Mobile platform equipment for training landing of unmanned aerial vehicle

Abstract

The utility model relates to the technical field of unmanned aerial vehicle landing, and provides mobile platform equipment for training landing of a multi-rotor unmanned aerial vehicle. The mobile platform equipment comprises a track, a track-loaded platform and a power system. The track extends along the longitudinal direction; the rail-mounted platform comprises a landing plate, a camera and an impact measuring device, the landing plate is slidably connected to the rail, the camera and the impact measuring device are both arranged on the landing platform, the camera is used for collecting video information when the unmanned aerial vehicle lands, and the impact measuring device is used for measuring the impact force generated when the unmanned aerial vehicle lands to the landing plate; the power system is used for driving the rail-mounted platform to slide along the rail. The mobile platform equipment can provide a stable and speed-controllable ground mobile simulation target for the training of the dynamic visual identification system of the unmanned aerial vehicle.

Description

Technical Field

[0001] The utility model relates to the technical field of UAV landing, in particular to a mobile platform device for training the landing of multi-rotor UAVs. Background Technique

[0002] The UAV can land at a specified fixed target point according to the landing point coordinates. However, how to land the UAV on a moving target is a key research topic in this field at present. For example, how to make an aerial photography UAV return to the top of a moving shooting vehicle, or make the UAV return to the deck of a ship sailing on the sea, etc. Landing the UAV on a moving target requires combining a UAV dynamic vision recognition system based on the flight control system. The UAV dynamic vision recognition system relies on the images collected by the camera on the UAV, and performs real-time recognition and calculation on the image feature points to obtain the real-time relative pose and speed between the UAV itself and the landing target point, so as to obtain feedback and dynamically adjust the flight parameters, and finally the UAV can autonomously land on the moving target.

[0003] The UAV vision recognition system is deeply coupled with the flight control system. The establishment of its recognition ability requires continuous dynamic training of specific moving image targets in the early stage to achieve a highly robust control effect. Using moving vehicles or ships for dynamic training consumes a large amount of manpower and material resources and the effect is not good. Summary of the Utility Model

[0004] In order to solve the problem of how to efficiently conduct UAV dynamic training, the utility model provides a mobile platform device for training UAV landing.

[0005] The mobile platform device for training UAV landing provided by the present disclosure includes a track, a rail-mounted platform and a power system. The track extends longitudinally; the rail-mounted platform includes a landing board, a camera and an impact measurement device. The landing board is slidably connected to the track. The camera and the impact measurement device are both arranged on the landing board. The camera is used to collect video information during UAV landing, and the impact measurement device is used to measure the impact force when the UAV lands on the landing board; the power system is used to drive the rail-mounted platform to slide along the track.

[0006] Further, the mobile platform device further includes an industrial computer system, and the industrial computer system is connected to the camera, the impact measurement device and the power system. Among them, the industrial computer system can control the camera to collect video information, the impact measurement device to collect impact force information, and control the movement of the power system.

[0007] Specifically, the impact measurement device is specifically an acceleration sensor array, and the rail-mounted platform further includes a scene cloth arranged on the upper surface of the landing board. Among them, the acceleration sensor array is arranged in the area of the landing board where the scene cloth is located.

[0008] Specifically, the power system includes a motor and a traction rope, and the traction rope is connected to the rail-mounted platform. Among them, the industrial control computer system controls the rotation of the motor to shorten the traction rope, and then drives the rail-mounted platform to slide relative to the track. More specifically, the track is configured into two. The rail-mounted platform further includes a skeleton and a number of pulley groups. Each pulley group includes at least a load-bearing wheel. The landing plate is connected to the top of the skeleton. A number of pulley groups are connected to the skeleton and arranged in two columns longitudinally. The load-bearing wheels of each pulley group can slide along the track.

