CN106945835A - A kind of unmanned vehicle - Google Patents
A kind of unmanned vehicle Download PDFInfo
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- CN106945835A CN106945835A CN201710137441.XA CN201710137441A CN106945835A CN 106945835 A CN106945835 A CN 106945835A CN 201710137441 A CN201710137441 A CN 201710137441A CN 106945835 A CN106945835 A CN 106945835A
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- 238000005183 dynamical system Methods 0.000 claims description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 8
- 238000003384 imaging method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 210000005252 bulbus oculi Anatomy 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- 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
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0061—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements for transition from automatic pilot to manual pilot and vice versa
-
- 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
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth 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
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Landscapes
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of unmanned vehicle, the present invention is a set of unmanned plane relay system, and the present invention includes camera module, image transmission module, power plant module, d GPS locating module and flies the modules such as control module；The present invention, which carries this relay system, can realize two kinds of offline mode of remote manual control and aircraft autonomous flight, and aircraft can pass the video information taken by airborne camera back ground control cabinet in real time in flight course.The unmanned plane of the present invention has broad application prospects, not only low cost can also send in the environment of very severe perform task and without worrying personal casualty loss.
Description
Technical field
Patent of the present invention is related to singlechip technology field, and in particular to a kind of unmanned vehicle.
Background technology
With control technology continuous improvement and Intelligent Control Theory it is perfect, occur in that a class is not required to very important person in aircraft
Drive the aircraft-unmanned plane for being just able to carry out task.Unmanned plane is played with its superior performance in modern high technology war
Unique effect.Unmanned aerial vehicle, as its name suggests, exactly drives without driver, and relies on the autoplane being embedded in aircraft to drive
Sail the aircraft of instrument or terrestrial radio remote control distributor.Unmanned plane specially can make in actual moulding, can also be by conventional airplane
Transformation is made.Unmanned aerial vehicle is with conventional airplane, it is necessary to possess take-off and landing device, fuselage, wing, aircraft mounted control system etc., also
Because unmanned, it is necessary to automatic pilot, electronic computer, automatic landing device, presetting apparatus etc. are equipped with, because realistic
Existing far distance controlled, it is necessary to equipped with real-time control units such as remote-control receiver, electron cameras, be provided with machine in remote control station accordingly
Outer remote control station, launching apparatus and monitoring system.
Patent of invention content
Patent of the present invention is related to a kind of unmanned vehicle, and the present invention is a set of unmanned plane relay system, relay system of the invention
Including modules such as camera module, image transmission module, power plant module, d GPS locating module and winged control modules；The present invention carries this
Relay system can realize two kinds of offline mode of remote manual control and aircraft autonomous flight, and aircraft, can will be airborne in flight course
Video information taken by camera passes ground control cabinet back in real time.
The unmanned plane of the present invention is had broad application prospects, and not only low cost can also be sent in the environment of very severe
Execution task and without worry personal casualty loss.
Brief description of the drawings
Fig. 1：Unmanned plane relay system structure chart.
Fig. 2：UAV Flight Control System structure chart.
Fig. 3：Tele-control system structure chart.
Fig. 4：The real-time image transmission system structure chart of unmanned plane.
Fig. 5：CMOS image sensor structure figure.
Fig. 6：Fly the structure chart of control module.
Embodiment
In order that the object, technical solution and advantage of patent of the present invention are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, patent of the present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain
Patent of the present invention, is not intended to limit the present invention patent.
Patent of the present invention is related to a kind of unmanned vehicle, and the present invention is a set of unmanned plane relay system, relaying of the invention
System includes：Camera module, image transmission module, power plant module, d GPS locating module and winged control module；The UAV flight
This relay system can realize two kinds of offline mode of remote manual control and aircraft autonomous flight, and aircraft, can be by machine in flight course
Carry the video information taken by camera and pass ground control cabinet back in real time.
