CN106710315A - Industrial UAV management and control system and method - Google Patents
Industrial UAV management and control system and method Download PDFInfo
- Publication number
- CN106710315A CN106710315A CN201611272614.0A CN201611272614A CN106710315A CN 106710315 A CN106710315 A CN 106710315A CN 201611272614 A CN201611272614 A CN 201611272614A CN 106710315 A CN106710315 A CN 106710315A
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- control
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- unmanned plane
- blank pipe
- management
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
Abstract
The invention discloses an industrial UAV management and control system and an industrial UAV management and control method. The industrial UAV management and control system comprises flight control boxes, a ground station, an industrial air traffic control platform, a national air traffic control platform and a management and control client. The industrial air traffic control platform declares fixed task airspace to the national air traffic control platform, limited information of a UAV such as flight airspace and flight height is prestored while the UAV is registered in the flight control boxes after successful declaration, thus the UAV can fly without declaration in the approved airspace, and the flight space is automatically limited; and the UAV needs to declare to the industrial air traffic control platform and even the national air traffic control platform by utilizing the ground station when entering unapproved airspace. The national air traffic control platform grasps geological positions of all flight control boxes and the ultimate control power, and can cope with emergencies. The industrial UAV management and control system and the industrial UAV management and control method aim at industrial-grade UAVs in all industries, allow state institutions to delegate part of management and control power to departments of all industries, divide clear responsibility regions, omit the tedious fixed task region takeoff declaration, and standardize the airspace management while facilitating the usage of the UAV.
Description
Technical field
The invention belongs to unmanned plane management domain, and in particular to industrial unmanned plane is limited and every profession and trade spatial domain up to spatial domain
Management.
Background technology
With the development of science and technology, technical grade unmanned plane is widely used into all trades and professions in recent years.With consumer level
Unmanned plane is compared, and technical grade unmanned plane load is big, and airborne period is long, and flight reach distance is remote, and intelligentized control method level is high, it
While quick facility is brought to the work of every profession and trade with development, there is hair unmanned plane accident and the black adverse events such as winged more
It is raw, threatened with people's safety belt to country, if law-breaker's malicious exploitation administrative vulnerability, can safely be caused to country and the people
Inconceivable destruction.
Really to run unmanned plane well, it is necessary to from the brain of unmanned plane --- flight control system is set about, it is necessary to carry out winged control
System standardization works, and flight control system is played a part of active management, also for each management level divides clearly right and responsibility
Boundary.Only feel that it is unpractical way to declare with blank pipe department full powers examination ＆ approval by personal.At present, with industry unmanned plane city
Field development, country is badly in need of having the clear and definite managing and control system of a set of clear range of management of responsibility division of powers, for managing, monitoring nobody
The safe handling of machine and emergent place are prominent.
The content of the invention
The present invention can solve the problem of management of unmanned plane, realize real-time monitoring, control, sky to every profession and trade application unmanned plane
Domain is limited and airspace management power is divided.
The present invention provides a kind of industry unmanned plane managing and control system and method, including flies control box, earth station, industry blank pipe and put down
Platform, national blank pipe platform and management and control client.Flying control box is used to manipulate unmanned plane during flying；Earth station can simultaneously control and monitor
Multiple flies control box；Industry and national blank pipe platform can monitor in real time fly control box, can in case of emergency force to control to fly control box.
It is a hardware platform for being integrated with microprocessor and multiple functional modules to fly control box；Earth station can be mobile device, such as
Laptop computer, panel computer and mobile phone；Industry and national blank pipe platform can be mobile device or desktop computer.Management and control client
End software contains the management and control function and the interactive function with user of each management platform, can Microsoft Windows, Linux,
Run in the conventional operating system such as Android and apple iOS, therefore be mounted with that mobile phone, flat board and the computer of the software can
Serve as earth station, industry blank pipe platform or national blank pipe platform.All of above equipment can access public network and Big Dipper short message
Communication network, wherein fly control box and above-mentioned mobile device then can connect public network by Internet of Things module.And it is commercially available mobile phone, flat
, all without integrated complete dipper system function (including Big Dipper positioning and short message communication), the present invention is provided for board device and computer
Managing and control system support plug-in big dipper module, mobile phone and tablet device can be connected to using OTG technologies, or connect by USB
Mouth/bluetooth/WIFI is connected to portable or desktop computer.
