CN102183941A - Civil-mobile-phone-network-based ultra-long-range unmanned aerial vehicle control system - Google Patents
Civil-mobile-phone-network-based ultra-long-range unmanned aerial vehicle control system Download PDFInfo
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Abstract
The invention discloses a civil-mobile-phone-network-based ultra-long-range unmanned aerial vehicle control system, which consists of an onboard system and a ground system, wherein the onboard system consists of a communication navigation subsystem and an attitude control subsystem. The communication navigation subsystem realizes communication, automatic navigation and task functions of a mobile phone; the attitude control subsystem finishes attitude and speed control of an unmanned aerial vehicle; and the ground system manually or automatically transmits a control instruction which is received by the attitude control subsystem so as to control the takeoff and landing of the unmanned aerial vehicle and convert a working mode. The unmanned aerial vehicle is subjected to ultra-long-range control by a mobile phone network, and the defects that the corresponding control equipment is large in volume, heavy in weight, high in power consumption and strong in electromagnetic radiation in the conventional unmanned aerial vehicle technology are overcome; distributed control is realized through mobile-phone-network-based data and instruction transmission; and the system is widely applied in fields of forest fire prevention, surveying and mapping, exploration, aerial photograph and camera shooting, disaster rescue and reduction, enforcement and inspection, emergency command and the like.
Description
Technical field
The present invention relates to a kind of very-long-range unmanned aerial vehicle (UAV) control system, be applicable to fields such as forest fire protection, mapping, exploration, aeroplane photography shooting, the mitigation disaster relief, law enforcement supervision based on civilian cell phone network.
Background technology
At present, means are maked an inspection tour in the forest fire alarm that forest department adopts at present following characteristics respectively: the someone is worth and keeps sightseeing tower many duty personnel's condition of work is abominable at remote, thickly forested mountains, and observed range is less; The moonscope cost of use is higher, is subjected to weather effect big, and is ageing general; Someone drives patrol aircraft use cost height, is difficult to realize that whole day uninterruptedly makes an inspection tour.In general, space/aviation fire alarm is maked an inspection tour to be proved to be and is the most effective prevention and discovery mode, and the wind and cloud series geo-stationary orbit weather satellite of China promptly possesses this function.
Bring into use unmanned plane to finish the tour task both at home and abroad.The Long-distance Control means that existing unmanned plane uses mainly contain satellite link, high-power telepilot and data radio, and cost is high.Its power consumption is big in addition, and electromagnetic radiance is big, and to the specific (special) requirements that is furnished with of antenna, airborne equipment electromagnetic compatibility difficulty is big.
Unmanned plane was higher owing to the general wing carries when existing length was navigated, and launching and recovering equipment imperfection on the machine causes the landing speed of aircraft too high.Thus landing site and peripheral obstruction clearance criteria are had relatively high expectations, manipulation technology and the psychological quality to operator requires to be close to harsh simultaneously.These use the aviation means to carry out work for daily ubiquity all is very disadvantageous.
Unmanned vehicle is subjected to the influence of various complex conditions, and accident rate is far above existing piloted vehicle.On the one hand, embodied the use value of unmanned vehicle, but from the daily angle evaluation of generally using, the life cycle cost of existing unmanned vehicle exists the problem of can not using and dare not using than higher.
Existing airborne remote sensing, remote measurement and monitoring, what generally adopt is the control or the use-pattern of control center's (car).Though making, level of integrated system height, the control model of single node system-wide reliability variation, will cause system-wide paralysis in case key node goes wrong.Must cause the low impression of the attendance rate and serviceability rate in routine duties.
