CN107493345A - A kind of unmanned plane express system - Google Patents
A kind of unmanned plane express system Download PDFInfo
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- CN107493345A CN107493345A CN201710794815.5A CN201710794815A CN107493345A CN 107493345 A CN107493345 A CN 107493345A CN 201710794815 A CN201710794815 A CN 201710794815A CN 107493345 A CN107493345 A CN 107493345A
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- unmanned plane
- express delivery
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- control terminal
- hair
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- 229910052779 Neodymium Inorganic materials 0.000 description 2
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
-
- 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
Abstract
A kind of unmanned plane express system, it includes at least have sent hair/Shipping Address, ambient image and hair/delivery period to express delivery unmanned plane by the express delivery unmanned plane and control terminal of network linking, control terminal；The information for controlling terminal to send is stored in memory by processor in express delivery unmanned plane；The hair for the control terminal that processor receives according to radio communication subsystem/send address and time planning flight path and send flight subsystem to perform aerial mission；Navigator fix subsystem is used for the position for obtaining express delivery unmanned plane in real time, and the position for memory storage sending out Shipping Address is compared to determine whether to reach hair/Shipping Address；Video camera is used for the image for obtaining environment, and processor is additionally operable to the ambient image that video camera obtains being compared to further determine whether to reach hair/Shipping Address with the ambient image stored in memory.Using system provided by the invention unmanned plane can be made to correctly find hair/Shipping Address.
Description
Technical field
The present invention relates to a kind of unmanned plane express system, belong to unmanned aerial vehicle (UAV) control technical field.
Background technology
It is all by way of manually sending with charge free to send express delivery at present, and with the fast development of logistic industry, manpower sends express delivery with charge free
Cost also rise therewith, simultaneously as congested in traffic, cause to send part to be delayed.Have pointed out and carried out with unmanned plane in the prior art
Express delivery, but in the prior art, the control majority of unmanned plane is point-to-point control, and each unmanned plane matches a ground base
Stand, in this way, following problem can be produced：Transmitting high-frequency signal electromagnetic interference to caused by environment caused by ground base station；Hold
Easily stolen information by enemy using unmanned plane；Cause the wasting of resources.
The content of the invention
To overcome technical problem present in prior art, goal of the invention of the invention is to provide a kind of unmanned plane express delivery system
Unite, unmanned plane and control terminal are communicated using wireless network in the system, save resource.
To realize the goal of the invention, an aspect of of the present present invention provides a kind of unmanned plane express system, and it includes passing through net
The express delivery unmanned plane and control terminal, the network of network link comprise at least base station, the base station control center for control base station
With for data main dispatching centre, the express delivery unmanned plane comprises at least unmanned aerial vehicle control system, the controlled unmanned aerial vehicle (UAV) control system
System comprises at least first processor, the first navigator fix subsystem, flight subsystem and the first radio communication subsystem, its
It is characterised by, express delivery unmanned plane also comprises at least the first communication neck, and the first communication neck is used to insert communication card, the first communication
Card stores UAV Communication identifier, and is registered correspondingly with its user；First processor is according to the first channel radio
The destination address for needing dispensed substance of the transmission for the control terminal that letter subsystem receives plans flight path and sends flight to
Control subsystem is to perform aerial mission and dispensed substance will be needed to be delivered to destination address；Terminal is controlled to comprise at least at second
Device and input subsystem are managed, input subsystem is used to send instruction to express delivery unmanned plane, and the instruction includes needing to dispense thing
The destination address that matter is sent to, the second processor are used to instruct to be packed according to agreement to be then sent to express delivery by wind network
Unmanned plane.
Preferably, the data main dispatching centre directs or through gateway and landline telephone switching network, mobile telephone network, number
It is connected according to net, express delivery unmanned plane and control terminal is connected.
Preferably, it is landline telephone to control terminal, and user is sent to express delivery unmanned plane through network by way of voice and needed
Want the destination address and time that dispensed substance is sent to.
Preferably, it is computer to control terminal, and user is sent by input instruction through network to express delivery unmanned plane to be needed
Dispense thing preferably, it is mobile platform to control terminal, user by way of voice or input instruction through network to express delivery nobody
Machine sends the destination address for needing dispensed substance to be sent to and time.
Preferably, control terminal comprises at least second processor and imaging device, and imaging device, which is used for capture, to be needed to dispense
The ambient image for the destination address that material is sent to, second processor send image to express delivery unmanned plane by network.
Preferably, express delivery unmanned plane comprises at least first memory, and it at least stores the ambient image that marked address,
First processor passes through the image sent than control terminal and the ambient image identifying purpose address that marked address of storage.
Preferably, express delivery unmanned plane comprises at least detection of obstacles subsystem, and first processor is according to detection of obstacles
The flight control program for the information adjustment express delivery unmanned plane that system detectio arrives, and send it to flight subsystem.
Preferably, terminal is controlled to comprise at least second memory, display and the second radio communication subsystem and control eventually
End identifies neck, and unmanned aerial vehicle (UAV) control program is saved in the second memory, and second processor is called deposits in second memory
The unmanned aerial vehicle (UAV) control program of storage, and shown over the display.
Preferably, unmanned aerial vehicle (UAV) control program comprises at least：Receive the position data that express delivery unmanned plane is sent and in map number
According to it is middle superposition unmanned plane icon, also near icon mark unmanned plane altitude information the step of.
