CN105867423A - Course reversal method and course reversal system of unmanned aerial vehicle and unmanned aerial vehicle - Google Patents
Course reversal method and course reversal system of unmanned aerial vehicle and unmanned aerial vehicle Download PDFInfo
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- CN105867423A CN105867423A CN201610404122.6A CN201610404122A CN105867423A CN 105867423 A CN105867423 A CN 105867423A CN 201610404122 A CN201610404122 A CN 201610404122A CN 105867423 A CN105867423 A CN 105867423A
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- Prior art keywords
- return voyage
- unmanned vehicle
- making
- make
- control terminal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention provides a course reversal method and a course reversal system of an unmanned aerial vehicle and the unmanned aerial vehicle. The course reversal system of the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1) and a control terminal (2), wherein the unmanned aerial vehicle body (1) comprises a wireless communication module (3) used for wireless communication with the control terminal (2), and a control module (4) used for controlling flying of the unmanned aerial vehicle; the control module (4) receives a course reversal command from the control terminal (2) by virtue of the wireless communication module (3) or triggers an automatic course reversal mode; the control module (4) calculates and executes a course reversal route from a current position to a course reversal position, and the wireless communication module (3) transmits the course reversal position to the control terminal (2). In the course reversal method, the unmanned aerial vehicle body transmits the course reversal position to a user and flies to the course reversal position along the course reversal route.
Description
Technical field
The invention belongs to unmanned vehicle control field, particularly relate to a kind of unmanned vehicle make a return voyage method, return
Boat system and unmanned vehicle thereof.
Background technology
The application of unmanned vehicle is the most constantly expanded, and either industry unmanned plane still consumes unmanned plane all
Obtaining significant progress, especially many rotary wind types unmanned vehicle is the little miniature unmanned vehicle of representative, and it is each
Planting ingredient and start modularity, industry reaches its maturity.
Especially unmanned vehicle is during moving towards ordinary consumer, gradually payes attention to portability, processing ease
Etc. factor.But, although owing to existing unmanned vehicle is the most generally equipped with pattern of automatically making a return voyage, but exist
Some incomplete places.
Owing to other location recognition schemes are the most immature, so automatically making a return voyage of existing unmanned vehicle typically depends on
Implementing according to GPS module, specific implementation is briefly a kind of pattern preset and make a return voyage a little.Popular
Say, when unmanned vehicle opens and automatically makes a return voyage function when, unmanned vehicle can on startup or
The when of once recognizing the gps satellite of abundant quantity, by the location records in this moment for making a return voyage a little.So
After when unmanned vehicle is in flight course, lost and control or receive that controller end provides automatically makes a return voyage
The when of instruction, start and automatically make a return voyage process, according to default flying height and stored before make a return voyage a little,
Complete directivity flight, return to this and make a return voyage a little.
But, during actual unmanned vehicle uses, the manipulator of unmanned plane be not forever stand in former
Ground is motionless, and more often, manipulator also can occur position to move.If there is position manipulator
Put mobile after, so-called automatically make a return voyage also be to revert to preset make a return voyage a little, very inconvenient.Even it is also possible to
Because unmanned vehicle is to have searched enough satellites in flight course, and have recorded one and undesirable return
Destination, upon activation of function of automatically making a return voyage, and it is the most expected that unmanned vehicle has just flown to a user
Position, under extreme case, will cause unmanned plane to be lost.This has also reflected another one problem, makes a return voyage a little not
Can understand and be prompted to user accurately, will cause confusing communication, result is it may happen that aircraft is out of control or loses.
Disclosed in patent documentation CN104714556 A, a kind of UAV Intelligent course heading control method includes following step
Rapid: unmanned plane startup self-detection, the course under east northeast ground coordinate system at record takeoff point and gps coordinate, and
Take off under common remote control mode；Selecting intelligence course pattern, wherein, described intelligence course pattern includes initially
Course locking mode and a locking mode that makes a return voyage；If selecting initial heading locking mode, then with takeoff point at
Aircraft course is as initial heading, and carries out the intelligence of unmanned plane under the rectangular coordinate system with takeoff point initial point
Heading control；If selecting to make a return voyage a locking mode, then carry out unmanned under the coordinate system with takeoff point as limit
The intelligent Heading control of machine.This patent can effectively reduce because controllers operates unskilled or flying distance
Too remote and cannot judge that the unmanned plane that current course causes maloperation to bring crashes or lost contact accident, but this patent without
Method allows user clearly know, and unmanned vehicle makes a return voyage position, it is impossible to reduces and makes a return voyage accident rate and lifting is maked a return voyage effect
Really.
