CN205334236U - Real -time safety monitoring system of many rotor unmanned aerial vehicle based on beidou system - Google Patents
Real -time safety monitoring system of many rotor unmanned aerial vehicle based on beidou system Download PDFInfo
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- CN205334236U CN205334236U CN201521053605.3U CN201521053605U CN205334236U CN 205334236 U CN205334236 U CN 205334236U CN 201521053605 U CN201521053605 U CN 201521053605U CN 205334236 U CN205334236 U CN 205334236U
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Abstract
The utility model provides a real -time safety monitoring system of many rotor unmanned aerial vehicle based on beidou system, including being used for the big dipper satellite communication positioning system of GPS satellite positioning data and big dipper satellite positioning data, the big dipper integrated form safety governor that is used for receiving and dispatching the big dipper unmanned aerial vehicle high in the clouds server of big dipper SMS and is used for acquireing GPS satellite positioning data, big dipper satellite positioning data, through big dipper SMS transmitting data between big dipper satellite communication positioning system and the big dipper integrated form safety governor, through big dipper SMS transmitting data between big dipper satellite communication positioning system and the big dipper unmanned aerial vehicle high in the clouds server. This monitored control system can take off to authorize and trail with real -time coordinate unmanned aerial vehicle, forces the forced landing to the no -fly zone territory, can carry out the emergency braking forced landing, and accessible remote control system invades the monitoring, carries out real -time supervision to GPS signal, beidou signal interference unit / simulator, and the aircraft trouble can the early warning, can realize the security monitoring to many rotors unmanned aerial vehicle.
Description
Technical field
This utility model belongs to many rotor wing unmanned aerial vehicles technical field, especially relates to a kind of many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system。
Background technology
Like a raging fire along with unmanned plane market, the safety problem of unmanned plane also more causes the concern of people。There is multiple potential safety hazard in many rotor wing unmanned aerial vehicles, the safety of a faults itself relating to unmanned plane, and another is exactly that unmanned plane is as intercepted and captured by lawless person and disturbing the public safety hidden danger caused。The safety monitoring system of unmanned plane is the vitals of unmanned plane safety guarantee。Therefore, researching and developing a kind of flight safety how ensureing unmanned plane, the safety monitoring system especially for the unmanned plane safety ensureing the long endurance of heavy－duty is particularly important。
Summary of the invention
In view of this, this utility model is directed to a kind of many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system, to realize the security monitoring to many rotor wing unmanned aerial vehicles。
For reaching above-mentioned purpose, the technical solution of the utility model is achieved in that
A kind of many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system, including positioning data and the Beidou satellite communication alignment system of big-dipper satellite location data for gps satellite, for receiving and dispatching the Big Dipper unmanned plane cloud server of Big Dipper note and for obtaining gps satellite location data, the Big Dipper integrated form safety governor of big-dipper satellite location data, by Big Dipper SMS message transmission data between described Beidou satellite communication alignment system and Big Dipper integrated form safety governor, by Big Dipper SMS message transmission data between described Beidou satellite communication alignment system and Big Dipper unmanned plane cloud server；
Described Big Dipper integrated form safety governor includes for external impetus power supply being controlled isolated from power and being assigned to the isolated from power distributor circuit within controller, for control unmanned plane during flying attitude fly control circuit module, according to flying the PWM waveform that control circuit module sends, the electricity of the speed regulating control and driving that realize propeller motor adjusts circuit module, for unmanned plane positions and receives the satellite positioning communication module sending information from big-dipper satellite, for gathering the sound sent when propeller is in different rotating speeds, judge the phonetic analysis DSP circuit of propeller and motor whether normal operation, for detecting the flight bus control circuit of unmanned plane all parts operating mode and life-span and for the information in flight bus control circuit is sent to ground, receive the WIFI transmission circuit of surface instruction simultaneously；The input of described isolated from power distributor circuit is connected with external impetus power supply, the outfan of described isolated from power distributor circuit respectively with fly control circuit module, satellite positioning communication module, electricity adjusts circuit module to be connected with flight bus control circuit, described satellite positioning communication module respectively with flight bus control circuit and fly control circuit module be connected, the described control circuit module that flies adjusts circuit module and flight bus control circuit to be connected with electricity respectively, described electricity adjusts circuit module to be connected with the Hall element on propeller motor and flight bus control circuit respectively, described Hall element is also connected with flight bus control circuit, the input of described phonetic analysis DSP circuit is connected with the pick up by propeller motor and the Hall element on propeller motor, outfan is connected with flight bus control circuit, described flight bus control circuit is also connected with WIFI transmission circuit and LED indicator。