Preferably, unmanned aerial vehicle (UAV) control program at least also includes：Receive unmanned plane send barrier position data and
Position in map datum corresponding to barrier is superimposed the icon of barrier, and obstacle height data are marked near icon
The step of.
Compared with prior art, unmanned plane and control terminal utilize wireless network in unmanned plane express system provided by the invention
Network is communicated, and saves resource.
Brief description of the drawings
Fig. 1 is the composition schematic diagram of the control system of unmanned plane base station provided by the invention；
Fig. 2 is the built-up circuit figure of the power section in unmanned plane base station provided by the invention；
Fig. 3 is the composition frame chart of the control system of express delivery unmanned plane provided by the invention；
Fig. 4 is the composition frame chart of radio subsystem provided by the invention;
Fig. 5 is the circuit diagram of the high frequency power amplifier in communication subsystem provided by the invention,
Fig. 6 is the flow chart of the winged control program being installed on express delivery unmanned plane of this bright offer；
Fig. 7 is the flow chart of the unmanned control program provided by the invention being installed in control terminal.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
Scheme the embodiment of description, the embodiment is exemplary, is only used for explaining the present invention, and can not be construed to the limit to the present invention
System.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is individual ", " described " and "the" may also comprise plural form.It is to be further understood that what is used in the specification of the present invention arranges
Diction " comprising " refer to the feature, integer, step, operation, element and/or component be present, but it is not excluded that in the presence of or addition
One or more other features, integer, step, operation, element, component and/or their groups.It should be understood that when we claim member
Part is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or wireless coupling.It is used herein to arrange
Taking leave "and/or" includes whole or any cell and all combinations of one or more associated list items.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology), there is the general understanding identical meaning with the those of ordinary skill in art of the present invention.Should also
Understand, those terms defined in such as general dictionary, it should be understood that have with the context of prior art
The consistent meaning of meaning, and unless by specific definitions as here, idealization or the implication of overly formal otherwise will not be used
To explain.
Those skilled in the art of the present technique are appreciated that " terminal " used herein above, " terminal device " include wireless signal
The equipment of receiver, it possesses the equipment of the wireless signal receiver of non-emissive ability.
It will be appreciated by those skilled in the art that " application ", " application program " alleged by the present invention and similar statement is general
Read, be the same concept well known to those skilled in the art, refer to be instructed by series of computation machine and related data resource has mechanism
That makes is suitable to the computer software of electronics operation.Unless specified, this name is in itself by programming language species, rank,
Also the operating system of operation of not rely by it or platform are limited.In the nature of things, this genus is not also by any type of end
End is limited.
The unmanned plane express system provided according to one embodiment of the invention includes the express delivery unmanned plane by network linking
With control terminal, the network comprises at least base station, the base station control center for control base station and for data main dispatching centre,
The network can include fixed telephone network of the prior art, mobile telephone network, data network etc..Network preferably selects bag
Include the network of unmanned plane base station.Data main dispatching centre（MSC）Interchanger is also comprised at least, the interchanger can be by the one of reception
Kind format signal is converted to the signal of another form, is easy to transmit in different networks.
In an illustrative embodiments, in wireless network, each equal pilot signal transmitted in base station, the pilot signal
It can be received by all radio communications systems in the covering space of base station.To avoid leading for the boundary of base station institute overlay area
Frequency disturbs, and can adopt time division multiplexing mode, i.e. adjacent base station is adjacent small to avoid in the pilot signal transmitted in different time-gap
The interference of area's boundary.Frequency division multiplexing mode can also be used, i.e. i.e. the frequency of the pilot signal that adjacent base station is sent is different.
According to one embodiment of present invention, unmanned plane base station provided by the invention includes frame, dynamical system and control
System, describe the control system of unmanned plane base station provided by the invention in detail with reference to Fig. 1.
As shown in figure 1, according to one embodiment of the invention, the control system of unmanned plane base station include processor 405,
MEMS402, memory 401, memory 408 and winged control device 406, fly the servo control mechanism offer that control device 406 is configured to unmanned plane
Control signal, the servo control mechanism of unmanned plane exemplarily includes four motor control scoldings and four motors, such as controller CON1, control
Device CON2 processed, controller CON3, controller CON4, such as motor M1, motor M2, motor M3, motor M4, four controllers are controlled respectively
Make four motors.Memory 401 is used for storage system program, application program and data.MEMS402 is used for the boat for obtaining unmanned plane
To information and processor 405 is supplied to, course information includes the angle of pitch, roll angle, angle of heel etc..
According to one embodiment of the invention, the control system of unmanned plane base station also includes navigator fix subsystem 403, and it is logical
Cross antenna A1 and receive the positional information and temporal information on unmanned plane base station of navigation positioning satellite, and transfer data to place
Manage device 405.
According to one embodiment of the invention, unmanned plane base station is carried radio subsystem and revolved by rotor craft is parked in sky
In upper constant position and formed.Radio subsystem, which includes radio subsystem, includes sender TX, receiver RX, switching
404 and antenna equipment A2 of switch, the antenna are configured as providing electromagnetic signal covering to certain area for A2, and it is by reception
Electromagnetic wave is converted to electric signal and sends receiver RX to through switching switch 405；Receiver RX is configured to reception antenna device A 2
The electric signal for the first radio frequency that transmission comes, and be demodulated, then send processor 405 to, processor enters to the signal of reception
Row processing is then modulated on the second radio frequency by sender TX again, is sent out again by antenna equipment A2 through switching switch 404
Go；Second radio frequency is penetrated another radio subsystem under covering and received by antenna is auxiliary.
