CN110176955B - Unmanned aerial vehicle communication base station, communication system and method for constructing communication system - Google Patents
Unmanned aerial vehicle communication base station, communication system and method for constructing communication system Download PDFInfo
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- CN110176955B CN110176955B CN201910583444.5A CN201910583444A CN110176955B CN 110176955 B CN110176955 B CN 110176955B CN 201910583444 A CN201910583444 A CN 201910583444A CN 110176955 B CN110176955 B CN 110176955B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B11/00—Transmission systems employing sonic, ultrasonic or infrasonic waves
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- 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
- H04B7/18502—Airborne stations
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- 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
- H04B7/18502—Airborne stations
- H04B7/18504—Aircraft used as relay or high altitude atmospheric platform
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
- H04W88/08—Access point devices
Abstract
The application provides an unmanned aerial vehicle communication base station, a communication system and a construction method of the communication system, wherein the unmanned aerial vehicle communication base station comprises a multi-rotor unmanned aerial vehicle, base station equipment, a base station antenna and a main control unit, and the base station equipment and the base station antenna are mutually connected and arranged on the multi-rotor unmanned aerial vehicle; the main control unit is connected with each driving motor, the base station equipment and the base station antenna; the base station equipment transmits radio frequency signals to the ground communication base station through the base station antenna so as to establish communication connection with the ground communication base station, and the main control unit is used for controlling the flight state of the multi-rotor unmanned aerial vehicle and the communication process between the base station equipment and the ground communication base station. The method can meet the load requirement of the communication base station, and has the advantages of less external influence on the communication network, higher communication quality and stronger maneuverability and adaptability. The problem that a carrier platform adopted by a high-altitude communication base station in the prior art is difficult to adapt to high-altitude wireless communication, so that the application range is limited is solved.
Description
Technical Field
The application relates to an unmanned aerial vehicle communication base station, a communication system and a method for constructing the communication system.
Background
The communication base station is a radio transceiver station for information transfer between a mobile communication switching center and a mobile phone terminal, has the function of completing communication and management between a mobile communication network and mobile communication users, and is a basic unit for forming the mobile communication network.
However, in the case of natural or artificial sudden emergency such as disasters or accidents, the current fixed communication base station may be damaged, so that communication is interrupted. In order to cope with emergency, emergency communication is ensured, and a high-altitude communication base station is generally adopted as emergency communication equipment at present.
The existing high-altitude communication base station carrier is commonly provided with aerostats such as a tethered unmanned aerial vehicle, a fixed wing power unmanned aerial vehicle, a fire balloon and the like.
The tethered unmanned aerial vehicle is powered by an external cable, the body size of the tethered unmanned aerial vehicle is small, meanwhile, the weight of the tethered cable needs to be borne, the load is very limited, and the tethered unmanned aerial vehicle is difficult to adapt to the load requirement of a communication base station; in addition, the high-altitude airflow environment is complex, and the tethered cable can also interfere with the unmanned aerial vehicle, so that the tethered unmanned aerial vehicle has a certain limit on the lifting height, the low-altitude electromagnetic environment has higher noise, the influence on the performance of a base station is larger, and the communication signals can be obviously shielded by the topography of buildings or hills and the like in cities, so that the application range of the tethered unmanned aerial vehicle is limited;
the fixed wing power unmanned plane has high flying speed, long voyage and long voyage, but the take-off and landing are limited by sites. Meanwhile, the cruise speed of the fixed wing unmanned aerial vehicle is very high, and the transmission quality of wireless communication is affected; and the operation is complicated.
The hot air balloon is huge in size, difficult to lift, long in inflation preparation and recovery time, poor in maneuverability and adaptability, and potential safety hazards exist in a mode of heating air by adopting hydrogen or fuel.
Disclosure of Invention
The application mainly aims to provide an unmanned aerial vehicle communication base station, a communication system and a method for constructing the communication system, so as to at least solve the problem of a carrier platform adopted by a high-altitude communication base station in the prior art. It is difficult to accommodate the problem of high-altitude wireless communication and thus limited application range.
In order to achieve the above object, according to a first aspect of the present application, there is provided an unmanned aerial vehicle communication base station, including a multi-rotor unmanned aerial vehicle, base station equipment, a base station antenna, and a main control unit, the multi-rotor unmanned aerial vehicle having a plurality of drive motors, each of which has a rotor provided on an output shaft thereof; the base station equipment and the base station antenna are connected with each other and are arranged on the multi-rotor unmanned aerial vehicle; the main control unit is connected with each driving motor, the base station equipment and the base station antenna; the base station equipment transmits radio frequency signals to the ground communication base station through the base station antenna so as to establish communication connection with the ground communication base station, and the main control unit is used for controlling the flight state of the multi-rotor unmanned aerial vehicle and the communication process between the base station equipment and the ground communication base station.
Further, the unmanned aerial vehicle communication base station further includes: the power battery pack is arranged on the multi-rotor unmanned aerial vehicle and is used for storing electric energy; the power management unit is arranged on the multi-rotor unmanned aerial vehicle and is connected with the power battery pack, each driving motor, the base station equipment, the base station antenna and the main control unit; the power battery pack supplies power to each driving motor, the base station equipment, the base station antenna and the main control unit through the power management unit, and the main control unit is also used for controlling the working process of the power management unit.
