CN103176475A - Ground station for unmanned aerial vehicles - Google Patents

Ground station for unmanned aerial vehicles Download PDF

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Publication number
CN103176475A
CN103176475A CN201310061550XA CN201310061550A CN103176475A CN 103176475 A CN103176475 A CN 103176475A CN 201310061550X A CN201310061550X A CN 201310061550XA CN 201310061550 A CN201310061550 A CN 201310061550A CN 103176475 A CN103176475 A CN 103176475A
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CN
China
Prior art keywords
control
unmanned aerial
wireless transport
transport module
unmanned plane
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201310061550XA
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Chinese (zh)
Inventor
柯宗泽
苏成悦
李欣怡
刘柏芳
邹志明
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Guangdong University of Technology
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Guangdong University of Technology
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Publication date
Application filed by Guangdong University of Technology filed Critical Guangdong University of Technology
Priority to CN201310061550XA priority Critical patent/CN103176475A/en
Publication of CN103176475A publication Critical patent/CN103176475A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a ground station for unmanned aerial vehicles. The ground station is simple in operation and comprises wireless transmission modules and a computer control platform; an operator operates the wireless transmission modules via the computer control platform so that the wireless transmission modules transmit response instruction signals to control the unmanned aerial vehicles; and the unmanned aerial vehicles transmit state information to the computer control platform via the wireless transmission modules in real time, and the computer control platform displays flight state parameters of the unmanned aerial vehicles and position states of the unmanned aerial vehicles in a navigation chart in real time. The ground station has the advantages that the unmanned aerial vehicles can be operated easily in a control mode implemented by the aid of simple keyboard controls and a direct parameter control mode, the difficulty in controlling the unmanned aerial vehicles is reduced, any untrained operators can operate the unmanned aerial vehicles easily at any time, and the unmanned aerial vehicles can be automatically and safely controlled in procedures of taking off, task completion, returned voyage and landing comprehensively.

