CN107357315B - Unmanned aerial vehicle management system - Google Patents
Unmanned aerial vehicle management system Download PDFInfo
- Publication number
- CN107357315B CN107357315B CN201710795041.8A CN201710795041A CN107357315B CN 107357315 B CN107357315 B CN 107357315B CN 201710795041 A CN201710795041 A CN 201710795041A CN 107357315 B CN107357315 B CN 107357315B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- flight
- data
- control terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004891 communication Methods 0.000 claims abstract description 60
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004804 winding Methods 0.000 description 34
- 230000004907 flux Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 6
- 238000005070 sampling Methods 0.000 description 6
- 229910052710 silicon Inorganic materials 0.000 description 6
- 239000010703 silicon Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 235000012431 wafers Nutrition 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 239000003990 capacitor Substances 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910052779 Neodymium Inorganic materials 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- QEFYFXOXNSNQGX-UHFFFAOYSA-N neodymium atom Chemical compound [Nd] QEFYFXOXNSNQGX-UHFFFAOYSA-N 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 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 1
- 241000251468 Actinopterygii Species 0.000 description 1
- ZOXJGFHDIHLPTG-UHFFFAOYSA-N Boron Chemical compound [B] ZOXJGFHDIHLPTG-UHFFFAOYSA-N 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910052796 boron Inorganic materials 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000013075 data extraction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
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)
- Mobile Radio Communication Systems (AREA)
Abstract
The unmanned aerial vehicle management system is characterized by comprising an unmanned aerial vehicle, a control terminal and a management platform which are connected through a network, wherein the unmanned aerial vehicle at least comprises an unmanned aerial vehicle control system, the unmanned aerial vehicle control system at least comprises a first processor, a navigation positioning subsystem, a flight controller and a wireless communication subsystem, and the unmanned aerial vehicle management system is characterized by also at least comprising a smart card slot, wherein the smart card slot is used for inserting a smart card distributed by an unmanned aerial vehicle manager or an operator, the smart card stores a flight control program, flight area data and a communication identification number, and the communication identification number is registered in the management platform in one-to-one correspondence with a user thereof; the first processor sends information to the flight controller according to the instruction of the control terminal received by the wireless communication subsystem so as to call the flight control program to enable the unmanned aerial vehicle to execute the flight task in the allowed flight area. According to the unmanned aerial vehicle management system, the unmanned aerial vehicle and the control terminal communicate by using the wireless network, so that resources are saved.
Description
Technical Field
The invention relates to an unmanned aerial vehicle management system, and belongs to the technical field of unmanned aerial vehicle control.
Background
With the rapid development of economy and society and the continuous promotion of airspace management reform in China, the low-altitude airspace is gradually opened, and the unmanned aerial vehicle can be greatly developed and widely applied, for example, the unmanned aerial vehicle can be applied to the fields of electric power, communication, weather, agriculture and forestry, sea, exploration, insurance and the like, and particularly can be used for the fields of earth observation, forest fire prevention and extinguishment, disaster detection, communication relay, offshore monitoring, oil and gas pipeline inspection, pesticide spraying, land resource investigation, wild animal monitoring, flood prevention and drought resistance monitoring, fish shoal detection, video aerial photography, drug and privacy, border patrol, security anti-terrorism and the like.
Because no unmanned aerial vehicle has a regular flight at present, most unmanned aerial vehicles fly freely under the control of a ground control terminal, and thus, the unmanned aerial vehicle can threaten other traffic activities and even life and property security of people, and therefore, the unmanned aerial vehicle needs to be controlled in air.
Disclosure of Invention
In order to overcome the technical problems in the prior art, the invention aims to provide an unmanned aerial vehicle management system, wherein an unmanned aerial vehicle and a control terminal in the system communicate by using a wireless network and can manage and control the unmanned aerial vehicle.
In order to achieve the object, the invention provides a management system of an unmanned aerial vehicle, which is characterized by comprising the unmanned aerial vehicle, a control terminal and a management platform which are linked through a network, wherein the unmanned aerial vehicle at least comprises an unmanned aerial vehicle control system, and the unmanned aerial vehicle control system at least comprises a first processor, a navigation positioning subsystem, a flight controller and a wireless communication subsystem, and is characterized by further comprising at least a smart card slot, wherein the smart card slot is used for inserting a smart card distributed by a manager or an operator of the unmanned aerial vehicle, the smart card stores a flight control program, flight area data and a communication identification number, and the communication identification number is registered in the management platform in one-to-one correspondence with a user thereof; the first processor sends information to the flight controller according to the instruction of the control terminal received by the wireless communication subsystem so as to call the flight control program to enable the unmanned aerial vehicle to execute the flight task in the allowed flight area.
Preferably, the first processor is configured to receive data of the navigation positioning subsystem, and send the data to the control terminal through the communication subsystem via the wireless network;
and comparing the received data of the navigation positioning subsystem with the limited area data stored in the intelligent card, judging whether the data exceeds the flyable area, if so, sending the exceeded area to the management platform, and adjusting the flight path.
Preferably, the first processor is further configured to receive data of the obstacle detection subsystem, and send the data to the control terminal through the communication subsystem via the wireless network; and receiving data of the obstacle detection subsystem, judging whether the distance between the obstacle detection subsystem and the obstacle exceeds a set distance, and if so, adjusting the flight path.
Preferably, the control terminal at least comprises a second processor, a memory, a display, a second wireless communication subsystem and a control terminal identification card slot, wherein the memory stores an unmanned aerial vehicle control program, the identification card slot is used for inserting a communication identification card distributed by a control terminal manager or operator, the communication identification card stores a communication identification number of the control terminal, and the control terminal communication identification number is registered in the management platform in one-to-one correspondence with a user thereof.
Preferably, the second processor is configured to receive position data sent by the unmanned aerial vehicle, superimpose an icon of the unmanned aerial vehicle on the map data corresponding to a position of the unmanned aerial vehicle parallel to the ground data, and annotate unmanned aerial vehicle height data in the vicinity of the icon.
Preferably, the second processor is further configured to: and receiving position data of the obstacle sent by the unmanned aerial vehicle, superposing an icon of the obstacle in the map data corresponding to the position of the obstacle parallel to the ground data, and marking the height data of the obstacle nearby the icon.
