CN106027996A - Unmanned vehicles controlling means, unmanned vehicles and use its control system - Google Patents
Unmanned vehicles controlling means, unmanned vehicles and use its control system Download PDFInfo
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- CN106027996A CN106027996A CN201610548438.2A CN201610548438A CN106027996A CN 106027996 A CN106027996 A CN 106027996A CN 201610548438 A CN201610548438 A CN 201610548438A CN 106027996 A CN106027996 A CN 106027996A
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C31/00—Aircraft intended to be sustained without power plant; Powered hang-glider-type aircraft; Microlight-type aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned aerial vehicle control device, which is used for controlling an unmanned aerial vehicle and comprises a first main control circuit, an interaction circuit, a first communication circuit, a first positioning circuit and an operation circuit, wherein the first main control circuit is respectively connected with the interaction circuit, the first communication circuit, the first positioning circuit and the operation circuit. According to the invention, the special frequency band of the unmanned aerial vehicle is utilized to perform bidirectional transparent transmission with the unmanned aerial vehicle, so that the control range of the unmanned aerial vehicle is improved, and high-definition data transmission, flight path display, water resistance, dust resistance and electromagnetic interference resistance are supported.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle control device, an unmanned aerial vehicle and a control system using the same.
Background
With the development of the unmanned aerial vehicle, users have more and more requirements on the functions of the control device of the unmanned aerial vehicle. Most of the remote control devices of the unmanned aerial vehicles on the market at present belong to toy grades, only realize the one-way control of the unmanned aerial vehicles, and can not realize the two-way data transmission with the unmanned aerial vehicles. Meanwhile, the current unmanned aerial vehicle control device has a limited control range of the unmanned aerial vehicle, generally 1KM, and is not suitable for remote control.
Disclosure of Invention
In order to solve the technical defects that the existing unmanned aerial vehicle control device is limited in control distance and cannot perform bidirectional data transmission with an unmanned aerial vehicle, the invention provides the unmanned aerial vehicle control device which performs bidirectional data communication with the unmanned aerial vehicle by utilizing a professional unmanned aerial vehicle special frequency band through a communication circuit, so that the control distance of the unmanned aerial vehicle is increased.
The invention provides an unmanned aerial vehicle control device, which is used for controlling an unmanned aerial vehicle and comprises a first main control circuit, an interaction circuit, a first communication circuit, a first positioning circuit and an operation circuit, wherein the first main control circuit is respectively connected with the interaction circuit, the first communication circuit, the first positioning circuit and the operation circuit,
the first positioning circuit is used for acquiring the position of the unmanned aerial vehicle control device and receiving the position of the unmanned aerial vehicle;
the interaction circuit is used for acquiring the positions of the unmanned aerial vehicle control device and the unmanned aerial vehicle acquired by the positioning circuit and displaying the positions on a preset map;
the first communication circuit is used for communicating with the unmanned aerial vehicle by utilizing the unmanned aerial vehicle communication frequency band to acquire flight data of the unmanned aerial vehicle;
the operation circuit is used for acquiring an operation instruction of the unmanned aerial vehicle control device user on the unmanned aerial vehicle;
and the first main control circuit is used for receiving the operation instruction acquired by the operation circuit, sending the operation instruction to the unmanned aerial vehicle through the communication circuit and controlling the unmanned aerial vehicle.
Furthermore, the operating circuit comprises a control interface and a control key connected with the control interface, and a protective layer is coated on the outer side of the control key.
Further, the first communication circuit comprises a data transmission radio station, a picture transmission radio station, a 3G and/or 4G circuit and a Beidou circuit.
Furthermore, first master control circuit still is connected with the pronunciation broadcast circuit, and first master control circuit passes through the pronunciation broadcast circuit and indicates unmanned vehicles navigation information to the user.
Further, still include the first power management circuit for unmanned vehicles controlling means power supply.
Further, the first positioning circuit comprises an aviation antenna and a GPS receiver which are connected with each other.
Furthermore, the first main control circuit is also connected with the first distance measuring circuit. Still further, the first ranging circuit includes a first image capture device and/or a first radar.
Furthermore, the first main control circuit is also connected with a first storage circuit.
The invention also provides an unmanned aerial vehicle which comprises a second main control circuit, a second communication circuit, a second power management circuit, a second positioning circuit and a second distance measuring circuit, wherein the second main control circuit is respectively connected with the second communication circuit, the second power management circuit, the second positioning circuit and the second distance measuring circuit, and the second distance measuring circuit comprises a second image acquisition device and/or a second radar.