Description

A kind of unmanned aerial vehicle station
Technical field
The present invention relates to the unmanned aerial vehicle (UAV) control field, more specifically, relate to a kind of unmanned aerial vehicle station of ease of Use.
Background technology
Unmanned vehicle (UAV) autonomous flight technology is the focus of aviation field research for many years always, and there is in actual applications a large amount of demands, for example: scout and rescue duty, science data are collected, geology, forestry exploration, control of agricultural pest, and video monitoring, production of film and TV etc.Complete above-mentioned task by unmanned vehicle and can greatly reduce costs and improve the personal security guarantee.Yet, unmanned vehicle of manual control requires the control staff to control a plurality of controlled quentity controlled variables simultaneously, the control staff will can carry out practical operation to aircraft through long simulated training, and the difficulty of operation is large, need to concentrate on for a long time, the control staff is in order to be consistent with aircraft course, and also Ying Suiqi changes and adjusts self direction and could well control aircraft.Thereby there is following shortcoming in manual control: can not observe the action of unmanned plane and will can accurately not adjust parameter if 1. run into the barrier human eye, easily air crash; 2. manual control can only be to control qualitatively and can accurately quantitative system; 3. can not be fixed high in real time, guarantee the Aerial Images quality; 4. easily the external interference factor such as wind-engaging is disturbed.The unmanned aerial vehicle station is progressively to put forward in the development of modernization unmanned plane and application process.The unmanned aerial vehicle station is the command and control center of UAS, for the ground to unmanned plane, controls, and can monitor better the flight condition of unmanned plane.
Summary of the invention
The present invention proposes a kind of unmanned aerial vehicle station of ease of Use, simplified the difficulty of controlling unmanned plane, make any trained control staff left-hand seat at any time that do not have, from fly to finish the work again and in all directions unmanned plane carried out to the robotization security control to the landing of making a return voyage.
To achieve these goals, technical scheme of the present invention is:
A kind of unmanned aerial vehicle station, comprise wireless transport module and computer control platform, and the control staff is by the computer control platform, and wireless transport module sends response instruction signal controlling unmanned plane; Unmanned plane passes status information the computer control platform in real time by wireless transport module, the computer control platform show in real time the unmanned plane during flying state parameter with and at the location status of navigation picture.
Described wireless transport module is the radio receiving transmitting module of transmitted in both directions, and by main wireless transport module with form from wireless transport module, main wireless transport module is connected with computing machine by serial ports, from wireless transport module, with the unmanned plane master control borad, is connected.
Described computer control platform has two kinds of control modes, and a kind of is to control by the Simple key board control, and another kind is to control by direct parameter.
Navigation picture is Baidu's map, has comprised map, satellite, three-dimensional three kinds of view modes, and position and the course of navigation picture Real-time Obtaining unmanned plane also is presented in map.
Described Simple key board control is controlled, comprised following 10 keyboard control: W, S, A, D, upper and lower, left and right, Q, E, controlled respectively the following parameter of unmanned plane: advanced, retreat, move to left, move to right, raise, reduction, course is counterclockwise, and hour hands rotate, course clockwise rotates, accelerates and slows down.
Described direct parameter is controlled, and has comprised direct control model, a key control pattern, map control pattern.Wherein, described direct control model, the setting value that method is direct parameters, parameter comprises: longitude, latitude, determine high altitude, the speed of a ship or plane, course angle; A described key control pattern is controlled, and having comprised: a key takes off, a key lands, a key makes a return voyage and a key hovers.Described map control pattern, control method is: directly click destination at navigation picture, the computer control platform can obtain the destination longitude and latitude, thus the main control module that sends setting value to unmanned plane by wireless transport module is controlled unmanned plane.
Compared with prior art, the present invention, by simple and easy control model is set, greatly reduces the difficulty of controlling unmanned plane.The direct control model of hommization, a key control pattern, the map control pattern more directly operates and monitor the unmanned plane during flying state, make any trained control staff left-hand seat at any time that do not have, from fly to finish the work again and in all directions unmanned plane carried out to the robotization security control to the landing of making a return voyage .
The accompanying drawing explanation
Fig. 1 is the structural drawing at unmanned aerial vehicle of the present invention station.
Fig. 2 is the direct parameter control system structural drawing at unmanned aerial vehicle of the present invention station.
Fig. 3 is the Simple key board control structural drawing at unmanned aerial vehicle of the present invention station.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described, but embodiments of the present invention are not limited to this.
Description of reference numerals: 1-is from wireless transport module, 2-unmanned plane model, 3-computer control platform, 4-master's wireless transport module, 5-direct parameter control system, the simple and easy control control of 6-.