Preferably, the management platform further comprises a payment module, a control module and a communication module, when the base station in the wireless network detects information that the unmanned aerial vehicle starts flying, a signal for starting flying of the unmanned aerial vehicle is sent to the management platform through the wireless network, a data frame for starting flying is demodulated from the signal for starting flying of the unmanned aerial vehicle by the communication module, and the control module starts timing of the flying time of the unmanned aerial vehicle after receiving the data frame; when the base station in the wireless network can not detect the information of unmanned aerial vehicle flight, send unmanned aerial vehicle stop flight signal to communication module via wireless network, communication module demodulates the data frame of stopping flight from unmanned aerial vehicle start signal, control module receives this data frame and finishes the timing to unmanned aerial vehicle flight time, and calculate required payment amount according to the duration of flight, control module notifies payment module deduct required payment amount or the amount that adds up required payment from the user account that corresponds to control terminal identification card and send to the control terminal in order to pay.
Preferably, the control module sends the violation information to the control terminal of the unmanned aerial vehicle according to the area information beyond which the unmanned aerial vehicle flies, and deducts the fine from the user account corresponding to the control terminal identification card or accumulates the fine and sends the fine to the control terminal for payment.
Preferably, the control module broadcasts a service for stopping providing the wireless channel to the unmanned aerial vehicle and the control terminal thereof to the base station in the wireless network according to the number of violations of the unmanned aerial vehicle.
Compared with the prior art, the unmanned aerial vehicle and the control terminal in the system provided by the invention communicate by utilizing the wireless network, and can control the unmanned aerial vehicle.
Drawings
FIG. 1 is a block diagram of a control system of a unmanned aerial vehicle provided by the invention;
fig. 2 is a component circuit diagram of a power part in the unmanned aerial vehicle provided by the invention;
FIG. 3 is a block diagram of the components of the system subsystem provided by the present invention;
FIG. 4 is a circuit diagram of a high frequency power amplifier in a subsystem according to the present invention
FIG. 5 is a flow chart of the operation of the processor of the unmanned aerial vehicle provided by the present invention;
fig. 6 is a flowchart of the working process of the processor of the control terminal provided by the invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below are exemplary only for explaining the present invention and are not construed as limiting the present invention by referring to the drawings.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. The term "and/or" as used herein includes all or any element and all combination of one or more of the associated listed items.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, a "terminal" or "terminal device" includes a device of a wireless signal receiver that has no transmitting capability as will be appreciated by those skilled in the art.
It will be appreciated by those skilled in the art that the term "application," "application program," and similar concepts herein refer to computer software, organically constructed from a series of computer instructions and related data resources, suitable for electronic execution, as the same concepts are well known to those skilled in the art. Unless specifically specified, such naming is not limited by the type, level of programming language, nor by the operating system or platform on which it operates. Of course, such concepts are not limited by any form of terminal.
According to one implementation of the invention, the system comprises a unmanned aerial vehicle, a control terminal and a management platform which are linked through a network, wherein the unmanned aerial vehicle at least comprises an unmanned aerial vehicle control system, the unmanned aerial vehicle control system at least comprises a processor, a navigation positioning subsystem, a flight control subsystem and a wireless communication subsystem, and further at least comprises a smart card slot, wherein the smart card slot is used for inserting a smart card distributed by an unmanned aerial vehicle manager or an operator, the smart card stores a flight control program, flight area data and a communication identification number, and the communication identification number is registered in the management platform in one-to-one correspondence with a user thereof; the processor invokes the flight control program according to the instruction of the control terminal received by the wireless communication subsystem and executes the flight task in the allowed flight area. The network comprises at least a base station, a base station control center for controlling the base station and a data switching center, and can comprise a fixed telephone network, a mobile telephone network, a data network and the like in the prior art. The network preferably comprises a base station, a base station control center (BSC) and a data switching center (MSC), and the data switching center (MSC) at least comprises a switch which can convert received signals with one format into signals with another format so as to perform protocol analysis of various different networks and facilitate transmission in the different networks.
In one exemplary embodiment, each base station in the wireless network transmits a pilot signal that can be received by all radio communication systems in the space covered by the base station. To avoid pilot interference at the boundary of the area covered by the base station, time division multiplexing may be used, i.e. the neighboring base station transmits pilot signals in different time slots, in order to avoid interference at the boundary of the neighboring cell. A frequency division multiplexing manner, that is, the frequencies of pilot signals transmitted from adjacent base stations are different, may also be employed.
Fig. 1 is a block diagram of a control system of an unmanned aerial vehicle according to an embodiment of the present invention, as shown in fig. 1, where the control system of the unmanned aerial vehicle includes a processor 515, a MEMS506, a memory 509, a flight controller 507, and a motor controller 508, the flight controller 507 is configured to provide control signals to the motor controller 508, and the motor controller 508 drives the motor to operate so as to drive the unmanned aerial vehicle to fly in the air, and the memory 509 is used for storing system programs, application programs, and data, where the programs include at least an image processing program. The MEMS506 is configured to obtain heading information of the unmanned aerial vehicle, including pitch angle, yaw angle, and roll angle of the unmanned aerial vehicle, and provide the information to the processor 515. According to one embodiment of the invention, the control system of the unmanned aerial vehicle further comprises a navigation positioning receiver 505 which receives the navigation positioning satellite by means of an antenna in accordance with one embodiment of the invention in respect of itself, the control system of the unmanned aerial vehicle further comprises a radio subsystem comprising a digital baseband unit 510, an analog baseband unit 511, an antenna and a smart card 512, the antenna being adapted to convert an electrical signal to be transmitted into an electromagnetic wave and radiate it to a space, and also to convert the space electromagnetic wave into an electrical signal and then to supply it to the analog baseband unit 511; the intelligent card is inserted into the intelligent card slot, the flight control program, the flight area data and the communication identification number are registered in the management platform in one-to-one correspondence with the user of the intelligent card, so that the management is convenient for the manager.