Summary of the invention
The technical problem to be solved in the present invention provides the very-long-range unmanned aerial vehicle (UAV) control system based on civilian cell phone network that a kind of cost is lower, reliability is higher.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
A kind of very-long-range unmanned aerial vehicle (UAV) control system based on civilian cell phone network is made of mobile system and ground system; Described mobile system is made of communication navigation subsystem and attitude control subsystem;
Described communication navigation subsystem comprises first single-chip microcomputer, navigation module, the first steering wheel control module, memory module, the second singlechip that task program is housed, the second steering wheel control module, mobile module, gang socket and the sensor assembly that Navigator is housed; Described memory module respectively with described first single-chip microcomputer, described second singlechip is two-way is connected; The respective input of output termination first single-chip microcomputer of described navigation module, the corresponding output end of described first single-chip microcomputer connects the input end of the first steering wheel control module; The respective input of the output termination second singlechip of described sensor assembly, the corresponding output end of described second singlechip connects the input end of the second steering wheel control module; Described mobile module is connected with described second singlechip is two-way respectively with gang socket;
Described attitude control subsystem comprises the 3rd single-chip microcomputer, the 3rd steering wheel control module, first wireless data transfer module, height sensor, speed pickup and attachment plug; Described the 3rd single-chip microcomputer respectively with described first wireless data transfer module, described attachment plug is two-way is connected, the output terminal of described height sensor and speed pickup connects the respective input of described the 3rd single-chip microcomputer respectively;
Described ground system comprises computing machine, second wireless data transfer module and game console, and described computing machine is connected with second wireless data transfer module is two-way, the respective input of the described computing machine of output termination of described game console.
Preferably, the described sensor assembly in the described communication navigation subsystem is temperature sensor, flame detector, humidity sensor or the wind transducer of switching value output or the output of universal serial bus numeral.
Described attitude control subsystem also comprises unmanned plane state sensor module, the respective input of described the 3rd single-chip microcomputer of output termination of described unmanned plane state sensor module.Described unmanned plane state sensor is temperature sensor, voltage sensor, current sensor or the speed probe of switching value output or the output of universal serial bus numeral.
Described sensor assembly or unmanned plane state sensor are provided with more than one.
Described ground system also comprises an above camera, the respective input of the output termination computing machine of described camera.
Described ground system also comprises unmanned plane from motion tracking land station, and described unmanned plane is from the respective input of the described computing machine of output termination of motion tracking land station.
The model of described first to the 3rd single-chip microcomputer is STC89C52/54; Described first to the 3rd steering wheel control module is made up of single-chip microcomputer and peripheral circuit thereof, and the model of described single-chip microcomputer is STC89C52/54, and described peripheral circuit comprises reset circuit and crystal oscillating circuit; The model of described first, second wireless data transfer module is FC-201/SA;
The model of the memory module in the described communication navigation subsystem is AT24C16; Described navigation module is GPS, GLONESS, Galileo or the Big Dipper; The model of described mobile module is JB35GM;
The model of the height sensor in the described attitude control subsystem is MPS3128 or eagle tree barometric altimeter; The model of described speed pickup is an eagle tree air speed instrument.
Described mobile system is lifted on the unmanned plane by the becket bridle that electric detonator is housed, and the control line of described electric detonator connects described attachment plug.
The beneficial effect that adopts technique scheme to produce is: (1) the present invention adopts cell phone network to realize the very-long-range of unmanned plane is controlled, and has overcome the shortcoming that corresponding opertaing device volume is big in the existing unmanned plane technology, weight is big, power consumption is big, electromagnetic radiation is strong; (2) based on the data of cell phone network and the transmission of instruction, realized distributed control, having overcome in the prior art with control center's (car) is the single node control model of feature, and system reliability improves, and with low cost; (3) when the unmanned plane situation is unusual, start automatically and separate recovering mechanism, the realization mobile system separates with unmanned plane, thus the higher mobile system of recovery value further reduces use cost; (4), therefore all have widely and use in a lot of fields such as forest fire protection, mapping, exploration, aeroplane photography shooting, the mitigation disaster relief, law enforcement supervision and emergency commands because native system has good low-altitude performance, and task load-carrying surplus is big.
Description of drawings
Fig. 1 is a communication navigation subsystem functional-block diagram;
Fig. 2 is an attitude control subsystem functional-block diagram;
Fig. 3 is the ground system functional-block diagram;
Fig. 4 is the flow chart of first single-chip microcomputer;
Fig. 5 is the flow chart of second singlechip;
Fig. 6 is the flow chart of the 3rd single-chip microcomputer;
Fig. 7 is a workflow diagram of the present invention.
Embodiment
Referring to Fig. 1 ~ Fig. 6, the present invention is made of mobile system and ground system; Described mobile system is made of communication navigation subsystem and attitude control subsystem.