[0009] Preferably, the cross-section of each track is configured into an L shape. Each track includes a vertical part and a horizontal part. Each pulley group further includes a first auxiliary wheel and a second auxiliary wheel. The load-bearing wheel and the first auxiliary wheel are arranged side by side in the height direction, and the load-bearing wheel and the first auxiliary wheel are respectively located on the upper surface and the lower surface of the horizontal part of the corresponding track. The second auxiliary wheel is located on the inner side surface of the horizontal part of the corresponding track and slides along the inner side surface.

[0010] Optionally, the mobile platform device further includes a bracket and a blocking rope. The bracket is used to support the track, and the blocking rope is arranged at one end of the bracket close to the motor; the rail-mounted platform is provided with a blocking hook that cooperates with the blocking rope.

[0011] Optionally, the mobile platform device further includes a rope support plate and a number of guiding rings. The number of guiding rings are arranged on the rope support plate and configured into two columns distributed longitudinally. The rope support plate is used to support the blocking rope, and the blocking rope extends through each guiding ring.

[0012] Optionally, a position sensor is provided at one end of the track close to the motor. When the position sensor detects that the rail-mounted platform passes by the position sensor, the power system stops pulling the rail-mounted platform.

[0013] Preferably, a blocking plate and a buffer block are further provided at the end of the track. The buffer block is arranged on the blocking plate.

[0014] The features and advantages of the present utility model include:

[0015] A camera and an impact measurement device are provided on the rail-mounted platform of the mobile platform device provided by the present disclosure. This mobile platform device can provide a stable and speed-controllable ground moving simulation target for the training of the UAV dynamic vision recognition system; through the camera and the impact measurement device that move with the landing plate, the training effect of the UAV dynamic vision system can be quantitatively analyzed, which helps to adjust the training parameters of the UAV vision system; and this device provides a dedicated, stable and controllable ground platform for the UAV to attempt to autonomously land on a moving target, improving the safety factor of this type of flight test.

[0016] A scene cloth is provided on the rail-mounted platform, and a scene map of a simulated target can be drawn on the scene cloth for training the UAV to land at a moving target point. Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A schematic diagram showing an embodiment of a mobile platform device provided by the present disclosure;

[0019] Figure 2 A schematic diagram showing another embodiment of the mobile platform device provided by the present disclosure is shown, wherein the industrial control system and the camera are omitted;

[0020] Figure 3 Shows Figure 2 A schematic diagram of the rail-mounted platform and tracks, etc., with the landing plate removed, in the mobile platform device shown.

[0021] Description of reference numerals:

[0022] 100-mobile platform equipment;

[0023] 101-track, 101a-upper surface, 101b-lower surface, 101c-inner surface, 102-position sensor, 103-blocking rope, 104-rope supporting plate, 105-guide ring, 106-blocking plate, 107-buffer block, 108-bracket, 109-moving direction;

[0024] 10-rail-mounted platform, 11-landing plate, 12-load-bearing wheel, 13-frame, 14-camera, 15-impact measuring device, 16-arresting hook, 17-first auxiliary wheel, 18-second auxiliary wheel, 19-camera bracket;

[0025] 20-power system, 22-motor, 24-traction rope, 26-rope drum;

[0026] 30-Industrial computer system. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0028] refer to Figure 1 and Figure 2, the present utility model provides a mobile platform device 100 for training the landing of drones, which includes a track 101, a track-mounted platform 10, and a power system 20. The track-mounted platform 10 includes a landing board 11, a camera 14 and an impact measurement device 15 both arranged on the landing board 11. The track 101 extends longitudinally, and the power system 20 is used to drive the track-mounted platform 10 to slide along the track 101. Among them, the camera 14 is used to collect video information when the drone lands, and the impact measurement device 15 is used to measure the impact force when the drone lands on the landing board 11.

[0029] During operation, the track-mounted platform 10 moves, and the camera 14 and the impact measurement device 15 move together with the landing board 11. The camera 14 can be used to shoot the stable situation of the drone tracking the flight of the landing board 11 during the process of the drone attempting to land on the landing board 11. After the drone is trained to have the ability to land on the track-mounted platform, the impact measurement device 15 is used to measure the impact brought to the trolley by the drone landing on a specific point of the track-mounted platform, which is used as one of the bases for evaluating the training effect of the drone dynamic vision measurement system.

