CN105511492A - Unmanned aerial vehicle (UAV) and UAV control method - Google Patents
Unmanned aerial vehicle (UAV) and UAV control method Download PDFInfo
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- CN105511492A CN105511492A CN201510957697.6A CN201510957697A CN105511492A CN 105511492 A CN105511492 A CN 105511492A CN 201510957697 A CN201510957697 A CN 201510957697A CN 105511492 A CN105511492 A CN 105511492A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000004458 analytical method Methods 0.000 claims abstract description 24
- 238000004891 communication Methods 0.000 claims description 17
- 230000004888 barrier function Effects 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
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- 230000007613 environmental effect Effects 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses an unmanned aerial vehicle (UAV) comprising a driving signal receiver, a signal analysis device and a controller. The driving signal receiver is used for receiving a driving signal and sending the driving signal to the signal analysis device. The signal analysis device is used for analyzing the driving signal. When the strength of the driving signal is smaller than a preset signal strength threshold, the UAV sends a warning signal to a UAV remote control; and when the strength of the driving signal is greater than or equal to the preset signal strength threshold, the controller forces the UAV to land. The preset signal strength threshold is set before the UAV leaves factory. Accordingly, the invention provides a UAV control method. The UAV can send a warning to an operator when receiving a driving signal, and the UAV is forced to land when the operator enters a control area forcibly. Therefore, the intrusion rate is reduced, and the information security in the control area is ensured.
Description
Technical field
The present invention relates to unmanned plane during flying device control technology field, particularly relate to a kind of method of unmanned plane and control unmanned plane.
Background technology
Unmanned aerial vehicle (UAV) control technical research is one of focus of research institution's concern both at home and abroad at present.In recent ten years, unmanned plane has been widely used in the field such as photography, electric inspection process, environmental monitoring, forest fire protection, the condition of a disaster inspection, anti-probably lifesaving, military surveillance, battle assessment of taking photo by plane, effectively overcome the deficiency that manned aircraft carries out aerial work, reduce purchase and maintenance cost, improve the security of delivery vehicle.
During unmanned plane aerial work, be faced with the security threat of the tangible barriers such as mountain range, buildings, trees, transmission line of electricity, and the constraint of the invisible barrier such as no-fly zone, explosive area.If hidden not as good as aviation accident occurring, produce potential safety hazard, even operator or other people are damaged; Also result in certain economic loss simultaneously.For automatically dodging of tangible barrier, exist in prior art, but dodge for invisible, very few in prior art, application number be 201310036271.8 Chinese invention patent disclose a kind of unmanned plane avoidance obstacle method, be provided with unmanned plane subsystem and land station's subsystem, unmanned plane subsystem comprises the airborne end embedding controller and wireless data chain, embedded flight controller built-in satellite location receiver and height sensor; Land station's subsystem comprises the ground surface end of embedded monitoring computing machine and wireless data chain, and embedded monitoring built-in computer comprises the electronic chart of barrier geography information; On the electronic chart of the embedded monitoring built-in computer of land station's subsystem, determine the position of barrier in flight range, set up virtual barrier polygon cylinder, and its body data are downloaded to embedded flight controller, the current location of embedded flight controller Real-time Obtaining unmanned plane also calculates the spatial relationship with barrier polygon cylinder, then generate the path instructions of unmanned plane, realize the automatic obstacle-avoiding of unmanned plane.This mode is by means of electronic chart, can by inputting no-fly or hazardous location on electronic chart, dodging of invisible barrier can be realized, but this kind of method needs to rely on more perfect cartographic information, more stable data communication supports, and just can complete inter-related task, and once have new no-fly zone or Lan-cang River timing, this kind is dodged mode and can not to be upgraded in time electronic chart, easily enter no-fly zone, therefore, this kind of means can not tackle the delimitation in no-fly zone or the explosive area changed at any time.
Unmanned plane can be with without the flight of supervising and serve puzzlement, because the quality level of aircraft own differs, the manipulation level difference flying hand controlling aircraft is also very large, so, the news that unmanned plane is strayed into some no-fly zones is of common occurrence, even also induce some sensitive people to worry, bad personage may be had handle four-axle aircraft to implement and take on the sly, in emphasis security protection region, if unmanned plane approaches flight, then need defensive measure of taking the initiative, prevent unmanned plane from approaching shooting, illegal transmission of information, even carries dangerous material and enters emphasis security protection region.Therefore there is the demand detected and resist unmanned plane during flying in emphasis security protection region.Existing regulation is not also very perfect for the flight management in navigation field, but not high for flying height, is often in the unmanned plane in horizon range, current supervision or a blank.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of unmanned plane, described unmanned plane comprises drives signal receiver, signal analysis device and controller; Described signal receiver of driveing drives signal for receiving, and described signal of driveing is sent to signal analysis device, described signal analysis device is used for driveing signal analysis to described, when the intensity of driveing signal is less than default signal strength threshold, then unmanned plane sends alarm signal to unmanned controller, when the intensity of driveing signal is more than or equal to default signal strength threshold, then described controller controls unmanned plane and forces landing.The signal strength threshold preset just sets when unmanned plane dispatches from the factory.
