TW201709000A - Escort service management method and system for unmanned aerial vehicle providing automatic escort of unmanned aerial vehicle to reach a vacant stay-in site - Google Patents

Abstract

The present invention discloses an escort service management method and system for unmanned aerial vehicle. An unmanned aerial vehicle is parked in at advance at a parking location. A vacancy management module records location data of a plurality of stay-in sites and data concerning vacancy or occupation thereof. When an escort service activation trigger module detects a request signal issued by a to-be-escorted vehicle, a trigger signal is generated to allow an escort service control module to retrieve location data of the stay-in sites that are recorded as vacancy from the vacancy management module and obtains a set of aviation control parameters to achieve the stay-in site so as to generate, according to the set of aviation control parameters, a control signal corresponding thereto to an aviation control module to allow the aviation control module to control the unmanned aerial vehicle to fly according to a corresponding aviation path to the corresponding vacant stay-in site. An aviation guide module of an escort guide module issues guide signal during the process of the aviation path to indicate a forwarding path for the to-be-escorted vehicle so as to achieve automatic location-escort guide service function.

Description

Unmanned aerial vehicle carrying position service management method and system

The invention relates to a method and system for managing the location service of an unmanned aerial vehicle, in particular to a guiding belt technology capable of achieving the automatic guided service function.

With the rapid increase in the number of cars and the difficulty in obtaining land available for parking in metropolitan areas, it is always difficult for general motorists to park in metropolitan areas. It is not only easy to cause congestion and disorder in nearby traffic, but also cause The driver’s psychologically heavy burden and extreme inconvenience. As far as we know, most parking guidance management mechanisms for toll parking lots are mostly provided with management services with guidance. When there is no parking space in the parking lot, the display above the entrance gate will show no. Vacancy information; conversely, when the parking lot has a vacant parking space, even if the entrance gate shows vacancies, but the average driver can not further know the actual location and quantity of the vacant parking space? Therefore, it is impossible to know the information of the empty space and the occupancy status of each parking space in the first time, so that there will be a situation in which the parking space is seized and an accidental situation of the dangerous car is likely to occur, thereby causing inconvenience and trouble for the driver to stop.

In addition, the wide open-air exhibition grounds, the Tiantian Resort or the Tiantian Resort are also guided by the human resources. In this case, the average user can reach the target exhibition location or stay at the hotel. room. As a result of human resources, the services that lead the way will lead to problems caused by many factors such as personnel management, emotional control and salary increases. Therefore, how to develop a set of automated guidance service technology has become a related technical field. industry The company is eager to solve the technical problems that have been overcome.

Furthermore, the use of unmanned aerial vehicles has become more widespread in defense, scientific, and commercial applications, and many highly hazardous or recurring tasks have been gradually replaced by unmanned aerial vehicles. The main reason is that unmanned flight has the advantages of low price and reduced risk of casualties. Specifically, the conventional unmanned aerial vehicle mainly includes three parts, namely, an air vehicle, an autonomous flight system, and a ground navigation station. The unmanned aerial vehicle is selected according to the voyage, load and air time of the mission. The autonomous flight system is composed of a system single chip integrated with various aeronautical sensors (gyro, altimeter, electronic compass, etc.), flight controller, servo system, navigation system, wireless communication system, and power management unit to achieve automatic control. Unmanned aerial vehicles carry out missions.

In view of the fact that the prior art is not perfect, there is still a need for further improvement, and the inventors have finally developed a set of inventions different from the above-mentioned prior art and patents through continuous efforts.

The main purpose of the present invention is to provide a method and system for managing the location service of an unmanned aerial vehicle, which is mainly constructed by an unmanned aerial vehicle and an automatic location service management, to open a wide open-air parking lot, an open-air exhibition ground, The hotel provides automatic service management to replace the human-based guidance service, in addition to avoiding problems caused by personnel management, emotional control and salary increases. In addition, it can effectively improve the management efficiency of the location service. The technical means for achieving the main object of the present invention is to pre-park the unmanned aerial vehicle on the mooring device; the vacancy management module records the address data of the plurality of stagnant positions and the information of the vacancy and the occupancy; Start trigger module sense When the demand signal is sent, the trigger signal is generated, so that the location service control module obtains the address data of the stagnant position recorded as a vacancy from the vacancy management module, and obtains the address that can reach the stagnant position. a set of navigation control parameters, and then generating a corresponding control signal to the flight control module according to the group navigation control parameters, so that the flight control module controls the unmanned flight vehicle to follow the corresponding navigation path to the stagnation position of the corresponding vacancy; The navigation module of the guidance module issues a guidance signal during the navigation path to guide the path of the person to be carried forward.