Fly in control box comprising central processing unit, inertial navigation module, barometric surveying module, module, Big Dipper mould be locally stored
Block and Internet of Things module (NB-IoT).Dispatched from the factory the moment control box is flown, (such as flying height is limited the related essential information of sector application
System, rate limitation, duration of leaving a blank limitation, industry department numbering etc.) and uniquely equipment string number can be written into central processing unit
Single write storage unit in, make fly control box have the advantages that identity can chase after retrospective and preliminary purposes is controlled.It is locally stored
Module includes two parts, and one stores digital enclosure wall data, and another part is used to store flying quality, such as geographical position
Put, height, speed, attitude, electricity etc..
Digital enclosure wall data are that the spatial information (si) passed through according to the examination ＆ approval of national blank pipe platform is generated, and do not need winged control box
Reachable spatial domain of the external data transmission link with regard to energy volitional check unmanned plane is relied on, even if Big Dipper short message function and Internet of Things work(
Can fail, digital enclosure wall also can normal operation.Flight of the unmanned plane in the range of digital enclosure wall need not be to industry or country
Blank pipe platform is declared, and facilitates the use of numerous industry unmanned planes, reduces the work load of related airspace management department.For
The spatial domain of every profession and trade is divided and management responsibility is divided, and industry blank pipe platform needs operation spatial domain geography information to be put down to national blank pipe
Platform is declared, and digital enclosure wall data can be converted into by management and control client by the spatial information (si) of report and rigister, and by Internet of Things or
Person's USB interface is write to the corresponding memory module for flying control box.
Earth station can fly control box using Internet of Things and Big Dipper short message control are multiple, can be for unmanned plane setting course line simultaneously
Make its autonomous execution task.Earth station's complete monitoring flies to control the flight information in detail such as geographical position, height, flying speed of box.
, it is necessary to propose to declare and digital enclosure wall to industry blank pipe platform using earth station in the case of unmanned plane cross-regional operation demand
Unlocking request, if the spatial domain geographical position declared is excessively sensitive, industry blank pipe platform needs to be uploaded to national blank pipe and put down declaring
Platform, makes examination ＆ approval and determines by the responsible organization of higher level.
Industry and national blank pipe platform can monitor in real time belong to respective department winged control box geographical position and height,
Can in emergency circumstances force to obtain the control for flying control box；National blank pipe platform possesses highest control.
The beneficial effects of the invention are as follows：
Each winged control box is owned by unique string number, unmanned machine equipment is possessed identity trackability；Fly control box central processing unit to exist
Sector application information is all written into before dispatching from the factory, flying quality is fundamentally limited；Fly control box memory storage and digital enclosure wall number
According to, autonomous limitation flight space is realized, without relying on external data link, make the reliability and execution efficiency of spatial domain limitation function
Greatly improve, fundamentally ensure that unmanned plane will not be used by crossing the border in violation of rules and regulations.Every profession and trade is only needed to national blank pipe platform once
Property declare spatial domain, corresponding operation unmanned plane just can exempt to declare and takes off in the spatial domain by examining, specification airspace management it is same
When facilitate using and reducing spatial domain examination and approval work amount for unmanned plane, also clearly blamed for the management work of the superior and the subordinate has been divided
Appoint region.All functional modules that winged control box is included all are integrated in same hardware platform, and module is handed over the data of intermodule
Change and all realized by internal circuit, it is ensured that the security of hardware platform data exchange.
Brief description of the drawings
Fig. 1 is that the technology of the present invention principal diagram is intended to；
Fig. 2 is control box hardware system schematic diagram of the present invention.
