阅读说明：本技术 多无人机充电停机坪区引导降落管理系统 (Many unmanned aerial vehicle charge parking apron district guide descending management system ) 是由 金杉 崔文 金志刚 于 2019-09-17 设计创作，主要内容包括：本发明涉及一种多无人机充电停机坪区引导降落管理系统,包括：无人机端,设置有微处理器和光束收发器,光束收发器设置在无人机的底部,能够在微处理器的控制下垂直向下发射光束,并能够将接收到的来自停机坪端的光信号传送至微处理器；停机坪端,每个停机坪端设置有微处理器和光束收发器,光束收发器设置在停机坪上,能够在微处理器的控制下垂直向上发射光束,并能够将接收到的来自无人机端的光信号传送至微处理器；管理服务器端,用于通过各个停机坪端对各个无人机进行引导降落的管理,管理服务器在每一个监测周期内仅对一个停机坪端进行管理。(The invention relates to a multi-unmanned aerial vehicle charging parking apron area guiding landing management system, which comprises: the unmanned aerial vehicle end is provided with a microprocessor and a light beam transceiver, the light beam transceiver is arranged at the bottom of the unmanned aerial vehicle, can vertically emit light beams downwards under the control of the microprocessor and can transmit received light signals from the apron end to the microprocessor; the parking apron comprises parking apron ends, wherein each parking apron end is provided with a microprocessor and a light beam transceiver, and the light beam transceiver is arranged on the parking apron, can vertically emit light beams upwards under the control of the microprocessor and can transmit received light signals from an unmanned aerial vehicle end to the microprocessor; and the management server end is used for managing the guided landing of each unmanned aerial vehicle through each apron end, and the management server only manages one apron end in each monitoring period.)

1. A multi-unmanned aerial vehicle charging parking apron guiding landing management system comprises:

each unmanned aerial vehicle can acquire state information including three-dimensional coordinates, flight speed and direction information, and is also provided with a microprocessor and a light beam transceiver, wherein the light beam transceiver is arranged at the bottom of the unmanned aerial vehicle, can vertically emit light beams downwards under the control of the microprocessor and can transmit received light signals from the parking apron end to the microprocessor;

the parking apron comprises parking apron ends, wherein each parking apron end is provided with a microprocessor and a light beam transceiver, and the light beam transceiver is arranged on the parking apron, can vertically emit light beams upwards under the control of the microprocessor and can transmit received light signals from an unmanned aerial vehicle end to the microprocessor; the unmanned aerial vehicle end and the parking apron end carry out optical communication through respective microprocessors and light beam transceivers, and the purpose that the parking apron sends out instructions and unmanned aerial vehicle state feedback is achieved; the microprocessor of each apron end is also connected with the management server in a wireless communication or wired connection mode.

The management server end is used for managing the guided landing of each unmanned aerial vehicle through each air park end, the management server only manages one air park end in each monitoring period, code matching, communication, reporting and data reported by the air parks applying for landing the air parks in flight states and three-dimensional coordinates are completed, the management server also sends landing scheme instructions to the air park, and other air park reported data are discarded; each plateau competes for submission in the next monitoring period; when only one unmanned aerial vehicle is found by the plurality of apron-end transceivers in the same monitoring period, the management server instructs the airplane stands closest to the unmanned aerial vehicle to guide landing and parking charging.

2. The system of claim 1, wherein the method for the management server to manage a certain tarmac end in a monitoring period is as follows: the management server calculates the three-dimensional coordinates of the air park and the three-dimensional coordinates of the air park according to the three-dimensional coordinates, the flying speed and the flying direction of the corresponding unmanned aerial vehicle report obtained from a certain air park end, calculates the relative position distance, forms and sends a guiding scheme instruction for controlling the unmanned aerial vehicle to move along the position connecting line direction, and sends the instruction to the unmanned aerial vehicle through the air park end until the relative position distance of the unmanned aerial vehicle is smaller than a preset threshold value, which indicates that the parking is successful; and if the light beam transceiver at the apron end interrupts receiving the feedback information of the guided unmanned aerial vehicle after exceeding the preset time period, indicating that the parking is failed, and the apron gives an alarm to the management server.

