CN105763230B - The autonomous base station system of packaged type multi-rotor unmanned aerial vehicle - Google Patents
The autonomous base station system of packaged type multi-rotor unmanned aerial vehicle Download PDFInfo
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B5/00—Near-field transmission systems, e.g. inductive loop type
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18517—Transmission equipment in earth stations
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18528—Satellite systems for providing two-way communications service to a network of fixed stations, i.e. fixed satellite service or very small aperture terminal [VSAT] system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
Abstract
The invention discloses a kind of autonomous base station systems of packaged type multi-rotor unmanned aerial vehicle.Wherein, the system comprises autonomous base station terminals (1) and multi-rotor unmanned aerial vehicle system (2); wherein, autonomous base station terminal (1) includes movable wheel type chassis and dragging system (3), energy conversion system (4), hangar and foldable airplane parking area (5) and automatically controlled communications management system (6).Multi-rotor unmanned aerial vehicle system (2) includes multi-rotor unmanned aerial vehicle platform (7), multi-source navigation system (8), wireless charging system (9), data command communication system (10), UAV autopilot (11).Through the embodiment of the present invention, solve how by autonomous terminal for multi-rotor unmanned aerial vehicle provide wireless charging, mission planning, cluster strategy distribution, airborne audio, video data exchange with storage etc. technical problems, improve autonomous work compound ability, cruising ability and the data transmission capabilities between ground system of multi rack multi-rotor unmanned aerial vehicle.
Description
Technical field
The present embodiments relate to the continuous AUTONOMOUS TASK technical fields of unmanned plane, and in particular to a kind of more rotors of packaged type
The autonomous base station system of unmanned plane.
Background technology
In recent years, multi-rotor unmanned aerial vehicle was with its simple flight mechanism, excellent operating characteristics, the flight control to reach its maturity
Technology processed, the price less expensive compared to fixed-wing and helicopter and have been more and more widely used, in addition to traditional takes photo by plane
Outside consumer field, multi-rotor unmanned aerial vehicle is in the extraordinary neck such as agricultural plant protection, ecological protection, border monitoring, police security protection, disaster assistance
The application demand in domain is more and more stronger.And application environment is increasingly sophisticated, is proposed to multi-rotor unmanned aerial vehicle increasingly harsher
Performance requirement such as requires to be counted on a large scale between multiple no-manned plane work compound, continuous long-time AUTONOMOUS TASK and ground system
According to transmission etc..
However, the existing universal capacity of will of multi-rotor unmanned aerial vehicle is insufficient, it is difficult to meet requirements above.For example, most of nothing
The man-machine working method for all using " one-to-one ", i.e. a manipulator correspond to an airplane, are operated by remote control mode, this
Kind work pattern not only greatly improves human cost, is also unfavorable for the development of unmanned plane autonomous flight ability.For another example, at this stage
One of maximum bottleneck of more rotors is its battery durable ability deficiency, and the flight time of most unmanned planes is no more than 40 points
Clock, this severely limits the applications of continuous long working.For another example, in complicated aerial mission, it is desirable that unmanned plane and ground
Monitoring center has large-scale data transmission, but passes radio station technique based on existing several biography/figures, and wireless transmission bandwidth is relatively low,
It is difficult to meet application requirement.
In view of this, special propose the present invention.
Invention content
The main purpose of the embodiment of the present invention is to provide a kind of autonomous base station system of packaged type multi-rotor unmanned aerial vehicle,
Solves autonomous work compound ability, cruising ability and and the ground for how improving multi rack multi-rotor unmanned aerial vehicle at least partly
The technical issues of data transmission capabilities between system.
To achieve the goals above, according to an aspect of the invention, there is provided following technical scheme：
A kind of autonomous base station system of packaged type multi-rotor unmanned aerial vehicle, the system include at least：
Autonomous base station terminal (1), including movable wheel type chassis and the system of dragging (3), energy conversion system (4), hangar
And foldable airplane parking area (5) and automatically controlled communications management system (6), and for providing task management for the multi-rotor unmanned aerial vehicle
With communicate and energy supply, wherein the energy conversion system (4) is used for as the hangar and foldable airplane parking area (5) and institute
State automatically controlled communications management system (6) power supply；The automatically controlled communications management system (6) is used for as multi-rotor unmanned aerial vehicle charging simultaneously
It is communicated with the multi-rotor unmanned aerial vehicle；
Multi-rotor unmanned aerial vehicle system (2), including multi-rotor unmanned aerial vehicle platform (7), multi-source navigation system (8), wireless charging
System (9), data command communication system (10), UAV autopilot (11), and be used for and the autonomous base station terminal
(1) into row data communication, wherein the automatically controlled communications management system (6) respectively with the multi-source navigation system (8), the nothing
Micro USB electric system (9) and the data command communication system (10) communication connection；It is the multi-rotor unmanned aerial vehicle platform (7), described
Multi-source navigation system (8), the wireless charging system (9), the data command communication system (10) and the unmanned plane are automatic
Pilot (11) communicates to connect successively, the UAV autopilot (11) for complete power management, telecommunication management and
The navigation and task control of the multi-rotor unmanned aerial vehicle；
The energy conversion system (4), the hangar and foldable airplane parking area (5), the automatically controlled communications management system (6)
It on the movable wheel type chassis and is pulled in system (3) with the multi-rotor unmanned aerial vehicle system (2) setting.
Further, the energy conversion system (4) specifically includes：
Adaptive transformation AM access module (41), for powering for AC-DC bi-directional conversions module (42)；
The AC-DC bi-directional conversions module (42), by exchanging AC buses and automatically controlled communications management system (6) phase
Even, and also by direct current DC buses respectively with the hangar and foldable airplane parking area (5), the automatically controlled communications management system
(6) it is connected；
Stand-by power supply storehouse (43), for being charged and being powered with the AC-DC bi-directional conversions module (42).