Described communication navigation subsystem is finished mobile communication, self-navigation and task function, and it comprises first single-chip microcomputer, navigation module, the first steering wheel control module, memory module, the second singlechip that task program is housed, the second steering wheel control module, mobile module, gang socket and the sensor assembly that Navigator is housed; Described memory module respectively with described first single-chip microcomputer, described second singlechip is two-way is connected; The respective input of output termination first single-chip microcomputer of described navigation module, the corresponding output end of described first single-chip microcomputer connects the input end of the first steering wheel control module; The respective input of the output termination second singlechip of described sensor assembly, the corresponding output end of described second singlechip connects the input end of the second steering wheel control module; Described mobile module is connected with described second singlechip is two-way respectively with gang socket.Described sensor assembly is temperature sensor, flame detector, humidity sensor or the wind transducer of switching value output or the output of universal serial bus numeral.Described temperature sensor, flame detector, humidity sensor or wind transducer can use separately or be used in combination according to application, and the output terminal of described sensor assembly connects the respective input of second singlechip respectively during use.The flow chart of described first single-chip microcomputer and second singlechip is referring to Fig. 4 and Fig. 5.
Described attitude control subsystem comprises the 3rd single-chip microcomputer, the 3rd steering wheel control module, first wireless data transfer module, height sensor, speed pickup and attachment plug; Described the 3rd single-chip microcomputer respectively with described first wireless data transfer module, described attachment plug is two-way is connected, the output terminal of described height sensor and speed pickup connects the respective input of described the 3rd single-chip microcomputer respectively.Described attitude control subsystem can also comprise unmanned plane state sensor module, the respective input of described the 3rd single-chip microcomputer of output termination of described unmanned plane state sensor module; Described unmanned plane state sensor is temperature sensor, voltage sensor, current sensor or the speed probe of switching value output or the output of universal serial bus numeral, and described unmanned plane state sensor can use separately or use according to the monitoring demand combinations.The flow chart of described the 3rd single-chip microcomputer is referring to Fig. 6.
Described ground system realizes manually or automatically sending steering order, is received by the attitude control subsystem, realizes the landing control of unmanned plane and the conversion of mode of operation; Described ground system comprises computing machine, second wireless data transfer module and game console, and described computing machine is connected with second wireless data transfer module is two-way, the respective input of the described computing machine of output termination of described game console.Described ground system can also be provided with camera, the respective input of the output termination computing machine of described camera.Described camera can be provided with one or more, is respectively first camera, second camera ... the N camera is installed in ground diverse location respectively; Described camera can be finished range finding, survey height, location and the shoot function of unmanned plane, matches with computing machine and realizes the automatic landing of unmanned plane.
Described ground system can also comprise unmanned plane from motion tracking land station, and described unmanned plane can be set land station for eagle from motion tracking land station, the respective input of its output termination described computing machine, finish unmanned plane closely from motion tracking.
The model of first to the 3rd single-chip microcomputer described in the present embodiment is STC89C52/54; Described first to the 3rd steering wheel control module is made up of single-chip microcomputer and peripheral circuit thereof, and the model of described single-chip microcomputer is STC89C52/54, and described peripheral circuit comprises reset circuit and crystal oscillating circuit; The model of described first, second wireless data transfer module is FC-201/SA;
The model of the memory module in the described communication navigation subsystem is AT24C16; Described navigation module is GPS, GLONESS, Galileo or the Big Dipper; The model of described mobile module is JB35GM;
The model of the height sensor in the described attitude control subsystem is MPS3128 or eagle tree barometric altimeter; The model of described speed pickup is an eagle tree air speed instrument;
Game console in the described ground system is the current game controller, for example the Universal USB game console of POWER PAD or TOPWAY board.
Mobile system described in the present embodiment is lifted on the unmanned plane by the becket bridle that electric detonator is housed, and the control line of described electric detonator connects described attachment plug.