The method that a kind of unmanned plane disclosed in patent CN104881039 A makes a return voyage, including: after unmanned plane takes off,
Obtain takeoff point coordinate；Obtain in real time in-flight by way of the coordinate of location point, form flight path information；Receive
Return instruction from handheld terminal；Current position coordinates according to unmanned plane, described flight path information and institute
State takeoff point coordinate, calculate by the path of making a return voyage of described current position coordinates to described takeoff point coordinate；Control nothing
Make a return voyage and land in path of making a return voyage described in man-machine edge.This patent enables to unmanned plane and clicks on button user
In the case of automatically make a return voyage, but it cannot allow user clearly know, and unmanned vehicle makes a return voyage position, it is impossible to reduces and makes a return voyage
Accident rate and lifting are maked a return voyage effect.
The fixed point remaining of a kind of unmanned plane disclosed in patent CN105573338A and control system of making a return voyage include
GPS locating module, electronic compass, barometer, memorizer and control chip, wherein, described GPS is fixed
Position module, for detecting the position coordinates of unmanned plane and generating coordinate information；Described electronic compass, is used for identifying
The heading of unmanned plane also generates direction discernment information；Described barometer, for detecting the height gas of unmanned plane
Pressure situation also generates elevation information；Described memorizer, for storing location coordinate information when unmanned plane just takes off；
Described control chip is connected with described GPS locating module, electronic compass, barometer and memorizer respectively, institute
State control chip and receive coordinate information, the direction discernment of electronic compass generation that GPS locating module generates
After the elevation information that information and barometer generate, control the motor of unmanned plane through processing and generate control instruction
Drive, to realize unmanned plane in arbitrary height and the real-time positioning of position；Described control chip receive distant
Control device make a return voyage instruction time, control chip is according to the unmanned plane position of Real-time Feedback and directional information and described storage
After the initial coordinate information preserved in device compares process, control unmanned plane and automatically make a return voyage to takeoff setting.Should
Patent can realize multiple automatically making a return voyage, but it cannot allow user clearly know, and unmanned vehicle makes a return voyage position,
Cannot reduce and make a return voyage accident rate and lifting is maked a return voyage effect.
Therefore, during unmanned vehicle is implemented automatically to make a return voyage, shift to an earlier date or keep providing a user with it and make a return voyage
Position, this suggestion content can be sent on remote controller, or be also sent to that user specifies other can show
Show on the terminal unit of coordinate, it is also possible to be sent to other storage devices in high in the clouds by network.By unmanned flight
Automatically making a return voyage of device is a little preferentially set to hand-held the providing on the equipment of ability with position coordinates of user, such as may be used
To be equipped with the remote controller of GPS module, with the mobile phone of GPS module, it is possibly even to utilize multiple spot
It is that this area urgent need technology to be solved is asked that positioning function identifies other smart machines of current coordinate position
Topic so that user clearly knows that unmanned vehicle makes a return voyage position, reduces and makes a return voyage accident rate and lifting is maked a return voyage effect.
Disclosed above-mentioned information is used only for strengthening the understanding to background of the present invention in the background section, therefore
May comprise and not be formed in the information of prior art known to a person of ordinary skill in the art in this country.
Summary of the invention
It is an object of the invention to be achieved by the following technical programs.
According to an aspect of the present invention, a kind of unmanned vehicle method of making a return voyage comprises the following steps.
In the first step, unmanned vehicle body receive user send make a return voyage instruction or trigger automatically make a return voyage
Pattern.
In the second step, unmanned vehicle body calculates by the path of making a return voyage of current location to position of making a return voyage.
In third step, position of making a return voyage described in the transmission of described unmanned vehicle body is to user and along making a return voyage path
Fly to position of making a return voyage.
