Unmanned aerial vehicle standby landing and autonomous recovery control system and method for mobile airport

Abstract

The invention discloses an unmanned aerial vehicle landing preparation and autonomous recovery control system and method for a mobile airport, and belongs to the technical field of unmanned aerial vehicles. The mobile airport comprises an airport control system and a main landing platform, the airport control system is used for monitoring and managing the operation of the airport, and the main landing platform is used for providing a take-off and landing area for the unmanned aerial vehicle; the standby landing platform is larger than the main landing platform and is used for providing a take-off and landing area outside an airport for the unmanned aerial vehicle; and the control system is used for collecting data from the mobile airport, the unmanned aerial vehicle and the landing platform and sending control information. Through the design of high integration and automation, all parts of the system work cooperatively, on-site business trips of personnel are reduced, the operation safety and efficiency of the unmanned aerial vehicle are improved, it is ensured that the unmanned aerial vehicle can land safely under various conditions, and meanwhile potential damage to airport facilities and the unmanned aerial vehicle is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a control system and method for an alternate landing and autonomous recovery of an unmanned aerial vehicle (UAV) used at a mobile airport. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] UAV is short for unmanned aircraft, which is an unmanned aircraft controlled by radio remote control equipment and self-contained program control devices. Compared with manned aircraft, it has the advantages of small size, low cost, easy use, low requirements for combat environment, and strong battlefield survivability. UAVs are often more suitable for those "dull, dirty or dangerous" tasks. They are widely used in many fields such as aerial photography, disaster relief, wildlife observation, surveying and mapping, and are actively expanding their industry applications.

[0004] Existing drone systems lack alternate landing and go-around solutions, or their alternate landing and go-around solutions are relatively crude and have weak adaptability, and cannot cope with situations where drones cannot return to the airport due to various reasons. This makes it impossible for drones to land safely when encountering emergencies during inspections, which in turn causes damage to airport facilities and the drones themselves. In addition, the current drone ground support system is still relatively backward, with a very low degree of automation, requiring manual operation, and unable to autonomously recover drones. Summary of the invention

[0005] In response to the above problems, the present invention proposes a control system and method for the alternate landing and autonomous recovery of unmanned aerial vehicles at mobile airports. Through a highly integrated and automated design, the various parts of the system work together to reduce on-site personnel trips and improve the safety and efficiency of unmanned aerial vehicle operations, ensuring that unmanned aerial vehicles can land safely under various circumstances while reducing potential damage to airport facilities and the unmanned aerial vehicles themselves.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] The first aspect of the present invention provides a UAV alternate landing and autonomous recovery control system for a mobile airport, comprising:

[0008] Drones;

[0009] A mobile airport, comprising an airport control system and a main landing platform, wherein the airport control system is used to monitor and manage the operation of the airport, and the main landing platform is used to provide a take-off and landing area for drones;

[0010] The alternate landing platform is larger than the main landing platform and is used to provide a take-off and landing area for drones other than an airport;

[0011] Control system, used to collect data from mobile airports, drones and alternate landing platforms, and send control information.

[0012] As a further implementation method, the mobile airport also includes a door device, and the door device is used to ensure the safety of the drone inside the mobile airport.

[0013] As a further implementation, the drone is a multi-rotor drone.

[0014] As a further implementation method, the multi-rotor UAV includes a flight control component, an RTK positioning system, a visual precision landing component and a wireless charging receiving component.

[0015] As a further implementation method, the flight control component is used to control the flight of the UAV, the RTK positioning system and the visual precision landing component are used for the precise positioning and safe landing of the UAV, and the wireless charging receiving component is used to provide energy supply for the UAV.

[0016] As a further implementation method, the alternate landing platform includes a wireless charging transmission component and a visual coding feature plate. The wireless charging transmission component is used to provide remote charging for the drone, and the visual coding feature plate is used to assist the drone in visual identification and positioning, as well as information exchange with the airport.