According to one embodiment of the invention, the communication identifier may be a telephone number of a telecommunications department. During signaling, the digital baseband unit 510 is configured to package data to be sent by the processor, a source address, a target address, a check code, etc. into a data frame, perform source coding and channel coding to form a digital baseband signal, and then send the digital baseband signal to the analog baseband unit 511, where the analog baseband unit 511 modulates the digital baseband signal to a radio frequency, performs power amplification, and then sends the digital baseband signal to the antenna; during reception, the analog baseband unit 511 amplifies the small signal of the electric signal transmitted by the antenna, demodulates the small signal to obtain a digital baseband signal, transmits the digital baseband signal to the digital baseband unit 510, and the digital baseband unit 510 performs channel decoding, source decoding, frame decoding and instruction and data extraction on the digital baseband signal, and transmits the instruction and data to the processor 515, and the processor 515 invokes a flight control program and executes tasks in a flight area according to the instruction of the control terminal received by the wireless communication subsystem.
According to one embodiment of the present invention, the control system of the drone further includes an obstacle detector 501 for acquiring the distance between the drone and the obstacle, and the processor 515 also provides instructions to the flight controller 507 to change the flight path of the drone according to the distance between the drone and the obstacle.
The control system of the unmanned aerial vehicle according to one embodiment of the present invention further comprises a camera subsystem for acquiring image information of the environment under test and transmitting the image information to the processor 515. The camera subsystem comprises a camera 504 and a video encoder 526, wherein the camera 504 is used for acquiring video images of the monitored environment and transmitting image information to the video encoder 526, and the video encoder 526 is used for encoding input video image signals and then transmitting the encoded video image signals to the processor 515.
In addition, according to an embodiment of the invention, the flight parameters of the unmanned aerial vehicle, such as the position, the course angle and the like of the unmanned aerial vehicle, can be obtained through the navigation positioning receiver, the MEMS and the like, and the flight parameters are superimposed into each frame of image, so that the angle of the optical axis of the camera can be obtained according to the attitude angle of the unmanned aerial vehicle, and the shooting angle of the image can be further determined.
In the invention, the unmanned aerial vehicle can communicate with the control terminal through the wireless network, the control terminal can be a user connected to the Internet, the user can monitor the unmanned aerial vehicle at any place and acquire information acquired by the unmanned aerial vehicle, for example, the control terminal is a computer, and the user sends an instruction to the unmanned aerial vehicle through the network by inputting the instruction. Or a user of the mobile communication network, and the user sends the instruction to the unmanned aerial vehicle through the network by voice or instruction input.
In one embodiment, the wireless subsystem of the drone directs its antenna beam to the "best" base station and measures the strength of the pilot signal transmitted by the base station. And the unmanned aerial vehicle selects the base station with the strongest pilot signal for communication. As the drone travels along its route, its radio subsystem periodically measures the pilot signal from the base station. Each base station divides a coverage area in its coverage space into cells and periodically transmits pilot signals in each cell. The drone periodically searches for each base station pilot signal. And rank the strengths of pilot signals from different base stations, and determine whether a handoff to another base station is required based on the relative strengths of the pilot signals of the different base stations. The switching mainly comprises the following steps: first, the wireless subsystem of the drone obtains its location coordinates and measures the pilot strength of the base station visible to the drone. The pilot strengths are ordered to determine whether a handoff to another base station is required. If the switching is needed, the unmanned plane sends a switching initiating message and switching time to the current base station communicated with the unmanned plane and the base station to be switched; the current base station and the base station to be switched inform the Internet gateway of the switching event and the switching occurrence time. Although the foregoing handover procedure is described with respect to a drone origination procedure, one of ordinary skill in the relevant art will readily appreciate that the handover procedure may be initiated by a base station, a ground control terminal, and the foregoing is merely exemplary.
In the present invention, the unmanned aerial vehicle is an unmanned rotorcraft configured to autonomously operate according to a set program or an instruction transmitted from a ground control terminal and capable of flying in the air, and the unmanned rotorcraft is capable of supplying power in the air by solar energy. The following describes in detail the power section of the unmanned aerial vehicle according to an embodiment of the present invention with reference to fig. 2.
Fig. 2 is a circuit diagram of a power part in the unmanned aerial vehicle provided by the invention, as shown in fig. 2, according to an embodiment, the unmanned aerial vehicle provided by the invention can provide energy through solar energy so as to drive a motor to rotate, and thus, a rotor wing is driven to rotate. The solar power supply circuit includes: the photovoltaic battery SE is used for converting light energy into electric energy, the photovoltaic battery SE can be a photovoltaic battery film, can be attached to the upper surface of the shell, can also be a photovoltaic battery panel and is carried by an unmanned aerial vehicle, the positive electrode output end of the photovoltaic battery SE is connected with the first input end of the charger CH1, and the negative electrode output end is connected with the second input end of the charger CH1 through a resistor R3; the resistors R1 and R2 are connected in series and then connected to two ends of the photovoltaic cell SE in parallel, and the middle node is used for taking out the sampling voltage of the photovoltaic cell; r3 is a current sampling resistor, and the MPPT control module provides a control signal for the charger CH1 according to the values of the sampling voltage and the sampling current; according to the sampling values of the output voltage and the output current of the photovoltaic cell SE, the power of the charger CH1 is regulated, and when the ambient temperature and the light intensity change, the solar cell SE is always in the maximum power output state, so that the service efficiency of the solar cell SE is improved. The power part in unmanned aerial vehicle still includes directly to feed switch K1, and switch K1's first end is connected in the anodal output of SE, and the second end is connected in diode D1's positive end, and diode D1's negative end outwards provides the electric energy, and MPPT control module still controls the break-make of directly feeding switch K1 according to photovoltaic cell output voltage, output current's sampling value. The first end output end of the charger CH1 is connected with the positive end of the diode D2, the negative end of the diode D2 is connected with the positive end of the battery pack E1, and the negative end of the battery pack E1 is connected with the second output end of the charger CH1, namely the common public end.
According to one embodiment of the present invention, the unmanned aerial vehicle includes four motors and control circuits of the four motors, which are identical in composition, and a first motor M1 and its control circuit are described as an example, the motor M1 includes a housing, a stator and a rotor disposed in the housing, and further includes a speed encoder and a rectification encoder rotating together with a shaft of the rotor, the speed encoder being such as VS1, the rectification encoder being such as CD1, the motor control circuit including a motor driver such as DR1, and further including a polarity control unit PC1, a speed control unit VC1, and a pulse width modulation control unit PWM1, the motor driver DR1 being a semiconductor device that performs switching control in response to a control signal to transmit electric power to a first stator winding of the stator. Here, since the motor driving unit DR1 is provided to supply direct current to the first stator (motor) winding M of the stator, the structure thereof may be changed according to the type of motor (the number of phases of the stator winding). To drive one phase, 2N switching elements are required. These 2N switching elements constitute a bridge structure, and a transistor, an IGBT, a MOSFET, and a FET may be used as the switching elements, where N is a natural number greater than or equal to 1, which is related to the number of phases of the first stator winding.
