CN105739531A - Unmanned plane control system based on unmanned plane air management platform - Google Patents
Unmanned plane control system based on unmanned plane air management platform Download PDFInfo
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- CN105739531A CN105739531A CN201610135571.5A CN201610135571A CN105739531A CN 105739531 A CN105739531 A CN 105739531A CN 201610135571 A CN201610135571 A CN 201610135571A CN 105739531 A CN105739531 A CN 105739531A
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- 230000006854 communication Effects 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 16
- 238000007726 management method Methods 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 9
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- 230000008569 process Effects 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000002457 bidirectional effect Effects 0.000 abstract 2
- 238000005516 engineering process Methods 0.000 description 4
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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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Abstract
The invention discloses an unmanned plane control system based on an unmanned plane air management platform, comprising a unmanned plane air management platform, a wireless communication system, a flight control system and a supervisory system, wherein the wireless communication system is in bidirectional connection with the unmanned plane air management platform, and the supervisory system is in bidirectional connection with the flight control system. The invention divides the flight task into an upper layer and a lower layer; the upper layer decision task is taken charge by the unmanned plane air management platform; the lower layer task is taken charge by the unmanned plane control system and is monitored by the supervisory system in real time. The invention can further improve the autonomy of the unmanned plane and realizes the unified scheduling and management on the unmanned plane.
Description
Technical field
The present invention relates to a kind of unmanned aerial vehicle control system based on unmanned plane aerial pipe platform, be specifically related to UAV Flight Control and management domain.
Background technology
Along with improving constantly of unmanned plane hardware development and production technology so that design high accuracy, high performance unmanned aerial vehicle control system threshold be gradually lowered.And along with the development in unmanned plane field itself, taking photo by plane, perform, survey and draw, the field unmanned plane such as power-line patrolling obtains increasing application, the importance of thing followed unmanned plane during flying safety also highlights day by day.Due to the directly manipulation of nobody in flight course, it requires that unmanned function adjusts its attitude, speed, flight path automatically, even also require that unmanned plane can independently carry out flight dispatch and trajectory planning in flight course according to mission requirements, under the premise ensureing flight safety, as often as possible perform task.
At present, the constantly communication that most unmanned plane autonomous flight is all basis and ground handling operator realizes, when unmanned plane quantity is continuously increased, the workload that ground handling operator is very big can be caused, and personnel's fatigue is to cause a key factor of unmanned plane during flying accident.
Therefore, need a kind of unified management system of offer at present badly, to alleviate the workload of ground handling operator, strengthen the flight safety of unmanned plane, then effectively overcome above-mentioned problems of the prior art.
Summary of the invention
Technical problem solved by the invention there are provided a kind of unmanned aerial vehicle control system based on unmanned plane aerial pipe platform, this system sets up contact by a unified unmanned plane aerial pipe platform and unmanned aerial vehicle control system, utilize platform that the autonomous flight of unmanned plane is carried out unified management, the autonomy of existing unmanned plane can be increased further, the workload of ground handling operator can be alleviated simultaneously, strengthen the flight safety of unmanned plane.Unmanned plane routeing in flight course, autonomous flight control, emergency process etc. form solution such as through the communication of the unmanned plane aerial pipe platform with the present invention, then effectively overcome above-mentioned problems of the prior art.
For solving above-mentioned technical problem, the technology used in the present invention means are as described below.
A kind of unmanned aerial vehicle control system, including: unmanned plane aerial pipe platform；Wireless telecommunication system, itself and described unmanned plane aerial pipe platform carry out communication in real time, and the unmanned plane state parameter at least including position and speed is sent to described unmanned plane aerial pipe platform, receive the destination instruction that described unmanned plane aerial pipe platform sends simultaneously；Flight control system, it receives the destination instruction of described wireless telecommunication system transmission, and in conjunction with the sensor information of unmanned plane self, controls described unmanned plane according to predetermined airline operation；Supervisory systems, it performs the situation of the destination instruction that described unmanned plane aerial pipe platform sends for monitoring described unmanned plane, when the appearance of described unmanned plane is out of control or drifts off the course, described supervisory systems sends emergent management instruction to described flight control system, and is reported to the police to unmanned plane aerial pipe platform by described wireless telecommunication system.
Wherein, described wireless telecommunication system supports 4G network and WiFi communication agreement, it can set up contact closely with described unmanned plane aerial pipe platform, guarantee that unmanned plane described in the process of execution task obeys United Dispatching and the planning of described unmanned plane aerial pipe platform all the time, it is ensured that smoothly completing of unmanned plane during flying task.
