Background technology
The application of unmanned vehicle is the most constantly expanded, and either industry unmanned plane still consumes unmanned plane allObtaining significant progress, especially many rotary wind types unmanned vehicle is the little miniature unmanned vehicle of representative, and it is eachPlanting ingredient and start modularity, industry reaches its maturity.
The intelligentized core of unmanned vehicle especially small aircraft with many rotor unmanned aircrafts as representativeOne of heart problem is route planning function, aircraft can by the way of calculating voluntarily, draw one fromPoint is to the route of terminal, and completes this route, is the aircraft premise that can complete task.Based on this demand,GPS module becomes the standard configuration of unmanned vehicle substantially, utilizes GPS module can sense the position of self,It it is the unmanned vehicle premise that can carry out the follow-up works such as route searching, highway route design, flight practice.
But, gps signal is not the solution the most all passed through, the GPS letter in some placeNumber the most weak, even do not reach the requirement that can use, in the environment of some indoor, the most just do not have GPS to believeNumber.
In such a case, the manipulation of unmanned plane can only use so-called gesture mode, say, that completely by flyingHands controls the action of this aircraft, be the most just far from being any intellectuality and automatization.
A kind of navigator's unmanned vehicle, described unmanned vehicle disclosed in patent documentation CN105468022ACan be according to the route flight pre-set；Described unmanned vehicle includes: wireless signal identification device, passes throughDescribed wireless signal identification device, the beacon equipment that described unmanned vehicle and navigator's object are held carries out channel radioLetter, to complete the range determination between described unmanned vehicle and described beacon equipment；Flight speed controls device,The distance measured based on described wireless signal identification device, adjusts the flight speed of described unmanned vehicle in real time.This patent can be used in route instruction and navigates, but this patent remains a need for by radio communication, there is communication the most smoothRisk, it is impossible to formed flight path by multiple continuous print beacons so that unmanned vehicle is only completed by beaconFlight path and the navigation information arranged by identification beacon complete intelligent flight.
A kind of unmanned plane during flying control system, described unmanned plane disclosed in patent documentation CN105513434AAir traffic control system includes unmanned plane and multiple navigation beacon, wherein: described unmanned plane is with unique firstAuthorization message；And described navigation beacon is located on predetermined course line with default interval, when described in multi rackUnmanned plane, when predetermined airline operation, makes described navigation beacon and described UAV Communication, to obtain nothingMan-machine accurate location information, and verify the true and false of described first authorization message of each frame unmanned plane, and based onThe result of checking and the accurate location information of the unmanned plane of acquisition, management and control is multiple UAVs on predetermined course lineState of flight.This patent directly use the physical coordinates of extremely accurate navigation beacon to realize positioning function, butThe beacon of this patent is only intended on course line location rather than multiple continuous print beacon composition flight path, this letterMark is for checking rather than making unmanned vehicle only complete flight road by beacon with unmanned vehicle communicationLine and the navigation information arranged by identification beacon complete intelligent flight.
Location, a kind of four-axle aircraft farmland based on ZigBee system disclosed in patent documentation CN103809155ASystem includes: some known location, the ZigBee beaconing nodes of equal height, each ZigBee beaconing nodes bagIncluding radiofrequency launcher and radio frequency receiver, each ZigBee beaconing nodes is uniformly distributed in farmland, and beacon savesPoint relative coordinate is known；The aircraft node to be positioned being made up of four-axle aircraft and ZigBee node, describedBe provided with processor and height sensor on four-axle aircraft, described ZigBee node include radiofrequency launcher andRadio frequency receiver, is fixed on described four-axle aircraft center；Described aircraft node to be positioned is described by receivingThe wireless signal that the beaconing nodes that in ZigBee beaconing nodes, 4 wireless signal strengths are the strongest sends calculates describedSpace length between aircraft node to be positioned and described 4 ZigBee beaconing nodes, reflects space lengthPenetrate into the horizontal range of ZigBee beaconing nodes place horizontal plane, every 3 ZigBee beaconing nodes composition oneIndividual triangle locator region, forms 4 sub regions the most altogether, fixed by three limits respectively for every sub regionsThe relative coordinate of position method calculating aircraft node, then calculate that these 4 relative coordinates are formed by centroid method fourThe barycenter of limit shape, using this center-of-mass coordinate as the final position coordinate of aircraft node.Each is believed by this patentMark node carries out Relatively orientation, forms agricultural land information monitoring network, but they cannot be by multiple continuous print beaconsForm flight path so that unmanned vehicle is only completed flight path by beacon and arranged by identification beaconNavigation information completes intelligent flight.