[0017] The second aspect of the present invention provides a method for controlling a UAV alternate landing at a mobile airport, based on the UAV alternate landing and autonomous recovery control system for a mobile airport described in the first aspect of the present invention, comprising the following steps:

[0018] After the drone reaches the predetermined height above the airport, it sends its own location information and landing request to the airport and enters the hovering waiting state;

[0019] After receiving the drone information, the airport opens the cabin door and automatically starts the lighting guidance system of the main landing platform at night to prepare for the drone to land;

[0020] After the airport is ready, a landing command is sent to the drone, and the drone begins to descend at a constant speed;

[0021] If the drone cannot continue to land accurately due to multiple reasons, the drone will enter the alternate landing process;

[0022] The drone is lifted to a safe altitude based on its relative altitude to the airport, and adjusts its attitude to drive to the pre-set alternate landing platform for automatic alternate landing.

[0023] If the light is insufficient, the drone will rely on the RTK module for positioning and alternate landing. If the RTK module positioning is inaccurate, the drone will switch to the GPS module for alternate landing. If the battery is insufficient, the drone will activate the rapid landing mechanism to simplify the judgment process and ensure safe landing.

[0024] The drone landed on the alternate landing platform.

[0025] As a further implementation method, after a successful alternate landing, the drone uses the wireless charging components of the alternate landing platform to charge, ensuring that it has the conditions for autonomous recovery or go-around.

[0026] The third aspect of the present invention provides a method for controlling the autonomous recovery of a UAV at a mobile airport, based on the UAV alternate landing and autonomous recovery control system for a mobile airport described in the first aspect of the present invention, comprising the following steps:

[0027] Determine the communication, positioning, power of the drone, and the status of the door device and main landing platform at the airport to ensure that all conditions meet the requirements for autonomous recovery or go-around;

[0028] A one-button go-around command is issued to the airport and the drone, and the airport door device is immediately opened. After receiving the take-off command, the drone uses RTK positioning technology to prepare for take-off;

[0029] After the drone rises to the preset altitude, it will move in a straight line above the airport and begin to land. If the external environment changes during the go-around, the drone will re-enter the alternate landing control process based on the situation.

[0030] As a further implementation method, the control system continuously monitors the on-site environment and autonomously issues a go-around command when conditions are met. In the offline state, the airport and the drone realize the local autonomous go-around function through the remote control link, and the status is updated synchronously after the communication is restored.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The UAV alternate landing and autonomous recovery control system for mobile airports of the present invention, through a highly integrated and automated design, enables various parts of the system to work together to achieve highly automated remote operation, reduce on-site business trips for personnel, and improve the safety and efficiency of UAV operations, ensuring that UAVs can land safely under various circumstances, thereby enhancing the application potential of UAVs in various environments and reducing potential damage to airport facilities and the UAVs themselves.

[0033] The autonomous recovery (go-around) control method of the present invention does not require an externally specified route. The UAV automatically drives to the top of the airport to perform the main landing control according to the take-off command and the preset altitude, which simplifies the go-around logic process and improves the reliability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0035] Figure 1 The framework diagram of the UAV alternate landing and autonomous recovery control system for a mobile airport of the present invention;

[0036] Figure 2 The flowchart of the alternate landing of a UAV for a mobile airport of the present invention;

[0037] Figure 3 The present invention is a flowchart of autonomous recovery (go-around) of a UAV for a mobile airport. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0040] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0041] Embodiment 1

[0042] like Figure 1 As shown, this embodiment provides a UAV alternate landing and autonomous recovery control system for a mobile airport, including:

[0043] Drones;

[0044] A mobile airport, comprising an airport control system and a main landing platform, wherein the airport control system is used to monitor and manage the operation of the airport, and the main landing platform is used to provide a take-off and landing area for drones;

[0045] The alternate landing platform is larger than the main landing platform and is used to provide a take-off and landing area for drones other than an airport;

[0046] Control system, used to collect data from mobile airports, drones and alternate landing platforms, and send control information.

