Control method based on urban low-altitude three-dimensional traffic unmanned aerial vehicle positioning control system

Abstract

This invention discloses a control method for a UAV positioning and control system based on urban low-altitude three-dimensional traffic, belonging to the field of three-dimensional traffic technology. The control system includes a ground-based UAV traffic control center, several UAVs, a positioning mechanism mounted on each UAV, and markers mounted on urban buildings. The control method includes: the UAVs obtaining their first coordinate position via a satellite positioning module; obtaining their second coordinate position by locking onto markers via the positioning mechanism; obtaining precise coordinates based on coordinate positions one and two; and the control center controlling the aerial three-dimensional traffic of the UAVs based on these precise coordinates. This invention, through the coordinated operation of the ground control center and the UAV control system, achieves precise positioning of the UAVs outside the intersection area, effectively ensuring the safe and orderly passage of the UAVs through the intersection area.

Description

Technical Field

[0001] This invention belongs to the field of three-dimensional transportation technology, specifically relating to a control method for a positioning and control system for urban low-altitude three-dimensional transportation drones. Background Technology

[0002] With the acceleration of urbanization and the booming development of the low-altitude economy, traditional urban ground transportation systems are becoming increasingly saturated, and many cities are facing traffic congestion problems. Urban air mobility (UAM), as a new three-dimensional transportation mode built in low-altitude airspace, is considered an important path to reshape the future urban transportation pattern and achieve sustainable three-dimensional urban development. Among them, vertical take-off and landing drones, as carriers of three-dimensional transportation, will be widely used for transporting goods or passengers.

[0003] However, it's understandable that with the increase in the number of drones in the air, the planning of their flight routes will inevitably increase significantly. As drone flight routes become denser, many overlapping areas will form, making the safe control of drone flights in these areas a crucial issue. However, traffic lights cannot be installed in the air like on the ground; therefore, traffic control methods must be innovated. Furthermore, drones mostly rely on traditional satellite positioning modules, and due to various reasons, satellite positioning can exhibit significant deviations. Specifically, satellite positioning systems rely on the receiver receiving signals transmitted by satellites, and the quality of the received signal directly affects positioning accuracy. In certain special areas, such as densely built-up "urban canyons," signal obstruction and severe multipath effects can lead to significant deviations between the positioning result and the actual location, even rendering positioning impossible.

[0004] For the reasons mentioned above, when the positioning of a drone deviates significantly, the three-dimensional transportation system will face considerable risks. This is manifested in the fact that drones cannot be managed in a coordinated manner by the ground control center. Due to the large positioning error, there is a risk of drones colliding and causing congestion in intersection areas, which in turn brings additional risks to vehicles and pedestrians on the ground. Summary of the Invention

[0005] This invention discloses a control method for a UAV positioning and control system based on urban low-altitude three-dimensional traffic. The purpose is to enable the UAV to achieve precise positioning outside the intersection area and pass through the intersection area in an orderly manner under the command of the ground control center, thereby realizing air traffic control for UAV flight and providing technical support for the development of three-dimensional traffic.

[0006] To achieve the above objectives, the technical solution of this invention is as follows: A control method based on a positioning and control system for urban low-altitude three-dimensional traffic drones, wherein the control system includes a ground-based drone traffic control center, several drones, a positioning mechanism mounted on the drones, and markers mounted on urban buildings. The drones are connected to the control center via wireless signal transceivers. The control method includes: each drone is equipped with a satellite positioning module and locks onto the markers using the positioning mechanism; the drone obtains a first coordinate position using the satellite positioning module; a second coordinate position using the markers; and the precise coordinates of the drones are obtained based on the first and second coordinate positions. The control center controls the aerial three-dimensional traffic of the drones based on the precise coordinates of the drones.

[0007] Preferably, the UAV body is also equipped with a city 3D street view map module. The map module is connected to the satellite positioning module. The control system of the UAV body identifies its own coordinate position one by reading the map module. Based on the coordinate position one, the positioning mechanism scans the surrounding markers. Based on the identification of the markers by the control system, the coordinate position two of the UAV body relative to the markers is obtained based on the relative position of the UAV body and the markers. The precise coordinates of the UAV body are identified by combining the precise coordinates of the markers with the coordinate position two.