3. The system of claim 2, wherein the method of directing the fall management is as follows:

the method comprises the following steps: the unmanned aerial vehicles fly to the sky above the parking apron area, and the bottom light beam transceiver receives and senses light signals sent by the center light beam transceiver of the airplane space of a certain parking apron distribution group, so that the sky of the apron area is indicated; the multiple unmanned aerial vehicles actively send out a communication request to any parking apron, and the parking apron selects to reply yes or no; if the unmanned aerial vehicle is selected to land on the parking apron, establishing a stable communication link, and manually sending a request to the parking apron by each unmanned aerial vehicle operator or automatically sending a request to the parking apron by all unmanned aerial vehicles; if not, any aircraft position in the plateau area cannot be guided and charged, the aircraft position refuses to communicate with the unmanned aerial vehicle, and the perception inquiry process is finished;

step two: after a stable communication link is established, the multiple unmanned aerial vehicles inquire whether landing can be performed; if the server end of the parking apron management end can be recovered and lowered, a certain unmanned machine starts a state reporting process; if not, the parking apron aircraft position refuses to communicate with the unmanned aerial vehicle, and the perception inquiry process is finished;

step three: starting a state reporting process by the multiple unmanned aerial vehicles, and reporting self three-dimensional coordinates and flight states to the parking apron through the stable communication link; the relative positions of the management end server computer and the lawn simulate the state of the unmanned aerial vehicle to form a guiding scheme, and the guiding scheme is sent to each unmanned aerial vehicle end; the multiple drones respond and execute the guidance plan requirements.

Technical Field

The invention relates to the technical field of optical communication, in particular to a multi-unmanned aerial vehicle charging parking apron area guiding landing management system based on infrared or visible light beams.

Background

The infrared beam distance measurement can measure a longer distance under the conditions of no reflector and low reflectivity. With the development and progress of LED light source technology, white LEDs with the advantages of high brightness, low power consumption, long lifetime, etc. have gradually replaced fluorescent lamps and incandescent lamps. The white light LED communication is convenient to modulate and quick in response, has obvious advantages compared with ultraviolet and radio frequency modes in the aspects of harmless radiation, confidentiality, stability and the like, becomes a novel Visible Light Communication (VLC) mode, and is gradually popularized to the field of indoor positioning. The existing infrared and LED beam ranging method can maintain the stability of a channel and has strong operability, but a targeted model is lacked for the positioning and sampling requirements of an indoor horizontal moving target, and the acquisition and processing research of radio frequency signals under the condition of a single light source and a single receiver is less.

At present, the unmanned aerial vehicle air park that wirelessly charges has got into the volume production stage, and this type of air park replaces the air park for the charging panel, can realize that unmanned aerial vehicle parks the back, need not the wire and can realize charging in real time, has simplified the charging procedure greatly. But along with the demand that uses many unmanned aerial vehicles in the same scene such as fire control, traffic, calamity increases, this air park is difficult to satisfy many unmanned aerial vehicle and parks the demand of charging, and there are more requirements in position and the stability that current wireless charging air park many unmanned aerial vehicles stopped, is difficult to effectively respond to the unmanned aerial vehicle who parks the skew and charges. And mostly rely on the subjective experience remote control execution of operator at many unmanned aerial vehicle landing stages, the precision of current automatic control descending also is difficult to pinpoint the area of air park less scope, appears a plurality of operators robbing the flat position easily, perhaps many unmanned aerial vehicle landing time interval near collide in the air and fall, cause the loss. Under the premise that wireless charging, surrounding electric equipment and an electromagnetic field can interfere remote control or automatic landing or shield radio signals, the method researches and services the parking apron area of the multiple unmanned aerial vehicles, realizes non-interference, easy-induction and energy-saving landing guidance management, avoids or reduces the above problems, and becomes a great challenge in the design of a landing guidance management system of the multiple unmanned aerial vehicles.