10‧‧‧Unmanned aerial vehicle

20‧‧‧With service control module

21‧‧‧With service start trigger module

22‧‧‧With Directional Module

23‧‧‧ Flight Control Module

24‧‧‧ Vacancy Management Module

210‧‧‧ proximity sensor

211‧‧‧ touch display screen

212‧‧‧Simplified

213‧‧‧ touch buttons

220‧‧‧ Navigation Guide Module

240‧‧‧Image capture device

241‧‧‧Image Processing Module

242‧‧‧ Vacancy Identification Module

243‧‧‧ Vacancy Matching Module

30‧‧‧Parking device

31‧‧‧The shed

32‧‧‧Transfer platform institutions

40‧‧‧Stagnation zone

41‧‧‧Stagnation position

Pst‧‧‧ starting point

Pend‧‧‧ Target location

Pn‧‧‧ navigation point

Dn‧‧‧ flight path

1 is a schematic diagram of the functional block implementation of the system architecture of the present invention.

2 is a schematic diagram of the function block implementation of the vacancy management module of the present invention.

3 is a schematic view showing the implementation of the guided vehicle of the present invention.

FIG. 4 is a schematic diagram of the manipulation implementation of the screen display of the present invention.

FIG. 5 is a schematic diagram of the implementation of the present invention for guiding a vehicle into a parking lot.

Fig. 6 is a schematic view showing the operation of the mooring device of the present invention.

Fig. 7 is a schematic view showing another embodiment of the operation of the mooring device of the present invention.

FIG. 8 is a schematic diagram of flow control of a banded service according to the present invention.

In order to allow the reviewing committee to further understand the technical features of the present invention and the technical means for achieving the object of the present invention, it will be described in detail by way of specific embodiments and drawings: please refer to FIG. 1 to FIG. The embodiment includes technical features such as an unmanned aerial vehicle 10, a belt service control module 20, and a mooring device 30. The locating service control module 20 includes a locating service activation triggering module 21, a locating guidance module 22, a flight control module 23, and a vacancy management module 24. Band service start trigger module 21 And the position guiding module 22 signal is connected. The mooring device 30 shown in Figures 5-7 is located at the entrance of the stagnation zone 40 having a plurality of stagnant positions 41, and the unmanned aerial vehicle 10 is pre-parked on the mooring device 30. The carry-on service control module 20 may pre-store navigation control parameters corresponding to the navigation paths respectively reaching the plurality of stagnant positions 41. The vacancy management module 24 records the address data of the plurality of stagnant locations 41 and the data of the vacancy and the occupancy. The presence service trigger module 21 senses whether a candidate is to send a demand signal; when the service start trigger module 21 senses the demand signal, a trigger signal is generated, and the service control module 20 is provided. Receiving the trigger signal, and obtaining the address data of the stagnant position 41 recorded as a vacancy from the vacancy management module 24, and obtaining a set of navigation control parameters that can reach the stagnation position 41, and generating corresponding control according to the set of navigation control parameters. The signal is transmitted to the flight control module 23; the flight control module 23 then controls the unmanned aerial vehicle 10 to follow the corresponding navigation path to the stagnation position 41 of the corresponding vacancy according to the control signal; The guiding module 220 issues a guiding signal (such as a welcome word, a left turn, a straight line, a right turn, a pause wait, a arrival target position, and a thank-you word) during the navigation path, thereby guiding the path of the person to be carried forward; When the unmanned aerial vehicle 10 arrives at the corresponding stagnant position 41, the current service flight is completed, and the vacancy management module 24 changes the stagnant position 41 to record. Placeholder data; Then, control module 23 and then control the flight unmanned aerial vehicle parking means 30 and 10 return to make parking.

Specifically, the location service activation trigger module 21 includes a proximity sensor 210, which may be disposed on the unmanned aerial vehicle 10, as shown in FIG. 3; or on the parking device 30, as shown in FIG. 7, shows. In the embodiment shown in FIG. 5, when the person to be positioned is close to the entrance, a vacant display module (not shown) of the locating guide module 22 obtains a vacancy record from the vacancy management module 24 to display whether If there is a vacancy, the above-mentioned demand signal can be issued, and the triggering module 21 can be activated to generate the trigger signal. In addition, the mooring device 30 shown in FIGS. 6 and 7 includes a parking shed 31, a loading platform mechanism 32, and a power driving mechanism (not shown). The awning 31 can be used for the unmanned aerial vehicle 10 to be parked, and the power drive mechanism (such as a combination of a motor, a belt and a gear set; or a linear actuating assembly) can be driven by the belt service control module 20 to drive the shift. The platform mechanism 32 moves to a first position in the awning 31 or to a second position outside the awning 31. When the trigger signal is generated, the loading platform mechanism 32 moves from the first position to the second position. When the unmanned aerial vehicle 10 completes the current position and land on the loading platform mechanism 32, as shown in FIG. 6, the loading platform mechanism 32 moves from the second position to the first position, as shown in FIG. In this way, the rain protection effect of the unmanned aerial vehicle 10 can be achieved. Moreover, the present invention can also provide a charging module in the parking shed 31 to charge the power system of the unmanned aerial vehicle 10.

The vacancy management module 24 shown in FIG. 2 includes an image capture device 240, an image processing module 241, and a vacancy recognition module 242. The image capturing device 240 is disposed on the unmanned aerial vehicle 10 as shown in FIG. The vacancy management module 24 generates a vacancy inspection demand signal at a predetermined time. The flight control module 23 controls the unmanned aerial vehicle 10 to cruise in the stagnation zone 40 according to the vacancy inspection demand signal, and the image capturing device 240 captures the stagnation zone 40. The image processing module 241 compares the image of the stagnant zone 40 with the reference image of the pre-stored stagnant zone 40 to obtain the address data of the stagnant location 41 and its vacancy data. In addition, the vacancy management module 24 shown in FIG. 2 further includes a vacancy matching module 243. When the locating service activation triggering module 21 senses the demand signal sent by the occupant, the image capturing device 240 撷Taking the image of the occupant, the image processing module 241 compares the image of the occupant with the pre-stored one-size reference image to obtain the size information of the person to be occupant (such as the size of the vehicle or the number of accommodation personnel); When the service start trigger module 21 senses the demand signal, a trigger signal is generated, and the bit service control module 20 receives the trigger signal. And obtaining, by the vacancy matching module 243, the address information of the stagnation position 41 that matches the size information of the person to be occupant and recorded as a vacancy, and obtains the size of the stagnation position to be occupied. a set of navigation control parameters of the stagnant position 41 (such as a parking space or a living room) matched by the information, and then generating a corresponding control signal to the flight control module 23 according to the navigation control parameters; the flight control module 23 is based on The control signal controls the unmanned aerial vehicle 10 to follow the corresponding navigation path to the stagnant position 41 of the corresponding vacancy.

The touch-enabled service activation triggering module 21 shown in FIGS. 5-7 includes a touch display screen 211, and the touch display screen 211 displays a schematic diagram 212 corresponding to the stagnant zone 40 and the plurality of stagnant locations 41, and When the stagnant position 41 is vacant, the touch button 213 corresponding to the stagnation position 41 that is vacant is displayed on the schematic diagram 212; when the touch button 213 is pressed, the demand signal is sent. The bit service start trigger module 21 generates the trigger signal. The specific flow control diagram of the location-based service of the present invention is shown in FIG.

In addition, the locating service control module 20 can be mounted on the unmanned aerial vehicle 10 or on the ground control station; in the embodiment of the unmanned aerial vehicle 10, the plurality of stagnant positions 41 can be The complex array navigation control parameters are pre-outputted to the location service control module 20 to perform the automatic location service flight described above. In another embodiment of the ground control station, the complex array navigation control parameters corresponding to the plurality of stagnant positions 41 can be pre-inputted into the location service control module 20 (such as a computer, a smart phone or a tablet). And then, through the wireless communication module (such as the wireless local area network WIFI module, the mobile communication module or the wireless RF communication module), the autonomous flight system on the unmanned aerial vehicle 10 is connected with the position service control module 20 signal. In order to sequentially transmit the above control signals to the unmanned aerial vehicle 10, the above-mentioned automatic location service flight is realized.

Specifically, the unmanned aerial vehicle 10 of the present invention performs an automatic take-off service flight Before the trip, a flight path teaching flight will be executed first, in other words, the navigation parameter learning step before the flight mode service mode is executed. The specific method is to control the unmanned aerial vehicle 10 to fly through each flight through the wireless communication module. Path dn, each flight path dn includes a starting point Pst (ie, the position of the mooring device 30), a target position Pend (ie, the selected stagnant position), and a plurality of navigation points Pn between the starting point Pst and the target position Pend, The position service control module 20 sequentially records the flight data (such as coordinate parameters, height parameters or time parameters) of each flight path dn as a set of navigation control parameters, and each group of navigation control parameters includes a start. Point coordinates, height parameters, speed parameters, direction parameters, time parameters, and operating parameters of point Pst, target position Pend, and navigation point Pn.

Referring to the working embodiment shown in FIG. 4 and FIG. 5, assuming that the vehicle is to be parked near the entrance, a touch display screen 211 for driving and controlling the vehicle is provided near the entrance, and the corresponding stagnant area 40 and plural are displayed. A schematic diagram 212 of the stagnant position 41, when the vehicle is driving to select the vacant parking space D5 on the sketch 212, the touch button 213 of the parking space D5 displayed on the schematic 212 can be directly pressed, where A demand signal indicating that the parking space D5 is vacant may be issued. When the service start trigger module 21 senses or receives the demand signal, a trigger signal is generated, and the bit service control module 20 receives the trigger signal, and the vacancy management mode The group 24 obtains the address data of the stagnant position 41 of the parking space D5 to obtain a set of navigation control parameters that can reach the stagnant position 41, and generates corresponding control signals to the flight control module 23 according to the set of navigation control parameters. The flight control module 23 controls the unmanned aerial vehicle 10 to follow the corresponding navigation path to the stagnation position 41 of the parking space D5 according to the control signal. During the flight, the positioning guidance module 22 The line guidance module 220 issues a guidance signal (such as a welcome word, a left turn, a straight line, a right turn, a pause wait, an arrival target position, and a thank-you note) during the navigation path, and when the unmanned aerial vehicle 10 arrives at the parking space D5 position Then, the current service flight is completed. At this time, the vacancy management module 24 records the change of the parking space D5 as the placeholder data, and then the flight control module 23 controls the unmanned vehicle to return to the parking device 30 and does Mooring, in addition, during the flight, the unmanned aerial vehicle 10 according to the set of navigation control parameters of the predetermined height, speed and flight path dn from the starting point Pst through the navigation point P ₁ and heading to the target position Pend, and then The target position Pend ₁ returns to the starting point Pst, and the flight path dn is a combination of the path dD5 ₁ , the path dD5 ₂ and the path dD5 ₃ , that is, dn=dD5 ₁ +dD5 ₂ +dD5 ₃ , in addition, when the unmanned flying vehicle Pst heading from the starting point 10 the navigation points P _1, the tape position control service module 20 reads the set of parameters to control the height of navigation parameters, the parameters of speed and direction parameter, and calculating with the flight operating parameters to produce Control no The human flight vehicle 10 controls the flight operation and performs the flight of the path dD5 ₁ according to the control of the control signal. Here, the navigation navigation point P ₁ can be used; when the unmanned aerial vehicle 1010 reaches the navigation point P ₁ , then match UAV 10 which meets the navigation coordinate point P coordinates set to _1. the determination result is yes, the service control module with bit 20 of the navigation point height parameter P _1, the direction and speed parameters is read parameters, And generating a control signal for controlling the flight operation of the unmanned aerial vehicle 10 together with the flight operation parameter, and performing the flight of the path dD5 ₂ according to the control of the control signal, thereby, the heading position Pend; when no one is flying When the carrier 10 is about to arrive at the starting point Pst ₁ , it is compared with whether the coordinate of the unmanned aerial vehicle 10 coincides with the coordinate parameter of the starting point Pst, and if the judgment result is yes, the unmanned flying vehicle 10 is controlled to land at the start. Point Pst (ie the position of the mooring device 30).

