft and the landing target is greater than the preset speed difference. According to the scheme, when the landing target moves or the airflow resistance is large, the aircraft is kept at a certain initial speed, so that the aircraft can be prevented from falling behind the landing platform.
Preferably, the landing target is arranged on the landing platform, the distance sensors are arranged on the left side and the right side of the aircraft, the distance sensors face downwards, and the preset condition comprises that the distance difference sensed by the distance sensors on the left side and the right side is within a preset range. It can be seen from the above that, when the distances sensed by the distance sensors on the two sides are different, it is indicated that one side of the aircraft exceeds the landing platform, the aircraft lands insecurely, and only when the distance difference sensed by the distance sensors on the two sides is within a predetermined range, the aircraft can be considered to be located in the landing platform in the width direction and land safely. Wherein the downward facing distance sensor may also be used to obtain relative altitude information for the aircraft.
in order to achieve the second object, the invention provides an aircraft moving landing system, which comprises an aircraft and a landing target, wherein the aircraft and the landing target are respectively provided with a position information acquisition device, the aircraft is also provided with a storage device for storing information of a preset altitude difference and a preset horizontal distance difference, the aircraft is provided with a first processor for calculating the altitude difference and the horizontal distance difference between the aircraft and the landing target, comparing the altitude difference with the preset altitude difference and comparing the horizontal distance difference with the preset horizontal distance difference; and when the height difference is smaller than or equal to the preset height difference and the horizontal distance difference is smaller than or equal to the preset horizontal distance difference, the aircraft turns off the power and lands on the landing target.
According to the scheme, when the relative position between the aircraft and the landing target is within a certain range, the aircraft can land by stopping the power of the aircraft. When the aircraft is close to the landing target, because reasons such as air current disturbance, external disturbance, landing platform self remove, the aircraft can't accurate point land landing on the landing platform, thereby it is difficult to go on to remove the landing, and when the relative landing target of aircraft is located certain extent, then control more easily, realize the landing of point to face promptly, the aircraft can land in the scope that contains the landing platform of landing target, it is before the landing platform that the aircraft lands, aircraft power has stopped, thereby after landing on the landing platform, can not dash out from the landing platform, in order to realize the safe landing of aircraft. The aircraft automatically calculates and establishes a flight path according to the position information of the aircraft and the landing target, manual control is not needed, misoperation can be prevented, and the aircraft can land safely and stably.
more specifically, the position information acquisition device arranged on the landing target is a first geographic coordinate acquisition device which can acquire first geographic position information of the landing target, and the landing target is also provided with a first communication module; the position information acquisition device arranged on the aircraft is a second geographic coordinate acquisition device which can acquire second geographic position information of the aircraft, and the second geographic position information is sent to the first processor by the second communication module; the first geographical position information is sent to the second communication module through the first communication module and then sent to the first processor, and the first processor establishes a flight path according to the second geographical position information and the first geographical coordinate position information stored in the storage device.
According to the scheme, the height difference and the horizontal distance difference can be calculated by utilizing the geographic coordinate acquisition device and the first processor, and the relative position information can be updated in time by utilizing the communication module so as to guide the aircraft to fly along the flight path and stably land.
more specifically, a camera device connected with the first processor is arranged on the aircraft; the landing target is provided with a light source emitting light with a preset wavelength, the light source stroboflash according to a preset frequency under the control of the second processor, the camera device comprises a light filter transmitting the light with the preset wavelength, and the first processor identifies the landing target according to the numerical value of the preset frequency and the image information acquired by the camera device.