[0047] The control system is the interactive control center of the entire system, responsible for collecting data from airports, drones, and alternate landing platforms. Through batch calculation of background data, control information is sent to achieve alternate landing and autonomous recovery of drones.

[0048] The mobile airport also includes a door device, which is used to ensure the safety of the drone inside the mobile airport.

[0049] The drone is a multi-rotor drone. The multi-rotor drone includes a flight control component, an RTK positioning system, a visual precision landing component, and a wireless charging receiving component. Among them, the flight control component is used to control the flight of the drone, the RTK positioning system and the visual precision landing component are used for the precise positioning and safe landing of the drone, and the wireless charging receiving component provides a convenient energy supply method for the drone.

[0050] The alternate landing platform includes a wireless charging transmission component and a visual coding feature plate. The wireless charging transmission component is used to provide remote charging for the UAV, and the visual coding feature plate is used to assist the UAV in visual identification and positioning. The communication device with the airport ensures information exchange between the alternate landing platform and the airport.

[0051] Embodiment 2

[0052] like Figure 2 As shown, this embodiment provides a UAV alternate landing control method for a mobile airport, based on a UAV alternate landing and autonomous recovery control system for a mobile airport in Embodiment 1.

[0053] In this embodiment, we discuss the reasons why drones may not be able to return to the airport during inspections, and propose corresponding solutions. The specific reasons and corresponding technical measures are as follows:

[0054] 1. Low battery: When the battery power of the drone drops below the safety threshold, its ability to maintain a normal landing will be limited. To solve this problem, the present invention provides a rapid alternate landing mechanism that allows the drone to land quickly and charge when the battery is low to ensure that it can take off safely.

[0055] 2. Communication interruption: The communication interruption between the drone and the remote controller may result in the airport being unable to receive the drone's return and landing information. The present invention proposes a communication interruption response strategy, including but not limited to enhancing the stability of the communication signal and automatically starting the emergency procedure when the communication is interrupted to ensure that the drone can land safely.

[0056] 3. Strong wind weather: Strong wind may adversely affect the stability and control of the UAV, exceeding its wind resistance. The present invention proposes a UAV landing control strategy in strong wind weather, including dynamically adjusting the flight path and speed of the UAV, and initiating an alternate landing procedure when necessary to avoid damage to the airport and the UAV.

[0057] 4. Logical setting reasons: Due to the failure of the logical setting or configuration of the airport receiving precision landing software, the drone may not be able to land normally. The present invention provides an adaptive software logic detection and repair mechanism, which can automatically trigger the safe alternate landing procedure when the drone connection is interrupted, the battery is low and the precision landing is manually canceled.

[0058] Through the above-mentioned technical measures, the present invention aims to improve the safety and reliability of drones during inspections, ensure that drones can land safely under various circumstances, and reduce potential damage to airport facilities and the drones themselves.

[0059] The specific steps include:

[0060] 1. Drone positioning and landing request: After the drone reaches the predetermined height above the airport, it sends its own position information and landing request to the airport through the connection with the remote control, and enters the hovering waiting state.

[0061] 2. Airport response and preparation: After receiving the drone information, the airport triggers the hatch device to open the hatch, and automatically starts the lighting guidance system of the main landing platform at night to prepare for the drone to land.

[0062] 3. Landing command and precision landing process: After the airport is ready, send a landing command to the drone through the remote control. The drone begins to descend at a constant speed, using the downward-looking binocular camera and RTK positioning module for information fusion and analysis, and stabilizes its attitude through the flight control PID algorithm, gradually descending to the main landing platform.

[0063] 4. Dealing with emergencies: If the drone is unable to continue its precision landing due to insufficient power, excessive wind speed, loss of relative position, insufficient light or damage to the main landing platform, the drone will enter the alternate landing process.

[0064] 5. The alternate landing process starts: The drone rises to a safe altitude based on its relative altitude to the airport, adjusts its attitude, and drives to the pre-set alternate landing coordinate point for automatic alternate landing.