Further, described electricity adjusts circuit module to include electricity tune circuit A and electricity adjusts circuit B, and two groups of electricity adjust circuit to backup each other。
Further, described electricity adjusts circuit A and electricity to adjust the electricity of circuit B to adjust channel current to be 120A, adopts sinus wave patters to drive。
Further, described satellite positioning communication module includes GPS circuitry and Big Dipper circuit, and GPS location and BEI-DOU position system work simultaneously。
Further, fly control circuit module described in and include IMUA, flight control circuit A, record memorizer A, IMUB, flight control circuit B and record memorizer B；Described IMUA is connected with flight control circuit A, and described flight control circuit A is connected with record memorizer A；Described IMUB is connected with flight control circuit B, and described flight control circuit B is connected with record memorizer B；These two groups fly control circuit and backup each other。
Further, the frequency band 2.4G/5.8G of described WIFI transmission circuit。
Further, described external impetus power supply includes an electrokinetic cell and two control batteries。
Further, all electronic devices of described Big Dipper integrated form safety governor are enclosed in the shell of an aluminum metal and waterproof, it is ensured that effectively heat radiation and anti-electromagnetic field interference。
Relative to prior art, many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system described in the utility model have the advantage that this monitoring system unmanned plane can be taken off mandate and real-time coordinates be tracked, forced landing is forced in no-fly region, brake hard forced landing can be carried out, remote control system intrusion detection can be passed through, gps signal interference unit/simulator, Big Dipper signal disturbing device/simulator, flight bus data are monitored in real time, and airplane fault can early warning；Have use safely, monitor the advantages such as reliable。
Accompanying drawing explanation
The accompanying drawing constituting a part of the present utility model is further appreciated by of the present utility model for providing, and schematic description and description of the present utility model is used for explaining this utility model, is not intended that improper restriction of the present utility model。In the accompanying drawings:
Fig. 1 is theory diagram of the present utility model；
Fig. 2 is the theory diagram of Big Dipper integrated form safety governor in this utility model；
Fig. 3 is the theory diagram of phonetic analysis DSP circuit in Big Dipper integrated form safety governor；
Fig. 4 is the theory diagram that in Big Dipper integrated form safety governor, electricity adjusts circuit module；
Fig. 5 is the theory diagram flying control circuit module in Big Dipper integrated form safety governor；
Fig. 6 is the theory diagram of flight bus control circuit in Big Dipper integrated form safety governor。
Description of reference numerals:
1-flies control circuit module, and 2-electricity adjusts circuit module, 3-satellite positioning communication module, 4-Hall element, 5-propeller motor, 6-pick up, 7-LED indicator, 8-Beidou satellite communication alignment system, 9-Big Dipper unmanned plane cloud server, 10-Big Dipper integrated form safety governor。
Detailed description of the invention
It should be noted that when not conflicting, the embodiment in this utility model and the feature in embodiment can be mutually combined。
Describe this utility model below with reference to the accompanying drawings and in conjunction with the embodiments in detail。
As shown in Figures 1 to 6, a kind of many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system, including positioning data and the Beidou satellite communication alignment system 8 of big-dipper satellite location data for gps satellite, for receiving and dispatching the Big Dipper unmanned plane cloud server 9 of Big Dipper note and for obtaining gps satellite location data, the Big Dipper integrated form safety governor 10 of big-dipper satellite location data, by Big Dipper SMS message transmission data between described Beidou satellite communication alignment system 8 and Big Dipper integrated form safety governor 10, by Big Dipper SMS message transmission data between described Beidou satellite communication alignment system 8 and Big Dipper unmanned plane cloud server 9。