Further, the automatically controlled communications management system (6) specifically includes：
Wireless charging module (61), including wireless charging power module (611) and wireless charging conveying induction coil (612-
619), and for carrying out energy conduction with the wireless charging system (9)；
Near-field communication module (62), including UWB ultra wide bands module (621), WLAN module (622), bluetooth module (623) and
Near-field communication aerial (624), and for carrying out data exchange with the data command communication system (10), and revolved with described more
Wing unmanned plane is communicated；
Remote communication module (63), including LAN communication module (631) and cellular mobile network data module (632), and
For carrying out data exchange with the data command communication system (10)；
Data-link cooperative module (64), the data sharing for making multiple autonomous base station terminals (1), and coordinate institute
State scheduling and the task distribution of multi-rotor unmanned aerial vehicle；
Electric wave navigates and beacon module (65), including electric wave landing navigation module (651), electric wave landing navigation antenna
(652), landing auxiliary optical beacon (653) and positive positioning auxiliary optical beacon (654), and for more rotors without
It is in communication with during man-machine landing；
Mission planning and interactive module (66), for managing the wireless charging module (61), the near-field communication module
(62), the remote communication module (63), the data-link cooperative module (64) and electric wave navigation and beacon module (65).
Further, the automatically controlled communications management system (6) further includes：
Local data memory (67), for storing the data downloaded via the near-field communication module (62)；
Manual working interface (68), for being safeguarded to autonomous base station terminal (1).
Further, the multi-rotor unmanned aerial vehicle platform (7) includes：Propeller (71), brushless motor (72), electric machine support
(73), wing arm (74), wing arm support (75), fuselage (76) and undercarriage (77)；Wherein：The propeller (71) is mounted on described
On brushless motor (72), and rotation is driven to generate lift by the brushless motor (72)；The electric machine support (73) is for installing
The brushless motor (72)；The wing arm (74) is for connecting the wing arm support (75) and electric machine support (73)；The wing arm
Holder (75) is for connecting the fuselage (76) and the wing arm (74)；The undercarriage (77) be used to support more rotors without
It is man-machine；
The multi-source navigation system (8) includes：Vision guided navigation module (81), electric wave navigation module (82), supersonic wave short-range
Navigation module (83), GPS positioning module (84) and attitude control navigation module (85), and pass through the landing auxiliary optical beacon
(653) and the positive positioning auxiliary optical beacon (654) guides the multi-rotor unmanned aerial vehicle to rest on aircraft gate；
The wireless charging system (9) includes：The wireless charging induction receiving coil being set in the undercarriage (77)
(91), power supply charging and discharging state management module (92) and airborne lithium battery (93), wherein the wireless charging induction receiving coil
(91) it is used to carry out energy conduction with wireless charging conveying induction coil (612-619)；
The data command communication system (10) includes：Remote communication digital transmission module (101), near-field communication digital transmission module
(102) and electric wave navigation digital transmission module (103), wherein the remote communication digital transmission module (101) be used for and the remote communication
Module (63) carries out data exchange；The near-field communication digital transmission module (102) is used to carry out with the near-field communication module (62)
Data exchange；The electric wave navigation digital transmission module (103) is used to establish communication link with electric wave navigation and beacon module (65)
It connects to realize the auxiliary landing of the multi-rotor unmanned aerial vehicle；
The UAV autopilot (11) include central processing unit (111), respectively with the central processing unit
The power module (112) that is connected, remote control receiver (113), propeller motor driver (114), multi-source navigation system connect
Mouth (115), wireless charging system interface (116) and data Order Communications System system interface (117).
Further, the vision guided navigation module (81) includes the miniature camera of binocular vision (811) and image procossing identification
Module (812), and be used to take photo by plane, the auxiliary landing of target pointing, automatic obstacle-avoiding and the multi-rotor unmanned aerial vehicle；
The electric wave navigation module (82) includes electric wave navigation antenna (821), electric wave aeronautical station module (822) and electric wave
Navigation calculation module (823), and the navigation electric wave for receiving the electric wave navigation and beacon module (65) transmission, and resolve
The position of the autonomous base station terminal (1) is to guide the multi-rotor unmanned aerial vehicle close with landing to the autonomous base station terminal；
The supersonic wave short-range navigation module (83) includes that ultrasonic sensor (831) and ultrasonic height resolve module
(832), and for measure the multi-rotor unmanned aerial vehicle relative to ground or the hangar and foldable airplane parking area (5) away from
From；
The GPS positioning module (84) includes that GPS antenna (841), GPS receiver (842) and GPS location resolve module
(843), and for determining the position of the multi-rotor unmanned aerial vehicle；
The attitude control navigation module (85) includes three-axis gyroscope (851), three axis accelerometer (852), three-axle magnetic field meter
(853), barometertic altimeter (854) and attitude algorithm and Flight Control Algorithm module (855), wherein the three-axis gyroscope
(851) it is used to measure three rotating rate of shaft of the multi-rotor unmanned aerial vehicle；The three axis accelerometer (852) is described for measuring
The 3-axis acceleration of multi-rotor unmanned aerial vehicle；The three-axle magnetic field meter (853) is for measuring earth magnetism in the multi-rotor unmanned aerial vehicle
Three axis components；The barometertic altimeter (854) is used to measure air pressure and the height residing for the multi-rotor unmanned aerial vehicle；The appearance
State resolves and Flight Control Algorithm module (855) is used to integrate the information of the ultrasonic sensor (831) and obtains described more
The control command of rotor wing unmanned aerial vehicle.
Compared with prior art, above-mentioned technical proposal at least has the advantages that：
1) described flexible from master base station and system layout mode, independence is strong.Unification layout can be used：One autonomous base
It stands and provides the service of working continuously for multi rack multi-rotor unmanned aerial vehicle；It also can diversification layout：More it is autonomous it is base stations united arrange net, base station
Between shared information, provide the service of working continuously for all multi-rotor unmanned aerial vehicles in network.Which greatly reduces manipulation unmanned planes
Human input.
2) energy is automatically provided when base station is stopped by wireless charging technology for unmanned plane group from master base station described in continue
Boat service saves the cumbersome link that artificial or machine replaces battery, is easy to implement the continuous AUTONOMOUS TASK under unmanned environment.
3) by short-distance wireless communication technology, the more powerful calculating of unmanned aerial vehicle platform, storage capacity are compared using base station,
The data exchange services such as motion planning, the distribution of cluster strategy, the storage of airborne audio and video are provided for unmanned plane, reduce unmanned plane collection
At complexity and airborne hardware resource cost.
Certainly, it implements any of the products of the present invention and is not necessarily required to realize all the above advantage simultaneously.