[0030] The mobile platform device 100 of the present disclosure can provide a stable and speed-controllable ground moving simulation target for the training of the drone dynamic vision recognition system; through the camera 14 and the impact measurement device 15 moving with the landing board 11, the training effect of the drone dynamic vision system can be quantitatively analyzed, which is helpful for adjusting the training parameters of the drone vision system; and this device provides a dedicated, stable and controllable ground platform for the drone to attempt to autonomously land on a moving target, improving the safety factor of such flight tests.

[0031] Specifically, the track 101 can be configured as a single root or two or more roots, as long as it is suitable to provide a supporting force for the track-mounted platform 10. In some embodiments, the track 101 is configured as two roots, which are respectively arranged on both sides of the track-mounted platform 10. The track 101 can be configured into any shape suitable for combining with the track-mounted platform 10. Refer to Figure 1 , for example, the track 101 is configured as a cylindrical track, and the track-mounted platform 10 has a hole combined with the track 101, so that the track 101 can extend through the hole. Refer to Figure 2 、 Figure 3 , the track 101 can be configured as an L-shaped track, and the track-mounted platform 10 has a load-bearing wheel 12 that cooperates with the track 101. Alternatively, the track 101 can also be configured as a U-shaped track. Optionally, the track 101 and the track-mounted platform 10 can also be cooperated through longitudinally extending tooth grooves. For example, one is provided with a dovetail groove and the other is provided with a rack.

[0032] Continue to refer to Figure 1, in some embodiments, the mobile platform device 100 further includes an industrial computer system 30, which is connected to the camera 14, the impact measurement device 15, and the power system 20. Among them, the industrial computer system 30 can control the camera 14 to collect video information, control the impact measurement device 15 to collect impact force information, and control the movement of the power system 20, such as controlling the start and stop and speed of the power system 20. At the same time, the industrial computer system 30 can also output the data of the camera 14 and the impact measurement device 15 in the format set by the user.

[0033] Specifically, refer to Figure 1 , in some embodiments, the track 101 is configured as two cylindrical tracks extending longitudinally. The landing plate 11 of the rail-mounted platform 10 is configured as a flat plate. The landing plate 11 is provided with longitudinally extending holes on both sides. The two tracks 101 respectively extend through the two holes of the landing plate 11, so that the landing plate 11 can slide along the track 101. The impact measurement device 15 is arranged on the landing plate 11 and is located at the target position where the aircraft lands. The rail-mounted platform 10 further includes a camera bracket 19. The camera bracket 19 is arranged on one side of the landing plate 11, and the camera 14 is fixed to the landing plate 11 through the camera bracket 19. Optionally, the camera 14 is a high-speed camera.

[0034] Specifically, refer to Figure 2 , the impact measurement device 15 is a punctuation impact measurement device, that is, an acceleration sensor array. The landing plate 11 is provided with holes for installing the acceleration sensor array. Optionally, the mobile platform device 100 further includes a scene cloth (not shown in the figure), and the acceleration sensor array is arranged in the area of the landing plate where the scene cloth is located. The scene cloth can be directly drawn on the landing plate 11 or detachably connected to the landing plate 11. A scene diagram of a simulated target can be drawn on the scene cloth for training the UAV to land at a mobile target point.

[0035] Specifically, the power system 20 can be a linear system or a rotary dragging system. The linear system refers to a system that can directly achieve linear dragging, such as magnetic levitation, etc. The rotary dragging system includes a rotating device and a towing rope. The rotation of the rotating device drives the tightening of the towing rope to cause the linear movement of the distal end of the towing rope. The rotating device can be a motor, an internal combustion engine, etc. Refer to Figure 1 , the power system 20 is a rotary dragging system, including a motor 22 and a towing rope 24. One end of the towing rope is connected to the motor shaft, and the other end is connected to the rail-mounted platform 10 (for example, directly connected to the landing plate 11). When the motor 22 drives the motor shaft to rotate, the towing rope 24 is shortened, and the rail-mounted platform 10 slides along the track 101. The sliding direction refers to Figure 1 the moving direction 109 described above. Specifically, refer to Figure 2, in some embodiments, the power system 20 further includes a rope drum 26, which is connected to the motor shaft. The motor shaft drives the rope drum 26 to rotate, so that the towing rope 24 is wound around the rope drum 26 and becomes shorter. Preferably, the motor 22 is a servo motor.