The polarity control unit PC1 receives a photosensor signal from the rectifier encoder CD1 of the motor and transmits a control signal for implementing an electric rectifier to the motor driving unit DR1, thereby implementing the electric rectifier. The speed control unit VC1 receives an encoder VS1 signal from a speed encoder of the motor and sends a speed control signal to the pulse width modulation control unit PWM 1. The flight controller 507 transmits a control signal of the rotational speed to the pulse width modulation control unit PWM1 according to an instruction transmitted from the processor 515. The pulse width modulation control unit PWM1 transmits a PWM signal for controlling the rotational speed of the motor M1 according to the control signal to the motor driver DR 1.
The motor control circuit further includes a direct current rectifier H1 that rectifies alternating current generated from a second stator winding (generator coil) G of the motor and generates pulsating direct current, which is filtered by a filter C1 to generate direct current. Similarly, inductive power is generated at the second stator winding of M2, and is filtered by the rectifier H2 and the filter capacitor C2 to generate direct-current voltage; generating induction power at the second stator winding of M3, wherein the induction power is filtered by a rectifier H3 and a filter capacitor C3 to generate direct current voltage; the second stator winding of M4 generates inductive power, which is filtered by the rectifier H3 and by the filter capacitor C3 to generate a dc voltage, and all the generated dc voltages are added up and connected to the input terminal of the charger CH2, and the charger CH2 stores the power generated by the motor in the battery E1.
According to one embodiment of the present invention, the stator of the electric machine further includes a plurality of ring-shaped silicon pieces stacked on each other, a plurality of generator winding slots, a plurality of motor winding slots, a plurality of flux dividing slots, a plurality of cancellation slots, a plurality of generator windings wound around the respective generator winding slots, and a plurality of motor windings wound around the respective motor winding slots.
The motor winding M serves as a motor for rotating the rotor by receiving electric power from a motor circuit. The generator windings serve to generate electric power using electric current induced by rotation of the rotor. In this embodiment, the total number of winding slots and windings is 6, divided into 3 areas. M, G, M, G, M and G (i.e., 3 motor windings M and 3 generator windings G) are arranged in the stator circumferential direction as follows. The motor windings M are connected to a motor driver. The generator windings G are connected to respective dc rectifiers. When the windings of the respective phases are wound in parallel, the windings are distributed and wound by phase and polarity and connected to the respective wires without any connection therebetween.
Further, since the flux dividing grooves having the equal and relatively narrow width are provided between the motor winding grooves and the generator winding grooves, the flux is divided, and thus the path through which the flux of the motor winding M flows to the generator winding G is blocked, so that the flux of the motor winding M can flow only to the magnetic field of the stator, thereby enabling more efficient driving. In addition, the flux dividing slots maintain the excitation width around the motor winding slots unchanged, so that the motor winding slots can operate without affecting or being affected by adjacent winding slots during driving.
And a cancellation and elimination groove with equal width and relatively narrower width is arranged between the generator winding groove and the adjacent generator winding groove so as to eliminate magnetic flux cancellation, thereby improving the power generation efficiency.
The rotor comprises a plurality of silicon wafers stacked one on top of the other and a plurality of flat permanent magnets embedded in the stacked silicon wafers in a radial direction. In this regard, the permanent magnet is designed to have a strong magnetic force so that a relatively wide magnetic field surface can be formed, and thus magnetic flux can be concentrated on the magnetic field surface, increasing the magnetic flux density of the magnetic field surface. The number of poles of the rotor depends on the number of poles of the stator.
The rotor, described in detail below, has six permanent magnets equidistantly spaced from one another and embedded in stacked circular silicon wafers with alternating N-and S-polarity polarities. A non-magnetic core is provided on the center of the stacked circular silicon wafers to support the permanent magnet and the silicon wafers, and a shaft is provided through the center of the non-magnetic core. The permanent magnets are formed in a flat shape, and empty spaces are formed between the permanent magnets.
Motors using permanent magnets are designed to have a rotational force created by a combination of passive energy of the rotor and active energy of the stator. In order to achieve super efficiency in an electric motor, it is important to enhance the passive energy of the rotor. Therefore, a "neodymium (neodymium, iron, boron)" magnet is used in the present embodiment. These magnets increase the magnetic field surface and concentrate the magnetic flux energy onto the magnetic field of the rotor, thereby increasing the magnetic flux density of the magnetic field.
At the same time, a commutation encoder and a speed encoder are provided to control the rotation of the motor. The rectification encoder CD1 and the speed encoder VS1 are mounted on the outer recess of the motor main body case to rotate together with the rotation shaft of the rotor.
According to the power part of the unmanned aerial vehicle, photovoltaic energy is stored in the storage battery E1 in a supplementing mode under the condition that sunlight exists, part of electric energy is recovered when the rotor rotates, the electric energy is also supplied to the storage battery, and therefore the service life of the storage battery is prolonged, and therefore the unmanned aerial vehicle can fly in the air for a long time.
According to one embodiment of the invention, the control system of the unmanned aerial vehicle at least comprises a wireless subsystem, and the processor is communicated with the control terminal and the service platform through the wireless subsystem. The radio subsystem provided by the present invention is described in detail below with reference to fig. 3-4.