[0008] Preferably, the control center plans the flight route and flight time of the UAV based on the operational tasks of the UAV itself, and sets up traffic control in the intersection area of ​​the UAV flight routes. The traffic control method includes: when the UAV determines that it is about to arrive at the intersection area based on its coordinate position, it determines its own precise coordinates by identifying markers; the control center integrates the precise coordinates of each UAV and arranges each UAV to pass through the intersection area in an orderly manner; the traffic control signal is transmitted to the control system of the UAV through a wireless signal transceiver device to instruct the UAV to hover outside the intersection area or pass through the intersection area, and to control the passing speed.

[0009] Preferably, the markers are designated local structures of urban buildings, and the coordinate position of the UAV body is determined by multiple markers. The local structure is a marker plate pre-installed on the outer wall of the urban building.

[0010] Preferably, the marker boards extend to the side of the street below the flight path of the drone body. There are at least four marker boards, two of which are located on both sides in front of the drone body and the other two are located on both sides behind the drone body. Before entering the intersection area, when the drone body is between the front and rear marker boards, it detects its own coordinate position by a positioning mechanism.

[0011] Preferably, the drone body is a quadcopter drone, and a coordinate positioning mechanism is provided at the lower end of each arm of the quadcopter drone. When the coordinate positioning mechanism is used in conjunction with the marking plate, the coordinate position of the drone body is finally determined by identifying the position of the four arms.

[0012] Preferably, the coordinate positioning mechanism includes a first servo motor fixedly mounted at the lower end of the arm. The output shaft of the first servo motor extends vertically downward and is fixedly connected to a mounting plate. A mounting rod is provided on the mounting plate. One end of the mounting rod is rotatably connected to the mounting plate via a rotating shaft. The rotating shaft passes through the mounting plate and is fixedly connected to the output shaft of a second servo motor preset on the outer surface of the mounting plate. A laser rangefinder sensor is embedded at the other end of the mounting rod, and a high-definition camera is provided on the outer surface of the mounting rod. In the initial state, the two front mounting rods face directly in front of the drone body, and the two rear mounting rods face directly behind the drone body, and the mounting rods are in a horizontal position.

[0013] Preferably, during the positioning process, the UAV body hovers in the area between the front and rear marker plates and is located above the marker plates. The first servo motor rotates to make the mounting rod face the corresponding marker plate, and the second servo motor rotates to make the laser rangefinder sensor cooperate with the marker plate. By detecting the straight-line distance between the UAV body and the marker plate, and combining the rotation angle data of the second servo motor, the horizontal straight-line distance between the arm measurement starting position and the marker plate and the height data relative to the marker plate are calculated according to the cosine theorem of a right triangle. The rotation angle of the laser rangefinder sensor relative to the front or rear is calculated according to the rotation angle of the first servo motor. Based on the pre-stored height data and precise coordinate position of the marker plate, the position of each arm is calculated, and the coordinate position of the UAV body is calculated based on the position of each arm.

[0014] Preferably, in the control method, after the UAV body identifies the second coordinate position, it is allowed to hover within a certain distance range to wait for traffic control instructions. Based on the already identified coordinate position of the UAV body located outside the intersection area, the control center notifies subsequent arriving UAV bodies to maintain a safe distance from the UAV body.

[0015] The beneficial effects of the control method of the urban low-altitude three-dimensional traffic drone positioning and control system of the present invention are as follows: 1. With the coordinated operation of the ground control center and the UAV control system, this invention enables the UAV to achieve precise positioning outside the intersection area, providing an effective guarantee for the safe and orderly passage of the UAV through the intersection area. This avoids the risk of flight collisions in the intersection area caused by dense UAV flight paths and positioning errors of the UAV due to satellite positioning modules, thus ensuring the safety of ground vehicles and pedestrians.

[0016] 2. This invention also provides a method for three-dimensional traffic control of unmanned aerial vehicles (UAVs) in the air. This control method facilitates the overall management of several UAVs in flight, significantly improving management efficiency and quality.

