RU2770251C1 - System for controlling an unmanned aerial vehicle - Google Patents

Abstract

FIELD: controlling.SUBSTANCE: invention relates to technical means of protecting objects and can be used for various purposes. The system for controlling a UAV comprises a control unit with a GPS receiver with an antenna and video surveillance equipment, an operator's workplace with a system unit, a control board connected with the system unit and the UAV via a radio channel. A 4 GIS system server with a database of maps in dynamics by the publication time and digital clones of the objects is attached to the system unit. The map database contains Z-axis information. Digital clones of the terrain, real estate, vegetation, flight interference, roads, vehicles, objects and subjects are embedded as objects in the memory of the 4 GIS server. Vegetation is stored in the memory of the 4 GIS server depending on the season. Digital codes of real estate items in dynamics are embedded in the server as objects. Digital codes of people, pets, and wild animals are embedded in the server as subjects. Digital codes of poles and overhead lines are embedded in the server as interference. Digital codes of objects in dynamics are embedded in the server as objects.EFFECT: manoeuvring accuracy of the UAV at low altitudes is increased.5 cl, 4 dwg

Description

The invention relates to technical means for the protection of objects using drones or drones, which can be used for various purposes.

Known method and control system for an unmanned aerial vehicle (drone) according to the RF patent for the invention No. 2709562, IPC A63N 27/00, publ. 12/18/2019

This group of inventions relates to a method and system for automatic control of a drone.

For automatic control of the drone, pulses of alternating high-frequency radiation with an encoded address for the delivery of cargo are emitted from its board, they are received at possible landing sites, decoded, if the address matches, response signals are generated, for each response signal an ultrasonic radiation pulse is generated that determines the position of the desired course-glide path , according to the received acoustic impulses, the drone is controlled in a certain way, and when the drone is landing, upon receiving a message about the completion of the landing, the drone engines are turned off, attached to the takeoff and landing nest, and the pallet with the delivered cargo is unhooked. The system contains a flight controller, a satellite navigation system, a gyroscope, an accelerometer, a magnetometer, a barometer, two acoustic sensors, signal conditioning filters, a read-only memory of take-off commands (ROM) and a ROM of landing commands, a landing completion sensor, and an azimuth deviation determiner located on board the drone. , a landing gear-antenna, a drone lock in the nest, a cargo lock, three RS triggers, and a take-off and landing nest is installed at the delivery destination. The accuracy of control, takeoff and landing of the drone during the delivery of goods in urban environments is ensured.

Disadvantages: low control accuracy and flight safety at low altitudes and during landing.

A known control system for a drone (drone) according to the RF patent for the invention No. 2709562, IPC A63N 27/00, publ. 12/18/2019, prototype.

This system contains a control unit with a GPS receiver with a drone antenna and a video surveillance system containing an operator's workplace, consisting of a system unit, a monitor, a keyboard and a mouse type manipulator, a control panel connected via a radio channel to the system unit,

Disadvantages: low maneuvering accuracy and flight safety of the drone, especially at low altitudes.

The task of creating the invention: improving the accuracy of maneuvering a drone at low altitudes.

Achieved technical results: more accurate determination of surface coordinates, including along the Z coordinate axis and determination of the overall dimensions of all interference, including objects and subjects.

The solution to this problem was achieved in the drone control system containing a control unit with a GPS receiver with a drone antenna and video surveillance equipment, an operator’s workplace consisting of a system unit, a monitor, a keyboard and a mouse type manipulator, a control panel connected via a radio channel to the system unit and a drone, by the fact that a 4 GIS system server is attached to the system unit with a database of maps in dynamics over the time of publication and digital clones of objects, the map database contains information along the Z axis, as objects in the memory of the 4GIS server, digital clones of the terrain, real estate, vegetation, obstacles to flight, roads, vehicles, objects and subjects, vegetation is stored in the memory of the GIS server 4 depending on the season.

As objects, the server contains digital codes of real estate objects in dynamics.

As subjects, the digital codes of people, domestic animals and wild animals are embedded in the server.

As interference, the server contains digital codes for poles and overhead wires.

As objects, the server contains digital codes of objects in dynamics.