Fig. 3 is a block diagram of a wireless subsystem provided in the present invention, as shown in fig. 3, the wireless subsystem includes a digital baseband circuit 510, an OFDM generator 527, a modulator 523, a carrier generator 524, a high frequency power amplifying circuit 525 and a power amplifier source 526, the OFDM generator 527 is configured to perform serial-parallel conversion and modulation on a digital baseband sequence to N subcarriers, then perform IFFT conversion to form parallel time domain data, namely parallel OFDM symbols, perform parallel-serial conversion on the parallel time domain data to form serial OFDM symbols, and then insert a guard interval between each serial OFDM symbols to form a serial OFDM symbol data stream inserted with the guard interval; the modulator 523 is used for modulating the signal provided by the OFDM generator 527 to the carrier wave generated by the oscillator 524 to generate a modulated wave, and the high frequency power amplifying circuit 525 is used for amplifying the power of the modulated wave generated by the modulator and providing the modulated wave to an antenna; the power amplifier source 526 provides a variable power supply to the high frequency power amplifier according to the amplitude of the modulation signal. The radio subsystem provided by the present invention further comprises a delay 522 and an amplitude detector 521, wherein the delay 522 is used for delaying the modulation signal generated by the OFDM generator 527 and providing the delayed modulation signal to the modulator 523; the amplitude detector 521 is configured to extract the amplitude of the modulated signal generated by the digital baseband generator 510 and provide the amplitude to the processor 515, and the processor 515 controls the output voltage of the power amplifier source 526 according to the amplitude to supply the high frequency power amplifier circuit 525.
The power amplifier source 526 includes n dc voltage units, each of which is connected in series via an electronic switch to supply power to the high frequency power amplifier, each dc voltage unit including a battery (e.g., E1, E2, and En), a freewheeling diode (e.g., D1, D2, and Dn), and an electronic switch (e.g., T1, T2, and Tn), the positive electrode of the battery being connected to the negative electrode of the freewheeling diode; the positive pole of freewheel diode is connected to the first end of electronic switch, and the second end of electronic switch is connected to the negative pole of group battery, and electronic switch's control end is connected to the treater, and the break-make of electronic switch is controlled to the signal that the treater provided according to the range detector, n is more than or equal to 2 integer.
More specifically, the first dc voltage unit includes a battery E1, a freewheeling diode D81, and an electronic switch T1, which is a CMOS tube, where the anode of the battery E1 is connected to the cathode of the freewheeling diode D81; the positive electrode of the freewheeling diode D81 is connected to the drain electrode of the CMOS tube T1, the source electrode of the CMOS tube T1 is connected to the negative electrode of the battery E1, the gate electrode of the CMOS tube T1 is connected to an output terminal of the processor 515, and the processor 515 controls the on-off state of the CMOS tube T1. The CMOS transistor T1 is operated in a switching state, and when a high potential is input to the gate of the CMOS transistor T1, the CMOS transistor T1 is turned on, and the negative electrode of the battery E1 is equivalent to the positive electrode of the flywheel diode D81. The voltage across the freewheeling diode D1 is E1, with positive on the upper side and negative on the lower side. When a low potential is input to the gate of the CMOS transistor T1, the CMOS transistor T1 is turned off. The voltage across the freewheeling diode D81 is the diode junction voltage.
The second direct-current voltage unit comprises a battery E2, a freewheeling diode D82 and an electronic switch T2, wherein the electronic switch is a CMOS (complementary metal oxide semiconductor) tube, and the anode of the battery E2 is connected with the cathode of the freewheeling diode D82; the positive electrode of the freewheeling diode D82 is connected to the drain electrode of the CMOS tube T2, the source electrode of the CMOS tube T2 is connected to the negative electrode of the battery E2, the gate electrode of the CMOS tube T2 is connected to an output terminal of the processor 515, and the processor 515 controls the on-off state of the CMOS tube T2. The CMOS transistor T2 is operated in a switching state, and when a high potential is input to the gate of the CMOS transistor T2, the CMOS transistor T2 is turned on, and the negative electrode of the battery E2 is equivalent to the positive electrode of the freewheeling diode D2. The voltage across the freewheeling diode D82 is E2, positive on the upper side and negative on the lower side. When the gate of the CMOS transistor T2 inputs a low potential, the CMOS transistor T2 is turned off. The voltage across freewheeling diode D82 is the diode junction voltage.
By analogy, the nth direct-current voltage unit comprises a battery pack En, a freewheeling diode D8n and an electronic switch Tn, wherein the electronic switch is a CMOS tube, and the anode of the battery pack En is connected with the cathode of the freewheeling diode Dn; the positive pole of the freewheel diode Dn is connected to the drain electrode of the CMOS tube Tn, the source electrode of the CMOS tube Tn is connected to the negative pole of the battery set En, the gate electrode of the CMOS tube Tn is connected to one output end of the processor 515, and the processor 515 controls the on-off of the CMOS tube Tn. The CMOS tube Tn is operated in a switching state, when a high potential is input to the grid electrode of the CMOS tube Tn, the CMOS tube Tn is conducted, and the cathode of the battery pack En is equivalent to the anode connected to the flywheel diode D8 n. The voltage across the freewheeling diode Dn is En, the upper end is positive and the lower end is negative. When the gate of the CMOS transistor Tn inputs a low potential, the CMOS transistor Tn is turned off. The voltage across the freewheeling diode D8n is the diode junction voltage.
Thus, if the electronic switches of each dc voltage unit are turned on simultaneously, the total output total voltage of the dc modulated power supply is Vcc 1=e1+e2+ … +en. The output voltage values of the direct-current voltage units are the same.
In the present invention, the processor 515 controls the on-off of each electronic switch according to the signal provided by the amplitude detector, when the amplitude is large, the plurality of electronic switches are turned on, so as to provide a high power supply for the power amplifier, and when the amplitude is small, the plurality of electronic switches are turned on, so as to provide a small common power supply for the power amplifier. The sum of the output power supplies of the corresponding power supplies is slightly larger than the detected amplitude value, so that the power amplifier source is configured, the energy is greatly saved, and the flight time of the unmanned aerial vehicle is further prolonged.
Fig. 4 is a circuit diagram of a high-frequency power amplifier IN the communication subsystem provided by the invention, as shown IN fig. 4, the high-frequency power amplifying circuit provided by the invention comprises a high-frequency signal input end IN, an input matching network 300, an amplifier, an output matching network 400, a high-frequency signal output end OUT and a bias circuit, wherein the amplifier is composed of a high-frequency amplifying tube T44, the high-frequency signal input end IN performs impedance matching through the input matching network 300, a signal is input to a base electrode of the high-frequency amplifying tube T44, a signal output by a collector electrode of the high-frequency amplifying tube T44 performs impedance matching with an antenna loop through the output matching network and then is input to the antenna loop, the bias circuit is composed of a transistor T42, a transistor T43 and a resistor R45, a base electrode of the transistor T42 is connected to a control voltage Vcon through a resistor R41, a collector electrode of the transistor T42 is connected to a collector electrode of the transistor T43, a base electrode of the transistor T43 is connected to an emitter electrode of the transistor T42, and an emitter electrode of the transistor T42 supplies current to a base electrode of the high-frequency amplifying tube T44 through a resistor R47.