Further, the unmanned aerial vehicle communication base station further includes: the wireless charging receiving device is arranged on the multi-rotor unmanned aerial vehicle and connected with the power battery pack, and is used for charging the power battery pack through ground wireless charging equipment when the multi-rotor unmanned aerial vehicle falls to a ground preset position; the solar photovoltaic charging device is arranged on the multi-rotor unmanned aerial vehicle and connected with the power battery pack, and is used for converting solar energy into electric energy to charge the power battery pack; the main control unit is connected with the wireless charging receiving device and the solar photovoltaic charging device to control the working processes of the wireless charging receiving device and the solar photovoltaic charging device.
Further, the unmanned aerial vehicle communication base station further includes: the GPS positioning unit is arranged on the multi-rotor unmanned aerial vehicle and is connected with the main control unit; the GPS positioning unit is used for acquiring longitude, latitude and flight speed information of the multi-rotor unmanned aerial vehicle, sending the acquired longitude, latitude and flight speed information to the main control unit, and controlling the flight state and flight track of the multi-rotor unmanned aerial vehicle according to the longitude, latitude and flight speed information of the multi-rotor unmanned aerial vehicle.
Further, the unmanned aerial vehicle communication base station further includes: the sensor unit is arranged on the multi-rotor unmanned aerial vehicle and is connected with the main control unit; the sensor unit is used for acquiring three axial specific force acceleration values, three axial angular velocity values, three axial magnetic field intensity values and height values of the multi-rotor unmanned aerial vehicle and sending the acquired three axial specific force acceleration values, three axial angular velocity values, three axial magnetic field intensity values and height values to the main control unit so that the main control unit can determine the flight attitude and flight trajectory of the multi-rotor unmanned aerial vehicle and adjust the flight attitude of the multi-rotor unmanned aerial vehicle.
Further, the unmanned aerial vehicle communication base station further includes: the video recording unit and the audio recording unit are arranged on the multi-rotor unmanned aerial vehicle and are connected with the main control unit; the video recording unit is used for shooting ground video data in the flight process of the multi-rotor unmanned aerial vehicle; the audio recording unit is used for recording audio data in the flight process of the multi-rotor unmanned aerial vehicle; the main control unit is also used for controlling the working processes of the video recording unit and the audio recording unit.
According to a second aspect of the application, there is provided a communication system comprising: the unmanned aerial vehicle communication base station is the unmanned aerial vehicle communication base station with the content, and the unmanned aerial vehicle communication base station is used for flying to a preset height to form an air mobile base station platform; the ground communication base station establishes communication connection with the backbone network through a wired communication channel and/or a wireless communication channel and/or a satellite communication channel; the ground scheduling unit is connected with the ground communication base station; the unmanned aerial vehicle communication base station is used for transmitting radio frequency signals to the ground communication base station to establish communication connection with the backbone network through the ground communication base station and/or directly establish communication connection with the backbone network through a satellite communication channel; the ground scheduling unit is used for establishing communication connection with the main control unit of each unmanned aerial vehicle communication base station through the ground communication base station so as to schedule and manage the flight state, the flight route track and the flight attitude of each unmanned aerial vehicle communication base station.
Further, the unmanned aerial vehicle communication base station comprises a power battery pack and a power management unit, wherein the power battery pack supplies power to a driving motor, base station equipment and a base station antenna of the unmanned aerial vehicle communication base station through the power management unit; the unmanned aerial vehicle communication system further comprises: the ground charging platform is connected with the ground dispatching unit; the ground charging platform is used for charging the power battery pack of the unmanned aerial vehicle communication base station when the unmanned aerial vehicle communication base station falls onto the ground charging platform; the ground dispatching unit is also used for dispatching and managing the charging process of the unmanned aerial vehicle communication base station.
Further, the unmanned aerial vehicle communication system further includes: the mobile communication vehicle, the ground communication base station, the ground dispatching unit and the ground charging platform are all arranged on the mobile communication vehicle.
According to a third aspect of the present application, there is provided a construction method of a communication system for constructing the above communication system, the construction method comprising: conveying the plurality of unmanned aerial vehicle communication base stations to the vicinity of the target networking site; scheduling corresponding number of unmanned aerial vehicle communication base stations to fly above a target networking place according to the bandwidth requirement of the networking and ascending to a preset height; the unmanned aerial vehicle communication base station establishes communication connection with the main network through the ground communication base station by transmitting radio frequency signals to the ground communication base station and/or establishes communication connection with the main network directly through a satellite communication channel and/or the plurality of unmanned aerial vehicle communication base stations establish independent communication networks by mutually transmitting radio frequency signals.
The unmanned aerial vehicle communication base station applying the technical scheme of the application comprises a multi-rotor unmanned aerial vehicle, base station equipment, a base station antenna and a main control unit, wherein the multi-rotor unmanned aerial vehicle is provided with a plurality of driving motors, and a rotor is arranged on an output shaft of each driving motor; the base station equipment and the base station antenna are connected with each other and are arranged on the multi-rotor unmanned aerial vehicle; the main control unit is connected with each driving motor, the base station equipment and the base station antenna; the base station equipment transmits radio frequency signals to the ground communication base station through the base station antenna so as to establish communication connection with the ground communication base station, and the main control unit is used for controlling the flight state of the multi-rotor unmanned aerial vehicle and the communication process between the base station equipment and the ground communication base station. The method can meet the load requirement of the communication base station, and has the advantages of less external influence on the communication network, higher communication quality and stronger maneuverability and adaptability. The problem that a carrier platform adopted by a high-altitude communication base station in the prior art is difficult to adapt to high-altitude wireless communication, so that the application range is limited is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
fig. 1 is a block diagram of an alternative unmanned aerial vehicle communication base station according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a multi-rotor unmanned aerial vehicle used in an alternative unmanned aerial vehicle communication base station according to an embodiment of the present application;
FIG. 3 is a block diagram of an alternative communication system according to an embodiment of the present application;
fig. 4 is a schematic diagram of a positioning principle when an optional base station for unmanned aerial vehicle communication charges according to an embodiment of the present application.