Disclosure of Invention

According to the method, based on a light beam receiving and transmitting combined system of infrared or LED visible light beams, light beam transceivers are respectively installed at the bottoms of the unmanned aerial vehicles and the center of each parking apron, the two transceivers communicate according to binary flashing frequency to charge the parking of the multiple unmanned aerial vehicles, the multiple parking aprons are built into multiple distribution groups, and the apron area is composed of multiple apron groups, so that the flying state, coordinate report, landing guide scheme formulation and instruction transmission of the multiple unmanned aerial vehicles are realized, and the accurate and safe parking positions of the multiple unmanned aerial vehicles are ensured. The technical scheme is as follows:

a multi-unmanned aerial vehicle charging parking apron guiding landing management system comprises:

each unmanned aerial vehicle can acquire state information including three-dimensional coordinates, flight speed and direction information, and is also provided with a microprocessor and a light beam transceiver, wherein the light beam transceiver is arranged at the bottom of the unmanned aerial vehicle, can vertically emit light beams downwards under the control of the microprocessor and can transmit received light signals from the parking apron end to the microprocessor;

the parking apron comprises parking apron ends, wherein each parking apron end is provided with a microprocessor and a light beam transceiver, and the light beam transceiver is arranged on the parking apron, can vertically emit light beams upwards under the control of the microprocessor and can transmit received light signals from an unmanned aerial vehicle end to the microprocessor; the unmanned aerial vehicle end and the parking apron end carry out optical communication through respective microprocessors and light beam transceivers, and the purpose that the parking apron sends out instructions and unmanned aerial vehicle state feedback is achieved; the microprocessor of each apron end is also connected with the management server in a wireless communication or wired connection mode.

The management server end is used for managing the guided landing of each unmanned aerial vehicle through each air park end, the management server only manages one air park end in each monitoring period, code matching, communication, reporting and data reported by the air parks applying for landing the air parks in flight states and three-dimensional coordinates are completed, the management server also sends landing scheme instructions to the air park, and other air park reported data are discarded; each plateau competes for submission in the next monitoring period; when only one unmanned aerial vehicle is found by the plurality of apron-end transceivers in the same monitoring period, the management server instructs the airplane stands closest to the unmanned aerial vehicle to guide landing and parking charging.

Preferably, the method for the management server side to manage a certain apron side in one monitoring period is as follows: the management server calculates the three-dimensional coordinates of the air park and the three-dimensional coordinates of the air park according to the three-dimensional coordinates, the flying speed and the flying direction of the corresponding unmanned aerial vehicle report obtained from a certain air park end, calculates the relative position distance, forms and sends a guiding scheme instruction for controlling the unmanned aerial vehicle to move along the position connecting line direction, and sends the instruction to the unmanned aerial vehicle through the air park end until the relative position distance of the unmanned aerial vehicle is smaller than a preset threshold value, which indicates that the parking is successful; and if the light beam transceiver at the apron end interrupts receiving the feedback information of the guided unmanned aerial vehicle after exceeding the preset time period, indicating that the parking is failed, and the apron gives an alarm to the management server.

Preferably, the method of guided landing management is as follows:

the method comprises the following steps: the unmanned aerial vehicles fly to the sky above the parking apron area, and the bottom light beam transceiver receives and senses light signals sent by the center light beam transceiver of the airplane space of a certain parking apron distribution group, so that the sky of the apron area is indicated; the multiple unmanned aerial vehicles actively send out a communication request to any parking apron, and the parking apron selects to reply yes or no; if the unmanned aerial vehicle is selected to land on the parking apron, establishing a stable communication link, and manually sending a request to the parking apron by each unmanned aerial vehicle operator or automatically sending a request to the parking apron by all unmanned aerial vehicles; if not, any aircraft position in the plateau area cannot be guided and charged, the aircraft position refuses to communicate with the unmanned aerial vehicle, and the perception inquiry process is finished;

