CN110406686A - A kind of emergency unmanned plane and control system - Google Patents
A kind of emergency unmanned plane and control system Download PDFInfo
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- CN110406686A CN110406686A CN201910542403.1A CN201910542403A CN110406686A CN 110406686 A CN110406686 A CN 110406686A CN 201910542403 A CN201910542403 A CN 201910542403A CN 110406686 A CN110406686 A CN 110406686A
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- unmanned plane
- microprocessor
- cabin
- drone body
- earth station
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- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims abstract description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 22
- 238000001556 precipitation Methods 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 2
- 238000013461 design Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 9
- 230000005611 electricity Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000012502 risk assessment Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
Abstract
The invention discloses a kind of emergency unmanned plane and control systems, the emergency unmanned aerial vehicle control system includes meet an urgent need unmanned plane and the earth station with unmanned plane progress data communication of meeting an urgent need, and emergency unmanned plane includes the unmanned plane cabin of drone body and drone body of berthing.Drone body is placed in unmanned plane cabin by the present invention always, unmanned plane cabin is placed in target area suitable position, the full-time power supply of drone body is standby, it is full-time to be attached with emergency earth station, it can be realized rapid takeoff maneuver, effectively solve the problems, such as that current unmanned plane needs to take a long time from preparing to taking off, cabin built-in intelligence charging module, battery can be made full-time in the case where guaranteeing battery-active in full power state, and unmanned aerial vehicle station and wireless transmission are used into separate design, effectively avoid the disturbed problem of wireless signal.
Description
Technical field
The invention belongs to air vehicle technique field more particularly to a kind of emergency unmanned plane and control systems.
Background technique
With the high speed development of unmanned plane application field, unmanned plane of meeting an urgent need at present mainly utilizes unmanned plane to be directed to fixed mesh
Mark carries out security protection, and existing emergency unmanned plane is typically placed in the places such as warehouse, in use, needing by taking out, carrying, group
The processes such as dress；Emergency unmanned plane is generally in off-mode, in use, needing by booting, self-test, then to takeoff condition；
The battery needs of emergency unmanned plane charge before use, need to expend a hour, the battery for unmanned plane of meeting an urgent need is certain
Time after can automatic discharging to protect battery.Common unmanned machine battery needs half electricity to be stored；Unmanned plane of meeting an urgent need needs
It is manipulated under conditions of unobstructed using remote controler, before executing cruise, needs manually to plan course line, then hold
Row cruise task after emergency unmanned plane takes off, gives directions order unmanned plane during flying to specified region using earth station.
Existing emergency unmanned plane is primarily present following defect:
(1) unmanned plane needs to expend nearly 3 minutes from preparation to practical flight, is unable to satisfy answering for solution of emergent event
Suddenly take off requirement；
(2) unmanned machine battery cannot be chronically at full power state due to lithium battery characteristic, battery, be generally in and owe electricity
State needs to charge to battery before use, expends a nearly hour；
(3) unmanned plane manipulates unmanned plane usually using remote controler is directly point-to-point, cannot achieve and is by force blocking
In the case of reliably manipulated；
(4) unmanned plane cannot achieve a key and execute cruise task and be periodically executed cruise task；
(5) unmanned plane can not be realized in emergency event take off always it is standby to incident point.
Summary of the invention
The main purpose of the present invention is to provide a kind of emergency unmanned plane and control systems, it is intended to solve to deposit in existing method
All of the above or partial technical problems.
To achieve the above object, the present invention provides a kind of emergency unmanned plane, including drone body and berth it is described nobody
The unmanned plane cabin of machine ontology；
The unmanned plane cabin includes the cabin frame of four side walls and pedestal composition, is arranged in the cabin frame roof
Cabin top plate and the landing platform of the cabin lower portion is set；The pedestal quadrangle is respectively arranged with stepping electricity
Machine, the stepper motor upper end are connected with screw rod, and the screw rod is fixedly connected by feed screw nut with the landing platform；
It is additionally provided with first microprocessor on the pedestal, is electrically connected respectively with the first microprocessor and stepper motor
Stepper motor driver, the relay being electrically connected with the first microprocessor and the charging mould being electrically connected with the relay
Block, the first microprocessor drive the stepper motor rotation for controlling the stepper motor driver, are also used to control
Relay on-off charges to the drone body using charging module；
Cabin charging interface is provided on the landing platform, the cabin charging interface is electrically connected with the relay,
And it is flexibly connected with the ontology charging interface being arranged in the drone body.
Further, it is additionally provided with the first serial being electrically connected with the first microprocessor on the pedestal and turns Ethernet
Module and turn the digital transmission module that ethernet module is electrically connected with the first serial, the first serial turns ethernet module and is used for
The start command of satellite receiver transmission is simultaneously transmitted to the first microprocessor, and the first microprocessor is used for according to ground
The start command sent of standing controls the stepper motor driver and stepper motor drives the cabin top plate and landing platform fortune
Dynamic, the first serial turns the unmanned aerial vehicle (UAV) control order that ethernet module is also used to satellite receiver transmission, and passes mould by number
Block is transmitted to the drone body, and the digital transmission module is used to receive the drone status data of unmanned plane passback, and passes through
First serial turns ethernet module and is transmitted to earth station.
Further, it is additionally provided with the remote-control signal transmitter being electrically connected with the first microprocessor on the pedestal,
The first microprocessor turns the remote signal of ethernet module satellite receiver transmission by first serial, and earth station is sent
Remote signal be converted into PPM signal, and PPM signal is sent to by the drone body by remote-control signal transmitter.
Further, the air velocity transducer being electrically connected with the first microprocessor, light are additionally provided on the pedestal
Sensor and precipitation rain fall sensor, the first microprocessor is by reading air velocity transducer, light sensor, precipitation rain fall sensor letter
Breath, is turned ethernet module by first serial and is sent to earth station, assessed whether to reach the weather condition taken off using earth station.
Further, figure is also set up on the pedestal to pass signal receiver and pass what signal receiver was electrically connected with the figure
Vision signal interchanger, the figure pass the vision signal that signal receiver is used to receive drone body acquisition, and by described
Vision signal interchanger is by the video signal transmission of acquisition to earth station.
Further, the drone body includes rack, the brushless motor being mounted on each rotor of the rack, peace
Propeller on the brushless motor is mounted on the winged control of the machine frame inside and is mounted on the electricity of the winged control bottom
Pond, the rack lower section are mounted with three axis holders, unlimited megaphone and searchlight, are equipped with foot prop on the rack spiral arm, institute
It states foot prop bottom end and is provided with ontology charging interface.
Further, when the unmanned plane cabin charges to drone body, the first of the unmanned plane cabin is micro-
Processor controls relay and opens, and is charged using battery of the charging module to drone body, while utilizing first
Microprocessor judges whether battery standby time is greater than setting time；If it is not, then charging module continues the electricity to drone body
It charges in pond；If so, first microprocessor controls cut-off, by the battery discharge of drone body to unmanned plane sheet
Body is powered；Cell voltage is detected using first microprocessor simultaneously, judges whether cell voltage is less than setting voltage；If
It is that then first microprocessor control relay is opened, is charged using battery of the charging module to drone body；If
It is no, then electric discharge is continued by the battery of drone body and drone body is powered.
The invention also provides a kind of emergency unmanned aerial vehicle control system, including above-mentioned emergency unmanned plane and with the emergency
The earth station of unmanned plane progress data communication；
The earth station includes earth station's shell and the touch display screen for being mounted on earth station's shell operation Middle face,
Earth station's interior of shell be additionally provided with the second microprocessor, the second serial being electrically connected with second microprocessor turn with
Too net module and the power module being electrically connected with second microprocessor, second microprocessor are used to pass through described second
Serial ports turns the drone status data that ethernet module obtains the transmission of unmanned plane cabin, parses drone status data and is transmitted to
The touch display screen is shown that second microprocessor is also used to turn by the second serial ethernet module acquisition
Unmanned plane cabin transmission Weather information, according to Weather information assess flight environment of vehicle whether there is risk, when there are risk to
User gives a warning, and forces to send unmanned aerial vehicle (UAV) control order to the unmanned plane cabin, controls drone body and executes accordingly
Movement.