As shown in Figure 1, the unmanned aerial vehicle station wireless transport module of a kind of ease of Use of the present invention and computer control platform, the control staff is by the computer control platform, and wireless transport module sends response instruction signal controlling unmanned plane; Unmanned plane passes status information the computer control platform in real time by wireless transport module, the computer control platform show in real time the unmanned plane during flying state parameter with and at the location status of navigation picture.Described navigation picture is Baidu's map, has comprised map, satellite, three-dimensional three kinds of view modes, and position and the course of navigation picture Real-time Obtaining unmanned plane also is presented in map.
As shown in accompanying drawing 2,3, described computer control platform has two kinds of control modes, and a kind of is to control by direct parameter, and another kind is to control by the Simple key board control.
Described direct parameter is controlled, and has comprised direct control model, a key control pattern, map control pattern.Wherein, described direct control model, the setting value that method is direct parameters, parameter comprises: longitude, latitude, determine high altitude, the speed of a ship or plane, course angle; A described key control pattern is controlled, and having comprised: a key takes off, a key lands, a key makes a return voyage and a key hovers.Described map control pattern, control method is: directly click destination at navigation picture, the computer control platform can obtain the destination longitude and latitude, thus the main control module that sends setting value to unmanned plane by wireless transport module is controlled unmanned plane.
Described Simple key board control is controlled, comprised following 10 keyboard control: W, S, A, D, upper and lower, left and right, Q, E, controlled respectively the following parameter of unmanned plane: advanced, retreat, move to left, move to right, raise, reduction, course is counterclockwise, and hour hands rotate, course clockwise rotates, accelerates and slows down.
The control staff, by computer control platform establishment instruction, receives (sending out) data by main wireless transport module, and sub-wireless transport module is sent out (receipts) data, thus remote controlled unmanned machine.The STM8 chip of usining in main wireless transport module sends to data conversion module as the USB serial ports, is connected with the computer control platform, thereby the instruction of computer control platform is sent by main wireless transport module.In accepting state, if receive the data from another wireless module, will produce receive interruption while being placed in idle from wireless module on unmanned plane, by the processor response interruption that flies to control on plate, obtain data message.
Identification code in the data stream of wireless transport module is for illustrating the purposes of this frame data stream, the control staff clicks the Simple key board control or controls by direct parameter, as click control A, the computer control platform will send to data conversion module by the USB serial ports, modular converter receives the data from computer by USART, by SPI, write data in the transmission FIFO of wireless transport module, then the transmission of enabled wireless transport module, now by data, the electromagnetic wave with 433M sends main wireless transport module.Flying to control processor on plate carries out data by SPI to the reception FIFO from wireless transport module and reads, read complete, at first data are carried out to verification, if check errors, obliterated data, if verification is correct, processed data according to its identification code, then the data that needs returned to land station write and send FIFO, enable to send.
Directly control model by longitude, latitude directly are set, determine high altitude, the speed of a ship or plane, the isoparametric setting value of course angle number, setting value is by from wireless transport module, sending unmanned plane to, unmanned plane is regulated self parameter and setting value is mated.
One key control pattern has comprised: a key takes off, a key lands, a key makes a return voyage and a key hovers.Wherein the key pattern of taking off is determined the high altitude setting value unmanned plane is taken off by sending, and is set in apart from determining 2 meters distances of high altitude and reduces speed now to determining high altitude; It is zero that one key landing pattern makes to determine the high altitude setting value, and unmanned plane will be regulated oneself height and reach vertical landing, and when touching ground, unmanned plane produces vibrations, and system will be closed the unmanned plane power supply; Start the key pattern of making a return voyage, parameter when unmanned plane will receive takeoff condition, as setting value, is got back to starting point by adjusting parameter; When starting a key and hovering pattern, be about to unmanned plane longitude and latitude now and send to unmanned plane as setting value, unmanned plane is adjusted attitude and is reached and hovers.
The map control pattern operates in navigation picture, navigation picture has shown position and the course of unmanned plane in map, directly click destination, the computer control platform can obtain the destination longitude and latitude, thereby the main control module that sends setting value to unmanned plane by wireless transport module is controlled unmanned plane.
The Simple key board control is controlled, by controlling W, S, A, D, upper and lower, left and right, the keyboard controls such as Q, E, respectively in following parameter: advance, retreat, move to left, move to right, raise, reduction, course is counterclockwise, and hour hands rotate, course clockwise rotates, accelerates and the current state value of slowing down on increase the enhancement amount as setting value, setting value is transferred to unmanned plane and can under the current state of flight of unmanned plane, finely tunes attitude.
Above-described embodiments of the present invention, do not form limiting the scope of the present invention.Any modification of having done within spiritual principles of the present invention, be equal to and replace and improvement etc., within all should being included in claim protection domain of the present invention.