Description of the drawings
A part of the attached drawing as the present invention, for providing further understanding of the invention, of the invention is schematic
Embodiment and its explanation do not constitute inappropriate limitation of the present invention for explaining the present invention.Obviously, the accompanying drawings in the following description
Only some embodiments to those skilled in the art without creative efforts, can be with
Other accompanying drawings can also be obtained according to these attached drawings.In the accompanying drawings：
Fig. 1 is according to the autonomous base station system structural representation of packaged type multi-rotor unmanned aerial vehicle shown in an exemplary embodiment
Figure；
Fig. 2 is to be shown according to the autonomous base station system structure of packaged type multi-rotor unmanned aerial vehicle shown in another exemplary embodiment
It is intended to；
Fig. 3 is the structural schematic diagram of the automatically controlled communications management system shown according to an exemplary embodiment；
Fig. 4 is the structural schematic diagram according to the multi-rotor unmanned aerial vehicle platform shown in an exemplary embodiment；
Fig. 5 is the structural schematic diagram according to the data command communication system shown in an exemplary embodiment；
Fig. 6 is the structural schematic diagram according to the automatic pilot shown in an exemplary embodiment；
Fig. 7 is hangar in the autonomous base station terminal shown according to an exemplary embodiment and the work signal of foldable airplane parking area
Figure；
Fig. 8 is the polynary navigation system internal structure schematic diagram shown according to an exemplary embodiment；
Fig. 9 is the schematic diagram of the autonomous base station terminal expansion arrangement shown according to an exemplary embodiment；
Figure 10 is that the autonomous base station terminal shown according to an exemplary embodiment folds arrangement schematic diagram.
These attached drawings and verbal description are not intended to the conception range limiting the invention in any way, but by reference to
Specific embodiment is that those skilled in the art illustrate idea of the invention.
Specific implementation mode
The technical issues of below in conjunction with the accompanying drawings and specific embodiment is solved to the embodiment of the present invention, used technical side
Case and the technique effect of realization carry out clear, complete description.Obviously, described embodiment is only one of the application
Divide embodiment, is not whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not paying creation
Property labour under the premise of, all other equivalent or obvious variant the embodiment obtained is all fallen in protection scope of the present invention.
The embodiment of the present invention can be embodied according to the multitude of different ways being defined and covered by claim.
It should be noted that in the following description, understanding for convenience, giving many details.But it is very bright
Aobvious, realization of the invention can be without these details.
It should be noted that in the case where not limiting clearly or not conflicting, each embodiment in the present invention and its
In technical characteristic can be combined with each other and form technical solution.
In practical applications, the autonomous work compound ability of multi-rotor unmanned aerial vehicle, cruising ability and between ground system
Data transmission capabilities all up for improve.For this purpose, a kind of packaged type multi-rotor unmanned aerial vehicle of offer of the embodiment of the present invention is autonomous
Base station system.As shown in Figure 1, the system at least may include autonomous base station terminal 1 and multi-rotor unmanned aerial vehicle system 2.Wherein, certainly
Master base station terminal 1 include movable wheel type chassis with pull system 3, energy conversion system 4, hangar and foldable airplane parking area 5 and
Automatically controlled communications management system 6, and for providing task management and communication and energy supply for multi-rotor unmanned aerial vehicle.Wherein, energy
Source converting system 4 is used to power for hangar and foldable airplane parking area 5 and automatically controlled communications management system 6；Automatically controlled communications management system 6
For charging for multi-rotor unmanned aerial vehicle and being communicated with multi-rotor unmanned aerial vehicle.Multi-rotor unmanned aerial vehicle system 2 include more rotors without
Man-machine platform 7, multi-source navigation system 8, wireless charging system 9, data command communication system 10, UAV autopilot 11,
And for autonomous base station terminal 1 into row data communication, wherein automatically controlled communications management system 6 respectively with multi-source navigation system
8, wireless charging system 9 and data command communication system 10 communicate to connect；Multi-rotor unmanned aerial vehicle platform 7, multi-source navigation system 8,
Wireless charging system 9, data command communication system 10 and UAV autopilot 11 communicate to connect successively, and unmanned plane is driven automatically
Sail navigation and task control of the instrument 11 for completing power management, telecommunication management and multi-rotor unmanned aerial vehicle.Energy conversion system
(4), hangar and foldable airplane parking area (5), automatically controlled communications management system (6) and multi-rotor unmanned aerial vehicle system (2) are arranged removable
On dynamic wheel undercarriage and dragging system (3).
In the present embodiment, autonomous base station terminal 1 can provide a mobile monitor management platform for whole system, for certainly
Master base station terminal itself and multi-rotor unmanned aerial vehicle provide energy supply, can also provide airplane parking area for the landing of multi-rotor unmanned aerial vehicle
The ancillary service of formula, and the task management for multi-rotor unmanned aerial vehicle provides support service with communication.
Main body of the multi-rotor unmanned aerial vehicle system 2 as execution task, while maintaining to communicate with the data of autonomous base station terminal.
As shown in Fig. 2, in the sessions that take off, dynamic corrections instruction is carried out between autonomous base station terminal 1 and multi-rotor unmanned aerial vehicle system 2
It uploads, drone status information back and work data frame-skipping return；In landing/stop stage, carries out next subjob and refer to
Upload and work data is enabled completely to download；In addition the inquiry of power-supply system working condition and power-supply system are also carried out between them
Working condition returns.
On the other hand the hangar and airplane parking area of hangar and 5 one side of foldable airplane parking area as multi-rotor unmanned aerial vehicle are also made
For the main body frame of autonomous base station terminal 1, connection movable wheel type chassis and dragging system 3.Preferably, hangar is that three faces are penetrating
Rectangle is laid out, and multi rack multi-rotor unmanned aerial vehicle can be accommodated according to base station demand；Foldable airplane parking area is that base station is tied in a folded configuration
Four walls of structure, are unfolded under the driving of driving motor, and it is flat that "+" font airplane parking area is collectively formed at the top of four sides airplane parking area plate and base station
Face.According to base station demand, foldable airplane parking area aircraft gate may be configured as 1.5-2 times of multi-rotor unmanned aerial vehicle quantity, each to shut down
Position is in " H " shape, divides into wireless charging module.
Electrical and data exchange of the automatically controlled communications management system 6 as the autonomous base station system of packaged type multi-rotor unmanned aerial vehicle
On the one hand hinge provides wireless charging service for multi-rotor unmanned aerial vehicle, on the other hand led for the communication of multi-rotor unmanned aerial vehicle, landing
Boat, mission planning and the offers support such as interact.