Wherein, before described unmanned plane takes off, utilizing described wireless telecommunication system and described unmanned plane aerial pipe platform to set up and connect, described unmanned plane aerial pipe platform is described unmanned plane one ID of distribution, and described unmanned plane is managed by the ID according to distribution；The task that ground handling operator performs as required, the air objective ground of described unmanned plane is selected by described unmanned plane aerial pipe platform, described unmanned plane aerial pipe platform constantly can send next destination instruction to described unmanned plane, until described unmanned plane arrives at.
Wherein, No. ID of described unmanned plane distribution can be identified automatically by described unmanned plane aerial pipe platform；When adopting 4G network and described unmanned plane aerial pipe platform sets up connection, described unmanned plane can be identified by described unmanned plane aerial pipe platform by cell-phone number；When adopting Wifi communications protocol and unmanned plane aerial pipe platform sets up connection, described unmanned plane can be identified by described unmanned plane aerial pipe platform by Mac address.
Wherein, in described unmanned plane during flying process, described supervisory systems is constantly monitored described unmanned plane and is performed the situation of the destination instruction that described unmanned plane aerial pipe platform sends；Utilize described wireless telecommunication system regularly to feed back the current position of described unmanned plane and velocity information to described unmanned plane aerial pipe platform when normal flight；When emergency occurs in described unmanned plane, described supervisory systems sends emergent management instruction to described flight control system, and reports to the police to unmanned plane aerial pipe platform, waits for rescue.
Wherein, described flight control system is furnished with range sensor and inertial sensor, described flight control system utilizes described range sensor to detect the distance from surrounding barrier, and utilize flight attitude that described inertial sensor calculates and the information of described range sensor is corrected, flight course carrys out avoiding obstacles according to correct range information, it is ensured that flight safety.
Described in having the beneficial effect that produced by the present invention.
First, the technology of wireless telecommunications, embedded system aspect is dissolved into flight control system by the present invention, aerial mission is divided into upper and lower two-layer, the decision task on upper strata is responsible for by unmanned plane aerial pipe platform, the execution task of lower floor is then responsible for by unmanned aerial vehicle control system, and monitored in real time by supervisory systems, alleviate the burden of flight control system, increase flight safety.
Second, the unmanned aerial vehicle control system that the present invention records is a kind of layering high performance control structure based on wireless telecommunications and supervisory systems, wireless telecommunications provide the real-time communication between the upper and lower, the actual implementation status of lower floor is monitored by supervisory systems in real time simultaneously, emergent management instruction is sent to flight control system when being in an emergency, and report to the police to unmanned plane aerial pipe platform, wait the rescue method of platform.
3rd, the mentality of designing of the system of the present invention meets the requirement of unmanned plane autonomous flight, and the scheduling on upper strata and task distributing uniform are processed by unmanned plane aerial pipe platform, alleviate the calculated load of UAV Flight Control System.
4th, the execution of task is subdivided into three phases by the unmanned aerial vehicle control system of the present invention, is followed successively by task preparation, tasks carrying and emergent management sequentially in time.
At mission ready time, unmanned plane is in state to be flown, unmanned aerial vehicle control system utilizes wireless telecommunication system, set up by 4G network or WiFi communication agreement and unmanned plane aerial pipe platform and connect, when after successful connection, platform is unmanned plane one ID of distribution, according to the ID of distribution, unmanned plane is managed.The task that ground handling operator can perform as required, the air objective ground of unmanned plane is selected by unmanned plane aerial pipe platform, platform is according to the current position of unmanned plane and final destination generates a feasible course line, and course line is assigned multiple waypoint location information.
In tasks execution phases, unmanned plane takes off, supervisory systems constantly obtains the information such as the position and speed of unmanned plane, and utilize wireless telecommunication system to feed back, to unmanned plane aerial pipe platform, the state that unmanned plane is current, unmanned plane aerial pipe platform is according to the current state of unmanned plane, constantly send destination instruction to unmanned plane, the destination instruction that flight control system receiving platform sends, sensor information in conjunction with unmanned plane self, control unmanned plane to fly to the destination specified, after unmanned plane arrives this destination, continue executing with the task of the next destination that flies to, until unmanned plane arrives destination last on course line, complete this aerial mission.Flight control system, in the process of the task of execution, utilizes the range sensor being equipped with that the barrier near the line of flight is evaded in real time, ensures the safety of flight.
In the emergent management stage, when unmanned plane is due to the situations such as unexpected factor appearance is out of control, drift off the course such as external disturbance, supervisory systems temporarily takes over unmanned plane, emergent management instruction is sent to flight control system, according to actual flight condition, select the processing modes such as landing nearby, and reported to the police to unmanned plane aerial pipe platform by wireless telecommunication system, the status information that Real-time Feedback unmanned plane is current, after emergent management completes, supervisory systems cancels adapter unmanned plane, waits the further rescue of unmanned plane aerial pipe platform.