Described Big Dipper integrated form safety governor 10 includes for external impetus power supply being controlled isolated from power and being assigned to the isolated from power distributor circuit within controller, for control unmanned plane during flying attitude fly control circuit module 1, according to flying the PWM waveform that control circuit module 1 sends, the electricity of the speed regulating control and driving that realize propeller motor 5 adjusts circuit module 2, for unmanned plane positions and receives the satellite positioning communication module 3 sending information from big-dipper satellite, for gathering the sound sent when propeller is in different rotating speeds, judge the phonetic analysis DSP circuit of propeller and motor whether normal operation, for detecting the flight bus control circuit of unmanned plane all parts operating mode and life-span and for the information in flight bus control circuit is sent to ground, receive the WIFI transmission circuit of surface instruction simultaneously；The input of described isolated from power distributor circuit is connected with external impetus power supply, the outfan of described isolated from power distributor circuit respectively with fly control circuit module 1, satellite positioning communication module 3, electricity adjusts circuit module 2 to be connected with flight bus control circuit, described satellite positioning communication module 3 respectively with flight bus control circuit and fly control circuit module 1 be connected, the described control circuit module 1 that flies adjusts circuit module 2 and flight bus control circuit to be connected with electricity respectively, described electricity adjusts circuit module 2 to be connected with the Hall element 4 on propeller motor 5 and flight bus control circuit respectively, described Hall element 4 is also connected with flight bus control circuit, the input of described phonetic analysis DSP circuit is connected with the pick up 6 by propeller motor 5 and the Hall element 4 on propeller motor 5, outfan is connected with flight bus control circuit, described flight bus control circuit is also connected with WIFI transmission circuit and LED indicator 7。
Preferably, described electricity adjusts circuit module 2 to include electricity tune circuit A and electricity adjusts circuit B, and two groups of electricity adjust circuit to backup each other, and the described electric circuit A of tune and electricity adjust the electricity tune channel current of circuit B to be 120A, adopt sinus wave patters to drive。Described satellite positioning communication module 3 includes GPS circuitry and Big Dipper circuit, and GPS location and BEI-DOU position system work simultaneously。The described control circuit module 1 that flies includes IMUA, flight control circuit A, record memorizer A, IMUB, flight control circuit B and record memorizer B；Described IMUA is connected with flight control circuit A, and described flight control circuit A is connected with record memorizer A；Described IMUB is connected with flight control circuit B, and described flight control circuit B is connected with record memorizer B；These two groups fly control circuit and backup each other。The frequency band 2.4G/5.8G of described WIFI transmission circuit。Described external impetus power supply includes an electrokinetic cell and two control batteries。All electronic devices of described Big Dipper integrated form safety governor are enclosed in the shell of an aluminum metal and waterproof, it is ensured that effectively heat radiation and anti-electromagnetic field interference。
The work process of this example: unmanned plane is obtained gps satellite location data and big-dipper satellite location data before take-off by airborne Big Dipper integrated form safety governor 10, send Big Dipper note to Big Dipper unmanned plane cloud server 9, first watch on-line monitors gps coordinate and whether Big Dipper coordinate mates, then confirm whether coordinates regional is in authorized region, send, to this unmanned plane, instruction and the periphery no-fly zone map reference that mandate is taken off by Big Dipper note, then allow for this unmanned plane and take off。In flight course, UAV system Big Dipper integrated form safety governor 10 timing can pass through the Big Dipper various parameter of short message sending aircraft to Big Dipper unmanned plane cloud server 9, server preserve and process, and watch on-line monitors these parameters。
If unmanned plane during flying enters the no-fly region set by Big Dipper unmanned plane high in the clouds watch on-line, the meeting autoplane forced landing of airborne Big Dipper integrated form safety governor 10 is to ground, and locked properller, send Big Dipper note to Big Dipper unmanned plane cloud server 9, it is achieved the function force-landed is forced in no-fly region simultaneously。
Big Dipper unmanned plane cloud server 9 and watch on-line can pass through to send the mode of Big Dipper note, force the unmanned plane that any frame is equipped with Big Dipper integrated form safety governor 10 to land immediately ground, it is achieved the function of brake hard forced landing。
The Big Dipper integrated form safety governor 10 of UAV flight has the function of detection clone's remote controller or recording/broadcasting remote-control radio signal automatically, as found this situation, then automatically record these signals to the memory space within controller, by Big Dipper note, invasion related data is sent to Big Dipper unmanned plane cloud server 9 simultaneously。