Further, the second ranging circuit comprises a second image acquisition device and/or a second radar.
Furthermore, the second main control circuit is also connected with a self-checking circuit.
Furthermore, the second main control circuit is also connected with a second storage circuit.
The invention also provides an unmanned aerial vehicle control system which comprises the unmanned aerial vehicle control device and the unmanned aerial vehicle, wherein the unmanned aerial vehicle control device is in communication connection with the unmanned aerial vehicle.
In conclusion, the invention has the following beneficial effects:
1. the special frequency band of the unmanned aerial vehicle is utilized to carry out bidirectional transparent transmission with the unmanned aerial vehicle, so that the control range of the unmanned aerial vehicle is improved, the control of the unmanned aerial vehicle is realized, and the state data of the unmanned aerial vehicle in flight is monitored in real time;
2. displaying the flight path of the unmanned aerial vehicle on a map, and acquiring the position of the unmanned aerial vehicle in real time;
3. measuring the distance between the unmanned aerial vehicle and the ground in real time;
4. revisiting and recording images acquired by the unmanned aerial vehicle, and transmitting high-definition images;
5. the information of the flight message state of the unmanned aerial vehicle is played in real time;
6. the self-checking of the starting fault of the unmanned aerial vehicle is realized;
7. waterproof, dustproof and electromagnetic interference resistant.
Drawings
FIG. 1 is a block diagram of an embodiment of a control device according to the present invention;
FIG. 2 is a block diagram of an embodiment of an UAV of the present invention;
fig. 3 is a block diagram and a schematic structural diagram of an embodiment of the unmanned aerial vehicle control system according to the invention.
Detailed Description
The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.
The conventional control device of the unmanned aerial vehicle utilizes an amateur frequency band (such as a 2.4Ghz frequency band) to realize communication with the unmanned aerial vehicle so as to control the flight of the unmanned aerial vehicle. The amateur frequency band generally transmits data in a one-way mode, only the aim of sending a control command to the unmanned aerial vehicle to control the unmanned aerial vehicle to fly can be achieved, and the flight data or the collected image data of the unmanned aerial vehicle cannot be received. Meanwhile, the amateur frequency band has the technical defects of large signal interference and small coverage range, so that the control distance of the control device to the unmanned aerial vehicle is limited, and the application range of the unmanned aerial vehicle is limited.
The present invention has been made to solve the above problems, and provides an unmanned aerial vehicle control device for controlling an unmanned aerial vehicle.
As shown in fig. 1, the unmanned aerial vehicle control device includes a first main control circuit 1, an interaction circuit 2, a first communication circuit 3, a first positioning circuit 4, and an operation circuit 5, and the first main control circuit is connected to the interaction circuit, the first communication circuit, the first positioning circuit, and the operation circuit, respectively.
Wherein,
and the first positioning circuit is used for acquiring the position of the unmanned aerial vehicle control device and receiving the position of the unmanned aerial vehicle. The unmanned aerial vehicle control device acquires the geographic position of the unmanned aerial vehicle (namely the unmanned aerial vehicle control device), and acquires the geographic position of the unmanned aerial vehicle by utilizing an aerial antenna and a GPS receiver in real time; meanwhile, the position signal can be sent to the unmanned aerial vehicle by using the aerial antenna. The unmanned aerial vehicle control device receives the positioning signal sent by the unmanned aerial vehicle by using the space antenna and the GPS receiver, displays the positioning signal through the interaction module, and displays the position of the unmanned aerial vehicle control device, the position of the unmanned aerial vehicle and the track of the unmanned aerial vehicle to a user on the interaction module.
And the interaction circuit is used for acquiring the positions of the unmanned aerial vehicle control device and the unmanned aerial vehicle acquired by the positioning circuit and displaying the positions on a preset map. The interaction module can be selectively set as a touch display screen, so that the operation of a user is facilitated. The user realizes the setting of the aviation route, the parameters of the unmanned aerial vehicle and the parameters of the unmanned aerial vehicle control device through the touch display screen, and optionally displays prompt information (such as course deviation, warning information and the like) through the touch display screen.
The first communication circuit is used for communicating with the unmanned aerial vehicle by utilizing the unmanned aerial vehicle communication frequency band to acquire flight data of the unmanned aerial vehicle. Further, the communication circuit comprises a data transmission radio station, a picture transmission radio station, a 3G and/or 4G circuit and a Beidou circuit.