Preferably, the high-frequency power amplifying circuit further comprises a temperature compensating circuit, wherein the temperature compensating circuit comprises a transistor T45, a transistor T41, a resistor R43 and a resistor R44, wherein a base electrode of the transistor T45 is connected to a first end of the resistor R42, a second end of the resistor R42 is connected to a first end of the resistor R41, a second end of the resistor R41 is connected to the control voltage Vcon, and a first end of the resistor R41 is simultaneously connected to a collector electrode of the transistor T41 and a base electrode of the transistor T42; the collector of the transistor T45 is connected to the power supply Vcc1 through a resistor R43, and the emitter is connected to the ground through a resistor R44 and is connected to the base of the transistor T41; the emitter of the transistor T41 is grounded and the collector is connected to the first end of the electrical group R41. The temperature compensation circuit with the structure is adopted, so that the temperature compensation capability of the high-frequency power amplifying circuit is greatly improved.
A flowchart of the operation of the processor of the unmanned aerial vehicle will be described below with reference to fig. 5, where, as shown in fig. 5, the operation of the processor of the unmanned aerial vehicle at least includes:
s01: the processor receives instructions from the control terminal via the wireless communication subsystem and plans the flight path,
s02: the processor receives position data related to the unmanned aerial vehicle of the navigation locator and sends the position data to a control terminal controlling the unmanned aerial vehicle through a radio network, wherein the position data comprises a geodetic X, Y, Z coordinate value;
s03: judging whether the position data exceeds the flyable area, if so, sending a violation record to a management platform and adjusting a flight path, and if not, executing the next step; according to one embodiment of the invention, the space area is divided by the manager, the space area is divided into an area where the unmanned aerial vehicle can fly and a limited area, the unmanned aerial vehicle can only fly in the flyable area, and the data of the flyable area is stored in the control card in advance.
S04: and receiving data of the obstacle detector to determine the relative position of the obstacle and the unmanned aerial vehicle, and transmitting the position data of the obstacle to the control terminal through a wireless communication subsystem and a wireless network.
S05: judging whether the relative distance between the obstacle and the unmanned aerial vehicle is greater than or equal to a set value, if so, adjusting the flight path, and if not, sending flight data to a flight controller, wherein the flight controller provides a control signal for a servo mechanism so as to enable the unmanned aerial vehicle to fly.
The control terminal provided by the invention at least comprises a processor, a memory, a display, a wireless communication subsystem and a control terminal identification card slot, wherein an unmanned aerial vehicle control program is stored in the memory, the identification card slot is used for inserting a communication identification card distributed by a control terminal manager or an operator, the communication identification card stores a control terminal communication identification number, and the control terminal communication identification number is registered in a management platform in one-to-one correspondence with a user thereof. Map data and application programs for controlling the unmanned aerial vehicle to fly are stored in the memory. A flowchart of the operation of the processor installed in the control terminal will be described with reference to fig. 6.
As shown in fig. 6, the working process of the processor of the control terminal at least includes: and the processor receives the position data sent by the unmanned aerial vehicle through the wireless communication subsystem, superimposes the icon of the unmanned aerial vehicle on the map data corresponding to the position of the unmanned aerial vehicle parallel to the ground data, and marks the height data of the unmanned aerial vehicle nearby the icon. Further comprises: and the processor receives the position data of the obstacle sent by the unmanned aerial vehicle through the wireless communication subsystem, superimposes the icon of the obstacle on the map data corresponding to the position of the obstacle parallel to the ground data, and marks the height data of the obstacle nearby the icon.
According to one embodiment of the invention, the management platform further comprises a payment module, a control module and a communication module, when a base station in the wireless network detects information that the unmanned aerial vehicle starts flying, a signal for starting flying of the unmanned aerial vehicle is sent to the management platform through the wireless network, a data frame for starting flying is demodulated from the signal for starting flying of the unmanned aerial vehicle by the communication module, and the control module starts timing of the flying time of the unmanned aerial vehicle after receiving the data frame; when the base station in the wireless network can not detect the information of unmanned aerial vehicle flight, send unmanned aerial vehicle stop flight signal to communication module via wireless network, communication module demodulates the data frame of stopping flight from unmanned aerial vehicle start signal, control module receives this data frame and finishes the timing to unmanned aerial vehicle flight time, and calculate required payment amount according to the duration of flight, control module notifies payment module deduct required payment amount or the amount that adds up required payment from the user account that corresponds to control terminal identification card and send to the control terminal in order to pay. And the control module sends the violation information to the control terminal of the unmanned aerial vehicle according to the information of the area beyond which the unmanned aerial vehicle flies, deducts the fine from the user account corresponding to the control terminal identification card or accumulates the fine and sends the fine to the control terminal for payment.
According to one embodiment of the invention, the control module broadcasts a service for stopping providing a wireless channel to the unmanned aerial vehicle and the control terminal thereof to a base station in the wireless network according to the number of violations of the unmanned aerial vehicle.
The processor of the present invention may include a Digital Signal Processor (DSP), a microprocessor, a Programmable Logic Device (PLD), a gate array or multiple processing components, and a power management subsystem. The processor may also include an internal cache memory configured to store computer readable instructions retrieved from memory or a control card for execution. The memory includes non-transitory computer media including, for example, SRAM, flash, SDRAM, and/or Hard Disk Drive (HDD), etc. The memory is configured to store computer readable instructions for execution by the processor.
According to the invention, the user using the unmanned aerial vehicle must apply for using the unmanned aerial vehicle to the unmanned aerial vehicle management department or the operator authorized by the management department, and the intelligent card is distributed by the unmanned aerial vehicle management department or the marketing department, so that the unmanned aerial vehicle user can communicate with the unmanned aerial vehicle by means of the wireless network by utilizing the control terminal and fly in the allowed area. Because the communication among the unmanned aerial vehicle, the control terminal and the management platform can be realized by means of the existing wireless network, electromagnetic wave interference caused by electromagnetic waves emitted by the ground station in the existing unmanned aerial vehicle control system is avoided.
