CN111338378A - Unmanned aerial vehicle commands dispatch system - Google Patents

Unmanned aerial vehicle commands dispatch system Download PDF

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Publication number
CN111338378A
CN111338378A CN202010162527.XA CN202010162527A CN111338378A CN 111338378 A CN111338378 A CN 111338378A CN 202010162527 A CN202010162527 A CN 202010162527A CN 111338378 A CN111338378 A CN 111338378A
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China
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module
unmanned aerial
aerial vehicle
electrically connected
attendance
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Chinese (zh)
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仲珺玺
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Nanjing Zhongzheng Zhiyuan Intelligent Technology Co Ltd
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Nanjing Zhongzheng Zhiyuan Intelligent Technology Co Ltd
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Priority to CN202010162527.XA priority Critical patent/CN111338378A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to an unmanned aerial vehicle commanding and dispatching system which comprises a dispatching login module and an unmanned aerial vehicle safety information detection module, wherein the dispatching login module is electrically connected with a verification module, the verification module is electrically connected with a dispatching control interface module, the dispatching control interface module is electrically connected with an unmanned aerial vehicle checking module, and the unmanned aerial vehicle checking module is electrically connected with a cloud server. The invention has the beneficial effects that: this unmanned aerial vehicle commander dispatch system, can carry out authentication and log in the system through dispatch login module and verification module, then get into the dispatch and control interface module and operate, can carry out unmanned aerial vehicle's dispatch and detection information according to unmanned aerial vehicle verification module this moment and check, convenient timely information that acquires unmanned aerial vehicle, safety performance when guaranteeing it to schedule, and can carry out the collection of its information and transmit through cloud ware, the convenient better calls out of information that carries on.

Description

Unmanned aerial vehicle commands dispatch system
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle commanding and dispatching system.
Background
An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. Drones tend to be more suitable for tasks that are too "fool, dirty, or dangerous" than are manned aircraft. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles are divided into reconnaissance aircraft and target drone, wherein the unmanned aerial vehicles generally adopt a scheduling system to schedule simultaneously when in use.
Current dispatch system is when using because unmanned aerial vehicle's machine position is various, there is the mixed and disorderly condition of information storage, there is comparatively chaotic condition during its dispatch, also lead to the system to appear a series of phenomena such as the messy card of information simultaneously easily, be unfavorable for the user to carry out convenient use, and because unmanned aerial vehicle's information and self value all are very important, if do not carry out accurate setting and warning and early warning processing, then when system's dispatch is out of control and when chaotic, lead to unmanned aerial vehicle to appear the damage and its information of carrying can the loss scheduling problem appear, thereby cause great loss.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle commanding and dispatching system, which aims to solve the problems that the existing dispatching system proposed in the background technology is not beneficial to convenient use of a user due to a series of phenomena of messy information storage, messy dispatching, jamming and the like of the system, and the like easily caused by the fact that the system is easy to be messy and jammed, and the problem that the unmanned aerial vehicle is damaged and the carried information is lost when the system dispatching is unsmooth and disordered due to the fact that the information and the self value of the unmanned aerial vehicle are very important, and if precise setting, alarming and early warning processing are not carried out, and the like, and thus, the important loss is caused.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned aerial vehicle commanding and dispatching system comprises a dispatching and logging module and an unmanned aerial vehicle safety information detection module, wherein the dispatching and logging module is electrically connected with a verification module, the verification module is electrically connected with a dispatching and controlling interface module, the dispatching and controlling interface module is electrically connected with an unmanned aerial vehicle checking module, the unmanned aerial vehicle checking module is electrically connected with a cloud server, the cloud server is electrically connected with a data information display module and a monitoring data storage module, the monitoring data storage module is electrically connected with an unmanned aerial vehicle monitoring module, the unmanned aerial vehicle monitoring module is electrically connected with an unmanned aerial vehicle unit, the unmanned aerial vehicle unit is electrically connected with an alarm unit, and the unmanned aerial vehicle safety information detection module is electrically connected with the unmanned aerial vehicle checking module, and be electric connection between unmanned aerial vehicle safety information detection module and temperature sensing module, infrared sensing module and the top sensing module, be electric connection between dispatch control interface module and the record module that attendance, and be electric connection between record module and unmanned aerial vehicle of attendance stop-tune module and the early warning module, be electric connection between early warning module and the sequencing module that attendance, and be electric connection between sequencing module and the one-level speed module that attendance and the secondary speed module that attendance.