[0017] 3. This invention conducts cutting-edge research on scenarios with dense drone flight paths and a large number of drones in future three-dimensional transportation, and is expected to provide a certain degree of technical support for the development of three-dimensional transportation. Attached Figure Description

[0018] Figure 1 This is a top view structural diagram of the second coordinate position of the UAV body in this invention.

[0019] Figure 2 This is a top view schematic diagram of the structure of the present invention, which sets markers in the adjacent intersection area.

[0020] Figure 3 This is a top view structural diagram of the UAV body of the present invention.

[0021] Figure 4 This is a side view structural diagram of the UAV body of the present invention.

[0022] Figure 5 This is a rear-view structural diagram of the UAV body of the present invention.

[0023] Figure 6 This is a schematic diagram illustrating the calculation principle of the second positioning coordinate position of the present invention.

[0024] The diagram shows: 1-nose, 2-nacelle, 3-arm, 4-propeller, 5-building, 6-marker, 7-measuring light, 8-height data relative to the marker, 9-street; 10-first servo motor; 11-mounting plate, 12-mounting rod, 13-laser rangefinder, 14-second servo motor, 15-measuring starting point position, 16-horizontal line, 17-angle A, 18-horizontal straight-line distance; 19-angle B; 20-high-definition camera; 21-intersection area; 22-coordinate position of the UAV. Detailed Implementation

[0025] The following description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0026] The following embodiments can be understood as illustrating a part of the structure or method of the present invention individually, or as combining the embodiments to explain the broader structure or method of the present invention.

[0027] Example 1: Control methods based on urban low-altitude three-dimensional traffic drone positioning and control systems, such as Figure 1-6 As shown, the control system includes a ground-based UAV traffic control center, several UAVs, a positioning mechanism on each UAV, and markers on city buildings. The UAVs are connected to the control center via wireless signal transceivers. The control method includes: each UAV is equipped with a satellite positioning module and locks onto the markers using the positioning mechanism; the UAV obtains a first coordinate position using the satellite positioning module; the UAV obtains a second coordinate position using the markers; the precise coordinates of the UAV are obtained based on the first and second coordinate positions; and the control center controls the aerial traffic of the UAVs based on the precise coordinates of the UAVs.

[0028] Since a large number of drones are used in three-dimensional transportation, intelligent control and unified management of these drones are essential to ensure air traffic safety. However, drones' positioning based on satellite positioning modules can be inaccurate. Therefore, satellite positioning modules can only obtain the approximate position of the drone, i.e., coordinate position one. Within coordinate position one, buildings with markers have precise coordinates. The drone repositions itself based on the markers on the buildings, thus obtaining coordinate position two relative to the markers. Combining coordinate position one and coordinate position two, the precise coordinates of the drone can be obtained. Before approaching the intersection area of ​​drone flight paths, the drone reports its precise coordinates, which provides an important guarantee for the orderly and safe passage of drones through the intersection area. The control center can then manage the flight actions of each drone based on its precise coordinates outside the intersection area.

[0029] Example 2: like Figure 1-6 As shown, the drone body is also equipped with a city 3D street view map module. The map module is connected to the satellite positioning module. The control system of the drone body identifies its own coordinate position one by reading the map module. Based on the coordinate position one, the positioning mechanism scans the surrounding markers. Based on the identification of the markers by the control system, the coordinate position two of the drone body relative to the markers is obtained based on the relative position of the drone body and the markers. The precise coordinates of the drone body are identified by combining the precise coordinates of the markers with the coordinate position two.

[0030] As the drone approaches the intersection area 21, it captures street view images using its camera. The control system compares these images with the buildings in the city's 3D street view map module that guides the drone. When the drone enters a building with markers, the positioning mechanism is activated. This mechanism scans the markers and obtains the drone's coordinate position two relative to them. Since the coordinates of the markers have been pre-recorded and stored, the precise coordinates of the markers, combined with the relative position of the drone and the markers, yield the second coordinate position. This second coordinate position accurately pinpoints the drone's detailed location before it enters the intersection area 21.