Wherein the above figures include the following reference numerals:
10. multiple rotor unmanned aerial vehicle; 11. a driving motor; 12. a rotor; 20. a base station device; 30. a base station antenna; 40. a main control unit; 50. a power battery pack; 60. a power management unit; 70. a wireless charging receiving device; 71. a wireless charging receiving antenna; 72. a rectification conversion circuit; 80. a solar photovoltaic charging device; 81. a solar cell stack; 82. a DC conversion circuit; 90. a GPS positioning unit; 100. a sensor unit; 110. a video recording unit; 120. an audio recording unit; 130. a unmanned aerial vehicle communication base station; 140. a ground communication base station; 150. a ground scheduling unit; 170. a ground charging platform; 171. a power supply; 172. an inverter circuit; 173. a wireless charging transmitting antenna; 174. a charging control unit; 180. an ultrasonic generator; 190. an ultrasonic receiver.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
According to the unmanned aerial vehicle communication base station, as shown in fig. 1 and 2, the unmanned aerial vehicle communication base station comprises a multi-rotor unmanned aerial vehicle 10, base station equipment 20, a base station antenna 30 and a main control unit 40, wherein the multi-rotor unmanned aerial vehicle 10 is provided with a plurality of driving motors 11, and a rotor wing 12 is arranged on an output shaft of each driving motor 11; the base station device 20 and the base station antenna 30 are connected to each other and provided on the multi-rotor unmanned aerial vehicle 10; the main control unit 40 is connected with each driving motor 11, the base station equipment 20 and the base station antenna 30; wherein, the base station device 20 transmits radio frequency signals to the ground communication base station through the base station antenna 30 to establish communication connection with the ground communication base station, and the main control unit 40 is used for controlling the flight state of the multi-rotor unmanned aerial vehicle 10 and the communication process between the base station device 20 and the ground communication base station. The method can meet the load requirement of the communication base station, and has the advantages of less external influence on the communication network, higher communication quality and stronger maneuverability and adaptability. The problem that a carrier platform adopted by a high-altitude communication base station in the prior art is difficult to adapt to high-altitude wireless communication, so that the application range is limited is solved.
In specific implementation, the unmanned aerial vehicle communication base station further comprises a power battery pack 50 and a power management unit 60, wherein the power battery pack 50 and the power management unit 60 are both arranged on the multi-rotor unmanned aerial vehicle 10, the power battery pack 50 is used for storing electric energy, and the power management unit 60 is connected with the power battery pack 50, each driving motor 11, the base station equipment 20, the base station antenna 30 and the main control unit 40; the power battery pack 50 supplies power to each driving motor 11, the base station device 20, the base station antenna 30 and the main control unit 40 through the power management unit 60, and the main control unit 40 controls the power supply working process of the power battery pack 50 through the power management unit 60.
In order to ensure that the multi-rotor unmanned aerial vehicle 10 can operate continuously for a long time, thereby ensuring stable operation of the communication network. The unmanned aerial vehicle communication base station further comprises a wireless charging receiving device 70 and a solar photovoltaic charging device 80, wherein the wireless charging receiving device 70 and the solar photovoltaic charging device 80 are arranged on the multi-rotor unmanned aerial vehicle 10 and are connected with the power battery pack 50, and the wireless charging receiving device 70 is used for charging the power battery pack 50 through ground wireless charging equipment when the multi-rotor unmanned aerial vehicle 10 falls to a ground preset position; the solar photovoltaic charging device 80 is used for converting solar energy into electric energy to charge the power battery pack 50; the main control unit 40 is connected to the wireless charging receiver 70 and the solar photovoltaic charging device 80 to control the wireless charging receiver 70 and the solar photovoltaic charging device 80.
In order to adjust the flight state, flight trajectory and flight attitude of the multi-rotor unmanned aerial vehicle 10, the unmanned aerial vehicle communication base station further comprises a GPS positioning unit 90 and a sensor unit 100, wherein the GPS positioning unit 90 and the sensor unit 100 are both arranged on the multi-rotor unmanned aerial vehicle 10 and connected with the main control unit 40; the GPS positioning unit 90 is configured to obtain longitude, latitude and flight speed information of the multi-rotor unmanned aerial vehicle 10, and send the obtained longitude, latitude and flight speed information to the main control unit 40, where the main control unit 40 is configured to control the flight state and flight trajectory of the multi-rotor unmanned aerial vehicle 10 according to the longitude, latitude and flight speed information of the multi-rotor unmanned aerial vehicle 10; the sensor unit 100 is configured to obtain three axial specific force acceleration values, three axial angular velocity values, three axial magnetic field intensity values, and a height value of the multi-rotor unmanned aerial vehicle 10, and send the obtained three axial specific force acceleration values, three axial angular velocity values, three axial magnetic field intensity values, and the height value to the main control unit 40, so that the main control unit 40 determines the flight attitude and flight trajectory of the multi-rotor unmanned aerial vehicle 10 and adjusts the flight attitude of the multi-rotor unmanned aerial vehicle 10.
The unmanned aerial vehicle communication base station further comprises a video recording unit 110 and an audio recording unit 120, wherein the video recording unit 110 and the audio recording unit 120 are arranged on the multi-rotor unmanned aerial vehicle 10 and are connected with the main control unit 40; the video recording unit 110 is used for shooting ground video data in the flight process of the multi-rotor unmanned aerial vehicle 10; the audio recording unit 120 is used for recording audio data during the flight of the multi-rotor unmanned aerial vehicle 10; the main control unit 40 is also used for controlling the operation of the video recording unit 110 and the audio recording unit 120.