Specific embodiment
Embodiment 1
The present embodiment provides a kind of industry unmanned plane managing and control system, including flies control box, earth station, industry blank pipe platform, country's sky
Pipe platform and management and control client, as shown in Figure 1.Flying control box is used to manipulate unmanned plane during flying；Earth station can simultaneously control and supervise
Control is multiple to fly control box, is unmanned plane setting course line；The status data of normal flight can be all uploaded to by flying control box or earth station
Industry responsible institution and national sector of province of cities and counties put on record storage, to consult at any time and supervise when to there is problem.Industry
With national blank pipe platform can monitor in real time fly control box geographical position and other basic flight informations, in case of emergency can be strong
System control flies control box.Industry and national blank pipe platform can not fly control box by the direct management and control of earth station, occur in accident
Shi Guojia blank pipes platform can dispatch cities and counties of each province and industry aircraft is supported, and certain region is if desired emptied under special circumstances
Unmanned plane, industry or national blank pipe platform can fly Internet of Things or Big Dipper link in control box and force by being integrated in
Make a return voyage and forbid to take off.It is a hardware platform for being integrated with microprocessor and multiple functional modules to fly control box；Earth station can
To be mobile device, such as laptop computer, panel computer and smart mobile phone；Industry and national blank pipe platform can be mobile device or
Person's desktop computer.Management and control client contains the management and control function and the interactive function with user of each management platform, can be micro-
Run in the conventional operating system such as soft Windows, Linux, Android and apple iOS, therefore be mounted with the hand of management and control client
Machine, flat board and computer are capable of function as earth station, industry blank pipe platform or national blank pipe platform.All of above equipment can connect
Enter public network and Big Dipper short message communication net, using two-way communication link mode, wherein fly control box and above-mentioned mobile device can lead to
Internet of Things module or mobile network module is crossed to connect public network, and commercially available mobile phone, tablet device and computer be not due to integrated
Complete dipper system function (including Big Dipper positioning and short message communication), the managing and control system that the present invention is provided supports plug-in north
Bucket module, can be connected to mobile phone and tablet device, or be connected to by USB interface/bluetooth/WIFI portable using OTG technologies
Or desktop computer.
Flying control box, earth station, industry and national management platform can connect public by mobile network module or Internet of Things module
Net, for ensuring information security property, network service must be encrypted, and 2G, 3G and 4G movement Network Communication therein corresponds to use respectively
GEA, MILENAGE, SEA cipher mode.
Big Dipper short message communication relies solely on China's dipper system, is not related to public network, along with the point-to-point encryption of support, energy
Enough communication securities for ensureing to fly control box and other control platforms.In case of emergency, management and control client can enable safe mode,
The basic running of management system is maintained using Big Dipper short message communication, prevents equipment to be held as a hostage by Internet of Things.
Fly in control box comprising central processing unit, inertial navigation module, barometric leveling module, module, north be locally stored
Bucket module and Internet of Things module (NB-IoT), as shown in Figure 2.Dispatched from the factory the moment control box is flown, the related essential information of sector application
(such as flight height limitation, rate limitation, duration of leaving a blank limitation, industry department numbering) and unique equipment string number can be write
In entering the single write storage unit of central processing unit, making to fly control box, there is identity can chase after retrospective and controlled excellent of preliminary purposes
Point.Module is locally stored and includes two parts, one stores digital enclosure wall data, and another part is used to store flight number
According to such as geographical position, height, speed, attitude, electricity；Storage module can be carried out by Internet of Things module or USB interface
Read-write.
Spatial domain according to every profession and trade is divided and management responsibility is divided, and industry blank pipe platform is needed operation spatial domain geography information
Declared to national blank pipe platform, digital enclosure wall data can be converted into by management and control client by the spatial information (si) of report and rigister, should
Data are limited and the flight restriction information in detail such as maximum height, maximum speed, most airborne period long including spatial domain, and by thing
Networking or USB interface are write to the corresponding memory module for flying control box, so that flying control box needs not rely on external data transmission
Link just can volitional check unmanned plane reachable spatial domain, even if the failure of Big Dipper short message function and internet of things functional, digital enclosure wall
Also can normal operation.Flight of the unmanned plane in the range of digital enclosure wall need not be declared to industry or national blank pipe platform, side
Numerous industry unmanned planes use, reduce the work load of related airspace management department.In the management and control client also
Can show the various states of connected unmanned plane, including the flight curve of unmanned plane, flight parameter, playback file and gps satellite
State.