[0036] Optionally, continue to refer to Figure 1 , the track 101 is provided with a position sensor 102. When the position sensor 102 detects that the rail-mounted platform 10 passes by the position sensor 102, the power system 20 stops driving the rail-mounted platform 10 to slide. Specifically, a normally closed position sensor is arranged at the rear half section of the track 101 near the end position. When the rail-mounted platform moves past the position sensor 102, it triggers the position sensor 102 to send a signal to the industrial control computer system 30. After receiving the signal, the industrial control computer system 30 controls the motor 22 to stop rotating, ensuring the safety of the mobile platform device 100 and making the rail-mounted platform 10 enter the natural deceleration section.

[0037] In some embodiments, to further improve the safety of the device, refer to Figure 2 , the mobile platform device 100 further includes a blocking plate 106 arranged at the end of the track 101 and a buffer block 107 arranged on the blocking plate 106. The arrangement of the blocking plate 106 and the buffer block 107 can stop the rail-mounted platform and prevent the rail-mounted platform from rushing out of the end of the track 101 due to untimely deceleration. Exemplarily, there are two buffer blocks 107 on the blocking plate 106. Optionally, two blocking plates 106 can be respectively arranged at both ends of the mobile platform device 100, and each blocking plate 106 is provided with two buffer blocks 107.

[0038] Continue to refer to Figure 2 and Figure 3 , alternatively, the rail-mounted platform 10 includes a skeleton 13 and several pulley groups. Each pulley group includes at least a load-bearing wheel 12. The landing plate 11 is connected to the top of the skeleton 13. Several pulley groups are longitudinally distributed in two columns below the landing plate 11, and each pulley group is fixed to the skeleton 13 and the load-bearing wheel 12 can slide along the track 101. The track can be configured in any shape such as an L shape or a U shape as long as it is suitable for the pulley group to slide. Schematically, two tracks 101 are arranged in parallel, and each track 101 is configured in an L shape. The track 101 includes a vertical portion and a horizontal portion. The horizontal portion includes a longitudinally extending upper side surface 101a, a lower side surface 101b, and an inner side surface 101c. The upper side surface 101a and the lower side surface 101b are arranged opposite to each other, and the inner side surface 101c is located on the side closer to the inside of the upper side surface 101a and the lower side surface 101b. Among them, the load-bearing wheel 12 is located on the upper side of the horizontal portion and can contact the upper side surface 101a of the horizontal portion.

[0039] In some embodiments, refer to Figure 3, the pulley block further includes a first auxiliary wheel 17 and / or a second auxiliary wheel 18. The first auxiliary wheel 17 is arranged side by side with the load-bearing wheel 12 in the height direction, and the first auxiliary wheel 17 and the load-bearing wheel 12 are respectively located on the upper side and the lower side of the horizontal part of the corresponding track 101, and the first auxiliary wheel 17 can contact the lower side surface 101b. The second auxiliary wheel 18 can contact the inner side surface 101c and slide along the inner side surface 101c, that is, the rotation axis of the second auxiliary wheel 18 is perpendicular to the rotation axis of the load-bearing wheel 12 or the first auxiliary wheel 17. By setting the first auxiliary wheel 17, the vertical movement of the rail-mounted platform 10 can be restricted; by setting the second auxiliary wheel 18, the lateral movement of the rail-mounted platform can be restricted. Restricting the vertical or lateral movement is beneficial to the smooth movement of the load-bearing wheel 12.