Preferably, the information transmission mode between the scheduling control interface module and the unmanned aerial vehicle checking module is bidirectional transmission, and the scheduling control interface module, the unmanned aerial vehicle checking module and the cloud server are sequentially connected in series.
Preferably, the data information display module, the cloud server and the monitoring data storage module are sequentially connected in series.
Preferably, the monitoring data storage module and the unmanned aerial vehicle unit are connected in parallel to an input terminal of the alarm unit.
Preferably, the unmanned aerial vehicle checking module is electrically connected with the scheduling control interface module and the primary attendance speed module.
Preferably, the temperature sensing module, the infrared sensing module and the gyro sensing module are connected in parallel, and are electrically connected with the input terminals of the cloud server and the data information display module.
Preferably, the input terminals of the unmanned aerial vehicle stopping and adjusting module and the early warning module are connected in parallel to the output terminal of the attendance recording module.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, identity authentication can be carried out and login into the system through the scheduling login module and the authentication module, then the system enters the scheduling control interface module for operation, and at the moment, scheduling and detection information check of the unmanned aerial vehicle can be carried out according to the unmanned aerial vehicle check module, so that the information of the unmanned aerial vehicle can be conveniently and timely obtained, the safety performance of the unmanned aerial vehicle during scheduling can be ensured, and the information can be collected and transmitted through the cloud server, so that the information can be conveniently and better called.
2. According to the invention, the information collected and stored in the cloud server can be called through the data information display module, and then can be conveniently and directly displayed, so that an operator can timely acquire the information and visually know the condition of the unmanned aerial vehicle, the unmanned aerial vehicle can be conveniently and better commanded and scheduled, meanwhile, the information collected on the unmanned aerial vehicle can be temporarily stored and integrated through the monitoring data storage module, and then the information is transmitted to the cloud server for collection and storage, so that the information is conveniently integrated.
3. The unmanned aerial vehicle monitoring system monitors data collected by the data storage module, then supplies the alarm unit to perform alarm judgment, and can perform alarm processing when the data reaches an alarm threshold value, so that the unmanned aerial vehicle inside the unmanned aerial vehicle unit can be monitored in time, the safety performance of the unmanned aerial vehicle is improved, the system is controlled more stably and safely, meanwhile, the unmanned aerial vehicles collected in the primary attendance speed module can be sequenced and scheduled in time through the scheduling control interface module, the suitable unmanned aerial vehicle can conveniently perform timely attendance processing, meanwhile, the unmanned aerial vehicles with higher attendance times at the sequencing position of the attendance sequencing module are integrated, information of the unmanned aerial vehicles enters the secondary attendance speed module, and then the unmanned aerial vehicle is stopped and scheduled through the unmanned aerial vehicle stopping module, so that the safety of the unmanned aerial vehicle during use is ensured.
4. According to the unmanned aerial vehicle early warning system, multiple parameters of the unmanned aerial vehicle can be collected through the temperature sensing module, the infrared sensing module and the gyro sensing module, then the parameters are judged, when the parameters exceed preset values, information of the parameters can be directly transmitted to the cloud server, then the information is stored and recorded through the monitoring data storage module and is transmitted to the warning unit for warning processing, early warning processing of the unmanned aerial vehicle is timely performed, the unmanned aerial vehicle has high safety and is prevented from being damaged, the information in the unmanned aerial vehicle can be protected, the unmanned aerial vehicle is prevented from being lost, meanwhile when the parameters do not exceed the preset values, parameter display can be directly performed through the data information display module, and operators can conveniently and timely master various information of the unmanned aerial vehicle.