According to the scheme, when the landing target is located within the visual angle range of the camera device, the aircraft can adjust the posture of the aircraft body or the optical axis angle of the camera device, the landing target is enabled to be close to the visual angle center of the camera device, the angle of the landing target relative to the aircraft can be calculated by the aid of image information provided by the camera device, the landing target is generally arranged on a movable landing platform, the relative height of the landing target cannot be changed within a large range generally, so that the height information of the landing target can be basically determined, the first processor calculates the height difference according to the height information of the aircraft and the height information of the landing platform, then the horizontal distance difference can be calculated according to the height difference and the angle, and the center of the landing target close to the image is enabled to be just opposite to the landing target, and the aircraft can land stably. The camera device is provided with a filter which transmits preset wavelength, so that the relative position between the aircraft and the landing target can be determined by sensing the specific wavelength strobe light emitted by the light source. In the actual external environment, sunlight is reflected and refracted by the surfaces of various materials, and light emitted by various light-emitting bodies is mixed, light with various wavelengths can be emitted to the camera, so that the camera can capture wrong targets, the light source of the invention strobes at a specific frequency under the control of the second processor, the camera and the first processor can further accurately sense and identify landing targets, even if the wavelengths are the same, but the strobing frequencies are different, the camera and the first processor can identify that an object emitting the light is not a landing target, so that error identification is less prone to occur, and the aircraft lands stably and safely.
preferably, the aircraft is provided with distance sensors facing downwards on both the left and right sides. It can be seen from the above that, when the distances sensed by the distance sensors on the two sides are different, it is indicated that one side of the aircraft exceeds the landing platform, the aircraft lands insecurely, and only when the distance difference sensed by the distance sensors on the two sides is within a predetermined range, the aircraft can be considered to be located in the landing platform in the width direction and land safely.
Drawings
FIG. 1 is a schematic view of an embodiment of the aircraft mobile descent system of the present invention;
FIGS. 2 to 5 are schematic views of a camera capturing and adjusting a target in an embodiment of a mobile landing system of an aircraft according to the present invention;
FIG. 6 is a schematic view of a video frame captured by a camera in an embodiment of the aircraft mobile landing system of the present invention shown on a display screen;
FIG. 7 is a diagram showing the relationship between the devices in the embodiment of the mobile descent system of the aircraft according to the invention;
FIG. 8 is a flow chart of an embodiment of the aircraft mobile landing method of the present invention.
Detailed Description
as shown in fig. 1, a camera device 10 is disposed below the aircraft 1, and the camera device 10 may include a camera 11 as a first camera with a downward lens, a camera 12 as a second camera with a downward lens facing forward and a camera 13 as a third camera with a downward lens facing backward, preferably three cameras are linearly disposed and located in the same vertical plane, and each camera is provided with a filter, wherein the filter is configured to be transparent to light with a predetermined wavelength, such as infrared rays and the like. When the aircraft 1 flies straight ahead, the camera 12 may face forward and downward and the camera 13 may face rearward and downward. The angle between the camera 12 and the camera 11 and the angle between the camera 13 and the camera 11 are preferably set to be equal, and may be selected from the range of 0 to 90 degrees, and further preferably from 30 to 60 degrees, such as 45 degrees. The aircraft 1 is a helicopter, a biaxial aircraft or a multiaxial aircraft and other aircraft capable of taking off and landing vertically. The landing target 2 can be provided with a first communication module, the aircraft 1 can be provided with a second communication module, and the two modules can communicate with each other so as to update the relative position between the aircraft 1 and the landing target 21 in time when the aircraft moves and lands. The landing platform 2 is arranged on a movable device 3, the movable device 3 can be a motor vehicle such as a car or a ship, and the landing platform can also be a part of the movable device 3, such as a car roof or a ship deck. Landing target 21 sets up on landing platform 2, be provided with the light source that sends the light of predetermined wavelength on landing target 3, be provided with the first treater of being connected with camera device 1 on the aircraft, be provided with respectively with the light source on landing target 3, the second treater that power and first communication module are connected, second treater control light source is according to the predetermined frequency stroboscopic, thereby send the light of predetermined wavelength predetermined frequency, the second treater passes through first communication module and second communication module with the numerical value of predetermined frequency and sends to first treater, first treater is according to the numerical value identification of predetermined frequency landing target is difficult for appearing the maloperation.