Antenna assembly A2 may include various filters, multiplexer, duplexer etc..The radio signal of different frequency may need
Want different types of antenna and the electronic circuit of the radio signal for handling different frequency.Receiver RX in the present invention
It can be realized with sender TX using existing radio technology.For example with being based on but be not limited to cellular radio technology or satellite
The communication technology is realized.The Common examples of cellular radio technology include but is not limited to：Universal Mobile Telecommunications System (UMTS),
CDMA 2000 etc..In the case where providing present disclosure, person of ordinary skill in the relevant is readily understood by being applicable to institute
A variety of possible radiotechnics of application are described.
In the present invention, unmanned plane base station refers to be configured the instruction sent according to setting program or ground control terminal
Autonomous to grasp and revolve any unmanned rotor wing unmanned aerial vehicle for stopping the long period in the air, the rotor wing unmanned aerial vehicle in the air can
It is powered using solar energy.Unmanned plane base station can be run at lower height more notable than satellite, preferably；Unmanned plane base station
Substantially rotation stops several kms as at dry km.Compared with satellite, unmanned plane base station is closer on ground or low latitude, therefore nothing
Man-machine entrained antenna is more much smaller than the antenna entrained by satellite, and unmanned plane base station constructions cost and maintenance cost are also than logical
Believe that satellite is much lower.The power for the unmanned plane base station that 3 detailed descriptions provide according to one embodiment of the invention below in conjunction with the accompanying drawings
Part.
Fig. 2 is the built-up circuit figure of the power section in unmanned plane base station provided by the invention, as shown in Fig. 2 according to one
Individual embodiment, the unmanned plane base station for inventing offer are provided the energy by solar energy, rotated with motor, so as to drive rotor to revolve
Turn.The solar-electricity source circuit includes：Photovoltaic cell SE, charger CH1, battery pack E1 and MPPT control module, photovoltaic electric
Pond SE is used to convert light energy into electric energy, and photovoltaic cell film, which can be attached at antenna, to be had upper surface or carry one piece of photovoltaic panel, light
Volt battery SE cathode output end is connected to the first input end of charger, and cathode output end is connected to charger through resistance R3
Second input；Resistance R1 and R2 are in series and are then parallel to photovoltaic cell SE both ends, and wherein intermediate node is used to take out photovoltaic electric
The sampling voltage in pond；R3 is current sampling resistor, and MPPT control modules are according to the value of sampled voltage and sample rate current to charger
CH1 provides control signal；According to photovoltaic cell SE output voltages, the sampled value of output current, charger power is adjusted, in environment
When temperature, light intensity change, solar cell is always in maximum power output state, improve the use effect of solar cell
Rate.Power section in unmanned plane base station also includes straight feedback and switchs K1, and the first end for switching K1 is connected to SE positive pole output
End, the second end are connected to diode D1 anode, and diode D1 negative terminal is provided out electric energy, and MPPT control modules are always according to too
The break-make of photovoltaic cell output voltage, the straight feedback switch K1 of the sampled value control of output current.The first of charger brings out connection
In diode D2 positive terminal, diode D2 negative pole end is connected to battery pack E1 positive terminal, and battery pack E1 negative pole end connects
The second output end of charger is connected to, i.e., male end, the present invention are arranged such circuit altogether, are in sunny reach, utilize
Photovoltaic cell SE provides electric energy directly to the drive circuit of motor and charged a battery, and when sunlight is inadequate, utilizes poultry electricity
Pond provides electric energy to the drive circuit of motor.
According to one embodiment of the invention, unmanned plane base station includes the control circuit of four motors and four motors, they
Composition it is identical, illustrated by taking first motor M1 and its drive circuit as an example, motor M1 include shell, be placed in shell
Stator and rotor, in addition to the speed encoder and rectification encoder rotated together with the axle of rotor, speed encoder such as VS1,
Rectification encoder such as CD1, circuit for controlling motor include motor driver, such as DR1, in addition to Polarity Control unit PC1, speed control
Unit VC1 processed and pulse width modulation controlled unit PWM1, motor driver DR1 the switch power semiconductor in response to control signal
Device, by the first stator coil of DC power transmission to stator.Herein, due to electric-motor drive unit DR1 be arranged to
First stator coil of stator（Motor winding）Winding M supplies direct current, therefore its structure can be according to the type of motor
(number of phases of stator winding) and change.In order to drive a phase, it is necessary to 6 switch elements.This six switch element composition bridge shape knots
Structure, transistor, IGBT, MOSFET and FET can be used as switch element.
Polarity Control unit PC1 receives the photosensor signal of the rectification encoder CD1 from motor, and is driven to motor
Cells D R1 sends the control signal for realizing electric rectification device, so as to realize electric rectification device.Speed control unit VC1, which is received, to be come
From the encoder VS1 signals of the speed encoder of motor, and to pulse width modulation controlled unit member PWM1 transmission speed control signals.
Fly the control signal that control device 406 sends rotating speed according to the instruction that processor 405 is sent to pulse width modulation controlled unit PWM1.Pulsewidth
Modulation control unit PWM1 is sent for being controlled to motor M1 rotating speed according to control signal to motor driver DR1
Pwm signal.