The essence of the invention is illustrated in Fig. 1…4, where:

- in Fig. 1 shows a schematic diagram of the device, a profile view,

- in Fig. 2 shows a diagram of the device, a plan view,

- in Fig. 3 shows a diagram of a drone (drone),

- in Fig. 4 shows a diagram of the drone control unit.

The following designations are used in the description:

operator's workplace 1,

system block 2,

monitor 3,

keyboard 4,

mouse type manipulator5,

communication line 6,

drone 7,

drone control unit 8,

receiver "Glonass" 9,

device antenna 10,

video surveillance equipment 11,

engine 12,

mover 13,

control panel 14,

console antenna 15,

server 4GIS 16,

transceiver 17,

receiving and transmitting antenna 18,

first modem 19,

communication channel 20,

Internet 21,

second modem 22,

radio channel 23,

satellites 24,

earth 25,

plants 26,

real relief 27,

object 28,

body of water 29,

bridge 30,

obstacles to maneuvering 31,

vehicles 32,

road 33,

subject 34,

speed sensor 35,

heading sensor 36,

processor 37,

power supply 38,

wired communication channels 39.

The drone control system 7 (Fig. 1) contains the operator's workplace 1, consisting of a system unit 2, a monitor 3, a keyboard 4 and a mouse type manipulator 5, connected by communication lines 6. with the system unit 2.

The workplace of the operator 1 is located on the ground 25 and is designed to accompany the drone 7 in three-dimensional space (in the system of three coordinates X Y and Z).

Connected to the system unit 2 by communication lines 6 is the server of the GIS system 4 16 with maps in time dynamics and a database of real photos of objects and subjects and obstacles to maneuvering, including poles, wires, communication towers, etc.

The concept of a digital twin (digital clone - CC) is associated with the presentation of a large amount of data in space and time, for a transport complex, including a network of transport lines, transport hubs and technical means of transportation, this is a virtual model of the entire system in a three-dimensional GIS, retrospective and perspective time (the “digital twin” of the system). A three-dimensional spatial model (3D), georeferenced to the coordinates of the Earth with the addition of a fourth (temporal) component, forms a 4D GIS.

All connections between the ground modules are made by communication lines 6. The GLONASS system includes a GLONASS receiver 9 with an antenna 10 of the apparatus and satellites 24.

In FIG. 3 shows drone 7 in more detail. It contains drone 7, drone control unit 8, Glonass receiver 9, engine 12 and propeller 13,

The control panel 14 contains the antenna of the panel 15, which is connected by a radio channel 23 to the antenna of the device 10 to control it. A receiving-transmitting device 17 with a receiving-transmitting antenna 18 is connected to the 4GIS server 16 to compare the real image obtained by video surveillance 11 and compare them with the base of digital clones of the Central Committee.

When implementing a digital clone, the CC ensures the creation, filling and maintenance of a multi-format full-fledged "digital twin" of a physical object and transport infrastructure (roads and vehicles) to optimize its georeferenced model in real time using integrated multiphysics, multiscale, probabilistic modeling of various systems, stationary and moving objects that uses the best available physics models, sensor updates, history, forecast results, and more.

Three-dimensional modeling in GIS is not just an imitation of reality, but a tool for analyzing, modeling and publishing three-dimensional georeferenced spatial data, as well as justifying decision-making regarding objects and subjects of control. To obtain a high-quality 3D model, the server of the 4GIS 16 system uses all available types of data (relief, terrain or bottom images, texture, models of buildings and structures, roads, etc.) of any GIS (OpenStreetMap, ArcGIS, InGeo, Panorama), after binding to coordinates (latitude, longitude and height) and adding additional geospatial and attribute data, we get a 3D GIS. When considering a set of 3D models in the context of time (history or forecast), we have the fourth dimension - which allows you to see the retrospective of an object or model its future states in a geographic information system - 4D GIS.

The system unit 2 is connected to the 4GIS server 16 through the first modem 19, communication channel 20, the Internet 21 and the second modem 22.

The 4GIS server 16 through the transceiver 17 and the transceiver antenna 18, the radio channel 23 is connected to the drone 7, which is also connected by radio channels 23 to the satellites 24 of the Glonass system.