Through the embodiment of the present invention, setting multi-rotor unmanned aerial vehicle system 2 and wherein setting wireless charging system 9, the nothing
Micro USB electric system 9 is communicated to connect with the automatically controlled communications management system 6 being arranged in autonomous base station terminal 1 again, works as multi-rotor unmanned aerial vehicle
When resting in the hangar of autonomous base station terminal and foldable airplane parking area, it may be implemented, to the wireless charging of multi-rotor unmanned aerial vehicle, to prolong
The cruise duration of long multi-rotor unmanned aerial vehicle；In addition, multi-rotor unmanned aerial vehicle platform 7, multi-source also is arranged in multi-rotor unmanned aerial vehicle system 2
Navigation system 8, data command communication system 10 and UAV autopilot 11, and automatically controlled communications management system 6 is distinguished
It is communicated to connect with multi-source navigation system 8 and data command communication system 10；Meanwhile multi-rotor unmanned aerial vehicle platform 7, multi-source navigation system
System 8, wireless charging system 9, data command communication system 10 and UAV autopilot 11 communicate to connect successively, to establish
Play the channel of data transmission and mission planning so that autonomous base station terminal 1 cooperates with multi-rotor unmanned aerial vehicle system 2, improves
Autonomous work compound ability between multi rack multi-rotor unmanned aerial vehicle and the data transmission capabilities between ground system, can be with
The data exchange services such as motion planning, the distribution of cluster strategy and the storage of airborne audio and video are provided for multi-rotor unmanned aerial vehicle, are reduced
Multi-rotor unmanned aerial vehicle integration complexity and airborne hardware resource cost.
Wherein, movable wheel type chassis can be used as connection and mobile mechanism in the present embodiment with system 3 is pulled, to
It can be by system carry provided in an embodiment of the present invention on transporting equipment.Movable wheel type chassis can connect with dragging system 3
It is connected on hangar and foldable airplane parking area 5.
Stop as shown in Fig. 2, hangar and foldable airplane parking area 5 may include preceding airplane parking area plate 521, rear airplane parking area plate 522, a left side
Machine level ground plate 523, right airplane parking area plate 524, aircraft gate panel 525, hangar top plate 511, hangar bottom plate 512 and driving motor 56.Machine
Library and foldable airplane parking area 5 are four walls of architecture of base station in a folded configuration, can also be unfolded under the driving of driving motor 56.
Preceding airplane parking area plate 521, rear airplane parking area plate 522, left airplane parking area plate 523, right airplane parking area plate 524 are collectively formed with base station top plate 511
"+" font airplane parking area plane.Region between hangar bottom plate 512 and hangar top plate is the hangar for storing multi-rotor unmanned aerial vehicle, root
According to base station demand, airplane parking area aircraft gate may be configured as the quantity of 1.5-2 times of multi-rotor unmanned aerial vehicle, and each aircraft gate is in " H " shape,
And divide into wireless charging module 61.
As shown in Fig. 2, in an alternative embodiment, energy conversion system 4 specifically includes：Adaptive transformation accesses mould
Block 41, AC-DC bi-directional conversions module 42 and stand-by power supply storehouse 43.Wherein, adaptive transformation AM access module 41 is used to be that AC-DC is bis-
It powers to conversion module 42；AC-DC bi-directional conversions module 42 is connected by exchanging AC buses with automatically controlled communications management system 6, and
And also it is connected respectively with hangar and foldable airplane parking area 5, automatically controlled communications management system 6 by direct current DC buses；Stand-by power supply storehouse
43 for being charged and being powered with AC-DC bi-directional conversions module 42.
Wherein, stand-by power supply storehouse 43 can install multiple accumulator groups, which is preferably Vehicular accumulator cell group.It is standby
Generating set can also be installed with power storehouse 43, generating set is preferably diesel generating set.
As shown in figure 3, on the basis of the above embodiments, automatically controlled communications management system 6 can specifically include：Wireless charging
Module 61, near-field communication module 62, remote communication module 63, data-link cooperative module 64, electric wave navigation and 65 and of beacon module
Mission planning and interactive module 66.Wherein, wireless charging module 61 includes that wireless charging power module 611 and wireless charging convey
Induction coil 612-619, and for carrying out energy conduction with wireless charging system 9.Near-field communication module 62 includes UWB ultra-wide
Band module 621, WLAN module 622, bluetooth module 623 and near-field communication aerial 624, and be used for and data command communication system
10 carry out data exchange, and are communicated with multi-rotor unmanned aerial vehicle.Remote communication module 63 includes LAN communication module 631 and bee
Nest mobile network data module 632, and for carrying out data exchange with data command communication system 10.Data-link cooperative module
64 data sharing for making multiple autonomous base station terminals 1, and coordinate scheduling and the task distribution of multi-rotor unmanned aerial vehicle.Electric wave
Navigation and beacon module 65 include electric wave landing navigation module 651, electric wave landing navigation antenna 652, landing auxiliary optical beacon
653 and positive positioning auxiliary optical beacon 654, and for being in communication with during multi-rotor unmanned aerial vehicle landing.Appoint
Business planning is with interactive module 66 for managing wireless charging module 61, near-field communication module 62, remote communication module 63, data-link
Cooperative module 64 and electric wave navigation and beacon module 65.
Wherein, wireless charging module 61 can be independently positioned at below hangar and foldable airplane parking area 5.In actual implementation
In the process, wireless charging module 61 can convey induction coil by 1 wireless charging power module 611 and 8 wireless chargings
612-619 is formed.It is preferably ring-type that wireless charging, which conveys induction coil 612-619, and closed is installed under each aircraft gate.When
When multi-rotor unmanned aerial vehicle is rested on airplane parking area, wireless charging module 61 establishes the energy conduction with wireless charging system 9.
As an example, as shown in Fig. 2, the energy resource supply of autonomous base station terminal 1 can there are two types of, one is by alternating current/dynamic
Power is electrically accessed adaptive voltage changing module 41 and AC-DC bi-directional conversions module 42 in energy conversion system 4, is depressured and is converted to suitable
The alterating and direct current of base station working frequency is closed, distribution to AC buses and DC buses comes for packaged type multi-rotor unmanned aerial vehicle from master base station
System power supply, while the direct current being converted to also is the accumulator group boost charge in stand-by power supply storehouse 43；Another kind be
System is powered using the generating set in stand-by power supply storehouse 43 for accumulator group in the case of grid power can not being used to access, with
The electric power of accumulator group converted by AC-DC bi-directional conversions module 42 after to the autonomous base station system of packaged type multi-rotor unmanned aerial vehicle
Electric power needed for providing.The direct current of generation by airplane parking area driving motor 56 of the DC buses into hangar and foldable airplane parking area 5,
Automatically controlled communications management system 6 is powered；Alternating current is powered by AC buses to wireless charging module 61.Automatically controlled communications management system 6
In wireless charging power module 611 obtain operating power source from DC buses, to wireless charging system 9 send power-supply system work
Status query instruction is to adjust charged state.
