System and method for mobile landing of unmanned vehicle
The present invention relates to a system and a method for mobile landing of an unmanned vehicle. The method includes: detecting a landing target pattern by a three-dimensional sensing module and transmitting the landing target pattern to a calculation module, the landing target being a moving object; calculating, by the calculation module, a relative correction parameter of a guiding coordinate position of a return side relative to a coordinate position of the unmanned vehicle according to the landing target pattern and the guiding coordinate position of the return side; correcting, by the calculation module, the guiding coordinate position of the return side according to the relative correction parameter to obtain a corrected guiding coordinate position; then calculating, by the calculation module, a deviation value between the corrected guiding coordinate position and the coordinate position of the unmanned vehicle, and transmitting the deviation value to the vehicle side control module, and controlling, by the vehicle side control module, the unmanned vehicle to arrive at the return side according to the deviation value. The present invention thereby achieves a precise dynamic target landing.
1 . A system for mobile landing of an unmanned vehicle comprising a vehicle body, the system for mobile landing of the unmanned vehicle comprising:
a three-dimensional sensing module provided in the vehicle body;
a calculation module provided in the vehicle body and electrically connected to the three-dimensional sensing module, wherein the calculation module comprises a filtering unit and a computing unit;
a vehicle side control module provided in the vehicle body and electrically connected to the calculation module; and
a vehicle side navigation sensing module provided in the vehicle body and electrically connected to the vehicle side control module;
wherein the three-dimensional sensing module captures an external image of the unmanned vehicle to detect whether there is a landing target pattern, the three-dimensional sensing module transmits the landing target pattern to the calculation module, the landing target being a moving object; the computing unit of the calculation module calculates a relative correction parameter of a guiding coordinate position of a return side relative to a coordinate position of the unmanned vehicle according to the landing target pattern and the guiding coordinate position of the return side; the filtering unit of the calculation module corrects the guiding coordinate position of the return side according to the relative correction parameter to obtain a corrected guiding coordinate position; then the filtering unit of the calculation module calculates a deviation value between the corrected guiding coordinate position and the coordinate position of the unmanned vehicle, and transmits the deviation value to the vehicle side control module, and the vehicle side control module controls the unmanned vehicle to arrive at the return side according to the deviation value; and the coordinate position of the unmanned vehicle is provided to the calculation module by the vehicle side navigation sensing module.
2 . The system for mobile landing of the unmanned vehicle according to claim 1 , further comprising:
a return side control module electrically connected to the vehicle side control module; and
a return side navigation sensing module electrically connected to the return side control module.
3 . The system for mobile landing of the unmanned vehicle according to claim 2 , wherein the return side navigation sensing module and the vehicle side sensing module form a satellite navigation system.
4 . The system for mobile landing of the unmanned vehicle according to claim 3 , further comprising a vehicle side communication module and a return side communication module; the vehicle side communication module is provided in the vehicle body and is electrically connected to the vehicle side control module; and the return side communication module is electrically connected to the return side communication module and the return side control module.
5 . The system for mobile landing of the unmanned vehicle according to claim 3 , further comprising a power source provided in the vehicle body and electrically connected to the three-dimensional sensing module, the calculation module, the vehicle side control module, the vehicle side navigation sensing module, and the vehicle side communication module.
6 . The system for mobile landing of the unmanned vehicle according to claim 1 , wherein the calculation module is a vehicle-mounted computer; and the three-dimensional sensing module is an image capturing device.
7 . A method for mobile landing of an unmanned vehicle, comprising the steps of:
determining whether a three-dimensional sensing module captures an external image of the unmanned vehicle to detect whether there is a landing target pattern, the three-dimensional sensing module transmits the landing target pattern to the calculation module, the landing target being a moving object, and if so, proceeding to the next step;
calculating a coordinate position of the target pattern relative to the unmanned vehicle: transmitting, by the three-dimensional sensing module, the landing target pattern to a computing unit of a calculation module, and then calculating, by the computing unit of the calculation module, a relative correction parameter of the guiding coordinate position of a return side relative to the coordinate position of the unmanned vehicle according to the landing target pattern and the guiding coordinate position of the return side;
correcting the coordinate position of the return side: correcting, by a filtering unit of the calculation module, the guiding coordinate position of the return side according to the relative correction parameter to obtain a corrected guiding coordinate position, and then calculating, by the filtering unit of the calculation module, a deviation value between the corrected guiding coordinate position and the coordinate position of the unmanned vehicle and transmitting the deviation value to a vehicle side control module; and
controlling the unmanned vehicle to arrive at the return side: controlling, by the vehicle side control module, the unmanned vehicle to arrive at the return side according to the deviation value.
8 . The method for mobile landing of the unmanned vehicle according to claim 7 , wherein in the step of determining whether a landing target pattern is detected, if not, the method further comprises: correcting a deviation between the navigation sensing modules: transmitting, by the vehicle side navigation sensing module, the coordinate position of the unmanned vehicle to the computing unit, providing, by a return side navigation sensing module, a guiding coordinate position of the return side to the computing unit, and calculating, by the computing unit, a deviation value between the coordinate position of the unmanned vehicle and the guiding coordinate position of the return side and transmitting the deviation value to the vehicle side control module; and controlling the unmanned vehicle to arrive at the return side: controlling, by the vehicle side control module, the unmanned vehicle to arrive at the return side according to the deviation value.