[0065] 6. Alternate landing platform function: An alternate landing platform is set up at the alternate landing coordinate point, equipped with a wireless charging transmitter, a visual coding feature board and a communication device with the airport. The alternate landing platform is equipped with photovoltaic and energy storage devices, as well as rainproof performance to ensure normal operation in harsh environments.

[0066] 7. Alternate landing process: The UAV lands on the alternate landing platform, which is designed to be larger than the main landing platform and has a visual coding feature plate with less binding force to simplify the landing difficulty.

[0067] 8. Alternate landing strategy in extreme environments:

[0068] If the light is too weak, the drone will rely on the RTK module for positioning and emergency landing.

[0069] If the RTK module positioning is inaccurate, it will switch to the GPS module for alternate landing.

[0070] If the battery is low, the drone will activate the rapid landing mechanism to simplify the judgment process and ensure a safe landing.

[0071] 9. Charging and autonomous recovery after alternate landing: After a successful alternate landing, the drone uses the wireless charging components of the alternate landing platform to charge to ensure that it has the conditions for autonomous recovery (go-around).

[0072] The UAV alternate landing process of the present invention provides an efficient, safe and adaptable landing solution, which is suitable for a variety of environments and emergencies, and significantly improves the operational reliability of UAVs in airport environments.

[0073] Embodiment 3

[0074] like Figure 3 As shown, this embodiment provides a method for autonomous recovery (go-around) of a UAV at a mobile airport, based on a UAV alternate landing and autonomous recovery control system for a mobile airport in Embodiment 1. This method aims to achieve remote unattended operation of UAVs and airports, reduce on-site business trips and risks, improve operational efficiency, and reduce operation and maintenance costs. This system comprehensively evaluates on-site environmental factors, including wind speed, UAV power, self-test results, lighting, and airport operating conditions, autonomously issues go-around instructions, and completes the one-key go-around function.

[0075] The specific steps include:

[0076] 1. Autonomous recovery (go-around) condition judgment: The present invention first judges the communication, positioning, power of the UAV and the status of the door device and the main landing platform of the airport to ensure that all conditions meet the requirements of autonomous recovery (go-around).

[0077] 2. One-key go-around command is issued: When the conditions are met, the background system of the present invention issues a one-key go-around command to the airport and the UAV, and the airport door device is opened immediately. After receiving the take-off command, the UAV uses RTK positioning technology to prepare for take-off.

[0078] 3. Go-around process control: After the drone reaches the preset altitude, it will move in a straight line to the top of the airport and begin to land. If the external environment changes during the go-around process, the drone will re-enter the alternate landing control process according to the situation.

[0079] 4. Environmental monitoring and command issuance: The control system of the present invention continuously monitors the on-site environment and autonomously issues a go-around command when conditions are met. In the offline state, the airport and the UAV can realize the local autonomous go-around function through the remote control link, and the status is updated synchronously after the communication is restored.

[0080] 5. Diversity of communication links: The present invention provides two communication link solutions. The first is to communicate with the drone through the 4G / 5G network and issue a go-around command when the drone is disconnected from the remote controller, and to send relevant control commands to the airport at the same time. The second is to communicate through the remote controller link between the control airport and the drone when the drone’s 4G / 5G network is disconnected, to ensure accurate transmission of the go-around command.

[0081] 6. Autonomous route planning: The autonomous recovery (go-around) control device of the present invention does not require an externally specified route. The UAV automatically drives to the top of the airport to perform the main landing control according to the take-off command and the preset altitude, which simplifies the go-around logic process and improves the reliability of the operation.

[0082] By implementing the control system and method for the UAV emergency landing and autonomous recovery (go-around) at a mobile airport of the present invention, the UAV and the airport can achieve highly automated remote operation, significantly improving the application potential and operational safety of the UAV in various environments.