The system of the present invention is not limiting as the concrete form of the wireless telecommunication system used.For ensureing real-time and the smoothness of communication, suitable communication modes can be selected according to the distance of distance aerial pipe platform in communication process.The available 4G network when long-distance flight, the available Wifi communications protocol when short distance flight.Other communications protocol is adopted to realize similar functions also in protection scope of the present invention.
Accompanying drawing explanation
Fig. 1 is the control system composition structural representation of the present invention.
The control system task that Fig. 2 is the present invention performs logical schematic.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
As it is shown in figure 1, the unmanned aerial vehicle control system composition structural representation of the present invention.Specifically, the important improvement point of the present invention is in that: by unmanned plane aerial pipe platform, wireless telecommunication system, flight control system and supervisory systems, this flight control system has inertial sensor and range sensor composition, and its attachment structure is: inertial sensor and range sensor connect flight control system；Wireless telecommunication system connects unmanned plane aerial pipe platform, flight control system and supervisory systems, and wherein wireless telecommunication system and unmanned plane aerial pipe platform are bi-directionally connected；Supervisory systems and flight control system are bi-directionally connected.
Refer to Fig. 2 again, below the specific works step of the present invention is described, in order to the scheme that the present invention is recorded by reader is more fully understood that.
Step 1: at mission ready time, unmanned plane before take off, utilizes wireless telecommunication system to send connection request, the request of platform response unmanned plane to unmanned plane aerial pipe platform, and distributing an ID for unmanned plane, platform utilizes ID that unmanned plane is identified and task is distributed and management；
Step 2: at mission ready time, ground handling operator selects the destination of unmanned plane during flying by unmanned plane aerial pipe platform, and platform according to the current position of unmanned plane and final destination, generates a course line comprising multiple way point information；
Step 3: in tasks execution phases, platform is according to the way point information generated, wireless telecommunication system is utilized constantly to send destination instruction to unmanned plane, unmanned plane utilizes flight control system to carry out taking off and start to perform destination instruction, utilize the range sensor being equipped with that the barrier near the line of flight is evaded in real time, it is ensured that flight safety also arrives the destination specified.Simultaneously, supervisory systems is constantly monitored unmanned plane and is performed the situation of destination instruction, and feed back to unmanned plane during flying management platform, after unmanned plane flies a destination smoothly, platform sends next destination instruction automatically, if not having emergency to occur, this step circulates down always, until unmanned plane arrives at；
Step 4: in the emergent management stage, when unmanned plane performs in the process of aerial mission, owing to the unexpected factors such as outside strong jamming occur out of control, the situation such as drift off the course, now flight control system suspends the destination instruction of receiving platform, emergent management instruction is sent to flight control system by supervisory systems, according to actual flight condition, select the processing modes such as landing nearby, and reported to the police to unmanned plane aerial pipe platform by wireless telecommunication system, the status information that Real-time Feedback unmanned plane is current, after emergent management completes, supervisory systems cancels adapter unmanned plane, and wait the further rescue of unmanned plane aerial pipe platform.
In sum, present invention accomplishes different unmanned plane and realized unified aerial mission scheduling and management by unmanned plane aerial pipe platform, further mitigate the work load of ground handling operator, especially aerial pipe platform is utilized to process by unified for the upper strata decision-making of aerial mission, alleviate the operand of UAV Flight Control System, there is simple in construction, general, reliable, improve flight safety and autonomy.
Claims (6)
1. a unmanned aerial vehicle control system, it is characterised in that including:
Unmanned plane aerial pipe platform；
Wireless telecommunication system, itself and described unmanned plane aerial pipe platform carry out communication in real time, and the unmanned plane state parameter at least including position and speed is sent to described unmanned plane aerial pipe platform, receive the destination instruction that described unmanned plane aerial pipe platform sends simultaneously；
Flight control system, it receives the destination instruction of described wireless telecommunication system transmission, and in conjunction with the sensor information of unmanned plane self, controls described unmanned plane according to predetermined airline operation；
Supervisory systems, it performs the situation of the destination instruction that described unmanned plane aerial pipe platform sends for monitoring described unmanned plane, when the appearance of described unmanned plane is out of control or drifts off the course, described supervisory systems sends emergent management instruction to described flight control system, and is reported to the police to unmanned plane aerial pipe platform by described wireless telecommunication system.
2. unmanned aerial vehicle control system according to claim 1, it is characterized in that: described wireless telecommunication system supports 4G network and WiFi communication agreement, it can set up contact closely with described unmanned plane aerial pipe platform, guarantee that unmanned plane described in the process of execution task obeys United Dispatching and the planning of described unmanned plane aerial pipe platform all the time, it is ensured that smoothly completing of unmanned plane during flying task.