In specific implementation, the data transmission radio station and the image transmission radio station are full-duplex data transmission radio stations, and the data transmission radio station has the main function of transmitting data interaction between the unmanned aerial vehicle and the unmanned aerial vehicle control device in real time; the 3G and/or 4G circuit is not only a standby channel for data interaction between the unmanned aerial vehicle and the control device, but also an optional standby channel for image transmission; the Beidou module is mainly an emergency communication channel of the unmanned aerial vehicle and the control device.
The first master control circuit is connected with the communication circuit in a serial port mode, the six serial port plates are optionally used for being connected with the master control circuit in specific implementation, control information sent by the master control circuit is transcoded and then sent by the aid of a digital radio, a picture radio, a 3G and/or 4G circuit or a Beidou circuit, and therefore data interaction with the unmanned aerial vehicle is achieved, and the purpose of controlling the unmanned aerial vehicle is achieved. The six-serial-port board comprises a GPS differential interface, and the first main control circuit can optionally send data to the data module through an RS232 serial port. The first master control circuit sends data to a GPS differential interface on the six serial port plates through a selective switch inside the first master control circuit optionally, the data are sent to the unmanned aerial vehicle through a data transmission radio station (namely, a data transmission module), and the unmanned aerial vehicle directly sends the data to the second positioning circuit through the six serial port plates for differential processing after the data are received by the radio station on the unmanned aerial vehicle. And optionally receiving the differential information through a 3G and/or 4G circuit or a Beidou circuit. It should be noted that the six-serial-port board is only a serial-port circuit board connected with the main control circuit, and other serial-port circuit boards may be optionally set in specific implementation, which is not described in detail herein.
And the operating circuit is used for acquiring an operating instruction for the unmanned aerial vehicle and sending the operating instruction to the master control. Furthermore, the operating circuit comprises a control interface and a control key connected with the control interface, and a protective layer is coated on the outer side of the control key.
In particular, the control keys may optionally include a pitch/heading handle, a collective/roll handle, a roll trim button, a heading trim button, a pitch trim button, a throttle adjustment button, and the like. The control keys in the operating circuit are set for controlling the course, the speed, the pitch angle and the like of the unmanned aerial vehicle, so the invention is not repeated except for the enumerated control keys. Meanwhile, in order to prevent the influence of poor contact, reduced sensitivity and the like on an operating circuit caused by water and dust, the protective layer is arranged on the outer side of the control key to achieve the purposes of water prevention and dust prevention. When the concrete is implemented, the protective layer is optionally set to the protective sleeves made of different materials such as a silica gel protective sleeve, a plastic protective sleeve and a composite material protective sleeve. In order to reduce the interference of electromagnetism on the control member, in the specific implementation, the protective sleeve is optionally made of rubber or other protective sleeves capable of preventing the electromagnetic influence, and the invention is not described in detail.
And the first main control circuit is used for receiving the operation instruction acquired by the operation circuit, sending the operation instruction to the unmanned aerial vehicle through the communication circuit and controlling the unmanned aerial vehicle.
During specific implementation, a user can select an operation handle and a key (namely, an operation key) and acquire codes through an acquisition coding board (namely, a control interface) to form a remote control instruction, optionally sends a level signal to a first main control circuit through TTL (transistor-transistor logic) to store real-time data, and the acquisition coding board can also receive air route information and parameter adjusting information sent by the first main control circuit through the TTL signal, and sends the air route information and the parameter adjusting information to an RS422 remote control serial port (remote control serial port) on a six-serial port board after being combined with the remote control instruction to send remote control instruction data. And after receiving the signal, the communication circuit of the unmanned aerial vehicle sends the signal to a main control circuit of the unmanned aerial vehicle through an RS422 serial port (remote control serial port) in the six-serial-port plate to carry out airplane remote control.
The first master control circuit optionally includes a processor. In specific implementation, the processor may optionally adopt a central processing unit or an embedded processor, wherein the embedded processor may also optionally adopt an embedded microprocessor, an embedded microcontroller or an embedded DSP processor. The major embedded processor types currently exist as Am186/88, 386EX, SC-400, powerPC, 68000, MIPS, ARM/StrongARM family, and the like. Wherein Arm/StrongArm is an embedded microprocessor developed for handheld devices, and belongs to the price of middle-grade. In order to reduce the volume and the cost of the unmanned aerial vehicle control device, an embedded microcontroller is optionally adopted in the specific implementation. The microcontroller has the biggest characteristic of single chip, and the size is greatly reduced, so that the power consumption and the cost are reduced, and the reliability is improved. Microcontrollers are currently the mainstream of the embedded systems industry. The on-chip peripheral resources of the microcontroller are generally rich and are suitable for control.