the landing platform 2 or the movable device 3 is provided with a first geographic coordinate acquisition device such as a GPS (global positioning system) and the like, the aircraft 1 is provided with a second geographic coordinate acquisition device, and when the landing target 21 is not in the sight of the camera device, the position relation between the aircraft 1 and the landing target 21 can also be determined by the geographic coordinate acquisition device, so that the aircraft 1 can fly along with the movable device 3. When the landing target enters the sight range of the camera device, visual positioning can be carried out. When the landing target is out of the sight range of all cameras in the descending process of the aircraft, the aircraft ascends until the landing target enters the sight of the camera again.
each camera has a range of viewing angles, and when an object is within its range of viewing angles, the camera can capture the object and form an image. As shown in fig. 2, the angle of view of the lens-down camera 11 in the width direction is 2 α with respect to the vertical line, and since the working surfaces of the sensors of the camera 11 are arranged in a rectangular shape, the angle of view of the camera 11 in the length direction is 2 β (not shown in the figure). The farther from the lens in the vertically downward direction, the larger the range that falls within the camera 11. Before the aircraft 1 stably lands, the camera device 10 determines whether the landing target 21 can fall within the visual angle range of the camera 11 according to the relative position between the aircraft 1 and the landing platform 2, captures light emitted by a light source arranged on the landing target 21 on the horizontal plane h, and when the relative distance is within the visual line range and the camera 11 does not capture light, as shown in fig. 2, the height, orientation or switching of the aircraft 1 to the camera to capture can be adjusted until the light source is captured by one of the cameras.
as shown in fig. 3, the aircraft 1 is raised, and the light emitted from the landing target 21 is captured by the camera 11, and the light forms a spot on the video screen captured by the camera 11. When the height of the landing target 21 is H2 with respect to the center of the video frame captured by the camera 11 at the height H1 corresponding to the intersection of the center line of the camera 11 and the horizontal plane H, the height difference H between the camera 11 and the landing target 21 is H1 to H2, as shown in fig. 4. The boundary in the width direction of the video screen corresponds to the maximum visible angle of the camera 11 in the width direction. Assuming that a light spot formed by light on a video screen captured by the camera 11 is s away from the center of the video screen in the width direction of the video screen and the width of the video screen is 2W, an angle between a connecting line between the camera 11 and the landing target 21 and a vertical line in the width direction is α × s/W and a horizontal distance is H × tan (α × s/W) can be calculated by estimation. If the distance from the light spot formed on the video image captured by the camera 11 to the center of the video image is e and the width of the video image is 2L, the angle between the vertical line and the connection line between the camera 11 and the landing target 21 in the length direction is β × e/L, the horizontal distance is H × tan (β × e/L), H × tan (α × s/W) and H × tan (β × e/L) are considered as two sides, the horizontal distance difference between the camera 11 and the landing target 21 is a hypotenuse, the horizontal distance difference D between the camera 11 and the landing target 21 can be calculated by using the pythagorean theorem, and compared with the predetermined height difference and the predetermined horizontal distance difference in the storage device, a flight path is established according to the self speed of the aircraft, the moving speed of the landing target, and the like.
For a camera facing forward and downward at 45 ° to the vertical line, the horizontal projection distance of the light source from the camera in the length direction thereof can be estimated by H × tan (45 ° + β × e/L). For a camera facing backwards and downwards at-45 degrees to the vertical, the horizontal projection distance of the light source and the camera in the length direction thereof can be estimated by H × tan (-45 ° + β × e/L).
When the aircraft moves to another position where the height difference between the camera 11 and the landing target 21 is H2, the horizontal distance difference D2 can be calculated according to the algorithm described above, as shown in fig. 5. Of course, the horizontal range difference can be estimated or calculated by other methods.