When multi-rotor unmanned aerial vehicle, which rests in, carries out wireless charging on airplane parking area, the foundation of near-field communication module 62 refers to data
The short distance high bandwidth wireless of communication system 10 is enabled to connect, to carry out the data exchange of high speed.
When multi-rotor unmanned aerial vehicle carries out aerial work, remote communication module 63 is established and data command communication system 10
It is remotely connected, carry out small-scale data exchange.
Data-link cooperative module 64 establishes the wireless connection between base station, makes base in the case where more base station operations are laid out
Energy shared data between standing coordinates the work such as scheduling, the task distribution of multi-rotor unmanned aerial vehicle.
Landing auxiliary optical beacon 653 is filled on each side of each aircraft gate " H " letter.In multi-rotor unmanned aerial vehicle landing
In the process, electric wave navigation and the auxiliary of beacon module 65 complete being accurately positioned for unmanned plane landing.
Mission planning and the core that interactive module 66 is automatically controlled communications management system 6, will manage other modules and appoint in difference
It cooperates under business stage and pattern.The flight shape of mission planning and 66 real-time reception multi-rotor unmanned aerial vehicle group of interactive module
State and task data, and the Large Volume Datas such as airborne audio and video are downloaded using near-field communication module 62, and it is powerful using base station
The new unmanned plane cluster task distribution of computing capability grey iterative generation, the instruction of single machine motion planning, eventually by near-field communication module
Instruction sequence is uploaded to multi-rotor unmanned aerial vehicle by 62.
On the basis of the above embodiments, as shown in figure 3, automatically controlled communications management system 6 can also include：Local data is deposited
Reservoir 67 and manual working interface 68.Wherein, local data memory 67 receives mission planning and utilizes near field with interactive module 66
The Large Volume Datas such as the airborne audio and video that communication module 62 is downloaded.Manual interface 68 convenient for staff to autonomous base station terminal into
Row Local or Remote is safeguarded.
The course of work of modules in automatically controlled communications management system 6 is described in detail in citing below.
Near-field communication module 62 connects the multi-rotor unmanned aerial vehicle group that autonomous base station terminal 1 is controlled on demand, to ensure every
Multi-rotor unmanned aerial vehicle possesses enough bandwidth and is communicated with autonomous base station terminal 1：In/the sessions that take off, more rotors nobody
Machine system 2 returns the status information of multi-rotor unmanned aerial vehicle to autonomous base station terminal 1, and mission planning is with interactive module 66 according to passback
Dynamically calculating task instructs for data and mission requirements, and is uploaded to multi-rotor unmanned aerial vehicle；In landing/stop stage, more rotors
UAV system 2 by near-field communication module 62, by complete work data (audio, video data for including large capacity) it is complete under
It is downloaded to autonomous base station terminal 1, while autonomous base station terminal 1 uploads the lower subjob initial order of multi-rotor unmanned aerial vehicle.Distal end is logical
More rotations that letter module 63 interacts autonomous base station terminal 1 to service centre and its controlled by LAN or cellular high speed mobile network
The work of 2 group of wing UAV system and command information.Data-link cooperative module 64 makes base under more base station operation layout scenarios
Job information is shared between standing, and independently networking can coordinate the scheduling of the multi-rotor unmanned aerial vehicle between each base station, task configuration etc..By wireless
Charging module 61, near-field communication module 62, remote communication module 63, data-link cooperative module 64, electric wave navigation and beacon module
The job information of 65 real-time collectings in line computation, planning and distributes the path of every frame multi-rotor unmanned aerial vehicle, task, charge requirement
Equal tasks, and the multi-rotor unmanned aerial vehicle operational data download for completing a wheel task is stored in local data memory
67, by reserved manual interface 68, staff can be facilitated to carry out Local or Remote maintenance to autonomous base station terminal 1.
As shown in Fig. 2,4,5 and 6, in a preferred embodiment, multi-rotor unmanned aerial vehicle platform 7 may include propeller
71, brushless motor 72, electric machine support 73, wing arm 74, wing arm support 75, fuselage 76 and undercarriage 77；Wherein：Propeller 71 is installed
Rotation is driven to generate lift on brushless motor 72, and by brushless motor 72.Electric machine support 73 is for installing brushless motor 72.The wing
Arm 74 is for connecting wing arm support 75 and electric machine support 73.Wing arm support 75 is for connecting fuselage 76 and wing arm 74.Undercarriage 77
It is used to support multi-rotor unmanned aerial vehicle.Multi-source navigation system 8 is short including vision guided navigation module 81, electric wave navigation module 82, ultrasonic wave
Away from navigation module 83, GPS positioning module 84 and attitude control navigation module 85, and pass through landing auxiliary optical beacon 653 and forward direction
Positioning auxiliary optical beacon 654 guides multi-rotor unmanned aerial vehicle to rest on aircraft gate.Wireless charging system 9 includes：It is set to
Wireless charging induction receiving coil 91, power supply charging and discharging state management module 92 in undercarriage 77 and airborne lithium battery 93,
In, wireless charging induction receiving coil 91 is used to carry out energy conduction with wireless charging conveying induction coil 612-619.Data refer to
The communication system 10 is enabled to include：Remote communication digital transmission module 101, near-field communication digital transmission module 102 and electric wave navigation digital transmission module
103, wherein remote communication digital transmission module 101 is used to carry out data exchange with remote communication module 63；Near-field communication digital transmission module
102 with near-field communication module 62 for carrying out data exchange；Electric wave navigation digital transmission module 103 is used for and electric wave navigates and beacon mould
Block 65 establishes communication connection to realize the auxiliary landing of multi-rotor unmanned aerial vehicle.UAV autopilot 11 includes central processing list
Member 111, power module 112, remote control receiver 113, the propeller motor driver being connected respectively with central processing unit
114, multi-source navigation system interface 115, wireless charging system interface 116 and data Order Communications System system interface 117.