[0031] Example 3: like Figure 1-5 As shown, the control center plans the flight route and flight time of the UAV based on the operational tasks of the UAV itself, and sets up traffic control in the intersection area 21 of the flight routes of the UAVs. The traffic control method includes: when the UAV determines that it is about to arrive at the intersection area 21 based on its coordinate position, it determines its own precise coordinates by identifying markers. The control center integrates the precise coordinates of each UAV and arranges each UAV to pass through the intersection area 21 in an orderly manner. The traffic control signal is transmitted to the control system of the UAV through a wireless signal transceiver device to instruct the UAV to hover outside the intersection area or pass through the intersection area and control the passing speed.

[0032] In one preferred manner, the space between buildings 5 ​​marked with markers can accommodate several drones. When no passage signal is received, the drone hovers in place within a certain range. After receiving the passage signal, it passes through the intersection area at a set speed.

[0033] Example 4: like Figure 1 , 2 As shown, the marker is a set partial structure of the city building 5. The coordinate position of the UAV body is determined by multiple markers. The partial structure is a marker plate 6 preset on the outer wall of the city building 5.

[0034] like Figure 1 , 2 As shown, the marker board 6 extends to the side of the street 9 below the flight path of the drone body. There are at least 4 marker boards 6, of which 2 are located on both sides in front of the drone body and the other 2 are located on both sides behind the drone body. Before entering the intersection area 21, when the drone body is between the front and rear marker boards 6, it detects its own coordinate position 2 through the positioning mechanism.

[0035] like Figure 3-5As shown, the drone body is a quadcopter drone. Each arm 3 of the quadcopter drone is equipped with a coordinate positioning mechanism at its lower end. When the coordinate positioning mechanism is used in conjunction with the marking plate 6, the coordinate position of the drone body is finally determined by identifying the positions of the four arms 3.

[0036] like Figure 1 As shown, once the positions of the four arms are determined, the range between the four arm positions is the second coordinate position of the UAV body. Preferably, the marking plates are tilted, with the front and rear marking plates forming an inverted figure-eight shape to provide the required incident angle for the positioning mechanism.

[0037] Example 5: like Figure 1 , 3 As shown in Figures 4 and 5, a coordinate positioning mechanism is provided at the bottom of the end of the arm 3 of the quadcopter UAV.

[0038] like Figure 3-5 As shown, the coordinate positioning mechanism includes a first servo motor 10 fixedly mounted on the lower end of the arm 3. The output shaft of the first servo motor 10 extends vertically downward and is fixedly connected to a mounting plate 11. A mounting rod 12 is provided on the mounting plate 11. One end of the mounting rod 12 is rotatably connected to the mounting plate 11 via a rotating shaft. The rotating shaft passes through the mounting plate 11 and is fixedly connected to the output shaft of a second servo motor 14 preset on the outer surface of the mounting plate 11. A laser rangefinder sensor 13 is embedded at the other end of the mounting rod 12. A high-definition camera 20 is provided on the outer surface of the mounting rod 12. In the initial state, the two front mounting rods 12 face the front of the drone body, and the two rear mounting rods 12 face the rear of the drone body, and the mounting rods 12 are in a horizontal position.

[0039] like Figure 1-6 As shown, during the positioning process, the UAV body hovers in the area between the front and rear marker plates 6 and is positioned above the marker plates 6. The first servo motor 10 rotates to make the mounting rod 12 face the corresponding marker plate direction (e.g., ...). Figure 1As shown, when the drone flies over street 9 and between marker boards 6, the two front mounting rods 12 need to rotate forward and outward under the drive of the first servo motor 10, and the two rear mounting rods 12 need to swing backward and outward under the drive of the servo motor. The second servo motor 14 rotates to make the laser rangefinder 13 cooperate with the marker board 6. By detecting the straight distance between the drone and the marker board 6, and combining the rotation angle data of the second servo motor 14, the horizontal straight distance 18 between the starting position 15 of the measuring arm 3 and the marker board 6 and the height data 8 relative to the marker board are calculated according to the cosine theorem of the right triangle. The rotation angle of the laser rangefinder 13 relative to the front or rear is calculated according to the rotation angle of the first servo motor 10. According to the pre-stored height data and precise coordinate position of the marker board 6, the position of each arm 3 is calculated. The coordinate position 22 of the drone body is calculated according to the position of each arm 3.