step two: after a stable communication link is established, the multiple unmanned aerial vehicles inquire whether landing can be performed; if the server end of the parking apron management end can be recovered and lowered, a certain unmanned machine starts a state reporting process; if not, the parking apron aircraft position refuses to communicate with the unmanned aerial vehicle, and the perception inquiry process is finished;

step three: starting a state reporting process by the multiple unmanned aerial vehicles, and reporting self three-dimensional coordinates and flight states to the parking apron through the stable communication link; the relative positions of the management end server computer and the lawn simulate the state of the unmanned aerial vehicle to form a guiding scheme, and the guiding scheme is sent to each unmanned aerial vehicle end; the multiple drones respond and execute the guidance plan requirements.

According to the method, based on a light beam receiving and transmitting combined system of infrared or LED visible light beams, light beam transceivers are respectively installed at the bottoms of the unmanned aerial vehicles and the center of each parking apron, the two transceivers communicate according to binary flashing frequency to charge the parking of the multiple unmanned aerial vehicles, the multiple parking aprons are built into multiple distribution groups, and the apron area is composed of multiple apron groups, so that the flying state, coordinate report, landing guide scheme formulation and instruction transmission of the multiple unmanned aerial vehicles are realized, and the accurate and safe parking positions of the multiple unmanned aerial vehicles are ensured. The infrared or LED visible light beam guiding method designed on the basis of the model enables the multiple unmanned aerial vehicles to land, so that electromagnetic shielding or interference is completely avoided, the problems that the existing guiding method is inaccurate and is difficult to implement in a self-adaptive mode are solved, the risk of collision is reduced, the behavior state information of the multiple unmanned aerial vehicles can be provided quickly and accurately, the landing operation of the multiple unmanned aerial vehicles is guided accurately, the service efficiency of the wireless charging parking apron is improved, and the accident occurrence rate is reduced.

Drawings

FIG. 1 illustrates the assembly steps of the present invention

FIG. 2 is the operation flow of the present invention

FIG. 3 is an operational schematic of the present invention

Detailed Description

The system provided by the invention is based on a light beam receiving and transmitting combined system of infrared or LED visible light beams, light beam transceivers are respectively installed at the bottoms of the unmanned aerial vehicles and the central positions of the air stations, the two transceivers are communicated according to binary flashing frequency to charge the multi-unmanned aerial vehicles for parking, the multi-air stations are built into a plurality of distributed groups, and the air station area is formed by a plurality of station groups, so that the flying states, coordinate reports, landing guide scheme formulation and instruction transmission of the multi-unmanned aerial vehicles are realized, and the accurate and safe parking positions of the multi-unmanned aerial vehicles are ensured. The invention discloses a multi-unmanned aerial vehicle charging parking apron area guiding landing management system based on infrared or visible light beams, which comprises:

the light beam transceivers in the parking apron areas can be communicated with the found unmanned aerial vehicles in parallel, the light beam transceivers are vertically emitted downwards from the bottoms of the unmanned aerial vehicles, and the light beam transceivers are vertically emitted upwards from the center of each stand of each parking apron distribution group. Free space optical communication is carried out between the two, and the command sent by the parking apron and the state feedback of the unmanned aerial vehicle are realized.

And the high-frequency chip microprocessor is used for controlling the behavior of the two-end light beam transceiver. The system is used for translating binary codes and electronic signals of information such as parking apron inquiry information and instructions, unmanned aerial vehicle states and coordinates, confirmation of accurate parking success and failure alarm, remote control confirmation/denial of operators and the like, and transmitting the information by the light beam transceiver.

The parking apron end light beam transceiver and the microprocessor are inserted on the development board together, and the development board and a control room server in wired connection with the parking apron distribution group transmit control signals, feedback signals and electric energy through network cables and circuits. And the microprocessor sets the light beam brightness and carries out state self-checking on the optical transceiver according to the instruction of the server.