Workflow of the present invention is referring to Fig. 7, and its concrete steps are as follows:
(1) sets navigation spots by the communication navigation subsystem on ground;
(2) take off by ground system control unmanned plane, can take off or cooperate with camera by the game console manual control and finish taking off automatically of unmanned plane by computing machine;
(3) after unmanned plane reaches setting height and speed, change the automatic cruising state over to by game console or computer control unmanned plane, control the attitude and the speed of unmanned plane then by the attitude control subsystem, and finish the navigation of unmanned plane by the communication navigation subsystem according to the navigation spots that sets in the step (1);
(4) in the automatic cruising state, whether the attitude control subsystem exceeds preset threshold by the parameters such as height, speed, temperature, voltage, electric current and rotating speed of height sensor, speed pickup and unmanned plane state sensor module monitors unmanned plane;
When exceeding threshold value, the attachment plug of attitude control subsystem is put to separate and is reclaimed the position, by the electric detonator control line electric detonator is blown, and described becket bridle disconnects, and mobile system is separated with unmanned plane under action of gravity, is worth higher mobile system and is reclaimed; Second singlechip is sent to mobile module with current coordinate and image information simultaneously, and mobile module is sent to each terminal by civilian cell phone network with image and position data, is closed until mobile system;
When not exceeding threshold value, enter step (5);
(5) in the process of cruising, according to mission planning, unmanned plane is finished automatic cruising, carries out image and position data transmission by cell phone network; When receiving the navigation information of mobile module transmission, second singlechip is finished the renewal of navigation spots in the data-carrier store; Judge then whether the task of cruising is finished, when the task of cruising does not finish, repeating step (4); When cruising task termination, enter step (6);
(6) after the flight of finishing all navigation spots, unmanned plane returns landing field;
(7) manually or automatically land by ground system.
Claims (9)
1. the very-long-range unmanned aerial vehicle (UAV) control system based on civilian cell phone network is characterized in that being made of mobile system and ground system; Described mobile system is made of communication navigation subsystem and attitude control subsystem;
Described communication navigation subsystem comprises first single-chip microcomputer, navigation module, the first steering wheel control module, memory module, second singlechip, the second steering wheel control module, mobile module, gang socket and the sensor assembly that Navigator is housed; Described memory module respectively with described first single-chip microcomputer, described second singlechip is two-way is connected; The respective input of output termination first single-chip microcomputer of described navigation module, the corresponding output end of described first single-chip microcomputer connects the input end of the first steering wheel control module; The respective input of the output termination second singlechip of described sensor assembly, the corresponding output end of described second singlechip connects the input end of the second steering wheel control module; Described mobile module is connected with described second singlechip is two-way respectively with gang socket;
Described attitude control subsystem comprises the 3rd single-chip microcomputer, the 3rd steering wheel control module, first wireless data transfer module, height sensor, speed pickup and attachment plug; Described the 3rd single-chip microcomputer respectively with described first wireless data transfer module, described attachment plug is two-way is connected, the output terminal of described height sensor and speed pickup connects the respective input of described the 3rd single-chip microcomputer respectively;
Described ground system comprises computing machine, second wireless data transfer module and game console, and described computing machine is connected with second wireless data transfer module is two-way, the respective input of the described computing machine of output termination of described game console.
2. the very-long-range unmanned aerial vehicle (UAV) control system based on civilian cell phone network according to claim 1 is characterized in that the described sensor assembly in the described communication navigation subsystem is temperature sensor, flame detector, humidity sensor, illuminance sensor or the wind transducer of switching value output or the output of universal serial bus numeral.
3. the very-long-range unmanned aerial vehicle (UAV) control system based on civilian cell phone network according to claim 2, it is characterized in that described attitude control subsystem also comprises unmanned plane state sensor module, the respective input of described the 3rd single-chip microcomputer of output termination of described unmanned plane state sensor module.
4. the very-long-range unmanned aerial vehicle (UAV) control system based on civilian cell phone network according to claim 3 is characterized in that described unmanned plane state sensor is temperature sensor, voltage sensor, current sensor or the speed probe of switching value output or the output of universal serial bus numeral.
5. according to claim 2 or 4 described very-long-range unmanned aerial vehicle (UAV) control systems, it is characterized in that described sensor assembly or unmanned plane state sensor are provided with more than one based on civilian cell phone network.
6. the very-long-range unmanned aerial vehicle (UAV) control system based on civilian cell phone network according to claim 4 is characterized in that described ground system also comprises an above camera, the respective input of the output termination computing machine of described camera.