Therefore, in the case of this area urgency technical issues that need to address are to need not GPS navigation, navigationUnmanned vehicle completes intelligent flight along flight path.
Disclosed above-mentioned information is used only for strengthening the understanding to background of the present invention in the background section, thereforeMay comprise and not be formed in the information of prior art known to a person of ordinary skill in the art in this country.
Summary of the invention
It is an object of the invention to be achieved by the following technical programs.
The invention provides the beacon utilizing resolution higher and realize the continuous guide to aircraft flight route,Beacon may be provided for other reference informations, by multiple continuous print in addition to providing location information to aircraftBeacon forms flight path so that unmanned vehicle is only completed flight path by beacon and set by identification beaconThe navigation information put completes intelligent flight.Being provided with sensor on aircraft can be for pre-set toolThe beacon having higher resolution accurately identifies, by the beacon set continuously, it is achieved to aircraft flight roadThe planning of line and guide.In the beacon of aircraft identification, it is also possible to additional other have valuable referenceInformation, is such as added thereto the content information-related with flying height, flight speed, flare maneuver, auxiliary,After aircraft recognizes above-mentioned information, execution action can be indicated according to it.
According to an aspect of the present invention, the beacon device of a kind of unmanned vehicle, it includes multiple continuous printBeacon and unmanned vehicle body, each described beacon is provided with navigation information, and beacon described in multiple continuous print is formedFlight path, unmanned vehicle body includes identification module and processing module, believes described in described identification module identificationTarget navigation information is also sent to described processing module), connect the described processing module of described identification module based onDescribed navigation information controls unmanned vehicle flight until described identification module identification next one beacon, described processModule navigation information based on next beacon controls unmanned vehicle flight until completing described flight path.
Preferably, described beacon is different colours and/or difform mark, and described mark is provided with bagInclude one or more leading in directional information, elevation information, flight speed, flare maneuver and/or range informationBoat information, described identification module is camera head, and it shoots described beacon with navigation by recognition information.
Preferably, described beacon is bar code or Quick Response Code, and described beacon is provided with and includes directional information, height letterNavigation informations one or more in breath, flight speed, flare maneuver and/or range information, described identification mouldBlock is scanning means, and it scans described beacon with navigation by recognition information.
Preferably, described beacon is radiofrequency launcher, and described radiofrequency launcher is launched and included directional information, highlyNavigation informations one or more in information, flight speed, flare maneuver and/or range information, described identificationModule includes radio frequency receiver, and radio frequency receiver receives the navigation information that described radiofrequency launcher is launched.
Preferably, described processing module includes memory element and the processing unit storing data base, described dataLibrary storage is corresponding to the flight control information of the navigation information of described beacon, and described processing unit is based on described navigationThe corresponding flight control information of information searching, described processing unit based on flight control information control described nobody flyRow device flies.
Preferably, described identification module is located at below unmanned vehicle body, and described identification module has adjustableIdentification range to guarantee described identification module identification beacon in flight course.
Preferably, processing module is independent or the general place that is integrated in unmanned vehicle flight control systemReason device, digital signal processor, application-specific integrated circuit ASIC, on-site programmable gate array FPGA, simulationCircuit, digital circuit and combinations thereof.
Preferably, described memory element is Electrical Erasable programmable read only memory EEPROM, described numberCan real-time update according to storehouse.
Preferably, described processing unit is unmanned vehicle flight controller, and flight controller receives flight and controlsInformation controls unmanned vehicle flight.
According to a further aspect in the invention, the navigation of a kind of beacon device using described unmanned vehicleMethod comprises the following steps.