Preferably, in the second step, position of making a return voyage described in is carried by the control terminal that can provide geographical position coordinates
Supply.
Preferably, in the second step, make a return voyage described in the position mobile phone by the user that can provide geographical position coordinates
There is provided, in third step, described unmanned vehicle body send described in make a return voyage position on user mobile phone and edge
Fly to position of making a return voyage in path of making a return voyage.
Preferably, in the second step, position is maked a return voyage described in by providing the control terminal of geographical position coordinates calmly
Phase provide and described in make a return voyage position regular update.
Preferably, in the second step, position is maked a return voyage described in by providing the control terminal of geographical position coordinates not
Periodically provide, described in make a return voyage position reach to preset condition by unmanned vehicle body and carry out irregular the most more
Newly.
Preferably, in third step, described in the transmission of described unmanned vehicle body, make a return voyage position to mobile phone or intelligence
Energy wrist-watch, Intelligent bracelet or cloud server.
According to a further aspect in the invention, a kind of unmanned vehicle system of making a return voyage includes unmanned vehicle body and control
Terminal processed, described unmanned vehicle body includes for the wireless communication module and use with control terminal wireless communication
In controlling the control module that unmanned vehicle flies, described control module receives via described wireless communication module
Instructing from controlling making a return voyage of terminal or trigger pattern of automatically making a return voyage, described control module calculates and performs from present bit
Put position of making a return voyage make a return voyage path and via described wireless communication module send described in make a return voyage position to described control
Terminal processed.
Preferably, described control terminal includes the locating module for location and display unit, and locating module positions
Described position the position of making a return voyage described in described display unit shows of making a return voyage.
Preferably, described control terminal is to provide the mobile phone of geographical position coordinates, pad or other mobile terminals.
Preferably, described control terminal includes the locating module for location and display unit, and locating module positions
Described position the position of making a return voyage described in described display unit shows of making a return voyage, described control terminal is to provide geographical
The flight controller of position coordinates.
Preferably, when described control terminal is not provided that geographical position coordinates, described control module is via described
Wireless communication module makes a return voyage the provided geographical position of user to the described control terminal of replacement, the position described in sending
The mobile phone of coordinate, pad or other mobile terminals.
According to another aspect of the invention, a kind of unmanned vehicle is equipped with unmanned vehicle as above and makes a return voyage
System.
Described above is only the general introduction of technical solution of the present invention, in order to make the technological means of the present invention more
Clear, reach the degree that those skilled in the art can be practiced according to the content of description, and in order to
Above and other objects of the present invention, feature and advantage can be allowed can to become apparent, below with the present invention's
Detailed description of the invention is illustrated.
Accompanying drawing explanation
By reading the detailed description in hereafter preferred embodiment, the present invention various other advantage and
Benefit will be clear from understanding for those of ordinary skill in the art.Figure of description is only used for illustrating and is preferable to carry out
The purpose of mode, and it is not considered as limitation of the present invention.It should be evident that drawings discussed below is only
It is some embodiments of the present invention, for those of ordinary skill in the art, is not paying creative work
Under premise, it is also possible to obtain other accompanying drawing according to these accompanying drawings.And in whole accompanying drawing, with identical attached
Figure labelling represents identical parts.In the accompanying drawings:
Fig. 1 is that unmanned vehicle makes a return voyage the step schematic diagram of method according to an embodiment of the invention；
Fig. 2 is that unmanned vehicle makes a return voyage the structural representation of system according to an embodiment of the invention；
Fig. 3 is that unmanned vehicle makes a return voyage the structural representation of system in accordance with another embodiment of the present invention.
Below in conjunction with drawings and Examples, the present invention is further explained.
Detailed description of the invention
It is more fully described the specific embodiment of the present invention below with reference to accompanying drawings.Although accompanying drawing shows this
Bright specific embodiment, it being understood, however, that may be realized in various forms the present invention and should not illustrated here
Embodiment limited.On the contrary, it is provided that these embodiments are able to be best understood from the present invention, and
Complete for the scope of the present invention can be conveyed to those skilled in the art.
It should be noted that employ some vocabulary in the middle of description and claim to censure specific components.