Further, unmanned plane relay system of the invention, is a whole set of control system carried aboard, including aircraft
Control system, dynamical system, tele-control system, alignment system and real-time image transmission system, its core are that aircraft controls system
System, loads the module of other systems so that aircraft can be with normal flight in this system.The structure of whole unmanned plane relay system
As shown in figure 1, system is powered using two pieces of batteries, wherein battery 2# is dedicated for motor and powered, because motor is that aircraft is main
Dynamical system, its power is high, and power consumption is big, is the principal element for restricting aircraft flight.The galvanometer master being connected with battery 2#
To be used for measuring battery dump energy information, by flying control module loading to image, ground control cabinet is transferred in the lump, allows ground
Face manipulator can timely understand the remaining situation of electricity, to make correct judgement；And battery 1# to fly control module and other
Equipment is powered, and makes each module can be with normal work.Steering wheel is also the essential component of aircraft normal flight, and it can be controlled
Aspect transformation and height change etc.；The effect of camera is collection video information and handled, equivalent to " the eye of aircraft
Eyeball "；GPS module is used for being accurately positioned, it may be determined that the important information such as the flying height of aircraft, navigation direction of aircraft；Figure is passed
Transmitter module is visual plant of the transmission of video information to ground control cabinet；Control signal receiver module is distant for receiving ground
Signal is controlled, to control aircraft flight.
Further, the present invention is made up of two parts：One is automatic flight control system, and two be tele-control system.From
Dynamic flight control system is a typical feedback control system, generally by sensing system, flight-control computer and execution
Mechanism three parts composition, as shown in Figure 2.Sensor measures various status informations, including flying speed, flying height, flight
Attitude, heading, geographical coordinate etc..The information that flight-control computer is measured sensor is according to the control of flight navigation
Rate carries out calculating processing, is transformed into the status information that can be used by flight-control computer, while according to required flight shape
State calculates the output quantity to executing agency.
Further, tele-control system is also the important component of the present invention, and it is by ground control centre and airborne
System is constituted, as shown in Figure 3.The ground control centre of unmanned plane sends control instruction, by transmission of radio links, by airborne control
Signal receiving module processed is received, to control aircraft change of flight state.The transmission link of tele-control system is radio, solid
Under fixed transmission power and antenna gain, the transmission of radio has a certain distance limitation, more than its transmission range, ground control
Center just can not now be accomplished by automated driving system to control aircraft to continue to fly or oneself by remote control control aircraft flight
It is dynamic to make a return voyage.It is interweaved between automated driving system and tele-control system, possesses common part such as executing agency, is passed
The parts such as sensor.Two systems both can isolated operation, the flight of guarantee aircraft；Again can be with co-ordination, co- controlling aircraft.
Further, the UAS that the present invention is studied, the real-time Transmission of image is a critical function.Realtime graphic
The structured flowchart of Transmission system is as shown in Figure 4.The camera carried on aircraft, the image information that can be gathered simultaneously is handled,
It is sent in wireless transport module, then ground control station is passed back by Radio Link.Aircraft high-speed flight in the air, airborne takes the photograph
As head module can quickly catch image information, and the analog video signal got is converted into data signal, camera
Definition it is higher, the information content of the video information of acquisition is bigger, however, the transmission rate of Radio Link do not reach transmission will
Ask, this allows for video information and has to pass through the compression processing for flying control module, can be transferred to figure and pass transmitter module, launch mould
Block and the receiver module on ground are connected by Radio Link, transmit the video information photographed.
Further, the present invention is carried out capture images information, is effectively reduced power consumption using selection cmos image sensor,
Improve the utilization rate of the energy.Cmos image sensor is the another kind of figure made using complementary metal-oxide-semiconductor technique
As sensor, abbreviation CMOS.CMOS imaging sensors, structure such as Fig. 5, typically by pel array, row gate logic, column selection
Lead to logic, timing and control circuits, in piece analogue signal processor（ASP）Constitute, senior CMOS imaging sensors are also integrated
Have in piece analog-digital converter（ADC）.
Further, to enable unmanned plane preferably to observe ground target, the selection of its camera lens is also very crucial, first,
The specification of camera lens is in the same size with the target surface of selected imaging sensor；Secondly, camera lens will choose automatic diaphragm lens, automatically
The camera lens of aperture can have wider dynamic range, and automatic diaphragm lens have the depth of field bigger than fixed aperture camera lens.It is straight in sunlight
In the case of penetrating, the adjust automatically of aperture can be effectively protected imaging sensor；For preferably aerial photographing, the height of unmanned plane
Degree is frequently not changeless, therefore should choose zoom lens.The resolution ratio of colour imagery shot is to use tv line（Abbreviation line TV
LINES）Come what is represented, the resolution ratio of colour imagery shot is between 330 ~ 500 lines.Resolution ratio has with imaging sensor and camera lens
Close, also the frequency bandwidth with camera circuit passage is directly related, and usual rule is 1MHz frequency bandwidth equivalent to definition
For 80 lines.Frequency band is wider, and image is more clear, and line number value is relatively bigger.Camera more than general 480 line is referred to as high definition and taken the photograph
As head, therefore in final choice camera, 480 lines and its camera of higher resolution should be chosen.