In first step, arranging navigation information on each described beacon, beacon described in multiple continuous print is formed and fliesWalking along the street line.
In second step, the navigation information of beacon described in described identification module identification is also sent to described process mouldBlock, the described processing module connecting described identification module controls unmanned vehicle flight directly based on described navigation informationTo described identification module identification next one beacon.
In third step, described processing module navigation information based on next beacon controls unmanned vehicle flightUntil completing described flight path.
According to another aspect of the invention, a kind of beacon, described beacon is used in the beacon of described unmanned vehicleIn guider.
A kind of unmanned vehicle, it includes the beacon device of described unmanned vehicle.
Described above is only the general introduction of technical solution of the present invention, in order to make the technological means of the present invention moreClear, reach the degree that those skilled in the art can be practiced according to the content of description, and in order toAbove and other objects of the present invention, feature and advantage can be allowed can to become apparent, below with the present invention'sDetailed description of the invention is illustrated.
In embodiment, unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV " (unmanned aerialVehicle), it is the most manned aircraft utilizing radio robot and the presetting apparatus provided for oneself to handle.FromTechnical standpoint definition can be divided into: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmannedDirigible, unmanned parasol etc..
In the embodiment of the present invention, preferred unmanned vehicle is many rotor unmanned aircrafts, many rotor unmanned aircraftsIt can be four rotors, six rotors and the rotor quantity unmanned vehicle more than six.
The unmanned vehicle that technical solution of the present invention uses is primarily referred to as many rotor unmanned aircrafts little, miniature, thisKind unmanned vehicle volume is little, low cost, flight stability preferable, and flight cost is low.The present invention usesAircraft, typically with four axle multi-rotor aerocrafts as representative.
Fig. 1 is the structural representation of the beacon device of the unmanned vehicle of one embodiment of the present of invention, thisInventive embodiments will be specifically described in conjunction with Fig. 1.
As it is shown in figure 1, An embodiment provides the beacon device of a kind of unmanned vehicle,It includes that multiple continuous print beacon 1 and unmanned vehicle body 2, each described beacon 1 are provided with navigation information,Beacon 1 described in multiple continuous print forms flight path, and unmanned vehicle body 2 includes identification module 3 and processesModule 4, described identification module 3 identifies the navigation information of described beacon 1 and is sent to described processing module 4,The described processing module 4 connecting described identification module 3 controls unmanned vehicle flight directly based on described navigation informationNext beacon is identified, described processing module 4 navigation information based on next beacon to described identification module 3Control unmanned vehicle flight until completing described flight path.
The present invention is Promethean to be proposed, and each described beacon 1 is provided with navigation information, believes described in multiple continuous printMark 1 formation flight path carries out flight path planning to realize unmanned vehicle, i.e. not against GPS navigationMake in the environment of there is no gps signal, the continuous beacon that unmanned vehicle also can design according to realization, completeBecome complicated flare maneuver, and along with to these beacon Land use systems and the lifting utilizing usefulness, be done step-by-stepThe most intelligent.
In one embodiment, described beacon 1 is different colours and/or difform mark, described markWill thing is provided with and includes in directional information, elevation information, flight speed, flare maneuver and/or range information oneOr multiple navigation informations, described identification module 3 is camera head, and it shoots described beacon and believes with navigation by recognitionBreath.Such as, in some indoor activity, unmanned vehicle to be utilized completes demonstration flight, and then indoor are alsoThere is not gps signal, rely solely on manual operation, use attitude offline mode, it is possible to cause flight tableDrill effect uncertain.Now, unmanned vehicle is provided with the camera head shooting carrying out downward shootingHead, when this unmanned vehicle flies in liftoff 5 meters of height when, unmanned vehicle can scan downwards oneNearly ten meters square circular scope, the most pre-set using a red arrow as mark, this rednessThe position of arrow is the current flight destination of unmanned vehicle, and red arrow be oriented to next flight meshThe direction on ground.The feature of the red arrow mark owing to being previously set is perfectly clear, by regarding simplyFeel and identify and just can find the nearest mark of current distance unmanned vehicle, if such on ground, lower section according toNeed to set some red arrows, unmanned vehicle just can be allowed in the way of height-lock control in indoor, complete complexityFlight line or aerial mission.In such scheme, it is furthermore preferred that described mark can also have simultaneouslyStandby multiple, such as represent the green starting point started and terminate and yellow terminal, such as represent the standby some timeBlue cross etc..So can be by complicated flight line instruction morphing one-tenth route sign thing, it is possible to intelligentizedRealize the flight to unmanned vehicle to control.Further, ultrasonic by be located on unmanned vehicle body 2Under the lower height-lock control pattern realized of the auxiliary of ripple, altimeter or other height sensors, unmanned vehicleAs long as processing module combine " fly to immediate impact point " and " heading be given according to markPrompting is flown " the competing conjunction of both strategies, can be achieved with the performance of above-mentioned flight line.