[0040] Continue to refer to Figure 2 and Figure 3 , the mobile platform device 100 further includes a blocking rope 103 connected to the track 101, and the blocking rope 103 is used to block the movement of the rail-mounted platform 10. Specifically, the mobile platform device 100 further includes a bracket 108 for supporting the track 101, the bracket 108 extends longitudinally, and the blocking rope 103 is arranged at one end of the bracket 108 close to the motor 22. The rail-mounted platform 10 is provided with a blocking hook 16 that cooperates with the blocking rope, and the blocking hook 16 is connected to the skeleton 13. The blocking hook 16 is configured in an L shape and is adapted to be combined with the blocking rope 103. When the rail-mounted platform 10 moves past the blocking rope 103, after the blocking hook 16 is combined with the blocking rope 103, the hook part of the blocking hook 16 hangs on the blocking rope 103, and the rail-mounted platform 10 is decelerated by the pulling force of the blocking rope 103.

[0041] Preferably, the mobile platform device 100 further includes a rope support plate 104 and a plurality of guide rings 105. The rope support plate 104 is connected to the bracket 108, the plurality of guide rings 105 are fixed to the rope support plate 104, and the blocking rope 103 extends through the guide rings 105. The rope support plate 104 is used to support the blocking rope 103, and the guide rings 105 are used to guide the blocking rope 103. Specifically, the guide ring 105 is configured in a U shape, and the open end of the guide ring 105 is fixed to the upper surface of the rope support plate 104 to form a closed ring. The plurality of guide rings 105 are arranged in two longitudinally extending columns, and both ends of the blocking rope 103 are fixed to the rope support plate 104 and extend through each guide ring 105. Optionally, the middle part of the rope support plate 104 can also be removed to form a longitudinally extending gap, so that a plurality of guide flowers 105 are arranged on both sides of the gap. The arrangement of the gap on the rope support plate 104 is beneficial to weight reduction.

[0042] It should be added that by adjusting the parameters of the servo motor model and the starting position of the rail-mounted platform 10, the mobile ground target simulation training under a wide speed range can be realized. When using the mobile platform device 100 of the present disclosure, since different scene graphs can be selected and arranged on the rail-mounted platform 10, therefore, the visual feature simulation effects of almost all ground mobile targets at different precisions can be realized.

[0043] Combined with Figures 1 to 3 , the working process of the mobile platform device 100 providing a dynamic training environment for the UAV vision system will be explained in detail. First, the scene layout is arranged on the landing board. For example, an apron image with feature recognition points is drawn on the landing board. Then, the industrial control computer system 30 is started, and the industrial control computer system 30 controls the motor 22 of the power system 20 to work forward. By rotating the motor shaft, the towing rope 24 is shortened, so as to drive the rail-mounted platform 10 at the starting position of the track to move forward and accelerate along the track 101. After the rail-mounted platform 10 is accelerated to the preset ideal speed under the traction of the towing rope 24, it keeps moving forward at a constant speed and enters the test section, providing a stable mobile platform for the UAV to perform tracking flight and attempt to land as a dynamic vision system. During the test, when the distance between the UAV and the rail-mounted platform 10 is relatively close, the camera 14 on the rail-mounted platform 10 can take and collect flight images. The acceleration sensor array installed on the landing board 11 can be turned on during the whole process of the UAV attempting to land on the rail-mounted platform trolley, and the landing impact of the UAV on the rail-mounted platform trolley can be collected. The above data is uploaded to the industrial control computer system 30 in real time. After the rail-mounted platform 10 slides for a period of time, when the front end position of the rail-mounted platform 10 reaches the position sensor 102 at the end of the track, the industrial control computer system 30 controls the power system 20 to stop working, and the motor 22 is powered off for safety protection. The rail-mounted platform 10 continues to move towards the end along the track due to inertia and decelerates naturally. Finally, the arrest hook 16 on the rail-mounted platform 10 hits the arrest rope 103 fixed at the end of the track, and the rail-mounted platform 10 stops moving. Push the rail-mounted platform 10 back to the starting point to prepare for the next training test.