Processors in the present invention may include a Digital Signal Processor (DSP), a microprocessor, a Programmable Logic Device (PLD), a gate array or multiple processing components, and a power management subsystem. The processor may also include an internal cache memory configured to store computer readable instructions retrieved from memory or a control card for execution. The memory includes non-transitory computer media including, for example, SRAM, flash, SDRAM, and/or Hard Disk Drive (HDD), etc. The memory is configured to store computer readable instructions for execution by the processor.
Although the foregoing description of the concepts and examples has been presented for the purposes of this invention with reference to the accompanying drawings, it will be appreciated by those skilled in the art that any modifications and variations based on the present invention will still fall within the scope of the invention without departing from the spirit of the invention.
Claims (8)
1. The unmanned aerial vehicle management system is characterized by comprising an unmanned aerial vehicle, a control terminal and a management platform which are connected through a network, wherein the unmanned aerial vehicle at least comprises an unmanned aerial vehicle control system, the unmanned aerial vehicle control system at least comprises a first processor, a navigation positioning subsystem, a flight controller and a wireless communication subsystem, and the unmanned aerial vehicle management system is characterized by also at least comprising a smart card slot, wherein the smart card slot is used for inserting a smart card distributed by an unmanned aerial vehicle manager or an operator, the smart card stores a flight control program, flight area data and a communication identification number, and the communication identification number is registered in the management platform in one-to-one correspondence with a user thereof; the first processor sends information to the flight controller according to the instruction of the control terminal received by the wireless communication subsystem so as to call a flight control program to enable the unmanned aerial vehicle to execute a flight task in an allowed flight area;
the first processor is used for receiving the data of the navigation positioning subsystem and transmitting the data to the control terminal through the communication subsystem via the wireless network;
and comparing the received data of the navigation positioning subsystem with the limited area data stored in the intelligent card, judging whether the data exceeds the flyable area, if so, sending the exceeded area to the management platform, and adjusting the flight path.
2. The unmanned aerial vehicle management system of claim 1, wherein the first processor is further configured to receive data of the obstacle detection subsystem and transmit the data to the control terminal via the wireless network through the communication subsystem; and receiving data of the obstacle detection subsystem, judging whether the distance between the obstacle detection subsystem and the obstacle exceeds a set distance, and if so, adjusting the flight path.
3. The unmanned aerial vehicle management system of claim 2, wherein the control terminal comprises at least a second processor, a memory, a display, a second wireless communication subsystem, and a control terminal identification card slot, wherein the memory stores an unmanned aerial vehicle control program, the identification card slot is used for inserting a communication identification card distributed by a control terminal manager or an operator, the communication identification card stores a communication identification number of the control terminal, and the control terminal communication identification number is registered in the management platform in one-to-one correspondence with a user thereof.
4. A drone management system according to claim 3, wherein the second processor is configured to receive the location data sent by the drone and superimpose an icon of the drone in the map data corresponding to the location of the drone parallel to the ground data, and annotate the drone height data in the vicinity of the icon.
5. The unmanned aerial vehicle management system of claim 4, wherein the second processor is further configured to: and receiving position data of the obstacle sent by the unmanned aerial vehicle, superposing an icon of the obstacle in the map data corresponding to the position of the obstacle parallel to the ground data, and marking the height data of the obstacle nearby the icon.
6. The unmanned aerial vehicle management system according to any one of claims 1 to 5, wherein the management platform further comprises a payment module, a control module and a communication module, when a base station in the wireless network detects information that the unmanned aerial vehicle starts flying, a unmanned aerial vehicle start flying signal is sent to the management platform through the wireless network, the communication module demodulates a start flying data frame from the signal that the unmanned aerial vehicle starts flying, and the control module starts timing the unmanned aerial vehicle flying time after receiving the data frame; when the base station in the wireless network can not detect the information of unmanned aerial vehicle flight, send unmanned aerial vehicle stop flight signal to communication module via wireless network, communication module demodulates the data frame of stopping flight from unmanned aerial vehicle start signal, control module receives this data frame and finishes the timing to unmanned aerial vehicle flight time, and calculate required payment amount according to the duration of flight, control module notifies payment module deduct required payment amount or the amount that adds up required payment from the user account that corresponds to control terminal identification card and send to the control terminal in order to pay.
7. The unmanned aerial vehicle management system of claim 6, wherein the control module sends the control terminal of the unmanned aerial vehicle violation information according to the area information exceeded by the unmanned aerial vehicle flight and deducts the penalty from the user account corresponding to the control terminal identification card or adds the penalty and sends to the control terminal for payment.