Circuit for controlling motor DR1 also DC rectifier H1, the DC rectifier is to the second stator winding from motor（Generate electricity
Machine coil）Alternating current caused by G carries out rectification and produces Rectified alternating current, and the filtered device C1 filtering of direct current produces straight
Stream electricity.Similarly, induction electric energy, the rectified device H2 of the induction electric energy and filtered electric capacity C2 filters are produced in M2 the second stator winding
Ripple is producing DC voltage；Induction electric energy is produced in M3 the second stator winding, the rectified device H3 of the induction electric energy is simultaneously filtered
Electric capacity C3 filtering is producing DC voltage；Induction electric energy, the rectified device H3 of the induction electric energy are produced in M4 the second stator winding
And filtered electric capacity C3 filtering is producing DC voltage, and all caused DC voltages are added up and are connected to charger CH2's
Input, charger CH2 will be due in power storage battery E1 caused by motor.
According to one embodiment of the invention, the stator of motor includes multiple annular silicon chips stacked on top of each other, multiple generators
Slot for winding, multiple motor slot for windings, multiple magnetic flux slot segmentations, multiple offset eliminate groove, are wrapped in corresponding generator windings groove
Multiple generator windings of surrounding and the multiple motor windings being wrapped in around phase induction motor slot for winding.
Motor winding M is used as making the motor of rotor rotation by receiving come the electric power of motor circuit.Generator around
Group is used as producing electric power using by the electric current that rotor rotary inductive goes out.In this embodiment, the sum of slot for winding and winding is
6, it is in 3 regions.M, G, M, G, M and G (that is, 3 motor winding M and 3 are arranged as follows along stator is circumferential
Generator windings G).Motor winding M is connected to motor driver.Generator windings G is connected to corresponding DC rectifier
Device.When the winding parallel winding of each phase, these windings are distributed by phase and polarity and are wound and be connected to corresponding
Wire on, each other without any connection.
Further, since the magnetic flux point between motor slot for winding and generator windings groove provided with width equalization relative narrower
Cut groove, therefore magnetic flux is divided, so as to blocked can electric motor winding M magnetic flux flow to generator windings G path so that
Motor winding M magnetic flux only flows to the magnetic field of stator, so that electronic function more effectively drives.In addition, magnetic flux is split
Groove makes the excitation width around motor slot for winding keep constant, so that motor slot for winding can not influence in driving period
Adjacent winding slots are not operated with being influenceed by adjacent winding slots.
The counteracting that width equalization and relative narrower are provided between generator windings groove and adjacent generator slot for winding eliminates
Groove, offseted with eliminating magnetic flux, so as to improve generating efficiency.
The rotor of generator unit includes multiple silicon chips stacked on top of each other and multiple flat permanent magnets, and these are forever
Magnet is radially embedded in stacked silicon chip.Thus, permanent magnet is designed to have strong magnetic force, so that phase can be formed
To wider magnetic field surface, therefore magnetic flux can be made to be gathered on the magnetic field surface, increase the magnetic flux density on magnetic field surface.Rotor
Number of poles is depending on the number of poles of stator.
Rotor is described in detail below, six permanent magnets are spaced equally from each other by be opened and be embedded in stacked circular silicon chip
In.Non- magnetic core is provided with the center of stacked circular silicon chip, with supports permanent magnets and silicon chip, and passes through the center of non-magnetic core
Provided with axle.Permanent magnet is formed as even shape, and formed with idle space between permanent magnet.
It is designed to have using the motor of permanent magnet and is mutually tied with the active energy of stator by energy by rotor
The revolving force for closing and being formed.In order to realize the super efficiency in motor, strengthen rotor is very important by energy.Cause
This, uses " neodymium (neodymium, iron, boron) " magnet in the present embodiment.These magnets increase magnetic field surface and magnetic flux is gathered
On the magnetic field of rotor, so as to increase the magnetic flux density in magnetic field.
At the same time, rectification encoder and speed encoder is set to carry out the rotation of controlled motor.Rectification encoder CD1 and speed
Degree encoder VS1 is installed in the outer recess of motor body shell, is rotated together with the rotary shaft with rotor.
Power section in the unmanned plane base station provided in the present invention, in the case of having sunlight, photovoltaic can be supplemented into storage
In battery E1, in rotor wing rotation, part electric energy is also produced, the electric energy is also mended in battery, so as to improve electric power storage
Pond uses duration, in this way, the rotation of unmanned plane base station long period can be made to be parked in aerial position substantially, so that unmanned plane base station
Realize that communication relay is possibly realized.
Fig. 3 is the composition frame chart of the control system of express delivery unmanned plane provided by the invention.As Fig. 3 shows, according to the present invention one
Individual embodiment, the control system for express delivery unmanned plane include processor 515, MEMS506, for inserting inserting for control card 513
Enter groove 513, memory 509, flight controller 507 and servo control mechanism 508, flight control controller 507 is configured to unmanned plane
Servo control mechanism 508 provides control signal, the servo control mechanism 508 of unmanned plane drive rotary wings or the propeller rotation of unmanned plane so as to
Unmanned plane is flown in the air, and memory 509 is used for operation program and data.MEMS506 is used to obtain express delivery unmanned plane
Course information is simultaneously supplied to processor 506, and course information includes pitching, yaw, inclination.According to one embodiment of the invention, soon
Passing the control system of unmanned plane also includes navigator fix subsystem 505, and it is by antenna reception navigation positioning satellite on certainly
The positional information and temporal information of body, and transfer data to processor 515.