Earth station can fly control box using Internet of Things and Big Dipper short message control are multiple, can be for unmanned plane setting course line simultaneously
Make its autonomous execution task.Earth station's complete monitoring flies to control the flight information in detail such as geographical position, height, flying speed of box.
, it is necessary to propose to declare and digital enclosure wall to industry blank pipe platform using earth station in the case of unmanned plane cross-regional operation demand
Unlocking request, if the spatial domain geographical position declared is excessively sensitive, industry blank pipe platform needs to be uploaded to national blank pipe and put down declaring
Platform, makes examination ＆ approval and determines by the responsible organization of higher level.
Industry and national blank pipe platform can monitor in real time belong to respective department winged control box geographical position and height,
Can in emergency circumstances force to obtain the control for flying control box；National blank pipe platform possesses higher relative to industry blank pipe platform
Control.
Outside spare interface is reserved with due to flying control box, such as USB, CAN, serial ports and Ethernet interface common interfaces fly control
Box being capable of plug-in function device.For example, with Ethernet interface carry camera, picture is shot using Internet of Things real-time Transmission；Use SBUS
Or PPM connects the receiver of remote control, and manual manipulation is carried out to unmanned plane；With ether network interface connection loudspeaker module, pass through
Earth station or blank pipe platform are remotely propagandaed directed to communicate；Using CAN or SPI control laser radars, ground mapping is carried out.
Above example is only explanation technological thought of the invention, it is impossible to limit protection scope of the present invention with this, every
According to technological thought proposed by the present invention, any change done on the basis of technical scheme each falls within the scope of the present invention
Within.
Claims (6)
1. a kind of industry unmanned plane managing and control system, including fly control box, earth station, industry blank pipe platform, national blank pipe platform and pipe
Control client,
The aircraft control box by central processing unit, inertial navigation module, barometric surveying module, module, big dipper module is locally stored
Constituted with Internet of Things module, those modules flown in control box are all integrated in same hardware platform；The winged control box is when dispatching from the factory
Carve, including flying height limitation, rate limitation, duration of leaving a blank limitation and industry department such as number at the related basic letter of sector application
Breath, and unique equipment string number can be written into the single write storage unit of CPU；
Before execution task, the spatial domain according to every profession and trade is divided and management responsibility is divided to the spatial domain geography information of operation to state
Family's blank pipe platform is declared, and digital enclosure wall data can be converted into by management and control client by the spatial domain geography information of report and rigister, should
Data are limited and maximum height, most maximum speed, the flight restriction information such as airborne period long including spatial domain, and by Internet of Things
Or USB interface writes being locally stored in module to corresponding winged control box, the winged control box manipulates unmanned plane during flying, and according to number
The reachable spatial domain of the scope volitional check unmanned plane of word enclosure wall；
Earth station can simultaneously be controlled using Internet of Things and Big Dipper short message and monitoring is multiple flies control box, is unmanned plane setting course line
Its autonomous execution task in the range of digital enclosure wall, and complete monitoring is set to fly to control geographical position, height and the flying speed of box
Etc. flight information, and the various states of connected unmanned plane are shown in management and control client, including unmanned plane flight curve, fly
Line parameter, playback file and gps satellite state；
Industry and national blank pipe platform can monitor in real time belong to respective department winged control box geographical position and height, at nobody
Asked with the unblock of digital enclosure wall, it is necessary to propose to declare to industry blank pipe platform using earth station in the case of machine cross-regional operation demand
Ask, and can in emergency circumstances force to obtain the winged control for controlling box existing, national blank pipe platform is flat relative to industry blank pipe
Platform possesses control higher；
When the spatial domain geographical position declared is excessively sensitive, industry blank pipe platform need to be uploaded to national blank pipe platform declaring, by more
High level responsible organization makes examination ＆ approval and determines.