Specifically, when unmanned vehicle enters beacon guide offline mode, first start and identify scanning, send outExisting green starting point, then unmanned vehicle is according to the flight plan at center making green starting point become scanogramSlightly fly so that unmanned vehicle has flown at 5 meters, the surface of green starting point；And then, nobody fliesRow device has scanned first mark set in advance, it is simply that be positioned at the red arrow at southeastern direction 4 meters,The sensing of this red arrow is also southeastern direction；Now unmanned vehicle flies to immediate impact point according to straight lineCountermeasures, fly to first mark red arrow from starting point, and red arriving at first markAfter color arrow, directly continue southeastward direction flight according to the instruction of this direction of arrow；Then, unmanned flightDevice, during flying in southeastwards direction, finds new mark the second red arrow in its sweep limits,I.e. next beacon, the most then from the countermeasures of southeastward direction flight, be transformed into execution and fly to immediateThe countermeasures of impact point, thus close to this second red arrow, and the direction indication of this second red arrowFor due east, now this unmanned vehicle is then after arriving at directly over the second red arrow, becomes to direction, due eastContinue flight；And so forth, until finally scanning the post thing of yellow, thus this flight path is terminated.
The citing of above-mentioned mark the most schematically, can be adjusted according to specific needs.Such as some is manyThe collective activity that people participates in, it might even be possible to the medicated cap selecting the people crown to be worn is used as mark, medicated capColor can distinguish function, the shape of medicated cap, and the such as the brim of a hat points to and can indicate as direction.In the example above,Although by the explanation carried out as a example by underface, but the sensor of unmanned vehicle can also be directed towards otherDirection, such as towards surface, arranges mark the most on the ceiling.Also or arrange towards multiple directionsSensor, be such as both provided with sensor in underface and dead ahead, and come according to different marks realExecute the control of flight line and flare maneuver.Such as, below utilization, sensor determines the flight of unmanned vehicleRoute, utilize upfront sensor to add the flare maneuver of aircraft, when upfront sensor detects default markWill thing, during such as one " rice " font symbol, this aircraft performs flare maneuver or the execution of a rollingThe flare maneuver etc. of one shooting.
Although the sensor of above-mentioned unmanned vehicle is to illustrate with vision sensor, but other perception classesSensor also possible, it is also feasible for such as going to sense the schemes such as infrared mark by infrared ray sensor's.
The realization of above-mentioned countermeasures is also schematic, the concrete flight line control realized based on markAlso have other modes, such as using the immediate next one without mark as air objective ground strategy,So, as long as ensureing the design density of mark in the sweep limits of aircraft, aircraft just can be allowed to realize intelligenceCan flight.
For another example can be in conjunction with heading strategy and mark destination strategy, aircraft is often through a markThe when of thing, just its direction of advance is turn 90 degrees along dextrorotation, then in flight course, under searchingOne mark, now finds and the scope of scanning flag thing can also is that and can adjust, such as can be according to3 meters square, 5 meters square, 10 meters of different range such as square search mark.
Concrete mark sets and countermeasures can be set according to actual needs, and the core of the application is sent outBright point is to apply continuous print mark to guide the flight path of unmanned vehicle to set.