The working principle is as follows: the user utilizes the operating circuit provided by the unmanned aerial vehicle control device to control the flight of the unmanned aerial vehicle. The first main control circuit sends an operation instruction of a user to the operation circuit to the unmanned aerial vehicle through the communication circuit to control the unmanned aerial vehicle to fly, and meanwhile receives image data and/or flight data sent by the unmanned aerial vehicle through the communication circuit (such as a data transmission radio station, a picture transmission radio station, a 3G and/or 4G circuit and a Beidou circuit) to monitor the unmanned aerial vehicle to fly.
The first communication circuit transmits data by using a special frequency band (bidirectional transmission mode) of the unmanned aerial vehicle, so that the purpose of sending a control instruction to the unmanned aerial vehicle (namely uplink remote control) is realized, and the purpose of receiving image data acquired by the unmanned aerial vehicle or flight data of the unmanned aerial vehicle (namely downlink remote measurement link) is also realized. In specific implementation, the frequency band used by the unmanned aerial vehicle control device and the unmanned aerial vehicle can be selected from 902 MHZ to 928MHZ. And the frequency bands of 840.5-845MHz, 1430-1444MHz or 2408-2440MHz can be used for the frequency spectrum use notice of the unmanned aerial vehicle according to the Ministry of industry and communications. The control distance of the unmanned aerial vehicle is increased by utilizing the influence of the professional frequency band mode of the unmanned aerial vehicle on the control of the unmanned aerial vehicle by other radio frequency bands.
The purpose of the map radio station is to receive pictures shot by the unmanned aerial vehicle in the flying state in the sky. The image transmission station aims to acquire video data shot by the unmanned aerial vehicle at high altitude, and the traditional unmanned aerial vehicle needs to acquire the video data shot at high altitude on the ground and cannot know shot contents after being used. In order to solve the problem, the invention utilizes the image transmission radio station to acquire the shooting content of the unmanned aerial vehicle in real time. The figure transmission radio station optionally comprises a transmitting end, a receiving end and a display end, wherein in specific implementation, the transmitting end is optionally arranged at one end of the unmanned aerial vehicle, the receiving end (optionally comprising an antenna of the figure transmission radio station) is arranged on the control device, and meanwhile, the interactive circuit is used as the display end of the figure transmission radio station; and the control devices can be installed on the unmanned aerial vehicle to realize data interaction with a radio-over-image station on the unmanned aerial vehicle. When the image transmission transmitting end on the unmanned aerial vehicle selectively utilizes amateur frequency bands such as a 2.4Ghz frequency band, a 433 frequency band and a 5.8GHz judgment band to transmit image data, external interference can be filtered by a filter, and the performance of the image transmission end is improved. However, the image transmission using the 2.4Ghz and other amateur frequency bands is limited by the transmission distance, and in order to solve the problem, the image transmission using the frequency band dedicated to the unmanned aerial vehicle in this embodiment achieves the purpose of not only increasing the distance of image transmission but also not affecting the image quality. The data transmission radio station is consistent with the image circuit principle and optionally comprises a transmitting end, a receiving end and a display end. In this embodiment, a data transmission radio antenna may be optionally arranged on the unmanned aerial vehicle according to the present invention to receive the flight data of the unmanned aerial vehicle sent by the unmanned aerial vehicle. The traditional radio transceiver generally utilizes ISM frequency points, such as 433MHz,450MHz,470MHz, etc., which have short communication distance and low reliability. Therefore, the control distance of the unmanned aerial vehicle control device is increased by utilizing the special frequency band of the unmanned aerial vehicle.
Compared with the traditional unmanned aerial vehicle, the unmanned aerial vehicle control device provided by the invention has the advantages that the flight data and/or the collected image data of the unmanned aerial vehicle received by the communication circuit are displayed through the interaction module, so that a user can know the flight state of the unmanned aerial vehicle in time, meanwhile, the position of the unmanned aerial vehicle obtained by the positioning module is displayed on a map, and the purpose of displaying the track of the unmanned aerial vehicle to the user is achieved, and the user of the unmanned aerial vehicle control device can intuitively know the flight state and the position of the current unmanned aerial vehicle.
Furthermore, first master control circuit still is connected with voice playback circuit 6, and first master control circuit passes through voice playback circuit and indicates unmanned vehicles navigation information to the user.
Compared with the traditional unmanned aerial vehicle, the unmanned aerial vehicle is provided with the voice playing circuit, the flight condition information and the geographic position information of the unmanned aerial vehicle are broadcasted to the user in real time through the voice playing circuit, and meanwhile, the flight condition information and the geographic position information are displayed on the interaction circuit.
Further, a first power management circuit 7 for supplying power to the unmanned aerial vehicle control device is also included. In a specific implementation, the first power management circuit optionally includes an AC/DC conversion circuit, a protection circuit, and a battery pack, which are connected to each other. The AC/DC conversion circuit is used for realizing the conversion of alternating current and direct current. The protection circuit is preset with a voltage threshold, whether the voltage of the battery pack is lower than the preset voltage threshold is judged in real time, if yes, a prompt is given to a user, power supply is cut off, and therefore the battery is protected, and the service life of the battery is prolonged. Further, the battery pack may be optionally configured as a lithium battery, wherein the number of lithium batteries is at least 1. The standby time of the unmanned aerial vehicle control device is prolonged by arranging at least one lithium battery. In specific implementation, the battery pack may also be an alkali manganese battery, a zinc air battery, a zinc-mercury battery, a hydrogen-oxygen battery, a magnesium-manganese battery, or the like, and the type of the battery pack is not limited herein.
Compared with the traditional unmanned aerial vehicle control device, the invention adds the first distance measuring circuit 8 connected with the first master control circuit. Further, the first ranging circuit comprises a first image acquisition device and/or a first radar.
When the image acquisition device is used for distance measurement, the image acquisition device is required to be installed on the unmanned aerial vehicle; similarly, when ranging is performed by using a radar, the unmanned aerial vehicle is required to be provided with the radar. In other words, the invention increases the functions of binocular ranging and radar ranging, namely, the purpose of calculating the distance between the unmanned aerial vehicle and the control device is realized. In order to achieve the function of binocular range finding, the main control circuit provided by the invention utilizes the unmanned aerial vehicle and an image acquisition device and/or a radar on the control device, wherein the image acquisition device and the radar are respectively formed by a visual sensor and a millimeter wave radar which can be selected optionally, so that the obstacles and the target objects are distinguished in real time, the distance between the unmanned aerial vehicle and the obstacles and the distance between the unmanned aerial vehicle and the target objects are measured in real time, and the unmanned aerial vehicle is monitored in real time.
Further, the first main control circuit is also connected with a first storage circuit 9. The first storage circuit is used for storing the flight data and the shooting contents of the unmanned aerial vehicle received by the main control circuit, the unmanned aerial vehicle control device acquired by the first positioning circuit, the position of the unmanned aerial vehicle, the parameter data set through the interaction circuit and the like in real time.
It should be noted that the unmanned aerial vehicle control device described in the present invention is intended to acquire the position of the unmanned aerial vehicle in real time and control the unmanned aerial vehicle, and in specific implementation, may also optionally control other aircrafts having a communication circuit and/or a positioning circuit.
As shown in fig. 2, the present invention also provides an unmanned aerial vehicle. The unmanned aerial vehicle comprises a second main control circuit 20, a second communication circuit 21, a second power management circuit 22, a second positioning circuit 23 and a second ranging circuit 24, wherein the second main control circuit is respectively connected with the second communication circuit, the second power management circuit, the second positioning circuit and the second ranging circuit, the second ranging circuit comprises a second image acquisition device and/or a second radar, and a second storage circuit 26 is optionally added to the second main control circuit.
In specific implementation, the unmanned aerial vehicle optionally uses the second positioning circuit to obtain the position of the unmanned aerial vehicle, and receives the position of the unmanned aerial vehicle control device sent by the unmanned aerial vehicle control device, and the unmanned aerial vehicle can achieve the purpose of navigation by obtaining the position of the unmanned aerial vehicle control device. And the second storage circuit stores the data of the unmanned aerial vehicle and the received data sent by the unmanned aerial vehicle control device in real time.
Further, a self-checking circuit 25 is optionally added to the second main control circuit, and the main control circuit is connected with the self-checking circuit. The control device utilizes the main control circuit to obtain the fault self-checking information of the unmanned aerial vehicle, which is sent by the fault detection circuit of the unmanned aerial vehicle. During specific implementation, the self-checking circuit can also select to set a temperature sensor to compensate the temperature of the flying climate of the unmanned aircraft within the full temperature range. Further, a high-precision temperature compensated crystal oscillator (TCXO) technique is optionally utilized.