5. The unmanned aerial vehicle parking and dispatching module can park and dispatch the unmanned aerial vehicle so as to conveniently and timely park and dispatch the unmanned aerial vehicle with potential safety hazards, pre-alarming crisis, information and more attendance, further facilitate the unmanned aerial vehicle to be timely and better controlled and used, ensure that the system can have higher safety, simultaneously record the attendance times of the unmanned aerial vehicle through the attendance recording module, and then compare the recorded information, so that the unmanned aerial vehicle with higher attendance times in the same proportion can be judged, if the attendance times exceed three times, the unmanned aerial vehicle can be directly parked and dispatched through the unmanned aerial vehicle parking and dispatching module, otherwise, corresponding early warning is carried out, timely monitoring the attendance condition of the unmanned aerial vehicle, and ensuring reasonable performance during the dispatching.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle command and dispatch system according to the present invention;
fig. 2 is a schematic view of a flow structure of an unmanned aerial vehicle safety information detection module of the unmanned aerial vehicle commanding and dispatching system of the invention;
fig. 3 is a schematic view of a flow structure of an attendance recording module of the unmanned aerial vehicle command and dispatch system of the present invention.
In the figure: 1. a scheduling login module; 2. a verification module; 3. a scheduling control interface module; 4. an unmanned aerial vehicle checking module; 5. a cloud server; 6. a data information display module; 7. a monitoring data storage module; 8. an unmanned aerial vehicle monitoring module; 9. an unmanned aerial vehicle checking module; 10. an unmanned aerial vehicle unit; 11. an alarm unit; 12. an unmanned aerial vehicle safety information detection module; 13. a temperature sensing module; 14. an infrared sensing module; 15. a gyro sensing module; 16. a attendance recording module; 17. an unmanned aerial vehicle stopping and adjusting module; 18. an early warning module; 19. an attendance sorting module; 20. a primary attendance speed module; 21. a secondary attendance speed module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: an unmanned aerial vehicle commanding and dispatching system comprises a dispatching login module 1, a verification module 2, a dispatching control interface module 3, an unmanned aerial vehicle checking module 4, a cloud server 5, a data information display module 6, a monitoring data storage module 7, an unmanned aerial vehicle monitoring module 8, an unmanned aerial vehicle checking module 9, an unmanned aerial vehicle unit 10, an alarm unit 11, an unmanned aerial vehicle safety information detection module 12, a temperature sensing module 13, an infrared sensing module 14, a gyro sensing module 15, an attendance recording module 16, an unmanned aerial vehicle stopping module 17, an early warning module 18, an attendance sorting module 19, a primary attendance speed module 20 and a secondary attendance speed module 21, wherein the dispatching login module 1 is electrically connected with the verification module 2, the verification module 2 is electrically connected with the dispatching control interface module 3, and the dispatching control interface module 3 is electrically connected with the unmanned aerial vehicle checking module 4, the unmanned aerial vehicle checking module 4 is electrically connected with the cloud server 5, the cloud server 5 is electrically connected with the data information display module 6 and the monitoring data storage module 7, the monitoring data storage module 7 is electrically connected with the unmanned aerial vehicle monitoring module 8, the unmanned aerial vehicle monitoring module 8 is electrically connected with the unmanned aerial vehicle monitoring module 9, the unmanned aerial vehicle monitoring module 9 is electrically connected with the unmanned aerial vehicle unit 10, the unmanned aerial vehicle unit 10 is electrically connected with the alarm unit 11, the unmanned aerial vehicle safety information detection module 12 is electrically connected with the unmanned aerial vehicle checking module 4, the unmanned aerial vehicle safety information detection module 12 is electrically connected with the temperature sensing module 13, the infrared sensing module 14 and the gyro sensing module 15, the scheduling control interface module 3 is electrically connected with the attendance recording module 16, and the attendance recording module 16 is electrically connected with the unmanned aerial vehicle stopping and adjusting module 17 and the early warning module 18, the early warning module 18 is electrically connected with the attendance sorting module 19, and the attendance sorting module 19 is electrically connected with the primary attendance speed module 20 and the secondary attendance speed module 21;