The most preferably, described beacon 1 is bar code or Quick Response Code, and described beacon 1 is provided withIncluding one or more in directional information, elevation information, flight speed, flare maneuver and/or range informationNavigation information, described identification module 3 is scanning means, and it scans described beacon with navigation by recognition information.OneIn individual embodiment, scanning means reads bar code and/or 2 D code information, further, beacon 1 also may be usedTo add such as the additional reference information of Word message, scanning means can read by the way of such as OCR and identifyWord message, is then further processed according to this information.Processing module 4 according to identify Word message,Such as allow unmanned vehicle automatically implement continuous dipping and heaving fly the flight control instruction of three times.Such as, oneIn individual embodiment, beacon 1 is in addition to can being recognized rapidly, additionally it is possible to provide some to add to aircraftReference information.Such as by pre-set condition, this mark can provide flight height to unmanned vehicleThe actions such as the control signal of the most carry-on optional equipment of degree, flight speed, heading, flare maneuver.Additional reference information by beacon 1, it is possible to realize the most intelligent demonstration flight or aerial mission.Such asProviding, by beacon 1, the information that flying height adjusts, the flying height of unmanned vehicle was compared to ground originally5 meter Ding Gao, when passing through certain beacon carrying change of flight elevation references information, this unmanned vehicleFlying height will change according to this reference information, such as become 4 meter Ding Gao.According to similar principle, logicalCross above-mentioned reference information, unmanned vehicle can using through beacon as trigger condition, instant or time delay completeBecome some controls of further flying, change highly than as the aforementioned, it can in addition contain change of flight speed,Change of flight direction, implement particular flight action, utilize record equipment to complete shooting action, complete luminescence orBlinking action, completes sounding action etc..This interaction it is capable of, the most just between beacon and unmanned vehicleIt is meant that the present invention can complete, based on this principle, the concrete manifestation behavior that theory unlimited is possible so thatUnmanned vehicle achieves intelligent completely at indoor crawler behavior.
The most preferably, described beacon 1 is radiofrequency launcher, and described radiofrequency launcher is launchedIncluding one or more in directional information, elevation information, flight speed, flare maneuver and/or range informationNavigation information, described identification module 3 includes radio frequency receiver, and radio frequency receiver receives described radiofrequency launcher and sends outThe navigation information penetrated.Such as, radiofrequency launcher sends with 100 kilometers of speed hourly, flying height 10The navigation information of rice, forward 1000 meters, radio frequency receiver receives this navigation information, and processing module 4 is based on instituteState navigation information control unmanned vehicle flight with 100 kilometers of speed hourly, flying height 10 meters, toAfter first 1000 meters, until described identification module 3 identifies next beacon, next beacon sends with 200 publicIn speed hourly, the navigation information of flying height 6 meters, to the right 500 meters, described processing module 4 based onThe navigation information of described next beacon controls unmanned vehicle flight, the most constantly identifies continuous print beacon, directlyTo completing described flight path.
The most preferably, beacon 1 can be with sound, figure, the form glistening and/or encodeIt is provided with and includes in directional information, elevation information, flight speed, flare maneuver and/or range information one or manyIndividual navigation information, identification module 3 can the simultaneously compatible reading to spoken and written languages, figure and coding and identification,Such as, identification module can be read out Word message or read certain 2 D code information the words identification of beacon 12 D code information in code, the image of beacon 1 can also be read out, such as, read beacon by identification moduleCertain image of 1, the sound of such as " turning right in front " can also be read out by identification module 3, these words,Coding information, image and acoustic information such as Quick Response Code belong to navigation information, navigation information include but not onlyBeing limited to directional information, elevation information, flight speed, flare maneuver and/or range information, navigation information is substantiallyRefer to be documented in arbitrarily can via on the beacon carrier of identification module identification can be with flight control information pairThe information of such as word, coding information, image and the acoustic information etc. answered.
Fig. 2 is the structural representation of the beacon device of the unmanned vehicle of an alternative embodiment of the invention,The embodiment of the present invention will be specifically described in conjunction with Fig. 2.