Further, the present invention selection 2.4G frequency range as real-time image transmission system working frequency range, 2.4GHz's
Wireless transport module uses GFSK/FSK modulation system, and highest air transfer rate can reach 11Mbps.Current 2.4GHz is frequently
The WI-FI network of section is widely used, and interference source is relatively more when in use for wireless module, and signal transmission rate can be by certain
Interference, but if from the module that modulation system is OFDM, its transmission rate can reach in several million scopes per second, increase it
Transmission power simultaneously loads high-gain aerial, scope of its transmission range in several kms to tens kms.
Further, the flat wave antenna of present invention selection, plate aerial is a kind of only in a specific direction propagation
Antenna.Its good directionality propagated, high gain（Sensitivity is good）, but its volume is relatively large.
Further, unmanned aerial vehicle control system is made up of controlled device (aircraft) and flight control system, and it is one and closed
The stable feedback control system of ring.Flight control system be mainly used in stablizing unmanned plane during flying attitude angle (angle of pitch, inclination angle,
Course angle), control engine speed and flight track (climb, cruise, left and right is spiraled, height is kept, declined).In addition, pitching
Angle keeps keeping keeping keeping and control and lateral deviation control etc. with control, yaw angle with control, roll angle with control, height
The control to unmanned plane autonomous flight can be realized.Fly structure such as Fig. 6 of control module.
The preferred embodiment of patent of the present invention is the foregoing is only, patent is not intended to limit the invention, it is all at this
Any modification, equivalent and improvement made within the spirit and principle of patent of invention etc., should be included in patent of the present invention
Protection domain within.
Claims (7)
1. patent of the present invention is related to a kind of unmanned vehicle, the present invention is a set of unmanned plane relay system, and the present invention includes shooting
Head module, image transmission module, power plant module, d GPS locating module and winged control module composition.
2. a kind of unmanned vehicle according to claim 1, it is characterised in that the present invention is carried this relay system and can realized
Two kinds of offline mode of remote manual control and aircraft autonomous flight, aircraft, can be by taken by airborne camera in flight course
Video information pass ground control cabinet back in real time.
3. a kind of unmanned vehicle according to claim 1, it is characterised in that unmanned plane relay system of the invention, is
The a whole set of control system carried aboard, including aircraft control system, dynamical system, tele-control system, alignment system and
Real-time image transmission system, its core is aircraft control system, the module of other systems is loaded in this system so that aircraft can
With normal flight.
4. a kind of unmanned vehicle according to claim 1, it is characterised in that the present invention is powered using two pieces of batteries.
5. a kind of unmanned vehicle according to claim 1, it is characterised in that the present invention is using selection cmos image sensing
Device.
6. a kind of unmanned vehicle according to claim 1, it is characterised in that present invention selection 2.4G frequency range is used as reality
When image delivering system working frequency range.