the information transmission mode between the scheduling control interface module 3 and the unmanned aerial vehicle checking module 4 is bidirectional transmission, the scheduling control interface module 3, the unmanned aerial vehicle checking module 4 and the cloud server 5 are sequentially connected in series, identity verification can be performed through the scheduling login module 1 and the verification module 2, the unmanned aerial vehicle can log in a system, then the system enters the scheduling control interface module 3 for operation, scheduling and detection information checking of the unmanned aerial vehicle can be performed according to the unmanned aerial vehicle checking module 4, information of the unmanned aerial vehicle can be conveniently and timely acquired, safety performance of the unmanned aerial vehicle during scheduling can be guaranteed, information can be collected and transmitted through the cloud server 5, and information can be conveniently and better called;
the data information display module 6, the cloud server 5 and the monitoring data storage module 7 are sequentially connected in series, information collected and stored in the cloud server 5 can be called through the data information display module 6 and then can be displayed conveniently and directly, so that an operator can acquire the information in time and visually know the condition of the unmanned aerial vehicle, the unmanned aerial vehicle can be commanded and scheduled conveniently and better, meanwhile, the information collected on the unmanned aerial vehicle can be temporarily stored and integrated through the monitoring data storage module 7, and then the information is transmitted to the cloud server 5 for collection and storage, so that the information is integrated conveniently for scheduling;
the monitoring data storage module 7 and the unmanned aerial vehicle unit 10 are connected in parallel with each other to be connected with an input terminal of the alarm unit 11, the unmanned aerial vehicle checking module 4 is electrically connected with the scheduling control interface module 3 and the primary attendance speed module 20, data collected by the monitoring data storage module 7 is used for alarm judgment of the alarm unit 11, when the data reaches an alarm threshold value, alarm processing can be carried out, so that the unmanned aerial vehicle in the unmanned aerial vehicle unit 10 can be monitored in time, the safety performance of the unmanned aerial vehicle is improved, the system can be controlled more stably and safely, meanwhile, the unmanned aerial vehicle collected in the primary attendance speed module 20 can be sequenced and scheduled in time through the scheduling control interface module 3, the suitable unmanned aerial vehicle can conveniently carry out timely attendance processing, and meanwhile, unmanned aerial vehicles with higher attendance times and sequenced at the attendance sequencing module 19 are integrated, the information of the information enters a secondary attendance speed module 21, and then is stopped and adjusted by an unmanned aerial vehicle stopping and adjusting module 17 so as to ensure the safety of the system during use;
the temperature sensing module 13, the infrared sensing module 14 and the gyro sensing module 15 are connected in parallel, and are electrically connected with the input terminals of the cloud server 5 and the data information display module 6, a plurality of parameters of the unmanned aerial vehicle can be collected through the temperature sensing module 13, the infrared sensing module 14 and the gyro sensing module 15, then the parameters are judged, when the parameters exceed preset values, the information can be directly transmitted to the cloud server 5, then the information is stored and recorded through the monitoring data storage module 7 and is transmitted to the alarm unit 11 for alarm processing, so that the early warning processing of the unmanned aerial vehicle can be carried out in time, the unmanned aerial vehicle has extremely high safety and is prevented from being damaged, further the information in the unmanned aerial vehicle can be protected, the unmanned aerial vehicle is prevented from being lost, and when the parameters do not exceed the preset values, the parameters can be directly displayed through the data information display module 6, the control personnel can conveniently master various information of the unmanned aerial vehicle in time;
the input terminals of the unmanned aerial vehicle parking module 17 and the early warning module 18 are connected in parallel to the output terminal of the attendance recording module 16, the unmanned aerial vehicle can be stopped and adjusted through the unmanned aerial vehicle stopping and adjusting module 17 so as to conveniently and timely stop and adjust the unmanned aerial vehicle with potential safety hazard, pre-alarming crisis, information and more attendance, thereby facilitating the unmanned aerial vehicle to be controlled and used in time and better, ensuring that the system has higher safety, simultaneously recording the attendance times of the unmanned aerial vehicle through the attendance recording module 16, then the recorded information is compared, so that the unmanned aerial vehicle with higher attendance times in the same comparison can be judged, if the number of times exceeds three, the unmanned aerial vehicle can be directly stopped and adjusted by the unmanned aerial vehicle stopping and adjusting module 17, and otherwise, carry out the early warning to corresponding promptly to timely monitoring is carried out to unmanned aerial vehicle's the situation of attendance, reasonable performance when guaranteeing to go the dispatch.