According to a second embodiment of the present application, as shown in fig. 1 and 3, a communication system is provided, which includes an unmanned aerial vehicle communication base station 130, a ground communication base station 140, and a ground scheduling unit 150, where the unmanned aerial vehicle communication base station 130 is an unmanned aerial vehicle communication base station in the foregoing embodiment, and one or more unmanned aerial vehicle communication base stations 130 may be used for flying to a preset height to form an airborne mobile base station platform; the ground communication base station 140 establishes a communication connection with the backbone network through a wired communication channel and/or a wireless communication channel and/or a satellite communication channel; the unmanned aerial vehicle communication base station 130 is configured to transmit radio frequency signals to the ground communication base station 140 to establish a communication connection with the backbone network through the ground communication base station 140 and/or directly establish a communication connection with the backbone network through a satellite communication channel, where the unmanned aerial vehicle communication base station 130 is configured to mutually transmit radio frequency signals to establish an independent communication network in a plurality of unmanned aerial vehicle communication base stations 130; the ground scheduling unit 150 is connected with the ground communication base station 140; the ground scheduling unit 150 is configured to establish communication connection with the master control unit 40 of each of the unmanned aerial vehicle communication base stations 130 through the ground communication base station 140 to schedule and manage the flight status, the flight route trajectory, and the flight attitude of each of the unmanned aerial vehicle communication base stations 130. Therefore, a stable communication network can be established, emergency communication is ensured to cope with emergency.
In order to ensure continuous cruising of each multi-rotor unmanned aerial vehicle 10 and thus ensure stable operation of the communication network, the unmanned aerial vehicle communication system further comprises a ground charging platform 170, and the ground charging platform 170 is connected with the ground dispatching unit 150; the ground charging platform 170 is used for charging the power battery pack 50 of the unmanned aerial vehicle communication base station 130 when the unmanned aerial vehicle communication base station 130 falls onto the ground charging platform 170; the ground dispatching unit 150 is further configured to dispatch and manage the charging process of the plurality of the drone communication base stations 130.
In order to be able to adapt to the mobility requirement of the communication network, the unmanned aerial vehicle communication system further comprises one or more mobile communication vehicles, each mobile communication vehicle is provided with a set of ground communication base stations 140, a ground scheduling unit 150 and a ground charging platform 170, and one or more unmanned aerial vehicle communication base stations 130 establish communication connection with the backbone network through the corresponding ground communication base station 140 on one mobile communication vehicle; the ground dispatching unit 150 on a corresponding one of the mobile communication vehicles is used for dispatching and managing the flight status, the flight route track and the flight attitude of the corresponding one or more unmanned aerial vehicle communication base stations 130. The ground charging platform 170 on each mobile communication cart is responsible for charging the corresponding one or more drone communication base stations 130. In the case of a plurality of mobile communication vehicles, the ground communication base stations 140 on the respective mobile communication vehicles also establish communication connection with each other.
According to a third embodiment of the present application, there is provided a construction method of a communication system for constructing the communication system of the above embodiment, the construction method including:
s102, conveying a plurality of unmanned aerial vehicle communication base stations 130 to the vicinity of a target networking site;
s104, scheduling corresponding number of unmanned aerial vehicle communication base stations 130 to fly above the target networking site and rise to a preset height according to the bandwidth requirements of the networking;
the drone communication base station 130 establishes a communication connection with the backbone network through the ground communication base station 140 by transmitting radio frequency signals to the ground communication base station 140 and/or establishes a communication connection with the backbone network directly through a satellite communication channel and/or the plurality of drone communication base stations 130 establish an independent communication network by transmitting radio frequency signals to each other S106. Thereby can be under emergent condition fast assembly emergency communication network, guarantee emergency communication
In practical applications, a part of the plurality of unmanned aerial vehicle communication base stations 130 is used as a communication base station for networking, and a part is used as a standby communication base station. The base station device 20 on the drone communication base station 130 is composed of a baseband and radio frequency module and the like. The power battery pack 50 may be composed of a rechargeable lithium battery or the like.
The charging input port of the power battery pack 50 is connected with the wireless charging receiving device 70 and the solar photovoltaic charging device 80, the output port of the power battery pack 50 is connected with the power management unit 60, and the power management unit 60 comprises a plurality of step-up or step-down DC/DC conversion circuits, a voltage stabilizing circuit, an output balancing circuit and an output switching circuit, and the output of the power battery pack is controlled by the main control unit 40. The output of the power battery pack 50 is converted by the power management unit 60 and then connected to the respective driving motors 11, the base station device 20, other device loads, the GPS positioning unit 90, the sensor unit 100 and the main control unit 40 to supply power to the devices. The driving motor 11 is connected to each rotor 12 of the multi-rotor unmanned aerial vehicle 10, and drives the corresponding rotor to rotate when the driving motor 11 rotates. The control input/output end of the main control unit 40 is connected with the wireless charging receiving device 70 and the solar photovoltaic charging device 80, and is connected with the driving motor 11, the rotor wing 12, the base station equipment 20, other equipment loads, the GPS positioning unit 90 and the sensor unit 100, and the equipment is controlled by the main control unit 40. The load carried by the multi-rotor unmanned aerial vehicle 10 is also carried with other equipment loads such as a video recording unit 110, an audio recording unit and the like besides the base station equipment 20 so as to better meet the requirement of establishing a communication system or simultaneously bear other functional tasks.
The ground equipment corresponding to the drone communication base station 130 is generally composed mainly of one or more mobile communication vehicles carrying ground communication base stations 140, ground dispatch units 150, and ground charging platform 170. The ground communication base station 140 communicates with the backbone network through a wired communication channel, a wireless communication channel, or a satellite communication channel. The networking manner of the unmanned aerial vehicle communication base stations 130 comprises two manners of independent networking among the unmanned aerial vehicle communication base stations 130 or connecting the backhaul ground communication base stations 140 with a backbone network. The base station device 20 may be an ad hoc network radio station, a trunked micro base station, an LTE micro base station, an NB-loT base station, and the like, where the base station device 20 is connected to the base station antenna 30, and the base station antenna 30 may select a ceiling antenna, an omni-directional antenna, or a directional antenna according to requirements of the base station device 20 and the communication network. When an emergency communication network needs to be established, one or more mobile communication vehicles carrying the unmanned aerial vehicle communication base stations 130 enter a target place or a nearby area, one or more unmanned aerial vehicle communication base stations 130 ascend to fly to the target place after receiving the instruction of the ground scheduling unit 150, ascend to the target height, and the unmanned aerial vehicle communication base stations 130 are used as mobile base stations to exchange data with the ground communication base stations 140 or communication satellites so as to be connected to a backbone network, and establish or restore the communication network.
The multi-rotor unmanned aerial vehicle 10 flies autonomously under the control of the ground dispatching unit 150, and the multi-rotor unmanned aerial vehicle 10 can take off, automatically cruise and land by intelligent one-key. The flight path track and the flight altitude are set and planned directly on the map through the ground dispatching unit 150, and the multi-rotor unmanned aerial vehicle 10 can fly around the target area in a spiral manner, can automatically hover above the target area and automatically follow the movement of a certain target such as a mobile communication vehicle to change the air position.
In the whole flight process, the main control unit 40 of the multi-rotor unmanned aerial vehicle 10 realizes the normal flight of the whole unmanned aerial vehicle by collecting the information of the GPS positioning unit 90 and the sensor unit 100. The GPS is mainly used for acquiring the current longitude, latitude, flight speed and other information of the unmanned aerial vehicle, and transmitting the flight track and position change information of the unmanned aerial vehicle to a ground scheduling management system through communication between the ground and the unmanned aerial vehicle. The GPS positioning unit 90 generally includes a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer, and a barometer, and may be configured with other necessary sensors such as a temperature sensor and a humidity sensor. The main control unit 40 can measure the three axial specific force acceleration values of the multi-rotor unmanned aerial vehicle 10 through the triaxial accelerometer, can measure the three axial angular velocity values through the triaxial gyroscope, can measure the three axial magnetic field intensity values of the multi-rotor unmanned aerial vehicle 10 through the triaxial magnetometer, and can calculate the height value of the multi-rotor unmanned aerial vehicle 10 through the measurement data of the barometer. The main control unit 40 of the multi-rotor unmanned aerial vehicle 10 is a core module for controlling autonomous flight, the main control unit 40 determines the flight state, the flight route track and the flight attitude of the multi-rotor unmanned aerial vehicle 10 by collecting the information, and then controls the rotation of each driving motor 11 and each rotor 12 according to a flight control algorithm, so as to adjust the flight attitude and the flight track of the multi-rotor unmanned aerial vehicle 10.
The solar photovoltaic charging device 80 is designed and installed on the part of the surface of the multi-rotor unmanned aerial vehicle 10, which can be irradiated by the sun, the solar photovoltaic charging device 80 comprises a solar battery pack 81 and a corresponding direct current conversion circuit 82, the solar battery pack can be composed of one or more solar batteries such as a polycrystalline silicon battery, a monocrystalline silicon battery, a heterojunction battery, a thin film battery, a perovskite battery, a dye sensitized battery and a gallium arsenide battery, the solar battery pack is combined into a battery pack in series and in parallel according to the rated charging voltage of the power battery pack 50, direct current is generated when the solar battery pack is irradiated by the sun in the flight of the multi-rotor unmanned aerial vehicle 10, and the direct current is input into a charging port through the direct current conversion circuit to charge the power battery pack 50.
The multi-rotor unmanned aerial vehicle 10 charges on the ground charging platform 170 for standby one or more groups of multi-rotor unmanned aerial vehicle 10 in the flight process, when the electric quantity of the power battery pack 50 of the multi-rotor unmanned aerial vehicle 10 in the flight falls below a safety threshold value, the ground dispatching unit 150 sends out an instruction, the standby multi-rotor unmanned aerial vehicle 10 on the ground for standby takes off and takes over the low-electric quantity multi-rotor unmanned aerial vehicle 10, the communication task is continuously completed, the low-electric quantity multi-rotor unmanned aerial vehicle 10 in the air returns, and the unmanned aerial vehicle automatically drops on the ground charging platform 170 for charging.
The wireless charging receiving antenna 71 of the wireless charging receiving device 70 is installed at the bottom of the load of the multi-rotor unmanned aerial vehicle 10, and is connected with the multi-rotor unmanned aerial vehicle 10 body through a bracket structure made of a nonmetallic material. The ground charging platform 170 is typically mounted on a mobile vehicle, and the power supply 171 of the ground charging platform 170 may be input from a power supply port in the form of a vehicle-mounted power supply, a backup battery, a ground solar power generation system, or other backup power supply of the mobile vehicle, and is designed to be dc powered.