As in figure 2 it is shown, An embodiment provides the beacon device of a kind of unmanned vehicle,It includes that multiple continuous print beacon 1 and unmanned vehicle body 2, each described beacon 1 are provided with navigation information,Beacon 1 described in multiple continuous print forms flight path, and unmanned vehicle body 2 includes identification module 3 and processesModule 4, described processing module 4 includes memory element 5 and the processing unit 6 storing data base, described numberCorrespond to the flight control information of the navigation information of described beacon 1 according to library storage, described processing unit 6 is based on instituteStating navigation information and search corresponding flight control information, described processing unit 6 controls institute based on flight control informationStating unmanned vehicle flight, described identification module 3 identifies the navigation information of described beacon 1 and is sent to described placeReason module 4, connects the described processing module 4 of described identification module 3 and controls nobody based on described navigation information and flyThe flight of row device is until described identification module 3 identifies next beacon, and described processing module 4 is based on next beaconNavigation information control unmanned vehicle flight until complete described flight path.
In one embodiment, described identification module 3 is located at below unmanned vehicle body 2, described identification mouldBlock 3 has adjustable identification range to guarantee described identification module 3 identification beacon in flight course.
In one embodiment, processing module 4 is independent or is integrated in unmanned vehicle flight control systemIn general processor, digital signal processor, application-specific integrated circuit ASIC, field programmable gate arrayFPGA, analog circuit, digital circuit and combinations thereof.
In one embodiment, described memory element 5 is Electrical Erasable programmable read only memoryEEPROM, described data base can real-time update.
In one embodiment, described processing unit 6 is unmanned vehicle flight controller, and flight controller connectsReceive flight control information and control unmanned vehicle flight.
The data base corresponding to the control information of described customizing messages of memory element storage can be to presetLook-up table, it is also possible to be characteristic information and control information data base based on corresponding relation.Control in data baseInformation processed is not limited only to such as flight control informations such as flight control instruction collection, flight path coordinate sets, it is also possible to bagInclude the use information of unmanned vehicle, as in the electric map module of unmanned vehicle automatically interim add forThis scenic spot arrange no-fly zone information, automatically add for spy in the electric map module of unmanned vehicle temporarilyDetermining the information alert in place, such as recommend sight spot in scenic spot in flight, unmanned vehicle will provide lightFlash points out or the walking map in scenic spot is supplied to unmanned vehicle so that unmanned vehicle is carried out as itThe service providing data basis etc. of user guide.
In one embodiment, described data base can real-time update.The control information obtained in the above-described embodiments,Or provide at that time, it is finished deletion；Or provide at that time, within second day, delete；Can also is that and provide at that time,Leave this geographic coordinate range then to delete；Last it is also possible that provided address information accurately at that time, logicalThe control information of correspondence is gone accurately to download in the position crossing the instruction of this address information.Substantial amounts of number is paid compared to needsFor complete, the static data base of the technostress of the aspects such as storage capacity, data renewal, data exchange,The data base of real-time update can have region and ageing.
In one embodiment, described control information may be included in and adds no-fly region or prompting letter on electronic chartBreath.
See Fig. 3, use the beacon device of described unmanned vehicle according to an embodiment of the inventionAir navigation aid comprise the following steps.
In first step S1, each described beacon 1 is arranged navigation information, beacon described in multiple continuous print1 forms flight path；
In second step S2, described identification module 3 identifies the navigation information of described beacon and is sent to described placeReason module 4, connects the described processing module 4 of described identification module 3 and controls nobody based on described navigation information and flyThe flight of row device is until described identification module 3 identifies next beacon；
In third step S3, described processing module 4 navigation information based on next beacon controls unmanned flightDevice flight is until completing described flight path.
On the other hand, a kind of beacon, described beacon is used in the beacon device of unmanned vehicle.
A kind of unmanned vehicle, it includes the beacon device of described unmanned vehicle.
Although embodiment of the present invention being described above in association with accompanying drawing, but the invention is not limited inThe specific embodiments and applications field stated, above-mentioned specific embodiments is the most schematic, guiding,Rather than it is restrictive.Those of ordinary skill in the art is under the enlightenment of this specification and without departing from the present inventionIn the case of scope of the claimed protection, it is also possible to make a variety of forms, these belong to the present inventionThe row of protection.