The Big Dipper integrated form safety governor 10 of UAV flight has GPS and two kinds of alignment systems of the Big Dipper, when gps signal is disturbed or run into gps signal record/play simulator time, Big Dipper integrated form safety governor 10 can compare the difference of two kinds of signals automatically, find when gps signal is lost or coordinate position suddenlys change, system automatically switches to BEI-DOU position system or inertial navigation system, automatically record these signals to the memory space within controller, by Big Dipper note, related data is sent to Big Dipper unmanned plane cloud server 9 simultaneously。
The Big Dipper integrated form safety governor 10 of UAV flight automatically gathers running parameter and the duty parameter of all parts on aircraft by flight bus, these signals of time recording are to the memory space within controller, and related data is sent to Big Dipper unmanned plane cloud server 9 by Big Dipper note by timing。
The Big Dipper integrated form safety governor 10 of UAV flight is equipped with propeller pick up 6 and motor hall device; if controller finds that propeller cacophonia or motor speed are abnormal; record these signals to the memory space within controller; related data is sent to Big Dipper unmanned plane cloud server 9 by Big Dipper note by timing; system is automatically sent short messages and is informed unmanned plane user, it is achieved the fault pre-alarming of aircraft。
The foregoing is only preferred embodiment of the present utility model; not in order to limit this utility model; all within spirit of the present utility model and principle, any amendment of making, equivalent replacement, improvement etc., should be included within protection domain of the present utility model。
Claims (8)
1. the many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system, it is characterized in that: include positioning data and the Beidou satellite communication alignment system of big-dipper satellite location data for gps satellite, for receiving and dispatching the Big Dipper unmanned plane cloud server of Big Dipper note and for obtaining gps satellite location data, the Big Dipper integrated form safety governor of big-dipper satellite location data, by Big Dipper SMS message transmission data between described Beidou satellite communication alignment system and Big Dipper integrated form safety governor, by Big Dipper SMS message transmission data between described Beidou satellite communication alignment system and Big Dipper unmanned plane cloud server；
Described Big Dipper integrated form safety governor includes for external impetus power supply being controlled isolated from power and being assigned to the isolated from power distributor circuit within controller, for control unmanned plane during flying attitude fly control circuit module, according to flying the PWM waveform that control circuit module sends, the electricity of the speed regulating control and driving that realize propeller motor adjusts circuit module, for unmanned plane positions and receives the satellite positioning communication module sending information from big-dipper satellite, for gathering the sound sent when propeller is in different rotating speeds, judge the phonetic analysis DSP circuit of propeller and motor whether normal operation, for detecting the flight bus control circuit of unmanned plane all parts operating mode and life-span and for the information in flight bus control circuit is sent to ground, receive the WIFI transmission circuit of surface instruction simultaneously；The input of described isolated from power distributor circuit is connected with external impetus power supply, the outfan of described isolated from power distributor circuit respectively with fly control circuit module, satellite positioning communication module, electricity adjusts circuit module to be connected with flight bus control circuit, described satellite positioning communication module respectively with flight bus control circuit and fly control circuit module be connected, the described control circuit module that flies adjusts circuit module and flight bus control circuit to be connected with electricity respectively, described electricity adjusts circuit module to be connected with the Hall element on propeller motor and flight bus control circuit respectively, described Hall element is also connected with flight bus control circuit, the input of described phonetic analysis DSP circuit is connected with the pick up by propeller motor and the Hall element on propeller motor, outfan is connected with flight bus control circuit, described flight bus control circuit is also connected with WIFI transmission circuit and LED indicator。
2. a kind of many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system according to claim 1, it is characterised in that: described electricity adjusts circuit module to include electricity tune circuit A and electricity adjusts circuit B, and two groups of electricity adjust circuit to backup each other。
3. a kind of many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system according to claim 2, it is characterised in that: described electricity adjusts circuit A and electricity to adjust the electricity of circuit B to adjust channel current to be 120A, adopts sinus wave patters to drive。
4. a kind of many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system according to claim 1 and 2, it is characterised in that: described satellite positioning communication module includes GPS circuitry and Big Dipper circuit, and GPS location and BEI-DOU position system work simultaneously。