7. the very-long-range unmanned aerial vehicle (UAV) control system based on civilian cell phone network according to claim 6, it is characterized in that described ground system also comprises unmanned plane from motion tracking land station, described unmanned plane is from the respective input of the described computing machine of output termination of motion tracking land station.
8. according to claim 1 ~ 4 any one or 6 ~ 7 any described very-long-range unmanned aerial vehicle (UAV) control systems based on civilian cell phone network, the model that it is characterized in that described first to the 3rd single-chip microcomputer is STC89C52/54; Described first to the 3rd steering wheel control module is made up of single-chip microcomputer and peripheral circuit thereof, and the model of described single-chip microcomputer is STC89C52/54, and described peripheral circuit comprises reset circuit and crystal oscillating circuit; The model of described first, second wireless data transfer module is FC-201/SA;
The model of the memory module in the described communication navigation subsystem is AT24C16; Described navigation module is GPS, GLONESS, Galileo or the Big Dipper; The model of described mobile module is JB35GM;
The model of the height sensor in the described attitude control subsystem is MPS3128 or eagle tree barometric altimeter; The model of described speed pickup is an eagle tree air speed instrument.
9. according to claim 1 ~ 4 any one or 6 ~ 7 any described very-long-range unmanned aerial vehicle (UAV) control systems based on civilian cell phone network, it is characterized in that described mobile system is lifted on the unmanned plane by the becket bridle that electric detonator is housed, the control line of described electric detonator connects described attachment plug.
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| CN102636820A (en) * | 2012-03-16 | 2012-08-15 | 信源通科技（深圳）有限公司 | Exploration system |
| CN104615019A (en) * | 2014-12-25 | 2015-05-13 | 武汉智能鸟无人机有限公司 | System and method for remotely controlling UAV (Unmanned Aerial Vehicle) based on wireless communication |
| WO2015135194A1 (en) * | 2014-03-14 | 2015-09-17 | 深圳市大疆创新科技有限公司 | Unmanned air vehicle and data processing method therefor |
| CN105259912A (en) * | 2015-10-10 | 2016-01-20 | 成都川睿科技有限公司 | Intelligent traffic based unmanned aerial vehicle communication system |
| CN105374152A (en) * | 2015-11-18 | 2016-03-02 | 西安天璇智能系统科技有限公司 | Unmanned aerial vehicle monitoring intelligent analysis command system |
| CN107065914A (en) * | 2013-07-05 | 2017-08-18 | 深圳市大疆创新科技有限公司 | The flight householder method and device of unmanned vehicle |
| CN108897335A (en) * | 2018-07-25 | 2018-11-27 | 深圳市必发达科技有限公司 | A kind of unmanned plane during flying navigation device |
| CN109214244A (en) * | 2017-07-03 | 2019-01-15 | 昊翔电能运动科技(昆山)有限公司 | Rescue system and rescue mode based on unmanned plane |
| CN109270942A (en) * | 2017-07-17 | 2019-01-25 | 李保文 | Ultra-long-range unmanned aerial vehicle control system based on civil mobile phone network |
| CN112261576A (en) * | 2020-10-21 | 2021-01-22 | 广西综合交通大数据研究院 | Air-to-ground networking system and implementation method thereof |
| CN114999138A (en) * | 2022-06-14 | 2022-09-02 | 上海歌尔泰克机器人有限公司 | Remote control device and control method thereof |
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| CN102636820A (en) * | 2012-03-16 | 2012-08-15 | 信源通科技（深圳）有限公司 | Exploration system |
| CN107065914B (en) * | 2013-07-05 | 2020-04-28 | 深圳市大疆创新科技有限公司 | Flight assistance method and device for unmanned aerial vehicle |
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| CN108897335A (en) * | 2018-07-25 | 2018-11-27 | 深圳市必发达科技有限公司 | A kind of unmanned plane during flying navigation device |
| CN112261576A (en) * | 2020-10-21 | 2021-01-22 | 广西综合交通大数据研究院 | Air-to-ground networking system and implementation method thereof |
| CN114999138A (en) * | 2022-06-14 | 2022-09-02 | 上海歌尔泰克机器人有限公司 | Remote control device and control method thereof |
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