[0040] In this embodiment, a laser camera can be selected as the high-definition camera. Multiple drones can be arranged and hovered in a queue between the front and rear marker plates 6, allowing the drones to correct their coordinate positions using the marker plates. Specifically, when measuring the position of the drone arm, such as... Figure 6 As shown, the distance between the measuring ray 7 of the laser rangefinder 13 and the projection point of the marker plate from the starting position 15 forms the hypotenuse of a right triangle. The base of the right triangle is the horizontal straight-line distance 18 between the starting position 15 and the projection point of the marker plate. The other leg of the right triangle is the height data 8 of the starting position 15 relative to the marker plate. Because the second servo motor 014 drives the mounting rod 12 (the measuring ray 7 of the laser rangefinder is coaxial with the mounting rod 12, and the measuring ray 7 intersects the rotating shaft at the starting position 15; the length of the hypotenuse of the right triangle is the measuring length plus the distance from the starting point of the measuring ray 7 of the laser rangefinder to the projection point of the marker plate), the distance between the starting point of the laser rangefinder 13 and the projection point of the marker plate forms the hypotenuse of a right triangle. Given the rotation angle A17 of the distance from point 15, the degree of rotation of the measuring ray 7 from the horizontal line 16 to the perpendicular leg of the right triangle is 90°. Therefore, by subtracting angle A17 from 90°, we obtain the vertex angle B19 of the right triangle. According to the cosine theorem of the right triangle, we calculate the horizontal straight-line distance 18 between the starting point position 15 of the robotic arm 3 and the marker plate 6, as well as the height data 8 relative to the marker plate. Thus, we obtain the position of the starting point position relative to the marker plate 6. After calculating the starting positions of the four robotic arms, we combine the height data and position information of the marker plate to obtain the coordinate position 22 of the UAV body.

[0041] Example 6: like Figure 1 As shown, in the control method, after the UAV body identifies the coordinate position two, it is allowed to hover within a certain distance range to wait for traffic control instructions. Based on the already identified coordinate position of the UAV body located outside the intersection area, the control center notifies the UAV body that the following UAV body should maintain a safe distance from the UAV body.

[0042] This invention, through the coordinated operation of the ground control center and the UAV's control system, achieves precise positioning of the UAV outside the intersection area. This effectively ensures the safe and orderly passage of the UAV through the intersection area, avoiding the risk of collisions caused by dense UAV flight paths and positioning errors of the UAV's satellite positioning module, thus guaranteeing the safety of ground vehicles and pedestrians. Furthermore, this invention also provides a method for three-dimensional traffic control of UAVs in the air. This method facilitates the unified management of multiple UAVs in flight, significantly improving management efficiency and quality.

[0043] This invention conducts cutting-edge research on scenarios involving dense drone flight paths and a large number of drones in future three-dimensional transportation, and is expected to provide some technical support for the development of three-dimensional transportation.

Claims

1. A control method based on a positioning and control system for urban low-altitude three-dimensional traffic unmanned aerial vehicles (UAVs), characterized by: The control system includes a ground-based UAV traffic control center, several UAVs, a positioning mechanism on the UAVs, and markers on city buildings. The UAVs are connected to the control center via wireless signal transceivers. The control method includes: the UAV body is equipped with a satellite positioning module, and a marker is locked through a positioning mechanism; the coordinate position one of the UAV body is obtained through the satellite positioning module; and the coordinate position two of the UAV body is obtained by locking the marker through the positioning mechanism. Based on coordinate position one and coordinate position two, the precise coordinates of the UAV body are obtained. The control center controls the aerial traffic of several UAV bodies according to the precise coordinates of the UAV body.

2. The control method for a positioning and control system for urban low-altitude three-dimensional traffic unmanned aerial vehicles as described in claim 1, characterized in that, The drone itself is also equipped with a city 3D street view map module, which is connected to the satellite positioning module. The control system of the UAV identifies its own coordinate position one by reading the map module. Based on coordinate position one, the positioning mechanism scans the surrounding markers. Based on the identification of the markers by the control system, the coordinate position two of the UAV relative to the markers is obtained based on the relative position of the UAV and the markers. Based on the precise coordinates of the markers and coordinate position two, the precise coordinates of the UAV are identified.