2. industry unmanned plane managing and control system according to claim 1, it is characterised in that：Earth station is mobile device；Industry
Can be mobile device or desktop computer with national blank pipe platform.
3. industry unmanned plane managing and control system according to claim 2, it is characterised in that：The mobile device be laptop computer,
Panel computer or smart mobile phone.
4. industry unmanned plane managing and control system according to claim 1, it is characterised in that：The aircraft control box is reserved with outer
Portion's spare interface, such as USB, CAN, serial ports and Ethernet interface common interfaces are realizing plug-in function.
5. a kind of industry unmanned plane management-control method, including fly control box, earth station, industry blank pipe platform, national blank pipe platform and pipe
Reason client,
Wherein, control box is flown at the moment of dispatching from the factory, the spatial domain according to every profession and trade divides and management responsibility division is geographical to operation spatial domain believes
Cease and declared to national blank pipe platform, digital enclosure wall number can be converted into by management and control client by the spatial domain geography information of report and rigister
According to the digital fence data include flying height limitation, rate limitation, duration of leaving a blank limitation etc., and the digital enclosure wall data pass through
Internet of Things or USB interface write to corresponding winged control box and module are locally stored；
Flight of the unmanned plane in the range of digital enclosure wall need not be declared to industry or national blank pipe platform, and according to winged control box
Interior digital enclosure wall range manipulation unmanned plane during flying, the reachable spatial domain of volitional check unmanned plane；
Earth station flies control box using Internet of Things and Big Dipper short message control are multiple, can be set in digital enclosure wall scope for unmanned plane
Interior course line simultaneously makes its autonomous execution task, and complete monitoring flies to control the flight in detail such as geographical position, height, flying speed of box
Information；In case of emergency, management and control client can enable safe mode, and the base of system is maintained using Big Dipper short message communication
This running, prevents equipment to be held as a hostage by Internet of Things；
Industry and national blank pipe platform can monitor in real time belong to respective department winged control box geographical position and height, urgent
In the case of can force to obtain the control for flying control box；National blank pipe platform possesses control higher relative to industry blank pipe platform
Power；
When there is cross-regional operation demand in unmanned plane, earth station proposes to declare the unblock with digital enclosure wall to industry blank pipe platform
Request, if the spatial domain geographical position declared is excessively sensitive, industry blank pipe platform need to be uploaded to national blank pipe platform declaring, by more
High level responsible organization makes examination ＆ approval and determines；
When accident occurs, national blank pipe platform can be scheduled support to unmanned plane；
When needing the unmanned plane for emptying certain region under special circumstances, industry or national blank pipe platform can be winged by being integrated in
Internet of Things or Big Dipper link in box is controlled to force to make a return voyage and forbid taking off.
6. industry unmanned plane managing and control system according to claim 5, it is characterised in that：Institute can be shown in management and control client
Connect the various states of unmanned plane, including the flight curve of unmanned plane, flight parameter, playback file and gps satellite state.