8. The unmanned aerial vehicle management system of claim 7, wherein the control module broadcasts a service to the base station in the wireless network to stop providing the wireless channel to the unmanned aerial vehicle and its control terminals based on the number of violations of the unmanned aerial vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710795041.8A CN107357315B (en) | 2017-09-06 | 2017-09-06 | Unmanned aerial vehicle management system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710795041.8A CN107357315B (en) | 2017-09-06 | 2017-09-06 | Unmanned aerial vehicle management system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107357315A CN107357315A (en) | 2017-11-17 |
| CN107357315B true CN107357315B (en) | 2023-08-11 |
Family
ID=60290143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710795041.8A Active CN107357315B (en) | 2017-09-06 | 2017-09-06 | Unmanned aerial vehicle management system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107357315B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107843550B (en) * | 2017-11-24 | 2023-08-25 | 钦州学院 | Hair moistening detection system |
| US11374649B2 (en) | 2018-01-31 | 2022-06-28 | Beijing Xiaomi Mobile Software Co., Ltd. | Unmanned aerial vehicle (UAV) capability information transmission method, apparatus and system |
| CN108768502A (en) * | 2018-05-31 | 2018-11-06 | 智飞智能装备科技东台有限公司 | A kind of intelligent remote controller being connect with unmanned plane big data platform |
| US11985620B2 (en) | 2018-12-17 | 2024-05-14 | Beijing Xiaomi Mobile Software Co., Ltd. | Network registration method and apparatus |
| CN110768711B (en) * | 2019-10-30 | 2021-12-24 | 重庆市亿飞智联科技有限公司 | Unmanned aerial vehicle communication method, dispatching station, base station and system |
| CN112578815B (en) * | 2020-12-17 | 2023-01-13 | 中国航空工业集团公司成都飞机设计研究所 | System and method for multi-platform heterogeneous remote control data dictionary |
| TWI804084B (en) * | 2021-12-03 | 2023-06-01 | 財團法人工業技術研究院 | Network quality measurement method and system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5714948A (en) * | 1993-05-14 | 1998-02-03 | Worldwide Notifications Systems, Inc. | Satellite based aircraft traffic control system |
| CN104750111A (en) * | 2015-03-09 | 2015-07-01 | 王琪杰 | Flying monitoring system of unmanned aerial vehicle |
| CN105225540A (en) * | 2015-10-21 | 2016-01-06 | 杨珊珊 | The flight range supervising device of unmanned vehicle and method for supervising thereof |
| CN105262784A (en) * | 2015-08-16 | 2016-01-20 | 彭艾 | Network-based UAV (Unmanned Aerial Vehicle) flight monitoring method |
| CN105654782A (en) * | 2014-11-14 | 2016-06-08 | 王峰 | Air control system for micro civil unmanned plane |
| CN105739531A (en) * | 2016-03-10 | 2016-07-06 | 赛度科技（北京）有限责任公司 | Unmanned plane control system based on unmanned plane air management platform |
| CN105739516A (en) * | 2016-05-09 | 2016-07-06 | 王彦成 | Unmanned plane management and control device and corresponding system |
| CN205485629U (en) * | 2016-01-29 | 2016-08-17 | 余江 | Unmanned vehicles identification system |
| GB201620661D0 (en) * | 2015-12-05 | 2017-01-18 | Uniway Tech Ltd | Radio frequency identification card and mobile phone interlinking embedded electronic payment apparatus and methods |
| WO2017032906A2 (en) * | 2015-08-27 | 2017-03-02 | Dronsystems Limited | A highly automated system of air traffic control (atm) for at least one unmanned aerial vehicle (unmanned aerial vehicles uav) |
| CN207232768U (en) * | 2017-09-06 | 2018-04-13 | 天津飞眼无人机科技有限公司 | A kind of unmanned machine management system |
-
2017
- 2017-09-06 CN CN201710795041.8A patent/CN107357315B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5714948A (en) * | 1993-05-14 | 1998-02-03 | Worldwide Notifications Systems, Inc. | Satellite based aircraft traffic control system |
| CN105654782A (en) * | 2014-11-14 | 2016-06-08 | 王峰 | Air control system for micro civil unmanned plane |
| CN104750111A (en) * | 2015-03-09 | 2015-07-01 | 王琪杰 | Flying monitoring system of unmanned aerial vehicle |
| CN105262784A (en) * | 2015-08-16 | 2016-01-20 | 彭艾 | Network-based UAV (Unmanned Aerial Vehicle) flight monitoring method |
| WO2017032906A2 (en) * | 2015-08-27 | 2017-03-02 | Dronsystems Limited | A highly automated system of air traffic control (atm) for at least one unmanned aerial vehicle (unmanned aerial vehicles uav) |
| CN105225540A (en) * | 2015-10-21 | 2016-01-06 | 杨珊珊 | The flight range supervising device of unmanned vehicle and method for supervising thereof |
| GB201620661D0 (en) * | 2015-12-05 | 2017-01-18 | Uniway Tech Ltd | Radio frequency identification card and mobile phone interlinking embedded electronic payment apparatus and methods |
| CN205485629U (en) * | 2016-01-29 | 2016-08-17 | 余江 | Unmanned vehicles identification system |
| CN105739531A (en) * | 2016-03-10 | 2016-07-06 | 赛度科技（北京）有限责任公司 | Unmanned plane control system based on unmanned plane air management platform |
| CN105739516A (en) * | 2016-05-09 | 2016-07-06 | 王彦成 | Unmanned plane management and control device and corresponding system |
| CN207232768U (en) * | 2017-09-06 | 2018-04-13 | 天津飞眼无人机科技有限公司 | A kind of unmanned machine management system |
Non-Patent Citations (1)
| Title |
|---|
| 李家杰 ; .未来空管对无人机的监视与服务探讨.科技创新与应用.2016,(第27期),22-24. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107357315A (en) | 2017-11-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107357315B (en) | Unmanned aerial vehicle management system | |
| CN107493345A (en) | A kind of unmanned plane express system | |
| CN109121139B (en) | Anti-intrusion method for unmanned aerial vehicle cluster system | |
| JP7201753B2 (en) | Method and apparatus for transmitting and receiving location information in NR V2X | |
| Long et al. | Energy neutral internet of drones | |
| CN207232768U (en) | A kind of unmanned machine management system | |
| US10810893B2 (en) | Circuit, base station, method, and recording medium | |
| CN108260092A (en) | A kind of bee colony UAV system | |
| CN109144110B (en) | Unmanned aerial vehicle cluster target tracking system | |
| CN112640534A (en) | Method and apparatus for selecting Public Land Mobile Network (PLMN) in wireless communication system | |
| CN108007395A (en) | A kind of Land area measure system based on unmanned plane | |
| CN107588804A (en) | A kind of monitoring system for gases based on unmanned plane | |
| US20230003827A1 (en) | Method and apparatus for positioning using backscatter tag | |
| CN109314898B (en) | Method and device for transmitting flight information | |
| CN107493457A (en) | A kind of unmanned plane monitoring system | |
| CN106100069B (en) | A kind of unmanned plane wireless radiofrequency charging system | |
| KR102149137B1 (en) | Eco-friendly smart module | |
| CN207603685U (en) | A kind of unmanned plane express system | |
| WO2023067552A1 (en) | Systems and methods for reducing system information acquisition during cell reselection in a non-terrestrial network | |
| CN107390711A (en) | A kind of unmanned plane Snoopy Protocol system | |
| US20230412248A1 (en) | Repeater device and repeating method | |
| CN107697287B (en) | Control system of water-air dual-purpose vehicle | |
| CN107608376A (en) | A kind of environmental inspection system based on unmanned plane | |
| CN207099260U (en) | A kind of unmanned plane monitoring system | |
| CN207360580U (en) | Unmanned plane target tracking system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |