CN109471453A - Unmanned plane relay station cruise system - Google Patents
Unmanned plane relay station cruise system Download PDFInfo
- Publication number
- CN109471453A CN109471453A CN201811587294.7A CN201811587294A CN109471453A CN 109471453 A CN109471453 A CN 109471453A CN 201811587294 A CN201811587294 A CN 201811587294A CN 109471453 A CN109471453 A CN 109471453A
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- unmanned plane
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- 238000001514 detection method Methods 0.000 claims description 15
- 230000006870 function Effects 0.000 claims description 10
- 230000007613 environmental effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 230000003111 delayed effect Effects 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000033228 biological regulation Effects 0.000 claims description 3
- 238000013523 data management Methods 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims description 2
- 230000006698 induction Effects 0.000 claims description 2
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000034303 cell budding Effects 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 230000005311 nuclear magnetism Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
Classifications
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- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
- H04B7/18515—Transmission equipment in satellites or space-based relays
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Astronomy & Astrophysics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Selective Calling Equipment (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses unmanned plane relay station cruise systems, including cruise system, UAV system, relay station system and spare UAV system, the cruise system carries out information exchange with UAV system, relay station system and spare UAV system respectively, solve the problems, such as that unmanned plane cannot pinpoint work at a distance, with wireless charging technology, replace the connection charging of tradition machinery arm, save the cost, unmanned plane and relay station, which combine, to have great practical value and Development volue.
Description
Technical field
The present invention relates to intellectualized technology fields, more particularly to unmanned plane relay station cruise system.
Background technique
Unmanned plane cruising manner common at present has following several:
1. remote control cruise: remotely-controlled object continues far distance control, primary radio remote control to controlled device.By radio
The limitation of operating distance, limitation communication distance usually only can reach 320KM~480KM, be particularly susceptible to electronic interferences.
2. automatic control is cruised: auto-flare system does not depend on ground control, all act the flight being all automatically performed, and voyage increases；
Utonomous working does not need to contact with earth station.But complicated autonomous navigation system and control system, increases weight, improves
Cost.
Communication device provided by the invention is cruised using being remotely controlled in such a way that intelligence combines relative to traditional remote control
Or automatic control cruise, it has stronger function, it alleviates the weight of unmanned plane, and complex situations can by be remotely controlled come into
Row task, and unmanned plane cannot scout realization from flight landing charging by the external world on the market, and the present invention can be also nobody
Level point is provided when opportunity emergency, realizes the protection to unmanned plane.
When encountering bad weather or emergency, such as rainy day, forest fire, unmanned plane can detect ambient humidity and cigarette
Mist makes a return voyage automatically after the threshold value for reaching certain, protects to unmanned plane, and unmanned plane can detect itself, ask if it exists
Topic, makes a return voyage automatically.
Since unmanned plane is in high-altitude flight, will appear some barriers, such as flying bird, those all can to flight nobody
Machine damages, so the unmanned plane hides some objects using ultrasonic wave realization, can simply protect unmanned plane
Safety.
And present unmanned planes all kinds of on the market all keep away not open continuation of the journey problem, and the mixed unmanned plane of oil electricity is most universal at present
Continuation of the journey mode will cause the problem of flight is unstable, and noise is big, secondary pollution but because of its overweight, and some nuclear-magnetisms are total
Vibration, the unmanned air vehicle techniques such as laser charging will cause danger, so we are filled using wireless coil also in the budding stage
Electricity, this mode are stablized, safety, and charge efficiency, up to 90%, the charging time is shorter, and compared to all kinds of continuation of the journey modes, it is more
It is mature and conveniently.
Summary of the invention
For above situation, for the defect for overcoming the prior art, purpose of the present invention is to provide unmanned plane relay stations to patrol
Boat system substantially increases the cruising ability of unmanned plane, has the characteristics that high reliablity, convenient.
Its technical solution solved is: unmanned plane relay station cruise system, including cruise system, UAV system, relaying
System of standing and spare UAV system, the cruise system respectively with UAV system, relay station system and spare unmanned plane system
System carries out information exchange；
The UAV system includes fixed point cruise, extraneous detection, telecommunication and intelligent function of making a return voyage；
The relay station system includes landing detection, wireless power and hatch door intelligent switch function, be to unmanned plane into
Row protection and wireless charging, realize the detection taken off or landed to unmanned plane, to control the automatic opening or closing of hatch door；
The spare unmanned plane includes that the institute of UAV system is functional, standby when the unmanned plane when the task of execution damages
Remote control and regulation with unmanned plane through cruise system, the unmanned plane for substituting damage continue to execute task, play cruise risk guarantee
Function.
By above technical scheme, the invention has the benefit that
1. unmanned plane, which automatically cruises, solves the problems, such as that unmanned plane cannot pinpoint work at a distance, with wireless charging skill
Art, to replace the connection charging of tradition machinery arm, save the cost, the future potential that unmanned plane and relay station combine is huge, can pass through
Relay station micromation, realizes the multi-functional city station network being integrated.
Detailed description of the invention
Fig. 1 is system module figure of the invention.
Specific embodiment
For the present invention aforementioned and other technology contents, feature and effect, in following cooperation with reference to attached drawing 1 to embodiment
Detailed description in, can clearly present.The structure content being previously mentioned in following embodiment is with Figure of description for ginseng
It examines.
Each exemplary embodiment of the invention is described below with reference to accompanying drawings.
Embodiment one, unmanned plane relay station cruise system, including cruise system, UAV system, relay station system and standby
With UAV system, the cruise system carries out information with UAV system, relay station system and spare UAV system respectively
Exchange；
The UAV system includes fixed point cruise, extraneous detection, telecommunication and intelligent function of making a return voyage；
The relay station system includes landing detection, wireless power and hatch door intelligent switch function, be to unmanned plane into
Row protection and wireless charging, realize the detection taken off or landed to unmanned plane, to control the automatic opening or closing of hatch door；
The spare unmanned plane includes that the institute of UAV system is functional, standby when the unmanned plane when the task of execution damages
Remote control and regulation with unmanned plane through cruise system, the unmanned plane for substituting damage continue to execute task, play cruise risk guarantee
Function.
Embodiment two, on the basis of example 1, cruise system respectively with UAV system, relay station system and spare
UAV system carries out information exchange, and specific step is as follows:
S1. when executing cruise task, the controller in relay station system receives trigger signal, generation by bluetooth module
Code mark position 1, relay station hatch door are automatically opened hatch door by steering engine, and the 10s that is delayed, and unmanned plane is waited to take off；
S2. UAV system realizes unmanned plane during flying by pid control algorithm, and unmanned aerial vehicle station is logical by 4G-GPRS
The destination of setting is stored in the memory of unmanned plane by letter, by the winged control progress Data Management Analysis of unmanned plane Pixhawk, and with
Itself longitude and latitude of GPS satellite detection compares, and realizes fixed point cruise；
S3. unmanned plane takes off, and the symbol flag in relay station system sets 0 again, and hatch door is automatically closed；
S4. on the way, UAV system is by the environmental information of extraneous detection itself with 4G-GPRS communication mode for unmanned plane during flying
It is transferred to unmanned aerial vehicle station, environmental data is detected by unmanned aerial vehicle station, analyzes and determines whether unmanned plane needs
Continue to execute cruise task；When unmanned plane not enough power supply, brownout reaches given threshold, interrupts into programming, unmanned plane
Intelligence is maked a return voyage the relay station that flies back, and relay station system sends instruction, automatically opens hatch door, and with unmanned plane wireless power, until voltage
Full of when, reach given threshold, exit interruption, unmanned plane continued takeoff executes task；
S5. unmanned plane during flying on the way, when there is not eliminable failure in the short time in unmanned plane itself, cruise system control
The UAV Intelligent that system is carrying out task makes a return voyage, while sending instruction and controlling spare UAV system starting, substitutes damage
Unmanned plane continues to execute task.
Embodiment three, on the basis of example 2, in cruise system rate-determining steps S4, UAV Intelligent, which makes a return voyage, to fly back
When station, the infrared waves of the infrared module transmitting in relay station system by unmanned plane blocking and rebound, converted by voltage,
Output HIGH voltage, symbol flag position set 1 again, and relay station hatch door is opened, and is delayed after 10s, and flag bit clear 0 is automatically closed, relaying
System of standing releases sine wave using coil electromagnetism principle of induction, and the energy that unmanned plane receives sine wave outflow realizes wireless charging.
Present invention tool is in use, unmanned plane relay station cruise system, including cruise system, UAV system, relay station system
System and spare UAV system, the cruise system respectively with UAV system, relay station system and spare UAV system into
Row information exchange, when executing cruise task, the controller in relay station system receives trigger signal, generation by bluetooth module
Code mark position 1, relay station hatch door are automatically opened hatch door by steering engine, and the 10s that is delayed, and wait unmanned plane to take off, unmanned plane
System realizes unmanned plane during flying by pid control algorithm, and unmanned aerial vehicle station is communicated by 4G-GPRS and stores the destination of setting
In the memory of unmanned plane, control is flown by unmanned plane Pixhawk and carries out Data Management Analysis, and itself warp with GPS satellite detection
Latitude compares, and realizes fixed point cruise, and unmanned plane takes off, and the symbol flag in relay station system sets 0 again, and hatch door closes automatically
It closes, on the way, the environmental information of extraneous detection itself is transferred to nothing with 4G-GPRS communication mode to unmanned plane during flying by UAV system
Environmental data detects by unmanned aerial vehicle station in man-machine earth station, analyzes and determines whether unmanned plane needs to continue to execute
Cruise task；When unmanned plane not enough power supply, brownout reaches given threshold, interrupts into programming, and UAV Intelligent makes a return voyage
Fly back relay station, and relay station system sends instruction, automatically opens hatch door, and with unmanned plane wireless power, until reached when voltage is full of
To given threshold, exit interruption, unmanned plane continued takeoff executes task, unmanned plane during flying on the way, when unmanned plane itself occur it is short
In time not eliminable failure when, cruise system control is carrying out the UAV Intelligent of task and makes a return voyage, while sending instruction
Spare UAV system starting is controlled, the unmanned plane for substituting damage continues to execute task.
The above is that further detailed description of the invention, and it cannot be said that the present invention in conjunction with specific embodiment
Specific implementation is limited only to this；Belonging to the present invention and for those skilled in the technology concerned, it is being based on skill of the present invention
Under the premise of art scheme thinking, it is made expansion and operating method, data replacement, should all fall in the scope of the present invention it
It is interior.
Claims (3)
1. unmanned plane relay station cruise system, including cruise system, UAV system, relay station system and spare unmanned plane system
System, which is characterized in that the cruise system carries out information with UAV system, relay station system and spare UAV system respectively
Exchange；
The UAV system includes fixed point cruise, extraneous detection, telecommunication and intelligent function of making a return voyage；
The relay station system includes landing detection, wireless power and hatch door intelligent switch function, is to protect to unmanned plane
Shield and wireless charging realize the detection taken off or landed to unmanned plane, to control the automatic opening or closing of hatch door；
The spare unmanned plane includes that the institute of UAV system is functional, when the unmanned plane when the task of execution damages, spare nothing
The man-machine remote control and regulation through cruise system, the unmanned plane for substituting damage continue to execute task, play the function of cruise risk guarantee.
2. unmanned plane relay station cruise system as described in claim 1, it is characterised in that: cruise system respectively with unmanned plane system
System, relay station system and spare UAV system carry out information exchange, and specific step is as follows:
S1. when executing cruise task, the controller in relay station system receives trigger signal, code mark by bluetooth module
Will position 1, relay station hatch door are automatically opened hatch door by steering engine, and the 10s that is delayed, and unmanned plane is waited to take off；
S2. UAV system realizes unmanned plane during flying by pid control algorithm, and unmanned aerial vehicle station is communicated by 4G-GPRS will
The destination of setting is stored in the memory of unmanned plane, is flown control by unmanned plane Pixhawk and is carried out Data Management Analysis, and defends with GPS
Itself longitude and latitude of star detection compares, and realizes fixed point cruise；
S3. unmanned plane takes off, and the symbol flag in relay station system sets 0 again, and hatch door is automatically closed；
S4. on the way, UAV system is by the environmental information of extraneous detection itself with the transmission of 4G-GPRS communication mode for unmanned plane during flying
Unmanned aerial vehicle station is given, environmental data is detected by unmanned aerial vehicle station, analyzes and determines whether unmanned plane needs to continue
Execute cruise task；When unmanned plane not enough power supply, brownout reaches given threshold, interrupts into programming, UAV Intelligent
Make a return voyage the relay station that flies back, and relay station system sends instruction, automatically opens hatch door, and with unmanned plane wireless power, until voltage is full of
When, reach given threshold, exit interruption, unmanned plane continued takeoff executes task；
S5. on the way, when not eliminable failure in the short time occurs in unmanned plane itself, cruise system controls just unmanned plane during flying
It makes a return voyage in the UAV Intelligent of the task of execution, while sending instruction and controlling spare UAV system starting, substitute nobody of damage
Machine continues to execute task.
3. unmanned plane relay station cruise system as claimed in claim 2, it is characterised in that: in cruise system rate-determining steps S4,
UAV Intelligent makes a return voyage when flying back relay station, blocking of the infrared waves of the infrared module transmitting in relay station system by unmanned plane
And rebound, it being converted by voltage, output HIGH voltage, symbol flag position sets 1 again, and relay station hatch door is opened, it is delayed after 10s, mark
Will position clear 0, is automatically closed, and relay station system releases sine wave using coil electromagnetism principle of induction, and unmanned plane receives sinusoidal wave current
Energy out realizes wireless charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811587294.7A CN109471453B (en) | 2018-12-25 | 2018-12-25 | Unmanned aerial vehicle relay station cruise system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811587294.7A CN109471453B (en) | 2018-12-25 | 2018-12-25 | Unmanned aerial vehicle relay station cruise system |
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| CN109471453A true CN109471453A (en) | 2019-03-15 |
| CN109471453B CN109471453B (en) | 2022-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811587294.7A Expired - Fee Related CN109471453B (en) | 2018-12-25 | 2018-12-25 | Unmanned aerial vehicle relay station cruise system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110531788A (en) * | 2019-09-24 | 2019-12-03 | 北京佰才邦技术有限公司 | Cruise control method, device and the electronic equipment of unmanned plane |
| CN111610802A (en) * | 2020-05-29 | 2020-09-01 | 中国石油化工股份有限公司 | Relay control method and system for unmanned aerial vehicle flight |
| CN112050812A (en) * | 2020-07-31 | 2020-12-08 | 深圳市贝贝特科技实业有限公司 | Automatic relay cruise system and method for vehicle-mounted unmanned aerial vehicle |
| CN112379690A (en) * | 2020-11-05 | 2021-02-19 | 浙江点辰航空科技有限公司 | Automatic charging and cruising method for unmanned aerial vehicle and unmanned aerial vehicle system |
| CN112650271A (en) * | 2020-09-16 | 2021-04-13 | 浩亚信息科技有限公司 | Unmanned aerial vehicle over-the-horizon flight system and method based on star chain and 5G technology |
| WO2022140924A1 (en) * | 2020-12-28 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Control method, control system, unmanned aerial vehicle, and interactive device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110531788A (en) * | 2019-09-24 | 2019-12-03 | 北京佰才邦技术有限公司 | Cruise control method, device and the electronic equipment of unmanned plane |
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| CN111610802A (en) * | 2020-05-29 | 2020-09-01 | 中国石油化工股份有限公司 | Relay control method and system for unmanned aerial vehicle flight |
| CN112050812A (en) * | 2020-07-31 | 2020-12-08 | 深圳市贝贝特科技实业有限公司 | Automatic relay cruise system and method for vehicle-mounted unmanned aerial vehicle |
| CN112650271A (en) * | 2020-09-16 | 2021-04-13 | 浩亚信息科技有限公司 | Unmanned aerial vehicle over-the-horizon flight system and method based on star chain and 5G technology |
| CN112379690A (en) * | 2020-11-05 | 2021-02-19 | 浙江点辰航空科技有限公司 | Automatic charging and cruising method for unmanned aerial vehicle and unmanned aerial vehicle system |
| WO2022140924A1 (en) * | 2020-12-28 | 2022-07-07 | 深圳市大疆创新科技有限公司 | Control method, control system, unmanned aerial vehicle, and interactive device |
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|---|---|
| CN109471453B (en) | 2022-05-10 |
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