5. a kind of many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system according to claim 4, it is characterised in that: described in fly control circuit module include IMUA, flight control circuit A, record memorizer A, IMUB, flight control circuit B and record memorizer B；Described IMUA is connected with flight control circuit A, and described flight control circuit A is connected with record memorizer A；Described IMUB is connected with flight control circuit B, and described flight control circuit B is connected with record memorizer B；These two groups fly control circuit and backup each other。
6. a kind of many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system according to claim 1, it is characterised in that: the frequency band 2.4G/5.8G of described WIFI transmission circuit。
7. a kind of many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system according to claim 1, it is characterised in that: described external impetus power supply includes an electrokinetic cell and two control batteries。
8. a kind of many rotor wing unmanned aerial vehicles real-time security monitoring system based on dipper system according to claim 1, it is characterised in that: all electronic devices of described Big Dipper integrated form safety governor are enclosed in the shell of an aluminum metal and waterproof。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521053605.3U CN205334236U (en) | 2015-12-14 | 2015-12-14 | Real -time safety monitoring system of many rotor unmanned aerial vehicle based on beidou system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521053605.3U CN205334236U (en) | 2015-12-14 | 2015-12-14 | Real -time safety monitoring system of many rotor unmanned aerial vehicle based on beidou system |
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| CN201521053605.3U Expired - Fee Related CN205334236U (en) | 2015-12-14 | 2015-12-14 | Real -time safety monitoring system of many rotor unmanned aerial vehicle based on beidou system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249259A (en) * | 2016-08-16 | 2016-12-21 | 广东容祺智能科技有限公司 | The unmanned plane Position Fixing Navigation System of a kind of integrated black box and using method thereof |
| CN106291620A (en) * | 2016-08-16 | 2017-01-04 | 广东容祺智能科技有限公司 | A kind of location tracking being applied to unmanned plane and flying quality storage system |
| CN106291638A (en) * | 2016-08-16 | 2017-01-04 | 广东容祺智能科技有限公司 | A kind of unmanned plane dual link tracing system of integrated black box |
| CN106444572A (en) * | 2016-07-21 | 2017-02-22 | 中交信通（天津）科技有限公司 | Unmanned aerial vehicle safety monitoring and warning device based on Beidou system |
| CN107193213A (en) * | 2017-07-17 | 2017-09-22 | 北京航空航天大学 | A kind of aircraft tamper-resistant secure based on positive system characteristic is close to no-fly zone method |
| CN107516437A (en) * | 2017-07-12 | 2017-12-26 | 哈尔滨理工大学 | Unmanned plane managing and control system safe for operation and method in the air |
| CN111874221A (en) * | 2020-07-28 | 2020-11-03 | 东南大学 | Big load is listed as bispin wing unmanned aerial vehicle platform in column |
| CN112533133A (en) * | 2020-10-29 | 2021-03-19 | 泰斗微电子科技有限公司 | Double-channel switching method, unmanned aerial vehicle and control terminal |
| CN116027360A (en) * | 2023-03-22 | 2023-04-28 | 南京博网软件科技有限公司 | Beidou broadband interference resistant identification system |
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2015
- 2015-12-14 CN CN201521053605.3U patent/CN205334236U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444572A (en) * | 2016-07-21 | 2017-02-22 | 中交信通（天津）科技有限公司 | Unmanned aerial vehicle safety monitoring and warning device based on Beidou system |
| CN106249259A (en) * | 2016-08-16 | 2016-12-21 | 广东容祺智能科技有限公司 | The unmanned plane Position Fixing Navigation System of a kind of integrated black box and using method thereof |
| CN106291620A (en) * | 2016-08-16 | 2017-01-04 | 广东容祺智能科技有限公司 | A kind of location tracking being applied to unmanned plane and flying quality storage system |
| CN106291638A (en) * | 2016-08-16 | 2017-01-04 | 广东容祺智能科技有限公司 | A kind of unmanned plane dual link tracing system of integrated black box |
| CN107516437A (en) * | 2017-07-12 | 2017-12-26 | 哈尔滨理工大学 | Unmanned plane managing and control system safe for operation and method in the air |
| CN107193213A (en) * | 2017-07-17 | 2017-09-22 | 北京航空航天大学 | A kind of aircraft tamper-resistant secure based on positive system characteristic is close to no-fly zone method |
| CN107193213B (en) * | 2017-07-17 | 2018-03-27 | 北京航空航天大学 | It is a kind of based on the aircraft tamper-resistant secure of positive system characteristic close to no-fly zone method |
| CN111874221A (en) * | 2020-07-28 | 2020-11-03 | 东南大学 | Big load is listed as bispin wing unmanned aerial vehicle platform in column |
| CN112533133A (en) * | 2020-10-29 | 2021-03-19 | 泰斗微电子科技有限公司 | Double-channel switching method, unmanned aerial vehicle and control terminal |
| CN112533133B (en) * | 2020-10-29 | 2023-08-08 | 泰斗微电子科技有限公司 | Dual-channel switching method, unmanned aerial vehicle and control terminal |
| CN116027360A (en) * | 2023-03-22 | 2023-04-28 | 南京博网软件科技有限公司 | Beidou broadband interference resistant identification system |
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Granted publication date: 20160622 Termination date: 20201214 |
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| CF01 | Termination of patent right due to non-payment of annual fee |