During the flight of the multi-rotor unmanned aerial vehicle 10, the main control unit 40 monitors the residual power of the power battery pack 50 of the multi-rotor unmanned aerial vehicle 10 and real-time coordinate information of the multi-rotor unmanned aerial vehicle 10 in real time, calculates the flight time of returning to the nearest ground charging platform 170 and the required battery power, when the sum of the residual power of the power battery pack 50 and the power that the solar battery pack can stably supply is close to the power required to return to the nearest ground charging platform 170, the main control unit 40 establishes a wireless communication connection with the charging control unit 174 of the ground charging platform 170 and starts to return, the multi-rotor unmanned aerial vehicle 10 determines the position of the main control unit and the position of the wireless charging transmitting antenna 173 of the ground charging platform 170 through the positioning device and the communication connection with the charging control unit 174, and guides the multi-rotor unmanned aerial vehicle 10 to return to the ground charging platform 170, and the coil of the wireless charging receiving antenna 71 is aligned with the coil of the wireless charging transmitting antenna 173 of the ground charging platform 170 and then descends.
The multi-rotor unmanned aerial vehicle 10 is provided with a positioning device, the positioning device comprises a GPS positioning unit 90, a sensor unit 100, an ultrasonic generator 180 and an ultrasonic receiver 190, wherein the GPS positioning unit 90, the sensor unit 100 and the ultrasonic generator 180 are arranged on the multi-rotor unmanned aerial vehicle 10, the ultrasonic receiver 190 is arranged on a ground charging platform 170, and the ultrasonic receiver 190 is matched with a corresponding A/D conversion circuit and a corresponding filter circuit.
When the multi-rotor unmanned aerial vehicle 10 needs to be charged during the return voyage, the main control unit 40 and the charging control unit 174 of the ground charging platform 170 establish wireless communication connection through a communication network, and the combined navigation of the GPS positioning unit 90 and the sensor unit 100 is utilized to realize preliminary positioning, wherein the GPS positioning unit 90 can adopt a high-precision differential GPS positioning unit, the precision of which can reach the centimeter level, but can not completely meet the requirement of wireless charging accurate positioning. When the multi-rotor unmanned aerial vehicle 10 flies to the vicinity of the upper air of the ground charging platform 170 through the combination positioning of the GPS positioning unit 90 and the sensor unit 100, and the aerial positioning is completed according to the accuracy achieved by the combination of the GPS positioning unit 90 and the sensor unit 100, the multi-rotor unmanned aerial vehicle 10 starts to enter a high-accuracy positioning mode by using the ultrasonic generator 180 and the ultrasonic receiver 190. Wherein, the ultrasonic generator 180 is installed on the coil center point or the center point axial extension of the wireless charging receiving antenna 71; the number of the ultrasonic receivers 190 is plural, in this embodiment, three ultrasonic receivers 190 are arranged on a straight line, as shown in fig. 4, for example, three ultrasonic receivers 190 are respectively a receiver a, a receiver B and a receiver C, the receiver B is arranged in the middle and coincides with the center point of the coil of the wireless charging transmitting antenna 173, the receiver a and the receiver C are arranged at two ends in a row, and the distance between the receiver B and the receiver a is equal to the distance between the receiver B and the receiver C.
The rotation speed of each driving motor of the multi-rotor unmanned aerial vehicle 10 is adjusted when positioning is implemented, so that the multi-rotor unmanned aerial vehicle 10 hovers at an aerial G point, and the height from the ground is a, wherein the height of the multi-rotor unmanned aerial vehicle 10 can be calculated through measurement data of a barometer in the sensor unit 100. The multi-rotor unmanned aerial vehicle 10 utilizes the ultrasonic generator 180 to emit ultrasonic signals when being positioned, and uses the receiver B as the center to search around the receiver B continuously, so that each ultrasonic receiver 190 can receive the ultrasonic signals emitted by the ultrasonic generator 180, and the ultrasonic signals received by the ultrasonic receivers 190 are converted by the filter circuit and the A/D conversion circuit and then sent to the analog input interface of the charging control unit 174 of the ground charging platform 170. Due to the limitation of the positioning accuracy range of the GPS positioning unit 90 and the sensor unit 100, the multi-rotor unmanned aerial vehicle 10 may stay at a position apart from the receiver B by a certain distance. The distances r1, r2 and r3 between the ultrasonic generator 180 and each ultrasonic receiver 190 can be calculated by d=ct (C is the propagation speed of ultrasonic waves in the air) according to the time difference between the ultrasonic signals received by each ultrasonic receiver 190 and the ultrasonic wave emitted by the ultrasonic generator 180, the multi-rotor unmanned aerial vehicle 10 continues to adjust the position while maintaining the height, when the multi-rotor unmanned aerial vehicle 10 is closer to the receiver B, the lengths of r1, r2 and r3 are continuously shortened, when the ultrasonic generator 180 and the receiver B are at the distance r2=a and r1=r3, the multi-rotor unmanned aerial vehicle 10 stays above the receiver B, the wireless charging transmitting antenna 173 and the coil center point of the wireless charging receiving antenna 71 are opposite, at this time, the multi-rotor unmanned aerial vehicle 10 can enter a landing mode, the flying height can be slowly reduced, and when the height is detected to be smaller than the threshold value of the unmanned aerial vehicle which can stop landing, the driving motor of the multi-rotor unmanned aerial vehicle 10 stops rotating, and when the multi-rotor unmanned aerial vehicle 10 is perpendicular to the ground charging platform 170 and the wireless charging receiving antenna 173 and the wireless transmitting antenna is accurately aligned with each other.