Wherein, undercarriage 77 is used to support multi-rotor unmanned aerial vehicle fuselage and protects the payload of underbelly, is risen per side
It falls and 2 wireless charging induction receiving coils 91 is installed in frame 77, is i.e. every multi-rotor unmanned aerial vehicle undercarriage installs 4 wireless chargings altogether
Electric induction receiving coil 911-914.
Multi-source navigation system 8, by different data anastomosing algorithms, is the entire task period in the different task stage
Accurate navigator fix information is provided.
When multi-rotor unmanned aerial vehicle will drop on airplane parking area, multi-source navigation system 8 is by each aircraft gate " H " letter
Landing auxiliary optical beacon 653 and positive positioning auxiliary optical beacon 654, guiding multi-rotor unmanned aerial vehicle on each side are accurately stopped
On aircraft gate so that 4 wireless charging induction receiving coil 911-914 in undercarriage convey induction coil with wireless charging
One group in 612-613,616-617 or 614-615,618-619 is corresponding, it is established that energy conduction, complete more rotors nobody
The wireless charging of machine.
As shown in Fig. 2, wireless charging power module 611 obtains operating power source from DC buses, to multi-rotor unmanned aerial vehicle system
Power supply charging and discharging state management module 92 in system 2 sends power-supply system working condition inquiry instruction to adjust charged state.
Wireless charging induction receiving coil 91 is used for receiving and converting wireless charging module 6 in autonomous base station terminal 1 and transmits
Electromagnetic wave energy be electric energy, power supply charging and discharging state management module 92 monitors filling for charging current and airborne lithium battery 93
Live electrical power working state of system is returned to autonomous base station terminal 1 by electric situation, and the power supply system of the autonomous base station terminal of response 1
System working condition inquiry instruction.
As shown in fig. 7, wireless charging module 61 is by the wireless charging power module embedded at 525 bottom of aircraft gate panel
611, cyclic annular closed 8 be installed under each aircraft gate wireless charging transmitting coil 612-619, be filled in each aircraft gate
Landing auxiliary optical beacon 653 and positive positioning auxiliary optical beacon 654 on each side of " H " letter form.More rotors nobody
In the case of machine regular descent, multi-rotor unmanned aerial vehicle is guided by electric wave navigation module 82 to 1 top of autonomous base station terminal, by vision
Navigation module 81 and the guiding of supersonic wave short-range navigation module 83 are to 525 top of corresponding aircraft gate panel, by landing fill-in light
It learns beacon 653 and positive positioning auxiliary optical beacon 654 corrects undercarriage 77.At this point, undercarriage wireless charging induction coil
911-914 is opposite with wireless charging conveying induction coil 612,613,616,617, can be by wireless charging power module after landing
611 control wireless charging systems 9 charge to multi-rotor unmanned aerial vehicle.If 4 wireless chargings conveying induction coils 612,613,
616,617 have exception, then multi-rotor unmanned aerial vehicle may be selected to be charged with spare charge coil 614,615,618,619.
In data command communication system 10, when multi-rotor unmanned aerial vehicle carries out aerial work, remote communication digital transmission module
101 establish remote communication module 63 between it is remotely connected, carry out small-scale data exchange；When multi-rotor unmanned aerial vehicle is stopped
When carrying out wireless charging on airplane parking area, the short distance that near-field communication digital transmission module 102 is established between near-field communication module 62 connects
It connects, carries out the data exchange of high speed；In multi-rotor unmanned aerial vehicle landing, electric wave navigation digital transmission module 103 is established to navigate with electric wave
And the connection between beacon module 65, realize auxiliary landing.
Airborne power supply modules 112 manage the power supply supply of airborne equipment, and remote control receiver 113 is for receiving remote control
The manual switching telecommand that device is sent, propeller motor driver 114 drive corresponding brushless motor, polynary navigation system to connect
Mouth 115 is interacted with polynary navigation system 8, and wireless charging system interface 116 is interacted with wireless charging system 9, data command communication
System interface 117 is interacted with data command communication system 10.
As shown in figure 8, in an alternative embodiment, vision guided navigation module 81 includes the miniature camera of binocular vision 811
With image procossing identification module 812, and for taking photo by plane, the auxiliary of target pointing, automatic obstacle-avoiding and multi-rotor unmanned aerial vehicle rises
Drop.Electric wave navigation module 82 includes electric wave navigation antenna 821, electric wave aeronautical station module 822 and electric wave navigation calculation module
823, and the navigation electric wave for receiving electric wave navigation and the transmission of beacon module 65, and resolve the position of autonomous base station terminal 1
To guide multi-rotor unmanned aerial vehicle close with landing to autonomous base station terminal.Supersonic wave short-range navigation module 83 includes supersonic sensing
Device 831 and ultrasonic height resolve module 832, and for measuring multi-rotor unmanned aerial vehicle relative to ground or hangar and foldable
The distance of airplane parking area 5.GPS positioning module 84 resolves module 843 including GPS antenna 841, GPS receiver 842 and GPS location, and
And the position for determining multi-rotor unmanned aerial vehicle.Attitude control navigation module 85 include three-axis gyroscope 851, three axis accelerometer 852,
Three-axle magnetic field meter 853, barometertic altimeter 854 and attitude algorithm and Flight Control Algorithm module 855, wherein three-axis gyroscope
851 three rotating rate of shaft for measuring multi-rotor unmanned aerial vehicle；Three axis accelerometer 852 is for measuring the three of multi-rotor unmanned aerial vehicle
Axle acceleration；Three-axle magnetic field meter 853 is for measuring three axis components of the earth magnetism in multi-rotor unmanned aerial vehicle；Barometertic altimeter 854 is used
Air pressure residing for measurement multi-rotor unmanned aerial vehicle and height；Attitude algorithm and Flight Control Algorithm module 855 are used for combined echocardiography
The information of wave sensor 831 and the control command for obtaining multi-rotor unmanned aerial vehicle.