Therefore, with the above description of the specific embodiments, the present invention can be constructed by the functions of unmanned aerial vehicles and automatic location service management, for a wide open-air parking lot, an open-air exhibition ground, a through-the-sky resort or It is the automatic management service provided by the hotel to replace the human-oriented guidance service, in addition to avoiding personnel management and emotional control. In addition to the problems caused by many factors such as salary increases, and can effectively improve the management efficiency of the location service.

The above is only a possible embodiment of the present invention, and is not intended to limit the scope of the patents of the present invention, and the equivalent implementations of other changes according to the contents, features and spirits of the following claims should be It is included in the patent of the present invention. The invention is specifically defined in the structural features of the request item, is not found in the same kind of articles, and has practicality and progress, has met the requirements of the invention patent, and has filed an application according to law, and invites the bureau to approve the patent according to law to maintain the present invention. The legal rights of the applicant.

10‧‧‧Unmanned aerial vehicle

20‧‧‧With service control module

21‧‧‧With service start trigger module

22‧‧‧With Directional Module

2‧‧‧ Flight Control Module

24‧‧‧ Vacancy Management Module

30‧‧‧Parking device

Claims (10)

A method for managing an unmanned aerial vehicle with a position service includes: providing an unmanned aerial vehicle, a service control module with a position and a parking device; the service control module with a position service includes a start-up trigger module with a service, and a belt position a pilot module, a flight control module and a vacancy management module; the locating service activation triggering module and the locating guidance module signal communication; the parking device is disposed in a stagnation zone having a plurality of stagnant positions An entrance, and the unmanned aerial vehicle is pre-parked on the mooring device; the navigation service control module pre-stores navigation control parameters corresponding to the navigation paths respectively reaching the plurality of stagnant positions; The module records the address data of the plurality of stagnant positions and the data of the vacancy and the placeholder; and the triggering module of the band service starts to sense whether the user needs to send a demand signal; when the band service starts to trigger When the module senses the demand signal, a trigger signal is generated, and the band service control module receives the trigger signal and obtains a record from the space management module. Obtaining a set of navigation control parameters that can reach the stagnant position, and generating a corresponding control signal according to the set of navigation control parameters to the flight control module; the flight control module Controlling the unmanned aerial vehicle to follow the corresponding navigation path to the stagnation position of the corresponding vacant space according to the control signal; a navigation guidance module of the directional guidance module issues a guidance signal during the navigation path to guide the waiting The path of the forwarder; when the unmanned vehicle arrives at the corresponding stagnant position, the current position is completed, and the vacancy management module records the stagnation position change as the placeholder data; the flight control module re-controls The unmanned vehicle returns to the mooring device and is parked. The unmanned aerial vehicle carrier service management method of claim 1, wherein the location service activation triggering module comprises a proximity sensor, the proximity sensor is located at the entrance to sense whether the user is to be taken Closely, when it is sensed that the person to be brought closer is approaching, a vacant display module of the locating guide module obtains a vacancy record from the vacancy management module to indicate whether there is a vacancy; The vacancy is issued and the demand signal is sent, and the trigger service module activates the trigger module to generate the trigger signal. The unmanned aerial vehicle carrier position service management method of claim 2, wherein the proximity sensor is disposed on the unmanned aerial vehicle. The method of managing an unmanned aerial vehicle with a position service according to claim 1, wherein the vacancy management module comprises an image capture device, an image processing module and a vacancy recognition module; the image capture device is disposed at The vacancy management module generates a vacancy inspection demand signal at a predetermined time, and the flight control module controls the unmanned aerial vehicle to cruise in the stagnation zone according to the vacancy inspection demand signal, and the image capture system The device captures the real-time image of the stagnant area, and the image processing module compares the image of the stagnant area with the pre-stored reference image of the stagnant area to obtain the address data of the stagnant position and the vacancy data thereof. The unmanned aerial vehicle carrier service management method according to claim 4, wherein the vacancy management module further includes a vacancy matching module; and the locating service activation triggering module senses the person to be borne The image capturing device captures the image of the person to be taped by the image capturing device, and the image processing module compares the image of the person to be taped with the pre-stored one-size reference image to obtain the person to be taped. The size