Those skilled in the art it would be appreciated that, technical staff may call same assembly with different nouns.This
In the way of description and claim not difference by noun is used as distinguishing assembly, but with assembly in function
On difference be used as distinguish criterion." comprising " as mentioned by the middle of description and claim in the whole text
Or " including " is an open language, therefore " comprise but be not limited to " should be construed to.Description subsequent descriptions
For implementing the better embodiment of the present invention, right described description is for the purpose of the rule of description, not
In order to limit the scope of the present invention.Protection scope of the present invention is when being as the criterion depending on the defined person of claims.
For ease of the understanding to the embodiment of the present invention, below in conjunction with accompanying drawing do as a example by several specific embodiments into
The explanation of one step, and each accompanying drawing is not intended that the restriction to the embodiment of the present invention.
In embodiment, unmanned vehicle is called for short " unmanned plane ", and english abbreviation is " UAV " (unmanned aerial
Vehicle), it is the most manned aircraft utilizing radio robot and the presetting apparatus provided for oneself to handle.From
Technical standpoint definition can be divided into: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned
Dirigible, unmanned parasol etc..
In the embodiment of the present invention, preferred unmanned vehicle is many rotor unmanned aircrafts, many rotor unmanned aircrafts
It can be four rotors, six rotors and the rotor quantity unmanned vehicle more than six.
The unmanned vehicle that technical solution of the present invention uses is primarily referred to as many rotor unmanned aircrafts little, miniature, this
Kind unmanned vehicle volume is little, low cost, flight stability preferable, and flight cost is low.The present invention uses
Aircraft, typically with four axle multi-rotor aerocrafts as representative.
Fig. 1 is that the unmanned vehicle of one embodiment of the present of invention makes a return voyage the step schematic diagram of method, and the present invention is real
Execute example to be specifically described in conjunction with Fig. 1.
Make a return voyage method as it is shown in figure 1, An embodiment provides a kind of unmanned vehicle, Yi Zhongwu
People's aircraft method of making a return voyage comprises the following steps.
In first step S1, unmanned vehicle body receive user send make a return voyage instruction or trigger automatically return
Model plane formula.In the present embodiment, the instruction of making a return voyage that user sends can include making a return voyage position or not including position of making a return voyage
Put, described in make a return voyage instruction can be only represent unmanned vehicle return implication.Automatically pattern of making a return voyage is that nobody flies
A kind of offline mode that row device enters under given conditions, under this offline mode, unmanned vehicle is according to GPS
The present position of current unmanned vehicle examined by coordinate system, then according to a default safe altitude, than
Such as 10 meters, implement point-to-point flight, a little fly to default making a return voyage from current location point.Citing comes
Saying, during user manipulates unmanned vehicle, unexpected unmanned vehicle flies into an interference region to be caused
Control on Communication between unmanned vehicle with user is connected and is interfered and interrupts, and unmanned plane enters under emergency conditions
Enter hovering pattern, and attempted communicating after recovery has no resolution, carried out automatically making a return voyage according to pre-set programs.?
Automatically make a return voyage in pattern, unmanned vehicle first it is detected that current coordinate (a, b) and current flying height
It it is 6 meters.Then unmanned vehicle read now record make a return voyage a little for (c, d) and cruise-in altitude should be 10
Rice, wherein, making a return voyage can be some position of making a return voyage, then unmanned vehicle is according to these data, first promotes flight height
Degree, to 10 meters, so avoids in most cases, it may occur however that collision.Then unmanned plane according to from (a, b)
To (c, straight line distance d) implements flight, arriving at (c, d) after, unmanned vehicle is implemented automatic
Descent.It addition, above-mentioned pattern of automatically making a return voyage both can be the emergency policy under emergency case, sometimes
Can also be the active selection of user, such as user, after manipulation unmanned vehicle a period of time, finds unmanned
Aircraft flight distant, user be difficult to from afar to tell unmanned vehicle towards, under sighting distance controls
It is difficult to make it fly back, but pass, by figure in real time, the manipulation going observation to realize and have again operation failure risk, in order to
Enough more reliable recovery unmanned vehicles, user may select simply to press next key and make a return voyage, allow unmanned vehicle certainly
Move and make a return voyage.In this process, unmanned vehicle is to receive the clearly instruction that user provides, hence into automatically
Make a return voyage pattern.