[0083] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0084] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A UAV alternate landing and autonomous recovery control system for a mobile airport, characterized in that: include: Drones; A mobile airport, comprising an airport control system and a main landing platform, wherein the airport control system is used to monitor and manage the operation of the airport, and the main landing platform is used to provide a take-off and landing area for drones; The alternate landing platform is larger than the main landing platform and is used to provide a take-off and landing area for drones other than an airport; Control system, used to collect data from mobile airports, drones and alternate landing platforms, and send control information.

2. The UAV alternate landing and autonomous recovery control system for a mobile airport as claimed in claim 1, characterized in that: The mobile airport also includes a door device, which is used to ensure the safety of the drone inside the mobile airport.

3. The UAV alternate landing and autonomous recovery control system for a mobile airport as claimed in claim 1, characterized in that: The UAV is a multi-rotor UAV.

4. The UAV alternate landing and autonomous recovery control system for a mobile airport as claimed in claim 3, characterized in that: The multi-rotor UAV includes a flight control component, an RTK positioning system, a visual precision landing component and a wireless charging receiving component.

5. The UAV alternate landing and autonomous recovery control system for a mobile airport as claimed in claim 4, characterized in that: The flight control component is used to control the flight of the UAV, the RTK positioning system and the visual precision landing component are used for the precise positioning and safe landing of the UAV, and the wireless charging receiving component is used to provide energy supply for the UAV.

6. The UAV alternate landing and autonomous recovery control system for a mobile airport as claimed in claim 1, characterized in that: The alternate landing platform includes a wireless charging transmission component and a visual coding feature plate. The wireless charging transmission component is used to provide remote charging for the drone, and the visual coding feature plate is used to assist the drone in visual identification and positioning, as well as information exchange with the airport.

7. A method for controlling a drone landing at a mobile airport, characterized in that: The UAV alternate landing and autonomous recovery control system for a mobile airport according to any one of claims 1 to 6 comprises the following steps: After the drone reaches the predetermined height above the airport, it sends its own location information and landing request to the airport and enters the hovering waiting state; After receiving the drone information, the airport opens the cabin door and automatically starts the lighting guidance system of the main landing platform at night to prepare for the drone to land; After the airport is ready, a landing command is sent to the drone, and the drone begins to descend at a constant speed; If the drone cannot continue to land accurately due to multiple reasons, the drone will enter the alternate landing process; The drone is lifted to a safe altitude based on its relative altitude to the airport, and adjusts its attitude to drive to the pre-set alternate landing platform for automatic alternate landing. If the light is insufficient, the drone will rely on the RTK module for positioning and alternate landing. If the RTK module positioning is inaccurate, the drone will switch to the GPS module for alternate landing. If the battery is insufficient, the drone will activate the rapid landing mechanism to simplify the judgment process and ensure safe landing. The drone landed on the alternate landing platform.

8. The method for controlling the alternate landing of a UAV at a mobile airport according to claim 7, characterized in that: After a successful alternate landing, the drone uses the wireless charging components of the alternate landing platform to charge, ensuring that it has the conditions for autonomous recovery or go-around.

9. A method for autonomous recovery control of unmanned aerial vehicles at a mobile airport, characterized in that: The UAV alternate landing and autonomous recovery control system for a mobile airport according to any one of claims 1 to 6 comprises the following steps: Determine the communication, positioning, power of the drone, and the status of the door device and main landing platform at the airport to ensure that all conditions meet the requirements for autonomous recovery or go-around; A one-button go-around command is issued to the airport and the drone, and the airport door device is immediately opened. After receiving the take-off command, the drone uses RTK positioning technology to prepare for take-off; After the drone rises to the preset altitude, it will move in a straight line above the airport and begin to land. If the external environment changes during the go-around, the drone will re-enter the alternate landing control process based on the situation.

10. The autonomous recovery control method for a UAV at a mobile airport as claimed in claim 9, characterized in that: The control system continuously monitors the on-site environment and autonomously issues go-around instructions when conditions are met. In the offline state, the airport and the UAV realize the local autonomous go-around function through the remote control link, and the status is updated synchronously after communication is restored.

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