As shown in fig. 3, the present invention also provides an unmanned aerial vehicle control system. The system comprises an unmanned aerial vehicle control device 100 and an unmanned aerial vehicle 200, wherein the control device is in communication connection with the unmanned aerial vehicle.
The unmanned aerial vehicle control device and the unmanned aerial vehicle are provided with a positioning circuit, a distance measuring circuit and a communication circuit. Therefore, in specific implementation, the unmanned aerial vehicle control device can determine the position of the unmanned aerial vehicle through the first positioning circuit, and can also acquire the position of the unmanned aerial vehicle, so that the purpose of monitoring the unmanned aerial vehicle in real time is achieved, and the unmanned aerial vehicle is guided to fly and land. Meanwhile, the unmanned aerial vehicle can also acquire the position of the unmanned aerial vehicle through the second positioning circuit, and can also acquire the position of the unmanned aerial vehicle control device, so that the aim of acquiring a ground unmanned aerial vehicle control device (namely a ground control station) in real time is fulfilled, and the aim of changing the return journey of the unmanned aerial vehicle to the unmanned aerial vehicle control device or the position designated by the unmanned aerial vehicle control device along with the movement of the unmanned aerial vehicle control device is fulfilled.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle control device is used for controlling an unmanned aerial vehicle and is characterized by comprising a first main control circuit, an interaction circuit, a first communication circuit, a first positioning circuit and an operation circuit, wherein the first main control circuit is respectively connected with the interaction circuit, the first communication circuit, the first positioning circuit and the operation circuit,
the first positioning circuit is used for acquiring the position of the unmanned aerial vehicle control device and receiving the position of the unmanned aerial vehicle;
the interaction circuit is used for acquiring the positions of the unmanned aerial vehicle control device and the unmanned aerial vehicle acquired by the positioning circuit and displaying the positions on a preset map;
the first communication circuit is used for communicating with the unmanned aerial vehicle by utilizing the unmanned aerial vehicle communication frequency band to acquire flight data of the unmanned aerial vehicle;
the operation circuit is used for acquiring an operation instruction of the unmanned aerial vehicle control device user on the unmanned aerial vehicle;
and the first main control circuit is used for receiving the operation instruction acquired by the operation circuit, sending the operation instruction to the unmanned aerial vehicle through the communication circuit and controlling the unmanned aerial vehicle.
2. The UAV control apparatus according to claim 1, wherein the operation circuit comprises a control interface, and a control key connected to the control interface, and the control key is covered with a protection layer.
3. The UAV control apparatus of claim 1 wherein the first communication circuit comprises a radio-over-data station, a radio-over-graphics station, a 3G and/or 4G circuit, and a Beidou circuit.
4. The unmanned aerial vehicle control device of claim 1, wherein the first master control circuit is further connected with a voice playing circuit, and the master control circuit prompts navigation information of the unmanned aerial vehicle to a user through the voice playing circuit.
5. The UAV control apparatus of claim 1 further comprising a first power management circuit to power the UAV control apparatus.
6. The UAV control apparatus according to claim 1 wherein the first master control circuit is further connected to a first ranging circuit, the first ranging circuit comprising a first image capture device and/or a first radar.
7. The UAV control apparatus of claim 1 wherein the first master control circuit is further connected to a first memory circuit.
8. The utility model provides an unmanned vehicles, its characterized in that includes second master control circuit, second communication circuit, second power management circuit, second positioning circuit, second range finding circuit, and the second master control circuit is connected with second communication circuit, second power management circuit, second positioning circuit, second range finding circuit respectively, and wherein, the second range finding circuit includes second image acquisition device and/or second radar, and wherein, the second master control circuit still is connected with the second memory circuit.
9. The unmanned aerial vehicle of claim 8, wherein the second master control circuit is further connected with a self-checking circuit.
10. An unmanned aerial vehicle control system comprising the unmanned aerial vehicle control device of any one of claims 1 to 7, the unmanned aerial vehicle of claim 8 or 9, the unmanned aerial vehicle control device being in communicative connection with the unmanned aerial vehicle.
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| CN201610548438.2A CN106027996A (en) | 2016-07-12 | 2016-07-12 | Unmanned vehicles controlling means, unmanned vehicles and use its control system |
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| CN201610548438.2A CN106027996A (en) | 2016-07-12 | 2016-07-12 | Unmanned vehicles controlling means, unmanned vehicles and use its control system |
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Application publication date: 20161012 |