In second step S2, unmanned vehicle body calculates by described current location making a return voyage to position of making a return voyage
Path.In an embodiment, unmanned vehicle body can be by flight control system planning current location to position of making a return voyage
Path of making a return voyage.Preferably, in order to reduce the objects such as unmanned vehicle collision above ground structure, path of making a return voyage can
Planning height is more than certain height value, such as 10 meters etc..In one embodiment, position of making a return voyage derives from unmanned
In the controller of aircraft body, the GPS on startup or recognizing abundant quantity for the first time of record defends
Position during star.
In third step S3, position of making a return voyage described in the transmission of described unmanned vehicle body is to user and along making a return voyage
Fly to position of making a return voyage in path.The those skilled in the art existed in the prior art ignore one is important
Function, it is simply that automatically making a return voyage when, it should point out position of automatically making a return voyage to user accurately.Designer's letter
Single thinks, makes a return voyage and is just to revert to original place, thus user require no knowledge about make a return voyage position where, if original place
Wait the most permissible.Problem is, position of making a return voyage is opaque when being provided with, and such as user starts unmanned
The when of aircraft, unmanned vehicle, according to the position automatically recognized after start, sets it to position of making a return voyage,
Then user's this unmanned vehicle hand-held moves a segment distance, just allows unmanned vehicle take off, and user writes from memory at heart
Recognizing takeoff point is position of making a return voyage；For another example, user thinks that takeoff point is position of making a return voyage, but actually takeoff point
Neighbouring gps signal is bad, and unmanned vehicle the most successfully sets position of making a return voyage, and result is unmanned
After machine flying distance takeoff point one segment distance, just search enough satellite-signals, and set up at that time
The point at place is position of making a return voyage, but this makes a return voyage, position is the most ignorant for a user.On all
State opaque situation, result in unmanned plane occur automatically the to make a return voyage probability of accident and be greatly improved.
Therefore, described unmanned vehicle body send described in position of making a return voyage to user, as long as unmanned vehicle will be from
Moving makes a return voyage a little, i.e. the coordinate of home position is prompted to the hand-held remote controller of user and can solve the problems referred to above, especially
Once entering, at unmanned plane, flight of making a return voyage, the position coordinates that makes a return voyage the most automatically being set is sent to remote controller,
And show on a remote control.It addition, some auto heterodyne unmanned planes, remote controller designs closely, does not have
Having display function, now can also be sent to the position of making a return voyage automatically maked a return voyage to specify in advance, user is hand-held
Other intelligent terminal on, include but not limited to: the equipment such as mobile phone, intelligent watch, Intelligent bracelet.Again,
This position of making a return voyage can also be sent to a default cloud server, this cloud server can collect from
Multiple position datas of making a return voyage of different unmanned vehicles, according to this position data of making a return voyage, this cloud server one
Can as a data backup, it addition, this cloud server can also according to making a return voyage the data cases of position,
Add up the information of success rate of making a return voyage.Such as cloud server have recorded returning given by different unmanned vehicle
Boat position, and user the most successfully reclaims unmanned vehicle and also can provide one to cloud server and reclaim successfully
Prompting.So cloud server just can count according to these data, and which coordinate points is the more commonly used returning
Boat position, and which position of making a return voyage to be susceptible to unrenewable accident in, in order to the later stage implements at specific aim
Reason.