Further, described unmanned plane also comprises storer, described storer is for storing the position coordinates of the transmitting terminal driveing signal, and when the position coordinates driveing the transmitting terminal of signal that unmanned plane stores in storer sails into, described unmanned plane sends alarm signal to unmanned controller.
Further, described unmanned controller is provided with warning lamp, described warning lamp has different alert mode.
Further, described warning lamp opens a kind of alert mode when the intensity of driveing signal is less than default signal strength threshold, and described warning lamp opens other alert mode when the position coordinates driveing the transmitting terminal of signal that unmanned plane stores in storer sails into.
Further, described unmanned controller is provided with communication module, described communication module is used for carrying out communication with the described transmitting terminal driveing signal.
Further, authorized unmanned plane can identify the characteristic signal section of driveing signal.Drive in the region of signal if unmanned plane is authorized to enter send, then described unmanned plane can identify the characteristic signal section of driveing signal.Wherein, characteristic signal section is one section of code set of driveing signal, can be resolved by the signal analysis device of the unmanned plane be authorized to.
Correspondingly, present invention also offers a kind of method controlling unmanned plane, comprise the following steps:
S1, drive signal receiver receive drive signal;
S2, signal analysis device drive signal analysis to described, and when described intensity of driveing signal is less than default signal strength threshold, then unmanned plane sends alarm signal to unmanned controller;
When described intensity of driveing signal is more than or equal to default signal strength threshold, then controller controls unmanned plane and forces landing.
Further, described method also comprises the position coordinates that the transmitting terminal of signal is driven in storer storage, and when the position coordinates driveing the transmitting terminal of signal that unmanned plane stores in storer sails into, described unmanned plane sends cue to unmanned controller.
The method of unmanned plane of the present invention and control unmanned plane, has following beneficial effect:
1, in the present invention when unmanned plane receive drive signal time, can give a warning to operator, remind operator note, when operator makes a forcible entry in control area, then force unmanned plane landing, reduce and rush rate by mistake, also ensured the information security in control area.
2, the warning lamp with different alert mode is set in the present invention on unmanned controller, the meaning representated by different alert mode can be distinguished, receive drive signal time and sail that storer stores into drive the geographic position of signal transmitting terminal time can operator be reminded to note in time and easily.
3, when warning lamp is bright, operator in order to confirm that the concrete condition of the transmitting terminal of signal is driven in front, can by communication module with drive signal transmitting terminal and carry out communication, operator can be made easily to link up with the transmitting terminal driveing signal.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the device block diagram of unmanned plane of the present invention;
Fig. 2 is the method flow diagram of control unmanned plane of the present invention.
In figure: 1-unmanned plane, 11-drives signal receiver, 12-signal analysis device, 13-controller, 2-unmanned controller.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite of not making creative work, all belongs to the scope of protection of the invention.
As shown in Figure 1, the invention provides a kind of unmanned plane, described unmanned plane 1 comprises drives signal receiver 11, signal analysis device 12 and controller 13; Described signal receiver 11 of driveing drives signal for receiving, and described signal of driveing is sent to signal analysis device 12, described signal analysis device 12 is for driveing signal analysis to described, when the intensity of driveing signal is less than default signal strength threshold, then unmanned plane 1 sends alarm signal to unmanned controller 2, when the intensity of driveing signal is more than or equal to default signal strength threshold, then described controller 13 controls unmanned plane 1 and forces landing.The signal strength threshold preset just sets when unmanned plane dispatches from the factory.
Described unmanned plane 1 also comprises storer, described storer is for storing the position coordinates of the transmitting terminal driveing signal, when the position coordinates driveing the transmitting terminal of signal that unmanned plane 1 stores in storer sails into, described unmanned plane 1 sends alarm signal to unmanned controller 2.Storer be arranged so that unmanned plane 1 has memory effect.
Described unmanned controller 2 is provided with warning lamp, and described warning lamp has different alert mode.Described warning lamp opens a kind of alert mode when the intensity of driveing signal is less than default signal strength threshold, and described warning lamp opens other alert mode when the position coordinates driveing the transmitting terminal of signal that unmanned plane 1 stores in storer sails into.
Different alert mode comprises the alert mode using different colours or warning lamp flashing times etc., as long as above-mentioned two kinds of alarm signals can be distinguished.