The parking apron distribution group is formed by distributing a plurality of machine positions on the same apron plate, and the light beam transceivers at the centers of the machine positions work independently. The parking apron area is composed of a plurality of parking apron distribution groups which are uniformly managed by a set of management server.

And the management server calculates the three-dimensional coordinates of the air park according to the three-dimensional coordinates, the flying speed and the direction reported by the unmanned aerial vehicle, obtains the relative position distance, automatically forms and sends out a scheme instruction for sending the motion along the position connecting line direction. Coordinating until the distance between the relative positions is smaller than a preset threshold value, indicating that the parking is successful; and if the parking apron end transceiver interrupts receiving the feedback information of the guided unmanned aerial vehicle after exceeding the preset time period, the server gives an alarm when the parking is failed.

Priority principle: the management server only uses data which are used for firstly completing code matching, communication, flight state reporting and air park reporting of three-dimensional coordinates in the same monitoring period, the management server also sends landing scheme instructions to the air park, and other air park reporting data are discarded; each plateau competes for submission at the next monitoring period. When only one unmanned aerial vehicle is found by the plurality of apron-end transceivers in the same monitoring period, the management server instructs the airplane stands closest to the unmanned aerial vehicle to guide landing and parking charging.

Reference will now be made in detail to implementations of the present invention. The following embodiments will be described with reference to the accompanying drawings for the purpose of illustrating the invention.

FIG. 1 shows the sequence of five steps of the invention, respectively:

(1) the installation machine, the light beam transceiver and the microprocessor at two ends of the terrace, etc.: and the light beam transceiver vertically emits downwards at the bottom of each unmanned aerial vehicle, and the light beam transceiver vertically emits upwards at the center position of each aircraft seat of each apron distribution group. The unmanned aerial vehicle end light beam transceiver is connected with the high-frequency chip microprocessor; and the parking apron end light beam transceiver and the microprocessor are inserted on the development board together, and the microprocessor sets the light beam brightness and carries out state self-checking on the light transceiver according to the instruction of the server end.

(2) Adjusting parameters of the light beam transceivers at the two ends: the central position of each machine position of each apron distribution group is adjusted and arranged to be vertically upward light beam transceiver, and the positions and directions of the light source transmitter and the light source receiver are fixed. In the light source emitting process, the central point of the light source needs to be kept vertical, the illumination of the light source is unchanged, and the illumination range is uniform. The positions and directions of a light source transmitter and a light source receiver of each unmanned aerial vehicle are fixed by adjusting and setting the light beam transceiver which vertically faces downwards at the bottom of each unmanned aerial vehicle. In the light source emitting process, the central point of the light source needs to be kept vertical, the illumination of the light source is unchanged, and the illumination range is uniform.

(3) Connecting and wiring: and a network cable and a circuit are arranged underground the development board connected with the light beam transceivers at the parking apron ends, and the development board is connected with a control room server and a power supply to realize transmission of control signals, feedback signals and electric energy.

(4) Setting two-end optical communication codes: at server end and unmanned aerial vehicle remote control cabinet, respectively to the high frequency chip microprocessor at both ends, the code sets up each beam transmitter beam frequency: each transmitter is encoded with either an infrared beam or an LED visible beam, both of which are easily recognized by the receiver. The light beams emitted by different light source emitters are coded and identified at different flashing frequencies so as to avoid misjudgment after being reflected to a receiver.

(5) Setting an information transmission rule: each light beam transceiver in the parking lot area can be communicated with a plurality of discovered unmanned aerial vehicles in parallel, the management server only uses data which are firstly used for code matching, communication, flight state reporting and parking lot reporting of three-dimensional coordinates in the same monitoring period, the management server also sends landing scheme instructions to the parking lot, and other parking lot reporting data are discarded; each plateau competes for submission at the next monitoring period. When only one unmanned aerial vehicle is found by the plurality of apron-end transceivers in the same monitoring period, the management server instructs the airplane stands closest to the unmanned aerial vehicle to guide landing and parking charging. On the management server, the 'nearby guidance' when the single unmanned aerial vehicle is monitored by the same station is executed prior to the 'firstly reported first guidance' when the multiple unmanned aerial vehicles are monitored, so that the pressure of monitoring the landing guidance of the stations of the multiple unmanned aerial vehicles is relieved.