In the embodiment of the present invention preferably, in second step S2, described in make a return voyage position by providing geographical
The control terminal of position coordinates provides.This control terminal can be remote controller, mobile phone or other there is geography
Position coordinates provides the equipment of function.Typically, can be the smart machine with GPS module, the most also
Can be mobile phone in such manner, it is possible to obtain self-position by the multipoint positioning of multiple base stations, then be converted into
Gps coordinate, and the situation of the position that is set as making a return voyage.The setting of above-mentioned position of making a return voyage both can be automatically to make a return voyage
During generation, user be manually given；When can also be automatically to make a return voyage pattern triggering, unmanned plane pass through wireless parties
Formula is transferred；Can also is that unmanned vehicle in flight course, regular or irregular acquisition.User is manual
Situation about being given, what the most applicable unmanned vehicle was implemented all the time under controlled pattern makes a return voyage automatically.Automatically
The situation that pattern of making a return voyage is transferred when triggering temporarily, is relatively suitable for unmanned vehicle in case of emergency, although lose
Control signal, triggers pattern of automatically making a return voyage, now can by emergent, safe coefficient is higher, more may be used
The communications band leaned on, such as 4G frequency range is transferred low volume data and is such as maked a return voyage the coordinate information of position, is so
Make to be communication environment is bad when, also can realize accurately returning to user's function at one's side.Finally periodically obtain
The mode taken, it is simply that unmanned vehicle at flight course, periodically obtains the up-to-date point coordinates that makes a return voyage, the most every 2
That minute reads ground control station end successively returns waypoint location, and is updated to position of making a return voyage, if so existed
When there is emergency episode, cannot obtain any in the case of the information of ground control station completely, also can be more
Return to the position of making a return voyage preset accurately.And the mode irregularly obtained, then it is when unmanned vehicle completes
The when of particular flight action, complete the renewal for making a return voyage a little.Such as span electronic edge at unmanned vehicle
During the flight range with different rights preset inside boundary's system, typically from flight safety region, enter
During flight confined area, or the when of entering the bad region of communication condition from the region that communication condition is good.
These area information records are in electron boundary system, for another example, when the state of unmanned vehicle changes
Time, the electricity of such as aircraft has had large change, arrives common from abundance, or from commonly reaching discontented
State under；For another example after aircraft has just completed a series of specific flare maneuver etc..In a word, due to
The setting of position of making a return voyage is the most intelligent, ensures that the lifting of effect of automatically making a return voyage.
In the embodiment of the present invention preferably, in second step S2, described in make a return voyage position by providing geographical
The mobile phone of the user of position coordinates provides.In third step S3, described unmanned vehicle body sends described
Make a return voyage position to position of making a return voyage of flying on user mobile phone and along path of making a return voyage.
In the embodiment of the present invention preferably, in second step S2, described in make a return voyage position by providing geographical
The control terminal of position coordinates periodically provide and described in make a return voyage position regular update.
In the embodiment of the present invention preferably, in second step S2, described in make a return voyage position by providing geographical
The control terminal of position coordinates irregularly provides, described in position of making a return voyage reach to set in advance by unmanned vehicle body
Fixed condition and irregularly update.
In the embodiment of the present invention preferably, in third step S3, described unmanned vehicle body sends institute
State position of making a return voyage to mobile phone or intelligent watch, Intelligent bracelet or cloud server.
Fig. 2 is that the unmanned vehicle of one embodiment of the present of invention makes a return voyage the structural representation of system, and the present invention is real
Execute example to be specifically described in conjunction with Fig. 2.
Making a return voyage system as in figure 2 it is shown, An embodiment provides a kind of unmanned vehicle, it includes
Unmanned vehicle body 1 and control terminal 2, described unmanned vehicle body 1 include for control terminal 2
The wireless communication module 3 of radio communication and for controlling the control module 4 of unmanned vehicle flight, described control
Module 4 via described wireless communication module 3 receive from control terminal 2 make a return voyage instruction or trigger automatically make a return voyage
During pattern, described control module 4 calculates and performs make a return voyage path and the warp from described current location to position of making a return voyage
Make a return voyage position to described control terminal 2 described in described wireless communication module 3 sends.
In the embodiment of the present invention preferably, described wireless communication module 3 is by the wireless office with different priorities
One or more compositions in territory Network Communication equipment, the Stratosphere Communication network equipment and satellite network communications equipment.
Wireless LAN communication equipment can be in bluetooth, ZigBee or Wi-Fi device, and wireless local equipment can
Setting up short haul connection by 2.4GHz communication frequency, the outdoor environment moved at indoor or low speed can preferably be somebody's turn to do
Equipment sets up the communication connection controlled between terminal 2 and unmanned vehicle body 1.Stratosphere Communication equipment is general
With helium-airship, balloon as disposing the platform of repeater station, podium level is away from ground 17km～22km, unmanned
Aircraft is when field flight on a large scale, it may be preferred to Stratosphere Communication is set up and controlled terminal 2 and unmanned vehicle
Communication connection between body 1.Satellite communication equipment utilizes satellite communication channel to set up control terminal 2 with unmanned
Communication connection between aircraft body 1, is usually in the case of without other available wireless communication networks, meeting
Use satellite communicator, as emergency communication.