Fig. 9 is illustratively illustrated the expansion arrangement of autonomous base station terminal.As shown in figure 9, movable wheel type bottom
Disk and the trailer-erector flexural pivot 31 in front end for pulling system 3, can convenient carry in being easy to, autonomous base station terminal 1 on transporting equipment
Highway transportation and quickly arrangement.4 equipment compartment of energy conversion system is located at base station bottom, 6 equipment freight space of automatically controlled communications management system
In base station front end.Multi-rotor unmanned aerial vehicle hangar is the penetrating rectangle layout in three faces, and preceding airplane parking area plate (hangar top plate) 521 is stopped with after
Machine level ground plate (hangar bottom plate) 522 is main frame.Driving motor 56 includes preceding driving motor 561, rear driving motor 562, left drive
Dynamic motor 563, right driving motor 564.In preceding driving motor 561, rear driving motor 562, left driving motor 563, right driving electricity
Under machine 564 drives, preceding airplane parking area plate 521, rear airplane parking area plate 522, left airplane parking area plate 523, the expansion of right airplane parking area plate 524, with machine
"+" font airplane parking area plane is collectively formed in library top plate 511.Preferably, hangar bottom plate 512 can accommodate 8 frame multi-rotor unmanned aerial vehicles.Before
Respectively two groups of wireless charging modules 61 of configuration, left and right airplane parking area plate 523,524 respectively configure three groups of wireless chargings to airplane parking area plate 521,522 afterwards
Electric module 61, hangar top plate 511 configure six groups of wireless charging modules 61.
Figure 10 schematically illustrates the folding arrangement of autonomous base station terminal.Airplane parking area plate in a folded configuration
521, four wall construction elements of rear airplane parking area plate 522, left airplane parking area plate 523, right airplane parking area plate 524 as autonomous base station terminal 1.Machine
511 front left of library top plate, right side arrangement electric wave landing navigation antenna 652, rear portion arranged on left and right sides arranges near-field communication aerial
624。
It should be noted that the autonomous base station system of packaged type multi-rotor unmanned aerial vehicle that above-described embodiment provides is carrying out work
It, only the example of the division of the above functional modules, in practical applications, can be as needed and by above-mentioned work(when making
Can distribution completed by different function modules, i.e., the internal structure of system is divided into different function modules, with complete with
The all or part of function of upper description.
It will be understood by those skilled in the art that the above-mentioned autonomous base station system of packaged type multi-rotor unmanned aerial vehicle further includes
Other known features, such as processor, memory etc., in order to unnecessarily obscure embodiment of the disclosure, these well known knots
Structure is not shown in figs. 1-10.
It should be understood that the quantity of the modules in Fig. 1-10 is only schematical.According to actual needs, can have
Any number of each module.
Technical solution is provided for the embodiments of the invention above to be described in detail.Although applying herein specific
A example the principle of the present invention and embodiment are expounded, still, the explanation of above-described embodiment is only applicable to help to manage
Solve the principle of the embodiment of the present invention；Meanwhile to those skilled in the art, embodiment according to the present invention, is being embodied
It can be made a change within mode and application range.
It should be noted that：Label and word in attached drawing are intended merely to be illustrated more clearly that the present invention, are not intended as to this
The improper restriction of invention protection domain.
Term " comprising " or any other like term are intended to cover non-exclusive inclusion, so that including a system
Process, method, article or equipment/device of row element includes not only those elements, but also includes being not explicitly listed
Other elements, or further include the intrinsic element of these process, method, article or equipment/devices.
As used herein, term " module " and " system " may refer to the software object executed on a computing system
Or routine.Disparate modules described herein can be embodied as to the object executed on a computing system or process (for example, making
It is independent thread).While it is preferred that realize system and method described herein with software, but with hardware or soft
The realization of the combination of part and hardware is also possible and can be conceived to.
As needed, it is disclosed that the specific embodiment of the present invention.It will be understood, however, that disclosed embodiment is only
It is the example of the present invention, the present invention can be implemented with a variety of and optional form.The drawings are not necessarily drawn to scale, some features can
It is exaggerated or minimized to show the details of specific components.Therefore, specific structure and function details disclosed herein are not explained
To limit, and only as instructing those skilled in the art to apply the representative basis of the present invention in different ways.
Claims (6)
1. a kind of autonomous base station system of packaged type multi-rotor unmanned aerial vehicle, which is characterized in that the system includes at least：
Autonomous base station terminal (1), including movable wheel type chassis and the system of dragging (3), energy conversion system (4), hangar and can
Airplane parking area (5) and automatically controlled communications management system (6) are folded, and for providing task management for the multi-rotor unmanned aerial vehicle and leading to
Letter and energy supply, wherein the energy conversion system (4) is used to be the hangar and foldable airplane parking area (5) and the electricity
Communications management system (6) is controlled to power；The automatically controlled communications management system (6) be used for for the multi-rotor unmanned aerial vehicle charging and with institute
Multi-rotor unmanned aerial vehicle is stated to be communicated；
Multi-rotor unmanned aerial vehicle system (2), including multi-rotor unmanned aerial vehicle platform (7), multi-source navigation system (8), wireless charging system
(9), data command communication system (10), UAV autopilot (11), and for the autonomous base station terminal (1) into
Row data communication, wherein the automatically controlled communications management system (6) respectively with the multi-source navigation system (8), the wireless charging
System (9) and the data command communication system (10) communication connection；The multi-rotor unmanned aerial vehicle platform (7), the multi-source are led
Boat system (8), the wireless charging system (9), the data command communication system (10) and the UAV autopilot
(11) it communicates to connect successively, the UAV autopilot (11) is for completing power management, telecommunication management and described more
The navigation and task control of rotor wing unmanned aerial vehicle；
The energy conversion system (4), the hangar and foldable airplane parking area (5), the automatically controlled communications management system (6) and institute
Multi-rotor unmanned aerial vehicle system (2) setting is stated on the movable wheel type chassis and is pulled in system (3)；
Wherein,
The multi-source navigation system (8), including：Vision guided navigation module (81), electric wave navigation module (82), supersonic wave short-range navigation
Module (83), GPS positioning module (84) and attitude control navigation module (85)；
The automatically controlled communications management system (6), including：Electric wave navigates and beacon module (65)；
The electric wave navigation and beacon module (65), including electric wave landing navigation module (651), electric wave landing navigation antenna
(652), landing auxiliary optical beacon (653) and positive positioning auxiliary optical beacon (654)；
The multi-source navigation system (8), by different data anastomosing algorithms, is entire task week in the different task stage
Phase provides navigator fix information, including：
Awing, it is realized to multi-rotor unmanned aerial vehicle position and posture by GPS positioning module (84) and attitude control navigation module (85)
Calculating and control；
During landing, by the electric wave navigation module (82), electric wave navigation and beacon module (65), supersonic wave short-range navigation mould
Block (83), the vision guided navigation module (81), attitude control navigation module (85) are high come the landing for calculating and controlling multi-rotor unmanned aerial vehicle
Degree and posture；
In descent, navigation electric wave is received by the electric wave navigation module (82), and calculation base station position, by more rotors without
Man-machine guiding is to the top of the autonomous base station terminal (1)；Multi-rotor unmanned aerial vehicle is measured by supersonic wave short-range navigation module (83)
Avoidance information is provided relative to the distance of foldable airplane parking area (5), while by the vision guided navigation module (81), to revolve more
Wing unmanned plane is guided to above corresponding aircraft gate panel (525)；By the landing auxiliary optical beacon (653) and it is described just
To positioning auxiliary optical beacon (654) correction undercarriage (77)；By attitude control navigation module (85) come calculate and control more rotors without
Man-machine posture.