The ultrasonic waves transmitted by the ultrasonic generator 180 have a certain beam angle so that each ultrasonic receiver 190 can receive ultrasonic signals when positioned. When the multi-rotor unmanned aerial vehicle 10 stays at the height a and the center point of the ultrasonic generator 180 is opposite to the receiver B, the beam angle of the ultrasonic wave emitted by the ultrasonic generator 180 should be designed to be larger than the angle AGC taking the center point G of the ultrasonic generator 180 as the vertex.
When the multi-rotor unmanned aerial vehicle 10 is in wireless charging, direct current output by the power supply 171 is converted into high-frequency alternating current through the inverter circuit 172, the high-frequency alternating current is loaded on the coil of the wireless charging transmitting antenna 173 to generate an alternating electromagnetic field, the wireless charging receiving antenna 71 of the multi-rotor unmanned aerial vehicle 10 is coupled to the alternating magnetic field to generate alternating current with certain intensity, and the alternating current is converted into direct current through the rectification and conversion circuit 72 and is input into the power battery pack 50 of the multi-rotor unmanned aerial vehicle 10 from the charging port, so that the multi-rotor unmanned aerial vehicle 10 is automatically charged. During the whole charging process, the main control unit 40 continuously monitors the electric quantity of the power battery pack 50, and after the power battery pack 50 is fully charged, the main control unit 40 sends a charging stopping command to the charging control unit 174 of the ground charging platform 170 through communication, so as to terminate the charging process.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (9)
1. An unmanned aerial vehicle communication base station, comprising:
a multi-rotor unmanned aerial vehicle (10), wherein the multi-rotor unmanned aerial vehicle (10) is provided with a plurality of driving motors (11), and a rotor (12) is arranged on an output shaft of each driving motor (11);
a base station device (20) arranged on the multi-rotor unmanned aerial vehicle (10);
a base station antenna (30) which is arranged on the multi-rotor unmanned aerial vehicle (10) and is connected with the base station equipment;
a main control unit (40) connected to each of the drive motor (11), the base station device (20), and the base station antenna (30);
a power battery pack (50) arranged on the multi-rotor unmanned aerial vehicle (10), wherein the power battery pack (50) is used for storing electric energy;
the power management unit (60) is arranged on the multi-rotor unmanned aerial vehicle (10), and the power management unit (60) is connected with the power battery pack (50), each driving motor (11), the base station equipment (20), the base station antenna (30) and the main control unit (40); the power battery pack (50) supplies power to each driving motor (11), the base station equipment (20), the base station antenna (30) and the main control unit (40) through the power management unit (60), and the main control unit (40) is also used for controlling the working process of the power management unit (60);
the solar photovoltaic charging device (80) is arranged on the multi-rotor unmanned aerial vehicle (10) and is connected with the power battery pack (50), and the solar photovoltaic charging device (80) is used for converting solar energy into electric energy to charge the power battery pack (50);
a wireless charging receiving device (70) provided with a wireless charging receiving antenna (71) and arranged at the bottom of the load of the multi-rotor unmanned aerial vehicle (10);
the ultrasonic generator (180) is arranged on the central point of the coil of the wireless charging receiving antenna (71) or the axial extension line of the central point;
an ultrasonic receiver (190) having three receivers, namely, a receiver A, a receiver B and a receiver C, wherein the receiver B is installed in the middle and coincides with the center point of a coil of a wireless charging transmitting antenna (173) of a ground charging platform (170), the receiver A and the receiver C are arranged at two ends in a row, and the distance between the receiver B and the receiver A is equal to the distance between the receiver B and the receiver C;
the base station device (20) transmits radio frequency signals to a ground communication base station through the base station antenna (30) to establish communication connection with the ground communication base station, and the main control unit (40) is used for controlling the flight state of the multi-rotor unmanned aerial vehicle (10) and the communication process of the base station device (20) and the ground communication base station.
2. The drone communication base station of claim 1, wherein the drone communication base station further comprises:
the wireless charging receiving device (70) is arranged on the multi-rotor unmanned aerial vehicle (10) and is connected with the power battery pack (50), and the wireless charging receiving device (70) is used for charging the power battery pack (50) through ground wireless charging equipment when the multi-rotor unmanned aerial vehicle (10) falls to a ground preset position;
the main control unit (40) is connected with the wireless charging receiving device (70) and the solar photovoltaic charging device (80) to control the working processes of the wireless charging receiving device (70) and the solar photovoltaic charging device (80).
3. The drone communication base station of claim 1, wherein the drone communication base station further comprises:
the GPS positioning unit (90) is arranged on the multi-rotor unmanned aerial vehicle (10) and is connected with the main control unit (40);
the GPS positioning unit (90) is used for acquiring longitude, latitude and flight speed information of the multi-rotor unmanned aerial vehicle (10) and sending the acquired longitude, latitude and flight speed information to the main control unit (40), and the main control unit (40) is used for controlling the flight state and flight track of the multi-rotor unmanned aerial vehicle (10) according to the longitude, latitude and flight speed information of the multi-rotor unmanned aerial vehicle (10).
4. The drone communication base station of claim 1, wherein the drone communication base station further comprises:
the sensor unit (100) is arranged on the multi-rotor unmanned aerial vehicle (10) and is connected with the main control unit (40);
the sensor unit (100) is configured to acquire three axial specific force acceleration values, three axial angular velocity values, three axial magnetic field intensity values and a height value of the multi-rotor unmanned aerial vehicle (10) and send the acquired three axial specific force acceleration values, three axial angular velocity values, three axial magnetic field intensity values and the height value to the main control unit (40) so that the main control unit (40) determines the flight attitude and flight trajectory of the multi-rotor unmanned aerial vehicle (10) and adjusts the flight attitude of the multi-rotor unmanned aerial vehicle (10).