The working principle of the embodiment is as follows: the unmanned aerial vehicle commanding and dispatching system can carry out identity verification and log in the system through the dispatching log-in module 1 and the verification module 2, then enters the dispatching control interface module 3 for operation, at the moment, dispatching and detection information verification of the unmanned aerial vehicle can be carried out according to the unmanned aerial vehicle verification module 4, information of the unmanned aerial vehicle can be conveniently and timely obtained so as to ensure the safety performance of the unmanned aerial vehicle during dispatching, the information can be conveniently and better collected and transmitted through the cloud server 5, the information can be conveniently and better called, the information collected in the cloud server 5 can be called through the data information display module 6 and then can be conveniently and directly displayed so that an operator can timely obtain the information and visually know the condition of the unmanned aerial vehicle, the unmanned aerial vehicle can be conveniently and better commanded and dispatched, and meanwhile, the information collected on the unmanned aerial vehicle can be temporarily stored through the monitoring data storage module 7, and integrating, then transmitting the information to the cloud server 5 for centralized storage, conveniently integrating the information for scheduling use, monitoring the data collected by the data storage module 7, then providing for the alarm unit 11 to perform alarm judgment, when the data reaches an alarm threshold, performing alarm processing, and then performing timely monitoring on the unmanned aerial vehicle inside the unmanned aerial vehicle unit 10 to improve the safety performance of the unmanned aerial vehicle, so that the system is more stable and safe to operate, and simultaneously performing timely sequencing scheduling on the unmanned aerial vehicles collected in the primary attendance speed module 20 through the scheduling operation interface module 3, so as to facilitate the timely attendance processing of the suitable unmanned aerial vehicles, and simultaneously integrating the unmanned aerial vehicles with higher attendance times at the position sequenced by the attendance sequencing module 19, so that the information enters the secondary attendance speed module 21, then the unmanned aerial vehicle is stopped and adjusted through an unmanned aerial vehicle stopping and adjusting module 17 to ensure the safety of the unmanned aerial vehicle during use, a plurality of parameters of the unmanned aerial vehicle can be collected through a temperature sensing module 13, an infrared sensing module 14 and a gyro sensing module 15, then the parameters are judged, when the parameters exceed the preset values, the information can be directly transmitted to a cloud server 5, then the information is stored and recorded through a monitoring data storage module 7 and is transmitted to an alarm unit 11 for alarm processing, so that the unmanned aerial vehicle can be early-warned in time, the unmanned aerial vehicle has high safety and can be prevented from being damaged, the information in the unmanned aerial vehicle can be protected, the loss of the information can be prevented, and when the parameters do not exceed the preset values, the parameter display can be directly performed through a data information display module 6, so that operators can conveniently and operators can timely master various information of the unmanned aerial vehicle, can stop transferring unmanned aerial vehicle through unmanned aerial vehicle stop transferring module 17, in order to make things convenient for timely to have the potential safety hazard, the warning crisis in advance, information and the more unmanned aerial vehicle that goes out on duty stop transferring, and then make things convenient for unmanned aerial vehicle in time and better to control the use, in order to ensure that the system can have higher security, can come to record unmanned aerial vehicle's the number of times of going out on duty through record module 16 that goes out on duty simultaneously, then carry out the arrangement with the record information, make the higher unmanned aerial vehicle of the number of times of going out on duty on the same scale can be judged, can directly stop transferring to it through unmanned aerial vehicle stop transferring module 17 if surpass the cubic, on the contrary, promptly corresponding early warning carries out, in order to timely monitoring to the situation of going out on duty of unmanned aerial vehicle, guarantee the reasonable performance when going to dispatch, this is this unmanned aerial vehicle dispatch system's.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.