2. system according to claim 1, which is characterized in that the energy conversion system (4) specifically includes：
Adaptive transformation AM access module (41), for powering for AC-DC bi-directional conversions module (42)；
The AC-DC bi-directional conversions module (42) is connected by exchanging AC buses with the automatically controlled communications management system (6), and
And also by direct current DC buses respectively with the hangar and foldable airplane parking area (5), automatically controlled communications management system (6) phase
Even；
Stand-by power supply storehouse (43), for being charged and being powered with the AC-DC bi-directional conversions module (42).
3. system according to claim 2, which is characterized in that the automatically controlled communications management system (6) further includes：
Wireless charging module (61), including wireless charging power module (611) and wireless charging conveying induction coil (612-
619), and for carrying out energy conduction with the wireless charging system (9)；
Near-field communication module (62), including UWB ultra wide bands module (621), WLAN module (622), bluetooth module (623) and near field
Communication antenna (624), and for the data command communication system (10) carry out data exchange, and with more rotors without
It is man-machine to be communicated；
Remote communication module (63), including LAN communication module (631) and cellular mobile network data module (632), and be used for
Data exchange is carried out with the data command communication system (10)；
Data-link cooperative module (64), the data sharing for making multiple autonomous base station terminals (1), and coordinate described more
The scheduling of rotor wing unmanned aerial vehicle and task distribution；
Mission planning and interactive module (66), for manage the wireless charging module (61), the near-field communication module (62),
The remote communication module (63), the data-link cooperative module (64) and electric wave navigation and beacon module (65).
4. system according to claim 3, which is characterized in that the automatically controlled communications management system (6) further includes：
Local data memory (67), for storing the data downloaded via the near-field communication module (62)；
Manual working interface (68), for being safeguarded to autonomous base station terminal (1).
5. system according to claim 3, which is characterized in that the multi-rotor unmanned aerial vehicle platform (7) includes：Propeller
(71), brushless motor (72), electric machine support (73), wing arm (74), wing arm support (75), fuselage (76) and undercarriage (77)；Its
In：The propeller (71) is mounted on the brushless motor (72), and drives rotation to generate by the brushless motor (72) and rise
Power；The electric machine support (73) is for installing the brushless motor (72)；The wing arm (74) is for connecting the wing arm support
(75) and electric machine support (73)；The wing arm support (75) is for connecting the fuselage (76) and the wing arm (74)；Described
It falls frame (77) and is used to support the multi-rotor unmanned aerial vehicle；
The wireless charging system (9) includes：Be set to wireless charging induction receiving coil (91) in the undercarriage (77),
Power supply charging and discharging state management module (92) and airborne lithium battery (93), wherein the wireless charging induction receiving coil (91)
For carrying out energy conduction with wireless charging conveying induction coil (612-619)；
The data command communication system (10) includes：Remote communication digital transmission module (101), near-field communication digital transmission module (102)
With electric wave navigation digital transmission module (103), wherein the remote communication digital transmission module (101) is used for and the remote communication module
(63) data exchange is carried out；The near-field communication digital transmission module (102) is used to carry out data with the near-field communication module (62)
It exchanges；Electric wave navigation digital transmission module (103) be used to establish with electric wave navigation and beacon module (65) communicate to connect with
Realize the auxiliary landing of the multi-rotor unmanned aerial vehicle；
The UAV autopilot (11) includes central processing unit (111), is connected respectively with the central processing unit
Power module (112), remote control receiver (113), propeller motor driver (114), the multi-source navigation system interface connect
(115), wireless charging system interface (116) and data Order Communications System system interface (117).
6. system according to claim 5, which is characterized in that the vision guided navigation module (81) includes that binocular vision is miniature
Camera (811) and image procossing identification module (812), and for taking photo by plane, target pointing, automatic obstacle-avoiding and more rotors
The auxiliary landing of unmanned plane；
The electric wave navigation module (82) includes electric wave navigation antenna (821), electric wave aeronautical station module (822) and electric wave navigation
Module (823), and the navigation electric wave for receiving the electric wave navigation and beacon module (65) transmission are resolved, and described in resolving
The position of autonomous base station terminal (1) is to guide the multi-rotor unmanned aerial vehicle close with landing to the autonomous base station terminal；
The supersonic wave short-range navigation module (83) includes that ultrasonic sensor (831) and ultrasonic height resolve module (832),
And for measuring the multi-rotor unmanned aerial vehicle relative to ground or the hangar and the distance of foldable airplane parking area (5)；
The GPS positioning module (84) includes that GPS antenna (841), GPS receiver (842) and GPS location resolve module (843),
And the position for determining the multi-rotor unmanned aerial vehicle；
The attitude control navigation module (85) includes three-axis gyroscope (851), three axis accelerometer (852), three-axle magnetic field meter
(853), barometertic altimeter (854) and attitude algorithm and Flight Control Algorithm module (855), wherein the three-axis gyroscope
(851) it is used to measure three rotating rate of shaft of the multi-rotor unmanned aerial vehicle；The three axis accelerometer (852) is described for measuring
The 3-axis acceleration of multi-rotor unmanned aerial vehicle；The three-axle magnetic field meter (853) is for measuring earth magnetism in the multi-rotor unmanned aerial vehicle
Three axis components；The barometertic altimeter (854) is used to measure air pressure and the height residing for the multi-rotor unmanned aerial vehicle；The appearance
State resolves and Flight Control Algorithm module (855) is used to integrate the information of the ultrasonic sensor (831) and obtains described more
The control command of rotor wing unmanned aerial vehicle.
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