Described unmanned controller 2 is provided with communication module, and described communication module is used for carrying out communication with the described transmitting terminal driveing signal.When warning lamp is bright, operator is in order to confirm that the concrete condition of the transmitting terminal of signal is driven in front, can by communication module with drive signal transmitting terminal and carry out communication, operator can be made easily to link up with the transmitting terminal driveing signal, and communication mode can be the modes such as video, audio frequency, note.
Authorized unmanned plane can identify the characteristic signal section of driveing signal.Drive in the region of signal if unmanned plane 1 is authorized to enter send, then described unmanned plane 1 can identify the characteristic signal section of driveing signal.Wherein, characteristic signal section is one section of code set of driveing signal, can be resolved by the signal analysis device 12 of the unmanned plane 1 be authorized to.
Correspondingly, as shown in Figure 2, present invention also offers a kind of method controlling unmanned plane, comprise the following steps:
S1, drive signal receiver receive drive signal;
S2, signal analysis device drive signal analysis to described, and when described intensity of driveing signal is less than default signal strength threshold, then unmanned plane sends alarm signal to unmanned controller;
When described intensity of driveing signal is more than or equal to default signal strength threshold, then controller controls unmanned plane and forces landing.
Described method also comprises the position coordinates that the transmitting terminal of signal is driven in storer storage, and when the position coordinates driveing the transmitting terminal of signal that unmanned plane stores in storer sails into, described unmanned plane sends cue to unmanned controller.
The method of unmanned plane of the present invention and control unmanned plane, has following beneficial effect:
1, in the present invention when unmanned plane receive drive signal time, can give a warning to operator, remind operator note, when operator makes a forcible entry in control area, then force unmanned plane landing, reduce and rush rate by mistake, also ensured the information security in control area.
2, the warning lamp with different alert mode is set in the present invention on unmanned controller, the meaning representated by different alert mode can be distinguished, receive drive signal time and sail that storer stores into drive the geographic position of signal transmitting terminal time can operator be reminded to note in time and easily.
3, when warning lamp is bright, operator in order to confirm that the concrete condition of the transmitting terminal of signal is driven in front, can by communication module with drive signal transmitting terminal and carry out communication, operator can be made easily to link up with the transmitting terminal driveing signal.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications are also considered as protection scope of the present invention.
Claims (8)
1. a unmanned plane, is characterized in that, described unmanned plane (1) comprises drives signal receiver (11), signal analysis device (12) and controller (13);
Described signal receiver (11) of driveing drives signal for receiving, and described signal of driveing is sent to signal analysis device (12), described signal analysis device (12) is for driveing signal analysis to described, when the intensity of driveing signal is less than default signal strength threshold, then unmanned plane (1) sends alarm signal to unmanned controller (2), when the intensity of driveing signal is more than or equal to default signal strength threshold, then described controller (13) controls unmanned plane (1) and forces landing.
2. unmanned plane according to claim 1, it is characterized in that, described unmanned plane (1) also comprises storer, described storer is for storing the position coordinates of the transmitting terminal driveing signal, when the position coordinates driveing the transmitting terminal of signal that unmanned plane (1) stores in storer sails into, described unmanned plane (1) sends alarm signal to unmanned controller (2).
3. unmanned plane according to claim 2, is characterized in that, (2) are provided with warning lamp to described unmanned controller, and described warning lamp has different alert mode.
4. unmanned plane according to claim 3, it is characterized in that, described warning lamp opens a kind of alert mode when the intensity of driveing signal is less than default signal strength threshold, and described warning lamp opens other alert mode when the position coordinates driveing the transmitting terminal of signal that unmanned plane (1) stores in storer sails into.
5. the unmanned plane according to claim 1-3 any one, is characterized in that, (2) are provided with communication module to described unmanned controller, and described communication module is used for carrying out communication with the described transmitting terminal driveing signal.
6. the unmanned plane according to claim 1-3 any one, is characterized in that, authorized unmanned plane (1) can identify the characteristic signal section of driveing signal.
7. control a method for unmanned plane, it is characterized in that, comprise the following steps:
S1, drive signal receiver receive drive signal;
S2, signal analysis device drive signal analysis to described, and when described intensity of driveing signal is less than default signal strength threshold, then unmanned plane sends alarm signal to unmanned controller;
When described intensity of driveing signal is more than or equal to default signal strength threshold, then controller controls unmanned plane and forces landing.
8. the method for control unmanned plane according to claim 7, it is characterized in that, described method also comprises the position coordinates that the transmitting terminal of signal is driven in storer storage, when the position coordinates driveing the transmitting terminal of signal that unmanned plane stores in storer sails into, described unmanned plane sends cue to unmanned controller.
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Application publication date: 20160420 |