Priority Applications (1)
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| CN201611272614.0A CN106710315A (en) | 2016-12-30 | 2016-12-30 | Industrial UAV management and control system and method |
Applications Claiming Priority (1)
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|---|---|---|---|
| CN201611272614.0A CN106710315A (en) | 2016-12-30 | 2016-12-30 | Industrial UAV management and control system and method |
Publications (1)
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Family
ID=58906715
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| CN201611272614.0A Pending CN106710315A (en) | 2016-12-30 | 2016-12-30 | Industrial UAV management and control system and method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107404347A (en) * | 2017-07-25 | 2017-11-28 | 福州大学 | A kind of unmanned plane remote monitoring system and method based on NB IoT |
| CN107516437A (en) * | 2017-07-12 | 2017-12-26 | 哈尔滨理工大学 | Unmanned plane managing and control system safe for operation and method in the air |
| CN108496134A (en) * | 2017-05-31 | 2018-09-04 | 深圳市大疆创新科技有限公司 | Unmanned plane makes a return voyage paths planning method and device |
| CN108922248A (en) * | 2018-06-29 | 2018-11-30 | 陆英玮 | A kind of civilian unmanned plane air traffic control system of distribution, blank pipe method and collaboration method |
| CN109523837A (en) * | 2018-12-29 | 2019-03-26 | 湖南宇正智能科技有限公司 | A kind of low flyer security management and control system and method |
| WO2019071376A1 (en) * | 2017-10-09 | 2019-04-18 | 深圳市大疆创新科技有限公司 | Registration information processing method and system, terminal device and control device |
| CN110034815A (en) * | 2019-03-29 | 2019-07-19 | 中国科学院地理科学与资源研究所 | Unmanned aerial vehicle remote sensing network-building method, device and framework based on three-level structure |
| CN111192480A (en) * | 2020-01-11 | 2020-05-22 | 中国人民解放军93209部队 | Distributed airspace use information processing and synchronizing method and system |
| CN111653129A (en) * | 2020-05-19 | 2020-09-11 | 北京东进航空科技股份有限公司 | Airspace management method based on airspace sphere |
| CN112540788A (en) * | 2020-12-03 | 2021-03-23 | 南方电网数字电网研究院有限公司 | Method compatible with multi-manufacturer unmanned aerial vehicle flight control application apps |
| CN113299121A (en) * | 2021-04-06 | 2021-08-24 | 中电科芜湖通用航空产业技术研究院有限公司 | Ground station system capable of selecting manned or unmanned aircraft |
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| CN108496134A (en) * | 2017-05-31 | 2018-09-04 | 深圳市大疆创新科技有限公司 | Unmanned plane makes a return voyage paths planning method and device |
| CN107516437A (en) * | 2017-07-12 | 2017-12-26 | 哈尔滨理工大学 | Unmanned plane managing and control system safe for operation and method in the air |
| CN107404347B (en) * | 2017-07-25 | 2019-11-12 | 福州大学 | A kind of unmanned plane remote monitoring system and method based on NB-IoT |
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| WO2019071376A1 (en) * | 2017-10-09 | 2019-04-18 | 深圳市大疆创新科技有限公司 | Registration information processing method and system, terminal device and control device |
| CN108922248A (en) * | 2018-06-29 | 2018-11-30 | 陆英玮 | A kind of civilian unmanned plane air traffic control system of distribution, blank pipe method and collaboration method |
| CN109523837A (en) * | 2018-12-29 | 2019-03-26 | 湖南宇正智能科技有限公司 | A kind of low flyer security management and control system and method |
| CN110034815A (en) * | 2019-03-29 | 2019-07-19 | 中国科学院地理科学与资源研究所 | Unmanned aerial vehicle remote sensing network-building method, device and framework based on three-level structure |
| CN111192480A (en) * | 2020-01-11 | 2020-05-22 | 中国人民解放军93209部队 | Distributed airspace use information processing and synchronizing method and system |
| CN111192480B (en) * | 2020-01-11 | 2022-01-28 | 中国人民解放军93209部队 | Distributed airspace use request information processing and synchronizing method and system |
| CN111653129A (en) * | 2020-05-19 | 2020-09-11 | 北京东进航空科技股份有限公司 | Airspace management method based on airspace sphere |
| CN111653129B (en) * | 2020-05-19 | 2022-04-12 | 北京东进航空科技股份有限公司 | Airspace management method based on airspace sphere |
| CN112540788A (en) * | 2020-12-03 | 2021-03-23 | 南方电网数字电网研究院有限公司 | Method compatible with multi-manufacturer unmanned aerial vehicle flight control application apps |
| CN113299121A (en) * | 2021-04-06 | 2021-08-24 | 中电科芜湖通用航空产业技术研究院有限公司 | Ground station system capable of selecting manned or unmanned aircraft |
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Addressee: Guangzhou Jetsoon Intelligent Aviation Technology Co., Ltd. Document name: Notification of Passing Preliminary Examination of the Application for Invention |
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Application publication date: 20170524 |