Claims (9)

1. a unmanned aerial vehicle station, is characterized in that, comprises wireless transport module and computer control platform, and the control staff sends response instruction signal controlling unmanned plane by computer control platform, wireless transport module; Unmanned plane passes status information the computer control platform in real time by wireless transport module, the computer control platform show in real time the unmanned plane during flying state parameter with and at the location status of navigation picture.
2. unmanned aerial vehicle according to claim 1 station, it is characterized in that, described wireless transport module is the radio receiving transmitting module of transmitted in both directions, by main wireless transport module with form from wireless transport module, main wireless transport module is connected with computing machine by serial ports, from wireless transport module, with the unmanned plane master control borad, is connected.
3. unmanned aerial vehicle according to claim 1 station, is characterized in that, described computer control platform has two kinds of control modes, by the Simple key board control, controls and control by direct parameter.
4. unmanned aerial vehicle according to claim 1 station, is characterized in that, described navigation picture comprises map, satellite, three-dimensional three kinds of view modes, and position and the course of navigation picture Real-time Obtaining unmanned plane also is presented in map.
5. unmanned aerial vehicle according to claim 3 station, it is characterized in that, described Simple key board control is controlled, comprised following 10 keyboard control: W, S, A, D, upper and lower, left and right, Q, E, controlled respectively the following parameter of unmanned plane: advanced, retreat, move to left, move to right, raise, reduction, course is counterclockwise, and hour hands rotate, course clockwise rotates, accelerates and slows down.
6. unmanned aerial vehicle according to claim 3 station, is characterized in that, described direct parameter is controlled, and has comprised direct control model, a key control pattern, map control pattern.
7. unmanned aerial vehicle according to claim 6 station, is characterized in that, described direct control model, and the setting value that method is direct parameters, parameter comprises: longitude, latitude, determine high altitude, the speed of a ship or plane, course angle.
8. unmanned aerial vehicle according to claim 6 station, is characterized in that, a described key control pattern is controlled, and having comprised: a key takes off, a key lands, a key makes a return voyage and a key hovers.
9. unmanned aerial vehicle according to claim 6 station, it is characterized in that, described map control pattern, control method is: at navigation picture, directly click destination, the computer control platform can obtain the destination longitude and latitude, thereby the main control module that sends setting value to unmanned plane by wireless transport module is controlled unmanned plane.
CN201310061550XA 2013-02-27 2013-02-27 Ground station for unmanned aerial vehicles Pending CN103176475A (en)

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Cited By (19)

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CN104898699A (en) * 2015-05-28 2015-09-09 小米科技有限责任公司 Flight control method, device, electronic device
CN104890861A (en) * 2015-05-05 2015-09-09 余江 Control method of multi-rotor aircraft and multi-rotor aircraft
CN105045277A (en) * 2015-07-08 2015-11-11 西安电子科技大学 Multiple-UAV operation information display system
CN105468021A (en) * 2015-12-31 2016-04-06 天津御遨航空科技发展有限公司 Portable unmanned aerial vehicle ground station
CN105549615A (en) * 2015-12-31 2016-05-04 天津御遨航空科技发展有限公司 Portable ground station of unmanned aerial vehicle
CN105843245A (en) * 2015-11-27 2016-08-10 深圳市星图智控科技有限公司 Unmanned aerial vehicle control system and unmanned aerial vehicle control method
CN105867363A (en) * 2016-05-26 2016-08-17 北京飞旋天行科技有限公司 UAV (unmanned aerial vehicle) control method, equipment and system
CN105938371A (en) * 2016-06-21 2016-09-14 深圳市博飞航空科技有限公司 Flight control system, method and remote controller of unmanned aerial vehicle
CN105955296A (en) * 2016-05-30 2016-09-21 深圳市前海疆域智能科技股份有限公司 Aircraft one-key returning method
CN106054905A (en) * 2016-05-30 2016-10-26 深圳市前海疆域智能科技股份有限公司 Flight vehicle one-key takeoff method
CN106162056A (en) * 2015-04-02 2016-11-23 宿迁学院 Model airplane machine monitoring system based on Labview
CN106814750A (en) * 2017-02-14 2017-06-09 北京小米移动软件有限公司 UAV flight control method and device
CN107168360A (en) * 2013-07-05 2017-09-15 深圳市大疆创新科技有限公司 The flight householder method and device of unmanned vehicle
CN107870626A (en) * 2016-09-26 2018-04-03 北京理工大学 A kind of depopulated helicopter ground-based mission manager
WO2018152827A1 (en) * 2017-02-27 2018-08-30 深圳市大疆创新科技有限公司 Drone remote control method, equipment and system
WO2020061738A1 (en) * 2018-09-25 2020-04-02 深圳市大疆软件科技有限公司 Method for controlling an agricultural unmanned aerial vehicle, control terminal and storage medium
CN112099556A (en) * 2016-11-24 2020-12-18 深圳市大疆创新科技有限公司 Control method of agricultural unmanned aerial vehicle, ground control terminal and storage medium
CN112489415A (en) * 2020-12-01 2021-03-12 浙江工业职业技术学院 Sprinkler scheduling system, method and device, electronic equipment and storage medium