3. The control method for a positioning and control system for urban low-altitude three-dimensional traffic unmanned aerial vehicles as described in claim 2, characterized in that, The control center plans the flight routes and flight time periods of the UAVs based on their operational tasks, and sets up traffic control in the areas where the flight routes of the UAVs intersect. The traffic control method includes: when the UAV body determines that it is about to arrive at the intersection area based on its coordinate position, it determines its own precise coordinates by identifying markers, and the control center integrates the precise coordinates of each UAV body and arranges each UAV body to pass through the intersection area in an orderly manner. The traffic control signals are transmitted to the control system of the UAV via a wireless signal transceiver to instruct the UAV to hover outside the intersection area or pass through the intersection area and control the passing speed.

4. The control method for a positioning and control system for urban low-altitude three-dimensional traffic unmanned aerial vehicles as described in claim 3, characterized in that, The markers are pre-defined local structures of urban buildings. The coordinate position of the UAV body is determined by multiple markers. The local structures are pre-set marking plates on the outer walls of urban buildings.

5. The control method for a positioning and control system for urban low-altitude three-dimensional traffic unmanned aerial vehicles as described in claim 4, characterized in that, The marker boards extend to the side of the street below the flight path of the drone. There are at least four marker boards, two of which are located on both sides in front of the drone and the other two are located on both sides behind the drone. Before entering the intersection area, when the drone is between the front and rear marker boards, it detects its own coordinate position through a positioning mechanism.

6. The control method for a positioning and control system for urban low-altitude three-dimensional traffic unmanned aerial vehicles as described in claim 5, characterized in that, The drone body is a quadcopter drone. Each arm of the quadcopter drone is equipped with a coordinate positioning mechanism at its lower end. When the coordinate positioning mechanism works with the marking plate, it identifies the position of the four arms and finally determines the coordinate position of the drone body.

7. The control method for a positioning and control system for urban low-altitude three-dimensional traffic unmanned aerial vehicles as described in claim 6, characterized in that, The coordinate positioning mechanism includes a first servo motor fixedly mounted at the lower end of the arm. The output shaft of the first servo motor extends vertically downward and is fixedly connected to a mounting plate. A mounting rod is provided on the mounting plate, and one end of the mounting rod is rotatably connected to the mounting plate through a rotating shaft. The rotating shaft passes through the mounting plate and is fixedly connected to the output shaft of the second servo motor preset on the outer surface of the mounting plate. A laser rangefinder is embedded at the other end of the mounting rod, and a high-definition camera is provided on the outer surface of the mounting rod. In the initial state, the two front mounting rods face the front of the drone body, and the two rear mounting rods face the rear of the drone body, and the mounting rods are in a horizontal position.

8. The control method for a positioning and control system for urban low-altitude three-dimensional traffic unmanned aerial vehicles as described in claim 7, characterized in that, During the positioning process, the UAV hovers in the area between the front and rear marker plates and is positioned above the marker plates. The first servo motor rotates to make the mounting rod face the corresponding marker plate, and the second servo motor rotates to make the laser rangefinder cooperate with the marker plate. By detecting the straight distance between the UAV and the marker plate, and combining the rotation angle data of the second servo motor, the horizontal straight distance between the arm's measurement starting point and the marker plate, as well as the height data relative to the marker plate, are calculated according to the cosine theorem of a right triangle. The rotation angle of the laser rangefinder relative to the front or rear is calculated based on the rotation angle of the first servo motor. Based on the height data and precise coordinate position of the pre-stored marker plate, the position of each arm is deduced. Based on the position of each arm, the coordinate position of the UAV is deduced.

9. The control method for a positioning and control system for urban low-altitude three-dimensional traffic unmanned aerial vehicles as described in claim 8, characterized in that, In the control method described above, after the UAV body identifies the second coordinate position, it is allowed to hover within a certain distance range to wait for traffic control instructions. Based on the already identified coordinate position of the UAV body located outside the intersection area, the control center notifies subsequent arriving UAV bodies to maintain a safe distance from the UAV body.

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