3. unmanned aerial vehicle control system according to claim 2, it is characterized in that: before described unmanned plane takes off, utilize described wireless telecommunication system and described unmanned plane aerial pipe platform to set up to connect, described unmanned plane aerial pipe platform is described unmanned plane one ID of distribution, and described unmanned plane is managed by the ID according to distribution；The task that ground handling operator performs as required, the air objective ground of described unmanned plane is selected by described unmanned plane aerial pipe platform, described unmanned plane aerial pipe platform constantly can send next destination instruction to described unmanned plane, until described unmanned plane arrives at.
4. unmanned aerial vehicle control system according to claim 3, it is characterised in that: No. ID of the distribution of described unmanned plane can be identified automatically by described unmanned plane aerial pipe platform；When adopting 4G network and described unmanned plane aerial pipe platform sets up connection, described unmanned plane can be identified by described unmanned plane aerial pipe platform by cell-phone number；When adopting Wifi communications protocol and unmanned plane aerial pipe platform sets up connection, described unmanned plane can be identified by described unmanned plane aerial pipe platform by Mac address.
5. according to described unmanned aerial vehicle control system arbitrary in Claims 1-4, it is characterised in that: in described unmanned plane during flying process, described supervisory systems is constantly monitored described unmanned plane and is performed the situation of the destination instruction that described unmanned plane aerial pipe platform sends；Utilize described wireless telecommunication system regularly to feed back the current position of described unmanned plane and velocity information to described unmanned plane aerial pipe platform when normal flight；When emergency occurs in described unmanned plane, described supervisory systems sends emergent management instruction to described flight control system, and reports to the police to unmanned plane aerial pipe platform, waits for rescue.
6. unmanned aerial vehicle control system according to claim 5, it is characterized in that: described flight control system has range sensor and inertial sensor, described flight control system utilizes described range sensor to detect the distance from surrounding barrier, and utilize flight attitude that described inertial sensor calculates and the information of described range sensor is corrected, flight course carrys out avoiding obstacles according to correct range information, it is ensured that flight safety.
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| CN106926767A (en) * | 2017-01-17 | 2017-07-07 | 斑马信息科技有限公司 | Unmanned plane Vehicular system and its management method |
| CN107357315A (en) * | 2017-09-06 | 2017-11-17 | 天津飞眼无人机科技有限公司 | A kind of unmanned machine management system |
| CN107450574A (en) * | 2016-12-09 | 2017-12-08 | 广州亿航智能技术有限公司 | Compound flight control method and system, aircraft |
| CN108173978A (en) * | 2017-11-23 | 2018-06-15 | 浙江大学 | Unmanned plane detection method based on smart machine parsing Wi-Fi MAC Address |
| CN108196582A (en) * | 2018-02-12 | 2018-06-22 | 深圳技术大学（筹） | A kind of indoor Visual Navigation unmanned plane cluster flight control system and method |
| CN109857142A (en) * | 2019-03-25 | 2019-06-07 | 深圳基原中正工程建设有限公司 | Aircraft United Dispatching management system based on Internet of Things |
| CN109978425A (en) * | 2017-12-28 | 2019-07-05 | 航天信息股份有限公司 | A kind of unmanned plane express delivery delivery system, method and device |
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| CN111290430A (en) * | 2020-02-17 | 2020-06-16 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle formation dance step uploading transmission control system and method and intelligent terminal |
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| CN108196582A (en) * | 2018-02-12 | 2018-06-22 | 深圳技术大学（筹） | A kind of indoor Visual Navigation unmanned plane cluster flight control system and method |
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| CN111246365A (en) * | 2018-11-29 | 2020-06-05 | 华为技术有限公司 | Mobile route management and control method, device and system |
| CN111246365B (en) * | 2018-11-29 | 2022-04-22 | 华为技术有限公司 | Mobile route management and control method, device and system |
| CN109857142A (en) * | 2019-03-25 | 2019-06-07 | 深圳基原中正工程建设有限公司 | Aircraft United Dispatching management system based on Internet of Things |
| CN114514055A (en) * | 2019-07-26 | 2022-05-17 | 迪斯尼实业公司 | Themed airborne aircraft entertainment platform for providing dynamically coordinated performance |
| CN114514055B (en) * | 2019-07-26 | 2023-09-19 | 迪斯尼实业公司 | Themed aerial vehicle entertainment platform for providing dynamically coordinated performances |
| CN111290430A (en) * | 2020-02-17 | 2020-06-16 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle formation dance step uploading transmission control system and method and intelligent terminal |
| CN114460957A (en) * | 2021-10-29 | 2022-05-10 | 上海翼枭航空科技有限公司 | Unmanned aerial vehicle management method, system, equipment and storage medium |
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