According to one embodiment of the invention, the control system of express delivery unmanned plane also includes radio subsystem, and it includes number
Word Base Band Unit 510, analog baseband 511, antenna and communication neck, antenna are used to electric signal to be launched being converted to electricity
Magnetic wave simultaneously radiates to certain space, is also used for spatial electromagnetic ripple being converted to electric signal and is then supplied to analog baseband 511；
Communication neck is used to insert smart card, and smart card 512 is by the unmanned plane card of unmanned plane manager or network operator's allocation, the nothing
Human-machine Control card, which saves, flies control program, flight range data and communication identification number, a pair of communication identification number and its user 1
It is registered in management platform with answering.
According to one embodiment of the invention, communication identification number can use the telephone number of telecommunication department.When transmitting, numeral
Data that Base Band Unit 510 is used to be sent processor, source address, destination address, check code etc. are packaged into data frame and adjusted simultaneously
Carry out source coding and channel coding and form digital baseband signal, be then sent to analog baseband 511, analog baseband
Digital baseband signal is modulated to radio frequency and carries out power amplification and then sends antenna to by 511；During the collection of letters, analog baseband will
The electric signal that antenna transmission comes carries out low level signal amplification, is then demodulated taking-up digital baseband signal, and send digital base to
Tape cell 510, digital baseband 510 carry out channel decoding, source coding to digital baseband signal and solve frame taking-up director data, and
Send director data to processor 515 afterwards, the instruction for the control terminal that processor 515 receives according to radio communication subsystem is adjusted
With winged control program and aerial mission can performed in flight range.
According to one embodiment of the invention, unmanned aerial vehicle control system also includes barrier detector 501, and it is used to obtain nothing
The man-machine and distance of barrier, processor gives flight controller to provide instruction also according to the distance of unmanned plane and barrier, to change
Become the flight path of unmanned plane.According to one embodiment of present invention, the base station in wireless network can its position of periodic broadcasting letter
Breath, is easy to express delivery unmanned plane to plan its flight path.
According to one embodiment of the invention, unmanned aerial vehicle control system also includes speech subsystems 514, and it is used for user's
Acoustic information is converted to power information, and power information is amplified, analog-to-digital conversion and voice coding, is then supplied to processor
515, the information is also sent to control terminal by processor by communications electronics subsystem through network, is also used for taking from memory
Go out the speech data of storage and decoded, digital-to-analogue conversion, amplification be then supplied to microphone and carry out voice broadcast.
In the present invention, for express delivery unmanned plane, it can be communicated via wireless network with control terminal, control terminal can be with
The user being connected on internet, anywhere user can be monitored to express delivery unmanned plane, and obtain express delivery without
The information of man-machine acquisition, such as it is computer to control terminal, user is sent to express delivery unmanned plane through network by input instruction and needed
Want the destination address and time that dispensed substance is sent to.Can also be the user of mobile radio communication, user is referred to by voice or input
The mode of order sends the destination address for needing dispensed substance to be sent to and time through network to express delivery unmanned plane.Control terminal can also
It is to be connected to the online user of landline telephone, user is sent by way of voice through network to express delivery unmanned plane needs dispensed substance
The destination address being sent to and time.
In one embodiment, its antenna beam is pointed to " optimal " base by the radio subsystem for express delivery unmanned plane
Stand, and measure the intensity of the pilot signal by base station transmission.The most strong base station of express delivery unmanned plane selection pilot signal is led to
Letter.
When express delivery unmanned plane is advanced along its route, pilot tone letter of its radio subsystem periodic measurement from base station
Number.As described above, the overlay area that each base station is covered in space is divided into cell and periodically passed in each cell
Defeated pilot signal.The each base station pilot signals of express delivery unmanned plane periodic search.And to the strong of the pilot signal from different base station
Degree sequence, determines the need for switching to another base station based on the relative intensity of different base station pilot signal.The main bag of switching
Include following steps：First, the radio subsystem of express delivery unmanned plane obtains its position coordinates and measurement can for express delivery unmanned plane
The pilot frequency intensity for the base station seen.Pilot frequency intensity is ranked up, to determine the need for switching to another base station.Cut if desired
Change, express delivery unmanned plane will switch initiation message and switching time is sent to the current base station to be communicated with it and the base to be switched
Stand；Current base station and the base station notification gateway handover event to be switched and switching time of origin.Although foregoing handoff procedure is relative
In express delivery unmanned plane program is initiated to describe, but person of ordinary skill in the relevant be readily appreciated that hand-over can by base station,
Ground controls terminal to initiate, foregoing to be merely an illustrative.
Fig. 4 is the composition frame chart of radio subsystem provided by the invention, as shown in figure 4, radio subsystem includes number
Word baseband circuit 510, OFDM generators 527, modulator 523, carrier generator 524, high-frequency power amplifying circuit 525 and power amplifier
Power supply 526, OFDM generators 527 are used for digital baseband sequence serial to parallel conversion and are modulated to N number of subcarrier, then carry out
IFFT is converted to form parallel time domain data, i.e., parallel OFDM symbol, and the parallel time domain data is carried out into parallel serial conversion
Serial OFDM symbol is formed, protection interval is then inserted between each serial OFDM symbol is formed and serial insert protection
The OFDM symbol data stream at interval；The modulator 523 is used for the signal modulation that OFDM generators 527 are provided to oscillator
To produce modulating wave, the high-frequency power amplifying circuit 525 is used to enter modulating wave caused by modulator carrier wave caused by 524
Row power amplification is simultaneously supplied to antenna, and radio subsystem provided by the invention also includes delayer 522 and range detector
521, the delayer 522 is used to be postponed then to be supplied to modulator by modulated signal caused by OFDM generators 527
523；The amplitude detector 521 is used to extract the amplitude of modulated signal caused by digital baseband generator 510 and be supplied to
Processor 515, the processor 515 control the output voltage of amplifier power supply 526 according to the amplitude, to supply high frequency power amplification
Circuit 525.
The amplifier power supply 526 includes n level DC voltage units, each DC voltage unit through electronic switch be in series with to
High frequency power amplifier provides electric energy, and each DC voltage unit includes a battery pack（Such as E1, E2 and En）, an afterflow two
Pole pipe（Such as D1, D2 and Dn）With an electronic switch（Such as T1, T2 and Tn）, the positive pole of battery pack is connected to the negative of fly-wheel diode
Pole；The positive pole of fly-wheel diode is connected to the first end of electronic switch, and the second end of electronic switch is connected to the negative pole of battery pack,
The control terminal of electronic switch is connected to processor, and the signal that processor provides according to range detector controls the logical of electronic switch
Disconnected, the n is the integer more than or equal to 2.
More specifically, first DC voltage unit includes a battery pack E1, a sustained diode 81 and an electricity
Sub switch T1, electronic switch are CMOS tube, and the positive pole of the battery pack E1 is connected to the negative pole of sustained diode 81；Afterflow two
Pole pipe D81 positive pole is connected to CMOS tube T1 drain electrode, and CMOS tube T1 source electrode is connected to the negative pole of the battery pack E1, CMOS
Pipe T1 grid is connected to an output end of processor 515, and processor 515 controls CMOS tube T1 break-makes.CMOS tube T1 works
In on off state, when CMOS tube T1 grid inputs a high potential, CMOS tube T1 conductings, battery pack E1 negative pole equivalent to
It is connected to the positive pole of sustained diode 81.The voltage at the both ends of sustained diode 1 is E1, and upper end is just, lower end is negative.Work as CMOS tube
When T1 grid inputs a low potential, CMOS tube T1 cut-offs.The voltage at the both ends of sustained diode 81 is diode junction voltage.
Second DC voltage unit includes a battery pack E2, a sustained diode 82 and an electronic switch T2,
Electronic switch is CMOS tube, and the positive pole of the battery pack E2 is connected to the negative pole of sustained diode 2；Sustained diode 82 is just
Pole is connected to CMOS tube T2 drain electrode, and CMOS tube T2 source electrode is connected to the negative pole of the battery pack E2, CMOS tube T2 grid
An output end of processor 515 is connected to, processor 515 controls CMOS tube T2 break-makes.CMOS tube T2 works on off state,
When CMOS tube T2 grid inputs a high potential, CMOS tube T2 conductings, battery pack E2 negative pole is equivalent to being connected to afterflow two
Pole pipe D2 positive pole.The voltage at the both ends of sustained diode 82 is E2, and upper end is just, lower end is negative.When CMOS tube T2 grid is defeated
When entering a low potential, CMOS tube T2 cut-offs.The voltage at the both ends of sustained diode 82 is diode junction voltage.
The like, n-th of DC voltage unit includes a battery pack En, a sustained diode 8n and an electricity
Sub switch Tn, electronic switch are CMOS tube, and the positive pole of the battery pack En is connected to sustained diode n negative pole；The pole of afterflow two
Pipe Dn positive pole is connected to CMOS tube Tn drain electrode, and CMOS tube Tn source electrode is connected to the negative pole of the battery pack En, CMOS tube
Tn grid is connected to an output end of processor 515, and processor 515 controls CMOS tube Tn break-makes.CMOS tube Tn is worked in
On off state, when CMOS tube Tn grid inputs a high potential, CMOS tube Tn conductings, battery pack En negative pole is equivalent to connecing
To sustained diode 8n positive pole.The voltage at sustained diode n both ends is En, and upper end is just, lower end is negative.As CMOS tube Tn
Grid input a low potential when, CMOS tube Tn cut-off.The voltage at sustained diode 8n both ends is diode junction voltage.
In this way, in the case that if the electronic switch of each DC voltage unit simultaneously turns on, HVDC Modulation power supply is total
Output total voltage be Vcc1=E1+E2+ ...+En.The magnitude of voltage of each DC voltage unit output is identical in the present invention.
In the present invention, the signal that processor 515 provides according to amplitude detector controls the break-make of each electronic switch, works as width
When spending big, multiple electronic switches are turned on, high power supply is provided to power amplifier, when amplitude is small, made therein several
Individual electronic switch conducting, small central battery supply is provided to power amplifier.As long as it is slightly larger than the out-put supply sum of corresponding
The range value detected can, so configured amplifier power supply greatlys save the energy, so as to further extend unmanned plane fly
Row duration.
Fig. 5 is the circuit diagram of the high frequency power amplifier in communication subsystem provided by the invention, as shown in figure 5, this hair
The high-frequency power amplifying circuit of bright offer includes high-frequency signal input IN, input matching network 300, amplifier, output matching
Network 400, high-frequency signal output end OUT and biasing circuit, amplifier are made up of high power tube T44, high-frequency signal input IN
Impedance matching is carried out through input matching network 300, and inputs a signal into high power tube T44 base stage, high power tube T44 collection
The signal of electrode output carries out impedance matching through output matching network and antenna loop and then inputs a signal into antenna loop, partially
Circuits are made up of transistor T42, transistor T43 and resistance R45, and transistor T42 base stages are connected to control voltage through resistance R41
Vcon, transistor T42 colelctor electrode are connected to power Vcc 1, and emitter stage is connected to transistor T43 colelctor electrode, transistor T43
Base stage transistor T42 emitter stage is connected to through resistance R45, transistor T42 emitter stage gives high power tube through resistance R47
T44 base stage provides electric current.
Preferably, high-frequency power amplifying circuit also includes temperature-compensation circuit, temperature-compensation circuit include transistor T45,
Transistor T41, resistance R43 and resistance R44, wherein, transistor T45 base stage is connected to resistance R42 first end, resistance R42
The second end be connected to resistance R41 first end, resistance R41 the second end is connected to control voltage Vcon, the first of resistance R41
End is connected to transistor T41 colelctor electrode and transistor T42 base stage simultaneously；Transistor T45 colelctor electrodes are connected to through resistance R43
Power Vcc 1, emitter stage is connected to ground through resistance R44, and is connected to transistor T41 base stage；Transistor T41 emitter stage connects
Ground, colelctor electrode are connected to electricity group R41 first end.Temperature-compensation circuit of the present invention as a result of such structure so that high
The temperature compensation capability of frequency power amplification circuit greatly improves.
Illustrate to be installed on the flow chart of the winged control program on express delivery unmanned plane with reference to Fig. 6, as shown in fig. 6, processing
Call and be stored in winged control program in control card, comprise at least the step of execution：
S01：Processor receives hair/Shipping Address, time and the ambient image of control terminal by radio communication subsystem and advised
Draw flight path and the departure time；
S02：After flight, processor receives position data of the navigator fix device about unmanned plane and the position data is passed through into network
The control terminal controlled it is sent to, the position data includes the earth X, Y, Z coordinate value；
S03：Judge the position data whether can flight range, if not to BTS management center management platform transmission
It is violating the regulations to record and adjust flight path, if it is, performing next step；According to one embodiment of the invention, to avoid unmanned plane
Fly to important military, politics and economic zone is scouted, area of space is divided by manager, area of space is drawn
It is divided into the region of the feasible flight of unmanned plane and can only can be being flown, can flown in flight range by restricted area, unmanned plane
The data in region are stored in advance in control card.
S04：Processor receives the data of barrier detector to determine the relative position of barrier and unmanned plane, and will barrier
The position data of thing is hindered to be sent to control terminal through network by radio communication subsystem.
S05：Whether the relative distance of disturbance in judgement thing and unmanned plane is more than or equal to setting value, if it is, adjustment
Flight path, flying quality being sent to flight controller if not, flight controller provides control signal to servo control mechanism, so that
Unmanned plane is flown.
S05：Judge whether near hair/Shipping Address, the image of destination address is if it is obtained simultaneously by video camera
The ambient image sent with the control terminal of reception is compared, if image is consistent, make express delivery unmanned plane land or
Close to user, and by voice to user send voice messaging, with inform user unload/load onto material, if being also less than purpose
Near address, then continue to fly.
S06：Judge whether to load onto/take away goods, if it is flown back logistics go-on-go center by flight path, if not,
Information then is sent to control terminal, and waits the instruction of terminal to be controlled.
Control terminal provided by the invention comprises at least processor, memory, display, radio communication subsystem and control
Terminal recognition neck, unmanned aerial vehicle (UAV) control program is saved in the memory, and the identification neck is used to insert by control terminal
The communication recognition cards that manager or network operator allot, the communication recognition cards save control terminal communication identification number, the control
Terminal communication identification number processed is registered in management platform correspondingly with its user.Be stored with memory map datum and
For controlling the application program of unmanned plane during flying.6 explanations are installed on the stream of the control program in control terminal below in conjunction with the accompanying drawings
Cheng Tu.
As shown in fig. 7, unmanned aerial vehicle (UAV) control program comprises at least：
S01：Receive the order of client, hair/Shipping Address and, time and ring image, and be assigned to an express delivery unmanned plane；
S02：Receive the position data that unmanned plane is sent and the position in map datum corresponding to unmanned plane parallel to ground data
The icon of superposition unmanned plane is put, and near icon the step of mark unmanned plane altitude information.
S03：Receive the position data for the barrier that unmanned plane is sent and in map datum corresponding to the parallel of barrier
The icon of barrier is superimposed in the position of ground data, and near icon the step of mark obstacle height data.
S04：Whether take/take goods away, if it is, sending instruction to express delivery unmanned plane, unmanned plane is flown back logistics
Go-on-go center, if not, contact hair/consignee.
S05：During unmanned plane flies back, receive the position data that unmanned plane is sent and corresponded in map datum
Unmanned plane is superimposed the icon of unmanned plane parallel to the position of ground data, and unmanned plane altitude information is marked near icon；
S06：Receive the position data for the barrier that express delivery unmanned plane is sent and in map datum corresponding to the parallel of barrier
The icon of barrier is superimposed in the position of ground data, and obstacle height data are marked near icon.
Processor may include digital signal processor (DSP), microprocessor, programmable logic device in the present invention
(PLD), gate array or multiple processing components and power management subsystem.Processor may also include internally cached storage
Device, the internal cache memory are configured to store the calculating for being used to perform obtained from memory or control card
Machine readable instruction.The memory includes non-transient computer medium, the medium for example including SRAM, quick flashing, SDRAM and/
Or hard disk drive (HDD) etc..Memory is configured to store computer-readable instruction to be performed by processor.
According to the present invention, the fortune that must be authorized using the user of unmanned plane to unmanned plane administrative department or by administrative department
Seek business to propose to use the application of unmanned plane, UAV Communication card is allotted by unmanned plane administrative department or sales department and flight is controlled
Fabrication, such unmanned plane user just can be by wireless networks using controlling terminal to be communicated with unmanned plane, and in permission
Flown in region, in this way, can be effectively prevented from criminal implements spy to military area, political region and Important Economic region
Behavior is destroyed using unmanned plane.Also unmanned plane could not be made to set and interfere civil aviaton, army's boat or ground.Due to this
The unmanned plane of invention, control the communication of terminal and management platform therefore, can to it also avoid existing by existing wireless network
Electromagnetic Interference caused by the electromagnetic wave of earth station's transmitting in unmanned aerial vehicle control system.
Processor in the present invention may include digital signal processor (DSP), microprocessor, programmable logic device
(PLD), gate array or multiple processing components and power management subsystem.Processor may also include internally cached storage
Device, the internal cache memory are configured to store the calculating for being used to perform obtained from memory or control card
Machine readable instruction.The memory includes non-transient computer medium, the medium for example including SRAM, quick flashing, SDRAM and/
Or hard disk drive (HDD) etc..Memory is configured to store computer-readable instruction to be performed by processor.
Although above with reference to accompanying drawing to being elaborated according to the design and example of the object of the invention, this area skill
Art personnel are it should be appreciated that on the premise of without departing from present inventive concept, any modifications and variations made based on the present invention
Still fall within the content in the scope of the present invention.
Claims (9)
1. a kind of unmanned plane express system, it includes the express delivery unmanned plane and control terminal by network linking, it is characterised in that
Control terminal at least have sent hair/Shipping Address, ambient image and hair/delivery period to express delivery unmanned plane；Express delivery unmanned plane is extremely
Include first processor, the first navigator fix subsystem, flight subsystem, first memory, the first wireless communication less
System and video camera, first processor deposit the hair/Shipping Address, ambient image and the hair/delivery period that control terminal to send
It is stored in first memory；The hair for the control terminal that first processor receives according to the first radio communication subsystem/send address and
Time planning flight path simultaneously sends flight subsystem to perform aerial mission；First navigator fix subsystem is used for real
When obtain the position of express delivery unmanned plane, and the position for memory storage sending out Shipping Address is compared to determine whether to reach
Hair/Shipping Address；Video camera is used for the image for obtaining environment, and first processor is additionally operable to the ambient image for obtaining video camera
It is compared with the ambient image stored in memory to further determine whether to reach hair/Shipping Address.
2. unmanned plane express system according to claim 1, it is characterised in that characterized in that, express delivery unmanned plane is also extremely
Include the first communication neck less, the first communication neck is used to insert communication card, and the first communication card stores UAV Communication identification
Number, and registered correspondingly with its user.
3. unmanned plane express system according to claim 2, it is characterised in that the network comprises at least base station, is used for
The base station control center of control base station and the data main dispatching centre for switch data, the data main dispatching centre are direct or logical
Cross gateway with mobile telephone network, data network to be connected, express delivery unmanned plane and control terminal are connected.
4. unmanned plane express system according to claim 3, it is characterised in that it is computer to control terminal, and user passes through
Input instruction sends the destination address for needing dispensed substance to be sent to and time through network to express delivery unmanned plane.
5. unmanned plane express system according to claim 3, it is characterised in that it is mobile platform to control terminal, Yong Hutong
The mode for crossing voice or input instruction sends the destination address for needing dispensed substance to be sent to and time through network to express delivery unmanned plane.
6. the unmanned plane express system according to claim 4 or 5, it is characterised in that express delivery unmanned plane comprises at least obstacle
Analyte detection subsystem, the information that first processor detects according to detection of obstacles subsystem adjust the flight control of express delivery unmanned plane
Processing procedure sequence, and send it to flight subsystem.
7. unmanned plane express system according to claim 6, it is characterised in that control terminal comprises at least the second storage
Device, display, the second radio communication subsystem and control terminal recognition neck, save unmanned plane control in the second memory
Processing procedure sequence, second processor calls the unmanned aerial vehicle (UAV) control program stored in second memory, and is shown over the display.
8. unmanned plane express system according to claim 7, it is characterised in that unmanned aerial vehicle (UAV) control program comprises at least：
Receive the position data that express delivery unmanned plane is sent and the icon of unmanned plane is superimposed in map datum, also marked near icon
The step of noting unmanned plane altitude information.
9. unmanned plane express system according to claim 8, it is characterised in that unmanned aerial vehicle (UAV) control program at least also includes：
Receive the position data for the barrier that unmanned plane is sent and in map datum corresponding to the position superposition obstacle of barrier
The icon of thing, and near icon the step of mark obstacle height data.
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| RU2776467C1 (en) * | 2021-06-23 | 2022-07-21 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина" (г. Воронеж) Министерства обороны Российской Федерации | Method for conducting flight inspections of ground-based radio-technical flight support equipment |
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Application publication date: 20171219 |