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CN107168360B (en) * 2013-07-05 2021-03-30 深圳市大疆创新科技有限公司 Flight assistance method and device for unmanned aerial vehicle
CN107168360A (en) * 2013-07-05 2017-09-15 深圳市大疆创新科技有限公司 The flight householder method and device of unmanned vehicle
CN104714556B (en) * 2015-03-26 2017-08-11 清华大学 UAV Intelligent course heading control method
CN104714556A (en) * 2015-03-26 2015-06-17 清华大学 Intelligent course control method for unmanned plane
CN106162056A (en) * 2015-04-02 2016-11-23 宿迁学院 Model airplane machine monitoring system based on Labview
CN104890861A (en) * 2015-05-05 2015-09-09 余江 Control method of multi-rotor aircraft and multi-rotor aircraft
CN104890861B (en) * 2015-05-05 2017-05-31 高域(北京)智能科技研究院有限公司 The control method and multi-rotor aerocraft of multi-rotor aerocraft
CN104898699B (en) * 2015-05-28 2020-03-17 小米科技有限责任公司 Flight control method and device and electronic equipment
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CN104898699A (en) * 2015-05-28 2015-09-09 小米科技有限责任公司 Flight control method, device, electronic device
CN105045277A (en) * 2015-07-08 2015-11-11 西安电子科技大学 Multiple-UAV operation information display system
CN105843245A (en) * 2015-11-27 2016-08-10 深圳市星图智控科技有限公司 Unmanned aerial vehicle control system and unmanned aerial vehicle control method
CN105549615A (en) * 2015-12-31 2016-05-04 天津御遨航空科技发展有限公司 Portable ground station of unmanned aerial vehicle
CN105468021A (en) * 2015-12-31 2016-04-06 天津御遨航空科技发展有限公司 Portable unmanned aerial vehicle ground station
CN105867363A (en) * 2016-05-26 2016-08-17 北京飞旋天行科技有限公司 UAV (unmanned aerial vehicle) control method, equipment and system
CN106054905A (en) * 2016-05-30 2016-10-26 深圳市前海疆域智能科技股份有限公司 Flight vehicle one-key takeoff method
CN105955296B (en) * 2016-05-30 2019-10-25 广东精荣科技有限公司 The method that one key of aircraft makes a return voyage
CN105955296A (en) * 2016-05-30 2016-09-21 深圳市前海疆域智能科技股份有限公司 Aircraft one-key returning method
CN105938371A (en) * 2016-06-21 2016-09-14 深圳市博飞航空科技有限公司 Flight control system, method and remote controller of unmanned aerial vehicle
CN107870626A (en) * 2016-09-26 2018-04-03 北京理工大学 A kind of depopulated helicopter ground-based mission manager
CN112099556A (en) * 2016-11-24 2020-12-18 深圳市大疆创新科技有限公司 Control method of agricultural unmanned aerial vehicle, ground control terminal and storage medium
CN106814750A (en) * 2017-02-14 2017-06-09 北京小米移动软件有限公司 UAV flight control method and device
CN108885463A (en) * 2017-02-27 2018-11-23 深圳市大疆创新科技有限公司 Long-range control method, equipment and the system of unmanned plane
WO2018152827A1 (en) * 2017-02-27 2018-08-30 深圳市大疆创新科技有限公司 Drone remote control method, equipment and system
WO2020061738A1 (en) * 2018-09-25 2020-04-02 深圳市大疆软件科技有限公司 Method for controlling an agricultural unmanned aerial vehicle, control terminal and storage medium
CN112489415A (en) * 2020-12-01 2021-03-12 浙江工业职业技术学院 Sprinkler scheduling system, method and device, electronic equipment and storage medium

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