Another exemplary algorithm is as follows. As shown in fig. 3, the aircraft 1 is lifted, the light emitted by the landing target 21 is captured by the camera 11, the position of the aircraft 1 relative to the landing target 21 is adjusted according to the position of a light spot formed by the light on the display screen of the camera, the light spot is closer to the center line of the camera, the first processor arranged on the aircraft calculates the angle δ 1 between the connecting line between the camera and the landing target 21 and the vertical line according to the position of the light spot on the display screen, the height difference H is calculated according to the distance p between the light spot and the center of the video picture in the video picture, the proportional relation k between the display screen and the camera imaging sensor, and the relation of the focal length f of the camera, the horizontal distance difference D = H x [ p/(k × f) ] between the aircraft and the target can be calculated by using the angle δ 1 and the height difference H, and the horizontal distance difference D = H x [ p/(k × f) ], and compared with the predetermined height difference and the predetermined horizontal distance difference in the storage means, a flight path is established based on the own speed of the aircraft, the moving speed of the landing object, and the like, as shown in fig. 4.
Then, the aircraft flies according to the flight path, and meanwhile, the height of the aircraft relative to the landing target is reduced, the first processor calculates an angle delta 2 between a connecting line between the camera and the landing target 21 and a vertical line according to the position of the light spot on the display screen, calculates a height difference H2 according to the height information of the aircraft 1 and the landing target, calculates a horizontal distance difference D2 between the aircraft and the landing target by using the angle delta 2 and the height difference H2, compares the horizontal distance difference with a preset height difference and a preset horizontal distance difference in the storage device, and updates the flight path, as shown in FIG. 5.
It is obvious that the algorithm of the horizontal distance difference is not unique and can be obtained by the following algorithm. Because the image space in the video picture and the space distance between the actual horizontal planes have a similar relation, the distance from the light source to the projection point of the camera 11 on the actual horizontal planes in the width direction of the video picture can be (s multiplied by H multiplied by tan alpha)/W according to a similar proportion algorithm; similarly, the distance from the light source to the projection point of the camera 11 on the actual horizontal plane in the length direction of the video frame is (e × H × tan β)/L, and the horizontal distance difference between the camera 11 and the landing target 21 can be obtained according to the pythagorean theorem.
When the first processor determines that the calculated height difference is less than or equal to the predetermined height difference and the horizontal distance difference is less than or equal to the predetermined horizontal distance difference, the power can be turned off for landing, and further preferably, when the light spot formed by the landing target 21 on the display screen 14 of the image pickup device falls in the middle area S, as shown in fig. 6, the power of the aircraft 1 can be stopped, and the aircraft 1 can land, i.e., land on the landing platform 2 by means of its own gravity and inertia.
the interrelationship between the aircraft 1 and the devices on the landing target 21 can be seen in fig. 7, and the course of the aircraft 1 moving for landing can be seen in fig. 8.
The camera device of the aircraft 1 is generally arranged under the aircraft close to the center, and downward distance sensors may be arranged on the left and right sides of the aircraft, and are usually also arranged on the left and right sides of the camera device, and whether the distances on the left and right sides sensed by the two distance sensors are approximately the same, that is, whether the difference is within a predetermined range. When the difference value of the distances sensed by the distance sensors on the two sides is larger than a preset value, it is judged that one side of the aircraft exceeds the landing platform, the aircraft is unsafe to land, and only when the distance difference sensed by the distance sensors on the two sides is within a preset range, the aircraft can be considered to be located in the landing platform in the width direction and can land safely.
More than two distance sensors can sense whether the aircraft is in the range of the landing platform, and when the distance difference sensed by the distance sensors is in a preset range, namely the aircraft is sensed to be in the range of the landing platform, the aircraft can land safely.
The preset height can be determined according to the self weight of the aircraft, the flying speed and direction of the aircraft, the moving speed and direction of the landing platform, the size of the landing platform, the width of a foot rest of the aircraft and the like. For example: the aircraft with larger weight needs smaller preset height to avoid over violent landing impact, the aircraft with larger landing flying speed needs smaller preset height to avoid larger throwing and landing error caused by too large speed difference between the aircraft and a landing target, and the preset height can be set to be 30 cm when the aircraft with 5 kg weight lands at the speed of 2 m/s.