5. The drone communication base station of claim 1, wherein the drone communication base station further comprises:
the video recording unit (110) and the audio recording unit (120), wherein the video recording unit (110) and the audio recording unit (120) are arranged on the multi-rotor unmanned aerial vehicle (10) and are connected with the main control unit (40);
the video recording unit (110) is used for shooting ground video data in the flight process of the multi-rotor unmanned aerial vehicle (10); the audio recording unit (120) is used for recording audio data in the flight process of the multi-rotor unmanned aerial vehicle (10);
the main control unit (40) is also used for controlling the working process of the video recording unit (110) and the audio recording unit (120).
6. A communication system, comprising:
a drone communication base station (130), the drone communication base station (130) being the drone communication base station of any one of claims 1 to 5, the drone communication base station (130) being for flying to a preset altitude to form an airborne mobile base station platform;
a ground communication base station (140), the ground communication base station (140) establishing a communication connection with the backbone network through a wired communication channel and/or a wireless communication channel and/or a satellite communication channel;
a ground scheduling unit (150) connected to the ground communication base station (140);
wherein the unmanned aerial vehicle communication base station (130) is used for transmitting radio frequency signals to the ground communication base station (140) to establish communication connection with the backbone network through the ground communication base station (140) and/or directly establish communication connection with the backbone network through a satellite communication channel;
the ground scheduling unit (150) is used for establishing communication connection with the main control unit (40) of the unmanned aerial vehicle communication base station (130) through the ground communication base station (140) so as to schedule and manage the flight state, the flight route track and the flight attitude of the unmanned aerial vehicle communication base station (130).
7. The communication system according to claim 6, wherein the drone communication base station (130) comprises a power battery pack (50) and a power management unit (60), the power battery pack (50) powering a drive motor (11), base station equipment (20) and base station antenna (30) of the drone communication base station (130) through the power management unit (60); the communication system further includes:
a ground charging platform (170) connected to the ground dispatching unit (150);
wherein the ground charging platform (170) is configured to charge the power battery pack (50) of the unmanned aerial vehicle communication base station (130) when the unmanned aerial vehicle communication base station (130) falls onto the ground charging platform (170); the ground dispatching unit (150) is further configured to dispatch and manage the unmanned aerial vehicle communication base station (130) charging process.
8. The communication system of claim 7, wherein the communication system further comprises:
the ground dispatching unit (150) and the ground charging platform (170) are arranged on the mobile communication vehicle.
9. A method of constructing a communication system, characterized in that the method of constructing is for constructing the communication system according to any one of claims 6 to 8, the method of constructing comprising:
transporting a plurality of unmanned aerial vehicle communication base stations (130) to the vicinity of a target networking site;
scheduling a corresponding number of the unmanned aerial vehicle communication base stations (130) to fly above the target networking site and rise to a preset height according to the bandwidth requirements of the networking;
the drone communication base station (130) establishes a communication connection with the backbone network through the ground communication base station (140) by transmitting radio frequency signals to the ground communication base station (140) and/or establishes a communication connection with the backbone network directly through a satellite communication channel and/or a plurality of the drone communication base stations (130) establishes an independent communication network by mutually transmitting radio frequency signals;
wherein, the unmanned aerial vehicle communication base station is positioned through an ultrasonic generator (180) and an ultrasonic receiver (190) which are arranged on the unmanned aerial vehicle communication base station, and the ultrasonic generator (180) is arranged on the central point of a coil of the wireless charging receiving antenna (71) or the axial extension line of the central point; the ultrasonic receiver (190) is provided with three receivers A, B and C, wherein the receiver B is arranged in the middle and coincides with the center point of a coil of a wireless charging transmitting antenna (173) of the ground charging platform (170), the receivers A and C are respectively arranged at two ends of a row, and the distance between the receiver B and the receiver A is equal to the distance between the receiver B and the receiver C;
when the distance from the ultrasonic generator (180) to the receiver B is equal to the height from the ground suspended by the multi-rotor unmanned aerial vehicle (10) and the distance between the ultrasonic generator (180) and the receiver A and the distance between the ultrasonic generator and the ultrasonic generator C are equal, the wireless charging transmitting antenna (173) and the coil center point of the wireless charging receiving antenna (71) are judged to be opposite.
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| CN111478445B (en) * | 2020-04-27 | 2021-02-23 | 钱才英 | Intelligent communication and power supply system and method based on MCU control module |
| CN111736624B (en) * | 2020-05-12 | 2023-12-22 | 萧县航迅信息技术有限公司 | Urban flight route planning system and method based on Cell-ID unmanned aerial vehicle |
| CN112073287B (en) * | 2020-08-20 | 2022-04-12 | 湖南三一智能控制设备有限公司 | Data transmission device, control method, transmission method, and TCP service device |
| CN111953409B (en) * | 2020-08-27 | 2022-03-01 | 广州大学 | Ground-to-air signal transmission system |
| CN112367569B (en) * | 2020-11-11 | 2023-05-09 | 国家电网有限公司客户服务中心 | Soft and hard integrated mobile communication service equipment |
| CN114572398A (en) * | 2022-03-24 | 2022-06-03 | 上海顺诠科技有限公司 | Charging and inspection succession system and method for air-land unmanned aerial vehicle |
| CN115407803A (en) * | 2022-10-31 | 2022-11-29 | 北京闪马智建科技有限公司 | Target monitoring method and device based on unmanned aerial vehicle |
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