information is generated. When the demanding service triggering module senses the demand signal, a trigger signal is generated, and the tape service control module receives the trigger signal, and the space is replaced by the space matching module. The management module obtains the address data of the stagnant position that matches the size information of the to-be-positioned person and records the space as a vacancy, and obtains a set of the stagnant position that can reach the size information matching the size information of the to-be-positioned person. Navigation control parameters, and then based on the set of navigation control parameters The corresponding control signal is sent to the flight control module. The flight control module controls the unmanned aerial vehicle to follow the corresponding navigation path to the stagnant position of the corresponding vacancy according to the control signal. The method for managing an unmanned aerial vehicle with a position service according to claim 4, wherein the activation service triggering module includes a touch display screen, and the touch display screen displays a corresponding stagnant zone and the plurality of stagnant a schematic diagram of the location, and when the stagnant position is vacant, the touch button corresponding to the stagnant position that is vacant is displayed on the diagram; when the to-be-positioned person presses the touch button, The demand signal is sent, and the trigger service module generates the trigger signal. The unmanned aerial vehicle position management service method of claim 1, wherein the parking device comprises a parking shed, a loading platform mechanism and a power driving mechanism, wherein the parking shed can be used to park the unmanned aerial vehicle The power drive mechanism can be driven by the position service control module to drive the load platform mechanism to move to a first position in the awning and to a second position outside the awning, when the trigger signal When generated, the loading platform mechanism moves from the first position to the second position, and when the unmanned aerial vehicle completes the current position and landed on the loading platform mechanism, the loading platform mechanism is from the first The two positions are moved to the first position. An unmanned aerial vehicle carrying service management system comprising: an unmanned aerial vehicle; a parking device disposed at an entrance of a stagnant zone having a plurality of stagnant positions for pre-parking the unmanned aerial vehicle And a service control module, including a service start trigger module, a position guide module, a flight control module and a vacancy management module; the service start trigger module and the position guide The module signal communication module is pre-stored with navigation control parameters corresponding to the navigation paths respectively reaching the plurality of stagnant positions; the space management module records the address data of the plurality of stagnant positions and is vacant And the information of the placeholder; the band service start trigger module senses whether the person to be charged sends a demand signal; when the band service starts trigger module sensing When the demand signal is received, a trigger signal is generated, and the location service control module receives the trigger signal, and obtains the address data of the stagnant position recorded as a vacancy from the vacancy management module, and obtains the stagnation of the stagnation position. a set of navigation control parameters of the position, and correspondingly generating a corresponding control signal to the flight control module according to the set of navigation control parameters; the flight control module controls the unmanned aerial vehicle to follow the corresponding navigation path according to the control signal to Corresponding to the stagnation position of the vacancy; the navigation guidance module of the locating guide module sends a guidance signal during the navigation path to guide the path of the person to be carried forward; when the unmanned vehicle arrives at the corresponding stagnation After the location, the current location is completed, and the vacancy management module records the stagnation position change as the placeholder data; the flight control module then controls the unmanned vehicle to return to the berthing device and perform parking. The unmanned aerial vehicle carrier service management system of claim 8, wherein the location service activation triggering module comprises a proximity sensor, the proximity sensor is located at the entrance to sense whether a person is to be taken Closely, when it is sensed that the person to be brought closer is approaching, a vacant display module of the locating guide module obtains a vacancy record from the vacancy management module to indicate whether there is a vacancy; The vacancy is issued and the demand signal is sent, and the trigger service module activates the trigger module to generate the trigger signal. The unmanned aerial vehicle position service management system of claim 8, wherein the parking device comprises a parking shed, a loading platform mechanism and a power driving mechanism, wherein the parking shed can be used to park the unmanned aerial vehicle The power drive mechanism can be driven by the position service control module to drive the load platform mechanism to move to a first position in the awning and to a second position outside the awning, when the trigger signal When generated, the loading platform mechanism moves from the first position to the second position, and when the unmanned aerial vehicle completes the current position and landed on the loading platform mechanism, the loading platform mechanism is from the first The two positions are moved to the first position.