7. a kind of unmanned vehicle according to claim 1, it is characterised in that the flat wave antenna of present invention selection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710137441.XA CN106945835A (en) | 2017-03-09 | 2017-03-09 | A kind of unmanned vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710137441.XA CN106945835A (en) | 2017-03-09 | 2017-03-09 | A kind of unmanned vehicle |
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| CN106945835A true CN106945835A (en) | 2017-07-14 |
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| CN201710137441.XA Pending CN106945835A (en) | 2017-03-09 | 2017-03-09 | A kind of unmanned vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107967798A (en) * | 2017-11-28 | 2018-04-27 | 佛山市安尔康姆航空科技有限公司 | Unmanned plane receiver control method |
| CN109405650A (en) * | 2018-11-07 | 2019-03-01 | 北京和协导航科技有限公司 | A kind of unmanned plane integrated combat system based on Man-in-loop control |
| CN109960276A (en) * | 2017-12-14 | 2019-07-02 | 世宗大学校产学协力团 | Remote control apparatus, method and the computer readable storage medium of unmanned aircraft |
| CN111226349A (en) * | 2017-08-21 | 2020-06-02 | 上海峰飞航空科技有限公司 | Tail tracking antenna |
| CN111314710A (en) * | 2020-03-24 | 2020-06-19 | 西北工业大学 | Video compression processing method and device for airborne multi-sensor multiprocessor of unmanned aerial vehicle |
| CN111447409A (en) * | 2020-03-24 | 2020-07-24 | 西北工业大学 | Video compression processing method and device for airborne multi-sensor single processor of unmanned aerial vehicle |
| CN111813141A (en) * | 2019-04-11 | 2020-10-23 | 上海交通大学 | Flight mission control system and method for remotely controlling unmanned aerial vehicle |
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| CN103595457A (en) * | 2013-11-29 | 2014-02-19 | 文杰 | Community dynamic patrol communication relay system based on aerial photos |
| CN205039452U (en) * | 2015-09-22 | 2016-02-17 | 国网山西省电力公司检修分公司 | Electric power inspection system |
| CN106355805A (en) * | 2016-11-10 | 2017-01-25 | 广东容祺智能科技有限公司 | Big data substation monitoring system based on unmanned aerial vehicle and detection method thereof |
| CN106444555A (en) * | 2016-11-30 | 2017-02-22 | 厦门汉航精密科技有限公司 | Ground forwarding-based unmanned aerial vehicle medium-short distance remote control and remote measuring system |
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Patent Citations (4)
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| CN103595457A (en) * | 2013-11-29 | 2014-02-19 | 文杰 | Community dynamic patrol communication relay system based on aerial photos |
| CN205039452U (en) * | 2015-09-22 | 2016-02-17 | 国网山西省电力公司检修分公司 | Electric power inspection system |
| CN106355805A (en) * | 2016-11-10 | 2017-01-25 | 广东容祺智能科技有限公司 | Big data substation monitoring system based on unmanned aerial vehicle and detection method thereof |
| CN106444555A (en) * | 2016-11-30 | 2017-02-22 | 厦门汉航精密科技有限公司 | Ground forwarding-based unmanned aerial vehicle medium-short distance remote control and remote measuring system |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111226349A (en) * | 2017-08-21 | 2020-06-02 | 上海峰飞航空科技有限公司 | Tail tracking antenna |
| CN107967798A (en) * | 2017-11-28 | 2018-04-27 | 佛山市安尔康姆航空科技有限公司 | Unmanned plane receiver control method |
| CN109960276A (en) * | 2017-12-14 | 2019-07-02 | 世宗大学校产学协力团 | Remote control apparatus, method and the computer readable storage medium of unmanned aircraft |
| CN109960276B (en) * | 2017-12-14 | 2022-08-30 | 世宗大学校产学协力团 | Remote control device, method and computer-readable storage medium for unmanned aerial vehicle |
| CN109405650A (en) * | 2018-11-07 | 2019-03-01 | 北京和协导航科技有限公司 | A kind of unmanned plane integrated combat system based on Man-in-loop control |
| CN109405650B (en) * | 2018-11-07 | 2021-01-26 | 北京和协导航科技有限公司 | Unmanned aerial vehicle comprehensive combat system based on human-in-loop control |
| CN111813141A (en) * | 2019-04-11 | 2020-10-23 | 上海交通大学 | Flight mission control system and method for remotely controlling unmanned aerial vehicle |
| CN111314710A (en) * | 2020-03-24 | 2020-06-19 | 西北工业大学 | Video compression processing method and device for airborne multi-sensor multiprocessor of unmanned aerial vehicle |
| CN111447409A (en) * | 2020-03-24 | 2020-07-24 | 西北工业大学 | Video compression processing method and device for airborne multi-sensor single processor of unmanned aerial vehicle |
| CN111447409B (en) * | 2020-03-24 | 2021-06-11 | 西北工业大学 | Video compression processing method and device for airborne multi-sensor single processor of unmanned aerial vehicle |
| CN111314710B (en) * | 2020-03-24 | 2021-08-13 | 西北工业大学 | Video compression processing method and device for airborne multi-sensor multiprocessor of unmanned aerial vehicle |
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Application publication date: 20170714 |