The predetermined distance may be determined according to the minimum width M of the landing platform on which the landing target is located and the maximum support width a of the foot rests of the aircraft, and preferably, 0.5 x (M-a)/2 is taken as the predetermined distance. Of course, the predetermined distance may also be determined with reference to the flight speed and direction of the aircraft, the speed and direction of movement of the landing platform.
after the power of the aircraft is stopped, the aircraft still flies forwards at a certain initial speed, the forward speed is gradually reduced under the influence of air resistance, and meanwhile, under the influence of gravity, the aircraft can move downwards in an accelerated manner, so that the aircraft can land on a landing platform approximately along a parabola. When the landing platform moves, the initial speed of the aircraft when the power stops needs to take the moving speed of the landing platform into consideration.
For example, when the predetermined height is set to 30 cm and the predetermined distance is set to 20 cm, the camera of the aircraft captures the light emitted by the landing target, and adjusts the position of the aircraft relative to the landing target, and if the height of the aircraft relative to the landing target is 0 to 30 cm and the distance is in the range of 0 to 20 cm, a light spot formed by the landing target on the acquired video picture of the camera should be located in the area S of the video picture, so that the power of the aircraft can be turned off, and the aircraft lands on the landing platform by virtue of the gravity and inertia of the aircraft.
Certainly, when the height of the aircraft relative to the landing target is in the range of 0-30 cm and the distance is 0-20 cm, the aircraft can be accelerated along the moving direction of the landing target by increasing the throttle, then the flight power is turned off, the aircraft is flamed out and landed, and the aircraft lands on the landing platform by means of gravity and inertia. Thus, the landing precision can be further improved.
the surface of the landing platform can be provided with a material with high friction coefficient so as to prevent the aircraft from rushing out of or being thrown out of the area of the landing platform under the action of inertia force after landing on the landing platform. The landing platform can be provided with a magnetic device, and after the aircraft lands on the landing platform, magnetic force is applied to the aircraft. Suction cups may also be provided on the landing platform for cushioning.
Claims (12)
1. the method for moving and landing the vertically taking-off and landing aircraft comprises
Acquiring position information of a moving landing target;
acquiring position information of an aircraft;
A step of bringing the aircraft close to the landing target;
a step of calculating a difference in height and a difference in horizontal distance between the aircraft and the landing target;
when a preset condition is met, the aircraft turns off power and is landed on the landing target;
The predetermined conditions include the height difference being less than or equal to a predetermined height difference and the horizontal distance difference being less than or equal to a predetermined horizontal distance difference.
2. The aircraft mobile landing method of claim 1, wherein:
the step of the aircraft approaching the landing target comprises:
The aircraft establishes a flight path according to the position information of the aircraft and the acquired position information of the landing target;
The aircraft flies according to the flight path.
3. the aircraft mobile landing method of claim 2, wherein:
The step of obtaining position information of an aircraft comprises obtaining relative altitude information of the aircraft;
The aircraft acquiring the position information of the landing target comprises the aircraft acquiring the image information of the landing target;
the step of calculating the altitude difference and the horizontal distance difference between the aircraft and the landing target includes calculating the horizontal distance difference between the aircraft and the landing target according to altitude information and image information;
The step of the aircraft approaching the landing target includes approaching the landing target to the center of the image.
4. the aircraft mobile landing method of claim 3, wherein:
The step of the aircraft acquiring the image information of the landing target comprises the following steps:
The aircraft is provided with a camera device;
The landing target is provided with a light source emitting light with a preset wavelength, the light source stroboflash at a preset frequency under the control of a second processor, the camera shooting device comprises a light filter penetrating the light with the preset wavelength, the aircraft is provided with a first processor connected with the camera shooting device, and the first processor identifies the landing target according to the numerical value of the preset frequency and the image information acquired by the camera shooting device.