(6) And working state debugging is carried out on the light beam transceivers at the two ends, and the single unmanned aerial vehicle and the multiple unmanned aerial vehicles are subjected to landing test.

FIG. 2 is a flow chart of the present invention. The method comprises the following actions of sensing a code pair, reporting three-dimensional coordinates by multiple unmanned aerial vehicles, calculating relative positions and states of the multiple unmanned aerial vehicles by an apron management server (judging whether to guide or not), forming and sending a multiple unmanned aerial vehicle guiding scheme instruction by the management server, responding and executing the multiple unmanned aerial vehicles, confirming the success (starting charging) or failure (alarming) of parking, and the like.

The method comprises the following steps: the unmanned aerial vehicles fly to the sky above the parking apron area, and the bottom light beam transceiver receives and senses light signals sent by the center light beam transceiver of the airplane space of a certain parking apron distribution group, so that the sky of the apron area is indicated. The multiple drones actively make a communication request to any of the tarmac, which chooses to reply yes or no. If the unmanned aerial vehicle is selected to land on the parking apron, establishing a stable communication link, and manually sending a request to the parking apron by each unmanned aerial vehicle operator or automatically sending a request to the parking apron by all unmanned aerial vehicles; if not, any aircraft position in the plateau area cannot be guided and charged, the aircraft position refuses to communicate with the unmanned aerial vehicle, and the perception inquiry process is finished.

Step two: after a stable communication link is established, the multiple unmanned aerial vehicles inquire whether landing can be performed; if the server end of the parking apron management end can be recovered and lowered, a certain unmanned machine starts a state reporting process; if not, the parking apron aircraft position refuses to communicate with the unmanned aerial vehicle, and the perception inquiry process is finished.

Step three: starting a state reporting process by a plurality of unmanned aerial vehicles, and reporting self three-dimensional coordinates and flight states (speed, direction and the like) to an air park through a stable communication link; and the parking apron area management end server calculates the relative positions of the computer and the apron, simulates the state of the unmanned aerial vehicle, forms a guiding scheme and sends the guiding scheme to the unmanned aerial vehicle ends. Multiple drones respond and execute the plan requirements. The step is continuously circulated until the relative positions of the unmanned aerial vehicle and the apron meet the requirements within the threshold time, and the guiding is finished and the unmanned aerial vehicles are parked successfully; if the two are disconnected or exceed the preset threshold time length, the guidance fails, the parking of the multiple unmanned aerial vehicle control ends fails, the guidance is finished, and the parking apron server gives an alarm.

Fig. 3 is a schematic diagram of the operation of the present invention. The drone I, J, K is monitored by the airfield light beam transceivers A, B, C, D, E on different apron-end distribution groups, respectively, for system guidance. The blue round point is a light beam transceiver at the unmanned aerial vehicle end, and the red round point is a light beam transceiver at the apron end. The apron-end light beam transceivers on other stands where the existing unmanned aerial vehicle stops are in a monitoring/sleeping state and cannot participate in guiding.

The unmanned aerial vehicle I, J is closest to and equal to the station A, B and is found by the station A, B, the station a finishes the coordinate and flight status report (namely, flight information report) of the unmanned aerial vehicle I, J in sequence, and the management server issues an instruction, and the station a guides the unmanned aerial vehicle J to the position a for landing. Drone K is directed to land to station B.

The unmanned aerial vehicle K is closest to the station C, is sequentially monitored by the station E, C, D, and finishes flight information reporting by the station C at first. At this time, C, D only monitors the only unmanned aerial vehicle K, and the station E also monitors the unmanned aerial vehicle J, so that the management server instructs the station C to guide and land the unmanned aerial vehicle K and land on the station C.