[0044] The above are only several embodiments of the present disclosure. Those skilled in the art can make various changes or modifications to the embodiments of the present disclosure without departing from the spirit and scope of the present disclosure based on the content disclosed in the application documents.

Claims

1. A mobile platform device for training the landing of a drone, characterized in that Comprising: A track (101), the track (101) extending longitudinally; A track-mounted platform (10), including a landing board (11), a camera (14) and an impact measuring device (15), the landing board (11) being slidably connected to the track (101), the camera (14) and the impact measuring device (15) both being provided on the landing board (11), the camera (14) being used to collect video information when a drone lands, and the impact measuring device (15) being used to measure the impact force of the drone landing on the landing board (11); And A power system (20), the power system (20) being used to drive the track-mounted platform (10) to slide along the track (101).

2. The mobile platform device according to claim 1, wherein The mobile platform device further includes an industrial computer system (30), the industrial computer system (30) being connected to the camera (14), the impact measuring device (15) and the power system (20); Wherein, the industrial computer system (30) can control the camera (14) to collect video information, the impact measuring device (15) to collect impact force information, and control the movement of the power system (20).

3. The mobile platform device according to claim 2, characterized in that The impact measuring device (15) is specifically an acceleration sensor array; The track-mounted platform (10) further includes a scene cloth provided on the upper surface of the landing board (11); Wherein, the acceleration sensor array is provided in the area of the landing board where the scene cloth is located.

4. The mobile platform device according to claim 3, characterized in that, The power system (20) includes a motor (22) and a traction rope (24), the traction rope (24) being connected to the track-mounted platform (10); Wherein, the industrial computer system (30) controls the motor (22) to rotate to shorten the traction rope (24), and then drives the track-mounted platform (10) to slide relative to the track (101).

5. The mobile platform device according to claim 4, characterized in that The track (101) is configured to be two; The track-mounted platform (10) further includes a skeleton (13) and a plurality of pulley groups, each pulley group at least including a load-bearing wheel (12), the landing board (11) being connected to the top of the skeleton (13), the plurality of pulley groups being connected to the skeleton (13) and arranged in two columns longitudinally, and the load-bearing wheel (12) of each pulley group being slidable along the track (101).

6. The mobile platform device according to claim 5, characterized in that The cross-section of each track (101) is configured to be L-shaped, and each track (101) includes a vertical portion and a horizontal portion; Each pulley group further includes a first auxiliary wheel (17) and a second auxiliary wheel (18), the load-bearing wheel (12) and the first auxiliary wheel (17) being arranged side by side in the height direction, and the load-bearing wheel (12) and the first auxiliary wheel (17) being respectively located on the upper surface (101a) and the lower surface (101b) of the horizontal portion of the corresponding track (101), and the second auxiliary wheel (18) being located on the inner side surface (101c) of the horizontal portion of the corresponding track (101) and sliding along the inner side surface (101c).

7. The mobile platform device according to any one of claims 1 to 6, characterized in that the mobile platform device further includes a bracket (108) and a blocking rope (103), the bracket (108) is used to support the track (101), and the blocking rope (103) is arranged at one end of the bracket (108) close to the motor (22); the on-rail platform (10) is provided with a blocking hook (16) that cooperates with the blocking rope (103).

8. The mobile platform device according to claim 7, wherein the mobile platform device further includes a rope support plate (104) and a plurality of guiding rings (105), the plurality of guiding rings (105) are arranged on the rope support plate (104) and are configured to be distributed in two columns along the longitudinal direction, the rope support plate (104) is used to support the blocking rope (103), and the blocking rope (103) extends through each guiding ring (105).

9. The mobile platform device according to claim 7, wherein a position sensor (102) is provided at one end of the track (101) close to the motor (22), and when the position sensor (102) detects that the on-rail platform (10) passes by the position sensor (102), the power system (20) stops pulling the on-rail platform (10).

10. The mobile platform device according to claim 9, characterized in that, a blocking plate (106) and a buffer block (107) are further provided at the end of the track (101), and the buffer block (107) is arranged on the blocking plate (106).

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