5. The aircraft mobile landing method of claim 4, wherein:
The camera device comprises a first camera with a downward lens, a second camera and a third camera which are symmetrically distributed on two sides of the first camera, wherein the lenses of the second camera and the third camera are obliquely and downwards arranged, and the first camera, the second camera and the third camera are respectively provided with the optical filter;
and if the light source cannot be identified through the image information acquired by the first camera, identifying the light source through the image information acquired by the second camera or the third camera.
6. the aircraft mobile landing method of claim 1, wherein:
the step of obtaining position information of an aircraft comprises obtaining relative altitude information of the aircraft;
the landing target is arranged on the landing platform;
In the moving and landing process, when the sudden change amplitude of the relative altitude information is larger than or equal to the altitude of the landing platform, the aircraft is judged to enter the position above the landing platform.
7. An aircraft mobile landing method according to any one of claims 1 to 6, wherein:
Before the aircraft is powered off, the aircraft is accelerated for a preset time along the movement direction of the landing target or accelerated until the speed difference between the aircraft and the landing target is greater than a preset speed difference.
8. An aircraft mobile landing method according to any one of claims 1 to 5, wherein:
The landing target is arranged on the landing platform;
downward distance sensors are arranged on the left side and the right side of the aircraft;
The predetermined condition further includes that the distance difference sensed by the distance sensors on the left and right sides is within a predetermined range.
9. But VTOL aircraft removes descending system, including aircraft and landing target, wherein the aircraft with be provided with position information acquisition device, its characterized in that on the landing target respectively:
The aircraft is also provided with a storage device for storing information of the preset height difference and the preset horizontal distance difference;
the aircraft is provided with a first processor, and the first processor is used for calculating the height difference and the horizontal distance difference between the aircraft and the landing target, comparing the height difference with the preset height difference, and comparing the horizontal distance difference with the preset horizontal distance difference;
And when the height difference is smaller than or equal to a preset height difference and the horizontal distance difference is smaller than or equal to a preset horizontal distance difference, the aircraft turns off the power and lands on the moving landing target.
10. An aircraft mobile descent system according to claim 9, wherein:
The position information acquisition device arranged on the landing target is a first geographical coordinate acquisition device which can acquire first geographical position information of the landing target, and the landing target is also provided with a first communication module;
The position information acquisition device arranged on the aircraft is a second geographic coordinate acquisition device which can acquire second geographic position information of the aircraft; the aircraft is also provided with a second communication module, and the second geographical position information is sent to the first processor by the second communication module;
The first geographical position information is sent to the second communication module through the first communication module and then sent to the first processor, and the first processor establishes a flight path according to the second geographical position information and the first geographical position information stored in the storage device.
11. An aircraft mobile descent system according to claim 10, wherein:
The aircraft is provided with a camera device, and the camera device is connected with the first processor;
the landing target is provided with a light source emitting light with a preset wavelength, the light source stroboflash according to a preset frequency under the control of a second processor, the camera device comprises an optical filter penetrating through the light with the preset wavelength, and the first processor identifies the landing target according to the numerical value of the preset frequency and image information acquired by the camera device.
12. An aircraft mobile descent system according to any one of claims 9 to 11, wherein:
The left and right sides of the aircraft are both provided with downward distance sensors.
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| CN107168343B (en) * | 2017-07-14 | 2020-09-15 | 灵动科技（北京）有限公司 | Control method of a luggage case and luggage case |
| CN109144096A (en) * | 2018-08-15 | 2019-01-04 | 东汉太阳能无人机技术有限公司 | A kind of control method and unmanned plane of UAV Landing |
| CN110001980B (en) * | 2019-04-19 | 2021-11-26 | 深圳市道通智能航空技术股份有限公司 | Aircraft landing method and device |
| CN112799428B (en) * | 2020-12-31 | 2024-10-18 | 广州极飞科技股份有限公司 | Control method, control device, controlled device and readable storage medium |
| CN115985325A (en) * | 2022-12-01 | 2023-04-18 | 中国第一汽车股份有限公司 | A method and device for registering speech through coordinates to see what you see and talk |
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