Claims (7)

1. The utility model provides an unmanned aerial vehicle commander dispatch system, includes dispatch login module (1) and unmanned aerial vehicle safety information detection module (12), its characterized in that: the dispatching login module (1) is electrically connected with the verification module (2), the verification module (2) is electrically connected with the dispatching control interface module (3), the dispatching control interface module (3) is electrically connected with the unmanned aerial vehicle checking module (4), the unmanned aerial vehicle checking module (4) is electrically connected with the cloud server (5), the cloud server (5) is electrically connected with the data information display module (6) and the monitoring data storage module (7), the monitoring data storage module (7) is electrically connected with the unmanned aerial vehicle monitoring module (8), the unmanned aerial vehicle monitoring module (8) is electrically connected with the unmanned aerial vehicle monitoring module (9), the unmanned aerial vehicle monitoring module (9) is electrically connected with the unmanned aerial vehicle unit (10), the unmanned aerial vehicle unit (10) is electrically connected with the alarm unit (11), unmanned aerial vehicle safety information detection module (12) and unmanned aerial vehicle check module (4) between be electric connection, and be electric connection between unmanned aerial vehicle safety information detection module (12) and temperature sensing module (13), infrared sensing module (14) and top sensing module (15), be electric connection between dispatch control interface module (3) and attendance record module (16), and be electric connection between attendance record module (16) and unmanned aerial vehicle stop-and-dispatch module (17) and early warning module (18), be electric connection between early warning module (18) and the sequencing module (19) that attendance, and be electric connection between sequencing module (19) and one-level speed module (20) that attendance and secondary speed module (21) that attendance.
2. The unmanned aerial vehicle command and dispatch system of claim 1, wherein: the information transmission mode between the scheduling control interface module (3) and the unmanned aerial vehicle checking module (4) is bidirectional transmission, and the scheduling control interface module (3), the unmanned aerial vehicle checking module (4) and the cloud server (5) are sequentially connected in series.
3. The unmanned aerial vehicle command and dispatch system of claim 1, wherein: the data information display module (6), the cloud server (5) and the monitoring data storage module (7) are sequentially connected in series.
4. The unmanned aerial vehicle command and dispatch system of claim 1, wherein: the monitoring data storage module (7) and the unmanned aerial vehicle unit (10) are connected in parallel to an input terminal of the alarm unit (11).
5. The unmanned aerial vehicle command and dispatch system of claim 1, wherein: and the unmanned aerial vehicle checking module (4), the scheduling control interface module (3) and the primary attendance speed module (20) are electrically connected.
6. The unmanned aerial vehicle command and dispatch system of claim 1, wherein: the temperature sensing module (13), the infrared sensing module (14) and the gyro sensing module (15) are connected in parallel, and are electrically connected with the input terminals of the cloud server (5) and the data information display module (6).
7. The unmanned aerial vehicle command and dispatch system of claim 1, wherein: the input terminals of the unmanned aerial vehicle stop-and-dispatch module (17) and the early warning module (18) are connected in parallel to the output terminal of the attendance recording module (16).
CN202010162527.XA 2020-03-10 2020-03-10 Unmanned aerial vehicle commands dispatch system Pending CN111338378A (en)

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Application publication date: 20200626