Video surveillance tools 11 identify the earth 25 and plants 26 and compare them with data in the 4GIS digital database and form a real relief 27, taking into account objects 28, reservoirs 29, bridges 30 and obstacles to maneuvering 31. In addition, vehicles 32 on roads 33 and even subjects 34.

The drone 7 contains the control unit of the drone 8, the Glonass receiver 9 and the antenna of the device 10. In addition, it includes video surveillance equipment AND (video cameras and equipment for converting the video signal and its transmission, engines 12, propellers 13.

The control unit 8 (Fig. 4) contains the speed sensors 35, heading sensors 36 and the processor.

Power supply 38 serves as power supply. Sensors 35 and 36 are connected to processor 37 by wired communication channels 39. FIG. 4 shows the control unit of the drone 8.

It contains a speed sensor 35, heading sensors 36, a processor 37, a power supply 38, wire communication channels 39 that connect the sensors 35 and 36 to the processor 37.

SYSTEM OPERATION

When the system is operating (Fig. 1 and 2), the system unit 2 and the control panel 14 are turned on.

Video surveillance tools 11 identify the earth 25 and plants 26 and compare them with data in the 4GIS digital database and form a real relief 27, taking into account objects 28, water bodies 29, bridges 30 and obstacles to maneuvering 31. In addition, vehicles 32 on roads 33 and subjects 34 detected by video surveillance 11.

When commands are given from the control panel 14 that violate flight safety, for example, flying below the level of the real terrain 27 (Fig. 1), these commands are not executed and the drone 7 performs a safe maneuver and warns the operator about this.

The application of the invention allowed:

Based on the data center, it is proposed to create a detailed 4D GIS of the area and digital clones that exchange information with transport infrastructure facilities and vehicles via wireless communication.

1. Ground vehicles, including unmanned ones, with data transmission (CCMO), which allows the drone to see and analyze the traffic situation both nearby, in close proximity, and at any scale, with the issuance of recommendations for driving or controlling the unmanned vehicle transport and data exchange:

• Speed

• Direction

• Coordinates

• Environment received from on-board cameras, lidars, radars, etc.

2. Unmanned aerial vehicles for:

• Clarification of the situation in case of an emergency or an accident

• Delivery of equipment and medicines in case of emergencies or road accidents

3. Unmanned underwater vehicles for:

• Formation of a map of depths and bottom topography

• Obtaining acoustic images of underwater objects and structures

• Information boards

• Weather stations and road condition sensors

• Complexes of road traffic control ASUDD

• Other equipment

4. Traffic flow

• Formation of the structure of the road network

• Retrospective analysis (Modeling and forecasting).

The application of the invention allowed:

- improve the accuracy of detecting drone coordinates,

- improve the accuracy and safety of maneuvering and landing the drone, taking into account real obstacles to maneuvering, including subjects and vegetation,

- obtain data on real information, including the appearance of the discovered objects and subjects, their technical characteristics, modernization and re-equipment, construction of real estate objects, modernization of ships in time,

- ship escort.

Claims (5)

1. A drone control system containing a control unit with a GPS receiver with a drone antenna and video surveillance equipment, an operator’s workplace consisting of a system unit, a monitor, a keyboard and a “Mouse” type manipulator, a control panel connected via a radio channel to the system unit and the drone , characterized in that a 4 GIS system server is attached to the system unit with a database of maps in dynamics over the time of publication and digital clones of objects, the map database contains information along the Z axis, as objects in the memory of the 4GIS server, digital clones of the terrain, real estate, vegetation are laid , obstacles to flight, roads, vehicles, objects and subjects, vegetation is stored in the memory of the GIS server 4 depending on the season. 2. The drone control system according to claim 1, characterized in that the server contains digital codes of real estate objects in dynamics as objects. 3. The drone control system according to claim 1, characterized in that the digital codes of people, domestic animals and wild animals are stored as subjects in the server. 4. The drone control system according to claim 1, characterized in that the digital codes of poles and overhead wires are embedded in the server as interference. 5. The drone control system according to claim 1, characterized in that the server contains digital codes of objects in dynamics as objects.

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