In one embodiment, according to wireless network cost or wireless network access speed, select to be wirelessly transferred net
Network, the present invention designs following for precedence scheme, Wi-Fi network: priority is 0；Stratosphere Communication network:
Priority is 1；Satellite communication network: priority is 2；Priority level 0-2, selected wireless network priority
From high to low, if there is multiple wireless signal the most simultaneously, and when signal intensity is effective, control terminal 2 and nothing
Radio communication between people's aircraft body 1 can first select Wi-Fi network as Radio Access Network, successively
Analogize.Preferably, 2G, 3G and 4G are moved networking communication setting priority by wireless communication module 3, its
In, the 4G priority priority more than 3G, 3G is more than 2G.
In the embodiment of the present invention preferably, control module 4 can be general processor, digital signal processor,
Application-specific integrated circuit ASIC, on-site programmable gate array FPGA, analog circuit, digital circuit and group thereof
Close or the processor of other known or later exploitations.Control module 4 can be independent, it is also possible to is integrated in
In the flight control system of unmanned vehicle.In a preferred embodiment, control module 4 is provided with GIS module,
This GIS module can provide the map datum of electronic chart make unmanned vehicle can for as described in geographical position
Operating, GIS module can generate current location on electronic chart, make a return voyage position and path of making a return voyage, GIS
Module includes that GIS information imports and exports unit, information display unit and information maintenance unit, wherein, described
GIS information imports and exports unit for the importing of the information of GIS module and derivation, its form importing and deriving
Include but not limited to the form such as text, XML, CSV, EXCEL, WORD, PDF；Described information exhibition
Show that unit is for showing map data information in GIS map；Described information maintenance unit is on GIS ground
Browse on figure, edit and delete data message.An embodiment, GIS modules exhibit map data information,
And provide the operations such as the planning of map datum, selection and frame choosing, and can be used for browsing in GIS map, compiling
Collect and delete corresponding data message.
Fig. 3 is that the unmanned vehicle of an alternative embodiment of the invention makes a return voyage the structural representation of system, the present invention
Embodiment will be specifically described in conjunction with Fig. 3.
Making a return voyage system as it is shown on figure 3, An embodiment provides a kind of unmanned vehicle, it includes
Unmanned vehicle body 1 and control terminal 2, described control terminal 2 includes locating module 5 He for location
Display unit 6, described unmanned vehicle body 1 includes for the radio communication with control terminal 2 radio communication
Module 3 and for control unmanned vehicle flight control module 4, described control module 4 is via described wireless
Communication module 3 receive from control terminal 2 make a return voyage instruction or trigger automatically make a return voyage pattern time, described control mould
Block 4 calculates and performs the path and via described radio communication mold of making a return voyage from described current location to position of making a return voyage
Block 3 send described in position of making a return voyage to described control terminal 2, locating module 5 position described in make a return voyage position by institute
State display unit 6 show described in make a return voyage position.
In the embodiment of the present invention preferably, locating module 5 can include the one in GPS, Beidou navigator
Or it is multiple.
Display unit 6 includes the display interface such as LCDs, touch screen.
Preferably, described control terminal includes memorizer, and it can be volatile memory or non-volatile memories
Device.Memorizer can include one or more read only memory ROM, random access memory ram, quick flashing
Memorizer, Electrical Erasable programmable read only memory EEPROM or other type of memorizer.
In the embodiment of the present invention preferably, described control terminal 2 be can provide geographical position coordinates mobile phone,
Pad or other mobile terminals.
Preferably, when controlling terminal 2 and being the flight controller not being provided that geographical position coordinates, described control
Module 4 via described wireless communication module 3 send described in make a return voyage position to substitute described control terminal 2 user
The mobile phone of provided geographical position coordinates, pad or other mobile terminals.
Further, the invention provides a kind of unmanned vehicle, it is equipped with unmanned vehicle as above
Make a return voyage system.
Although embodiment of the present invention being described above in association with accompanying drawing, but the invention is not limited in
The specific embodiments and applications field stated, above-mentioned specific embodiments is the most schematic, guiding,
Rather than it is restrictive.Those of ordinary skill in the art is under the enlightenment of this specification and without departing from the present invention
In the case of scope of the claimed protection, it is also possible to make a variety of forms, these belong to the present invention
The row of protection.
Claims (10)
1. unmanned vehicle makes a return voyage a method, and it comprises the following steps:
In first step (S1), unmanned vehicle body receives make a return voyage instruction or the triggering that user sends
Automatically make a return voyage pattern；
In second step (S2), unmanned vehicle body calculates by current location making a return voyage to position of making a return voyage
Path；
In third step (S3), described in the transmission of described unmanned vehicle body, make a return voyage position to user edge
Fly to position of making a return voyage in path of making a return voyage.
Described unmanned vehicle the most according to claim 1 makes a return voyage method, it is characterised in that:
In second step (S2), described in position of making a return voyage carried by the control terminal that can provide geographical position coordinates
Supply.
Described unmanned vehicle the most according to claim 1 makes a return voyage method, it is characterised in that:
In second step (S2), described in make a return voyage the position mobile phone by the user that can provide geographical position coordinates
There is provided；
In third step (S3), described in the transmission of described unmanned vehicle body, make a return voyage position to user mobile phone
Upper position of making a return voyage of also flying to along path of making a return voyage.
Described unmanned vehicle the most according to claim 1 makes a return voyage method, it is characterised in that:
In second step (S2), described in position of making a return voyage fixed by the control terminal that can provide geographical position coordinates
Phase provide and described in make a return voyage position regular update.
Described unmanned vehicle the most according to claim 1 makes a return voyage method, it is characterised in that:
In second step (S2), described in make a return voyage position by providing the control terminal of geographical position coordinates not
Periodically provide, described in make a return voyage position reach to preset condition by unmanned vehicle body and carry out irregular the most more
Newly.
Described unmanned vehicle the most according to claim 1 makes a return voyage method, it is characterised in that:
In third step (S3), described in the transmission of described unmanned vehicle body, make a return voyage position to mobile phone or intelligence
Energy wrist-watch, Intelligent bracelet or cloud server.
7. unmanned vehicle makes a return voyage a system, and it includes unmanned vehicle body (1) and controls terminal (2),
Described unmanned vehicle body (1) includes for the wireless communication module (3) with control terminal (2) radio communication
With the control module (4) for controlling unmanned vehicle flight, it is characterised in that:
Described control module (4) receives from controlling terminal (2) via described wireless communication module (3)
Making a return voyage and instruct or trigger pattern of automatically making a return voyage, described control module (4) calculates and performs from current location to returning
Boat position make a return voyage path and via described wireless communication module (3) send described in make a return voyage position to described control
Terminal (2).
Described unmanned vehicle the most according to claim 7 makes a return voyage system, it is characterised in that:
Described control terminal (2) includes the locating module (5) for location and display unit (6), location
Make a return voyage described in module (5) location position making a return voyage position described in described display unit (6) display, described control
Terminal processed (2) is the flight controller that can provide geographical position coordinates.
Described unmanned vehicle the most according to claim 7 makes a return voyage system, it is characterised in that: control eventually when described
When end (2) is not provided that geographical position coordinates, described control module (4) is via described wireless communication module (3)
Make a return voyage described in transmission the position hands to the provided geographical position coordinates of the user substituting described control terminal (2)
Machine, pad or other mobile terminals.
10. a unmanned vehicle, it is equipped with unmanned vehicle as claimed in any one of claims 7-9 and returns
Boat system.
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| CN201610404122.6A CN105867423A (en) | 2016-06-08 | 2016-06-08 | Course reversal method and course reversal system of unmanned aerial vehicle and unmanned aerial vehicle |
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| CN201610404122.6A CN105867423A (en) | 2016-06-08 | 2016-06-08 | Course reversal method and course reversal system of unmanned aerial vehicle and unmanned aerial vehicle |
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| CN201610404122.6A Pending CN105867423A (en) | 2016-06-08 | 2016-06-08 | Course reversal method and course reversal system of unmanned aerial vehicle and unmanned aerial vehicle |
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