Further, the earth station further includes the rocking bar for being mounted on the touch display screen two sides, is mounted on the touching
The control button above display screen is touched, the rocking bar and control button are electrically connected with second microprocessor, and described second
Microprocessor is used to read the manual control signal that user is inputted by rocking bar and control button, and is turned by the second serial
Ethernet module is transmitted to unmanned plane cabin.
Further, the earth station further includes the computer for being mounted on earth station's shell display surface, the computer expert
It crosses network interface to connect with the vision signal interchanger of unmanned plane cabin, receives the vision signal of vision signal interchanger transmission and progress
Display.
The invention has the following advantages:
(1) drone body is placed in always in unmanned plane cabin, and unmanned plane cabin is placed in target area suitable position, nothing
The man-machine full-time power supply of ontology is standby, can take orders and take off out of unmanned plane cabin at 10 seconds or so at any time, without
The cumbersome preparation of existing emergency unmanned plane, saves the plenty of time；
(2) rainfall, light, air velocity transducer built in unmanned plane cabin can provide flight risk assessment for unmanned plane, avoid
Common unmanned plane is because of aircraft bombing accident caused by weather reason；
(3) unmanned plane cabin built-in intelligence charging module can make unmanned plane in the case where guaranteeing battery-active, to the greatest extent may be used
The full-time of energy allows battery to be in full power state, and avoiding common batteries from owing, electricity stores and full electric storage be easy to cause battery-active to decline
Cause battery the bulge even risk of aircraft bombing；
(4) unmanned plane and the full-time connection of earth station, earth station can send order control unmanned plane at any time and unlock, take off, patrol
Boat etc. may be implemented the conventional unmanned planes such as a key takes off, a key cruises, a key is given directions, automatic cruising flight and do not had by programming
Standby function；
(5) unmanned aerial vehicle station and wireless transmission use separate design, effectively avoid that wireless signal is disturbed to ask
Topic, can allow user indoors or even the unmanned plane outside basement operating room, and it is suitable to find without hand-held remote controller side overlap
Remote control position.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of emergency unmanned plane of the invention；
Fig. 2 is the circuit theory schematic diagram of cabin bottom plate in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of drone body in the embodiment of the present invention；
Fig. 4 is unmanned plane charging flow schematic diagram in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of emergency unmanned aerial vehicle control system of the invention；
Fig. 6 is the structural schematic diagram of earth station in the embodiment of the present invention；
Fig. 7 is the circuit theory schematic diagram of earth station in the embodiment of the present invention；
Fig. 8 is the flow diagram of one key control of earth station in the embodiment of the present invention.
Wherein appended drawing reference are as follows: cabin top plate 1, stepper motor driver 2, feed screw nut 3, relay 4, cabin frame 5,
First microprocessor 6, screw rod 7, first serial turn ethernet module 8, charging module 9, stepper motor 10, digital transmission module 11, nothing
Man-machine ontology 12, landing platform 13, cabin charging interface 14, remote signal hair set module 15, air velocity transducer 16, figure communication number
Receiving module 17, light sensor 18, precipitation rain fall sensor 19, vision signal interchanger 20, brushless motor 21, propeller 22, rotation
Arm 23, battery 24, searchlight 25, ontology charging interface 26 fly control 27, three axis holders 28, Wireless calling system 29, earth station's shell
30, touch display screen 31, rocking bar 32, control button 33, computer 34.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
As shown in Figure 1, being the structural schematic diagram of emergency unmanned plane of the invention；A kind of emergency unmanned plane, including unmanned plane
The unmanned plane cabin of ontology 12 and the drone body 12 of berthing；
The unmanned plane cabin includes the cabin frame 5 of four side walls and pedestal composition, setting on the cabin frame 5 top
The cabin top plate 1 in portion and the landing platform 13 being arranged in inside the cabin frame 5；The pedestal quadrangle is respectively arranged with
Stepper motor 10,10 upper end of stepper motor are connected with screw rod 7, and the screw rod 7 passes through feed screw nut 3 and the landing platform
13 are fixedly connected；
Be additionally provided on the pedestal first microprocessor 6, respectively with the first microprocessor 6 and the electricity of stepper motor 10
It the stepper motor driver of connection, 2 relays 4 being electrically connected with the first microprocessor 6 and is electrically connected with the relay 4
Charging module 9, the first microprocessor 6 drives 10 turns of the stepper motor for controlling the stepper motor driver 2
It is dynamic, it is also used to control 4 on-off of relay, is charged using charging module 9 to the drone body 12；
Cabin charging interface 14, the cabin charging interface 14 and the relay 4 are provided on the landing platform 13
Electrical connection, and be flexibly connected with the ontology charging interface 26 being arranged in the drone body 12.
In an alternate embodiment of the present invention where, the present invention is for existing police unmanned plane from being fetched into wait the needs that take off
Take considerable time, unmanned plane need with earth station be attached, search of satellite positioning, sensor self-test, can not first time
The problems such as the shortcomings that taking off and solve unmanned plane battery problems, devise it is above-mentioned dedicated for accommodate drone body 12 nobody
Machine cabin makes drone body 12 keep standby mode for a long time, and battery 24 is made to keep full electricity and activity for a long time.
First microprocessor 6, stepper motor driver 2 and stepper motor 10 are provided on pedestal of the invention, first is micro-
Processor 6 sends a signal to stepper motor driver 2, the realization of the function can have for receiving the order from earth station
Body uses STC154K56S4 single-chip microcontroller；Stepper motor driver 2 drives stepper motor 10 to rotate, and stepper motor 10 pushes cabin
Drone body 12 is sent out unmanned plane cabin purpose waiting to fly to reach by the lifting of the switch and landing platform 13 of top plate 1.
Be additionally provided on pedestal of the invention the first serial being electrically connected with first microprocessor 6 turn ethernet module 8 and
Turn the digital transmission module 11 that ethernet module 8 is electrically connected with first serial, first serial turns ethernet module 8 for satellite receiver
The start command of transmission is simultaneously transmitted to first microprocessor 6, and first microprocessor 6 is used for the start command sent according to earth station
It controls stepper motor driver 2 and stepper motor 10 drives cabin top plate 1 and landing platform 13 to move, first serial turns Ethernet
Module 8 is also used to the unmanned aerial vehicle (UAV) control order of satellite receiver transmission, and is transmitted to drone body 12 by digital transmission module 11,
Digital transmission module 11 is used to receive the drone status data of the passback of drone body 12, and turns ethernet module by first serial
8 are transmitted to earth station.
The remote-control signal transmitter 15 being electrically connected with the first microprocessor 6 is additionally provided on pedestal of the invention, it is distant
It controls signal projector 15 and specifically uses 2.4G remote control signal transmitter, first microprocessor 6 turns Ethernet mould by first serial
The remote control RAW signal that 8 satellite receiver of block is sent converts PPM signal for the remote control RAW signal that earth station sends, and passes through
PPM signal is sent to drone body 12 by 2.4G remote-control signal transmitter.
Air velocity transducer 16, the light sensor being electrically connected with first microprocessor 6 are additionally provided on pedestal of the invention
18 and precipitation rain fall sensor 19, first microprocessor 6 is by reading air velocity transducer 16, light sensor 18, precipitation rain fall sensor 19
Information turns ethernet module 8 by first serial and is sent to earth station, assesses whether to reach the day gas bar taken off using earth station
Part.
Figure is also set up on pedestal of the invention to pass signal receiver 17 and pass the video that signal receiver 17 is electrically connected with figure
Signal switcher 20, figure pass signal receiver 17 and specifically pass signal receiver using 5.8G figure, be used to receive drone body
The vision signal of 12 acquisitions, and pass through vision signal interchanger 20 for the video signal transmission of acquisition to earth station.
The present invention is directed to fixed target security feature, and drone body 12 uses six rotor wing unmanned aerial vehicles, provides no less than
In load cruise duration of no less than 30min, the no less than load capacity of 2kg is provided, is provided to the unloaded cruise duration of 40min
The controllable velocity of few 60km/h, provides the no less than control range of 5km, provides the image transmitting range of no less than 3km, provide 3
A module carry interface, provides light rain flight performance.
Drone body 12 include rack, the brushless motor 21 being mounted on each rotor of the rack, be mounted on it is described
Propeller 22 on brushless motor 21 is mounted on the winged control 27 of the machine frame inside and is mounted on the battery of 27 bottoms of the winged control
24, the rack lower section is mounted with three axis holders 28, unlimited megaphone 29 and searchlight 25, is equipped on the rack spiral arm 23
Foot prop, the foot prop bottom end are provided with ontology charging interface 26.
Unmanned aerial vehicle rack weight about 2.8kg, single brushless motor provide the pulling force of maximum 4kg, and overall mass is about 7kg,
Maximum take-off weight 12kg can load 5kg.Fly control 27 to be responsible for processing flight attitude, processing control information and control turning for motor
Speed changes propeller lift to keep unmanned plane to stablize, and battery 24 is 6s (22.2V) 16000mAh battery, provides for unmanned plane dynamic
Power, three axis holders 28 are responsible for acquiring and increase steady image, then send a signal to figure transmission transmitter, figure transmission transmitter is again by signal
It is wirelessly sent to figure and passes receiver, unmanned machine battery and unmanned plane cabin charging interface by connecting, the confession of 100w is provided
Electrical power, all supply battery 24 charges in addition to supply whole system work.
In order to avoid lithium battery stores in full electric situation for a long time, lead to gradually loss of activity, there is a phenomenon where bulges, originally
Invention drone body 12 is placed in landing platform 13, passes through ontology charging interface 26 on 12 foot prop of drone body and landing
The cabin charging interface 14 of platform 13 connects, cut-in relay 4 between cabin charging interface 14 and charging module 9, connects relay 4
It can charge to unmanned machine battery 24, when unmanned plane cabin charges to drone body 12, utilize unmanned plane cabin
First microprocessor 6 controls relay 4 and opens, using charging module 9 by cabin charging interface 14 to drone body 12
Battery 24 charges, while judging whether 24 stand-by time of battery is greater than setting time using first microprocessor 6；If it is not,
Then charging module 9 continues to charge to the battery 24 of drone body 12；If so, first microprocessor 6 controls relay 4
It closes, drone body 12 is powered by the electric discharge of battery 24 of drone body 12, drone body 12 uses battery 24
Energy, cell voltage gradually declines, while detecting cell voltage using first microprocessor 6, judges whether cell voltage small
In setting voltage；If so, first microprocessor 6, which controls relay 4, opens connection charging module 9,9 pairs of nothings of charging module are utilized
The battery 24 of man-machine ontology 12 charges, and charging module 9 is included full of detection, automatically powers off；If it is not, then by drone body
12 battery 24 continues electric discharge and is powered to drone body 12；So in cycles, unmanned machine battery can be every certain
Period carries out charge and discharge, not only ensure that most of the time battery was in full power state, but also improve the activity of battery, extends battery
The service life used.
Based on above-mentioned emergency unmanned plane, the invention also provides a kind of emergency unmanned aerial vehicle control systems, including above-mentioned emergency
Unmanned plane and the earth station that data communication is carried out with the emergency unmanned plane；
The earth station includes that earth station's shell 30 and the LCD being mounted in the middle part of 30 operating surface of earth station's shell are touched
Display screen 31 is additionally provided with the second microprocessor inside earth station's shell 30, is electrically connected with second microprocessor
The power module that second serial turns ethernet module and is electrically connected with second microprocessor, second microprocessor are used for
Turn the drone status data that ethernet module obtains the transmission of unmanned plane cabin by the second serial, is assisted using MAVLINK
View parses drone status data and is transmitted to the touch display screen and is shown, second microprocessor is also used to lead to
It crosses the second serial and turns the Weather information that ethernet module obtains the transmission of unmanned plane cabin, flying ring is assessed according to Weather information
Border whether there is risk, warning is issued the user with when there are risk, and force transmission unmanned aerial vehicle (UAV) control order to it is described nobody
Machine cabin, control drone body execute corresponding actions, and the realization of the function specifically uses STM32F103ZET6 microprocessor.
Earth station further includes the rocking bar 32 for being mounted on 31 two sides of touch display screen, the control for being mounted on 31 top of touch display screen
Button 33 processed, rocking bar 32 and control button 33 are electrically connected with the second microprocessor, and the second microprocessor is used to utilize MAVLINK
Agreement converts unmanned aerial vehicle (UAV) control order by the manual control signal that rocking bar 32 and control button 33 input for user, and passes through
Second serial turns ethernet module and is transmitted to unmanned plane cabin.
Earth station further includes the computer 34 for being mounted on 30 display surface of earth station's shell, and computer 34 passes through network interface and unmanned plane machine
The vision signal interchanger 20 in storehouse connects, and receives the vision signal that vision signal interchanger 20 transmits and is shown.
The present invention is easy to be blocked by barrier to lead to problem out of control for the remote signal of existing emergency unmanned plane, will count
Transmission module 11 and 2.4G remote control signal transmitter 15 are mounted on unmanned plane cabin, and unmanned plane cabin is mounted on spacious region, with
This solves the problems, such as signal blocks.
The present invention needs to complete a series of artificial cumbersome when cruising and give directions flight for existing emergency unmanned plane
The problem of operation, cannot cruise at the first time in solution of emergent event, give directions flight, by software design, user is only
A key input order is needed, earth station will send related command according to certain sequence, and control unmanned plane executes task, i.e. user inputs
After order, the second microprocessor judges whether weather is good；Related unmanned aerial vehicle (UAV) control order is passed if so, sending；If it is not, then mentioning
Show warning message, prompts whether to enforce, if enforcing, send related unmanned aerial vehicle (UAV) control order, if not enforcing,
Then cancel order；When sending unmanned aerial vehicle (UAV) control order, the second microprocessor successively send unlocking command, takeoff order with
And subsequent commands, to realize correlation function.
Those of ordinary skill in the art will understand that the embodiments described herein, which is to help reader, understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such specific embodiments and embodiments.This field
Those of ordinary skill disclosed the technical disclosures can make according to the present invention and various not depart from the other each of essence of the invention
The specific variations and combinations of kind, these variations and combinations are still within the scope of the present invention.
Claims (10)
1. a kind of emergency unmanned plane, which is characterized in that including drone body (12) and the drone body (12) of berthing
Unmanned plane cabin；
The unmanned plane cabin includes the cabin frame (5) of four side walls and pedestal composition, setting on the cabin frame (5) top
Landing platform (13) of the cabin top plate (1) and setting in portion inside the cabin frame (5)；The pedestal quadrangle difference
It is provided with stepper motor (10), stepper motor (10) upper end is connected with screw rod (7), and the screw rod (7) passes through feed screw nut
(3) it is fixedly connected with the landing platform (13)；
Be additionally provided on the pedestal first microprocessor (6), respectively with the first microprocessor (6) and stepper motor (10)
The stepper motor driver (2) of electrical connection, the relay (4) being electrically connected with the first microprocessor (6) and with the relay
The charging module (9) of device (4) electrical connection, the first microprocessor (6) is for controlling the stepper motor driver (2) driving
Stepper motor (10) rotation, is also used to control relay (4) on-off, using charging module (9) to the drone body
(12) it charges；
It is provided with cabin charging interface (14) on the landing platform (13), the cabin charging interface (14) and the relay
(4) it is electrically connected, and is flexibly connected with the ontology charging interface (26) being arranged on the drone body (12).
2. emergency unmanned plane as described in claim 1, which is characterized in that be additionally provided on the pedestal and described first micro- place
The first serial of reason device (6) electrical connection turns ethernet module (8) and turns what ethernet module (8) was electrically connected with the first serial
Digital transmission module (11), the first serial turn ethernet module (8) for the start command of satellite receiver transmission and are transmitted to
The first microprocessor (6), the start command that the first microprocessor (6) is used to be sent according to earth station control the step
The cabin top plate (1) and landing platform (13) movement, first string are driven into motor driver (2) and stepper motor (10)
Mouth turns the unmanned aerial vehicle (UAV) control order that ethernet module (8) is also used to satellite receiver transmission, and is transmitted by digital transmission module (11)
To the drone body (12), the digital transmission module (11) is used to receive the drone status number of drone body (12) passback
According to, and ethernet module (8) is turned by first serial and is transmitted to earth station.
3. emergency unmanned plane as claimed in claim 2, which is characterized in that be additionally provided on the pedestal and described first micro- place
The remote-control signal transmitter (15) of device (6) electrical connection is managed, the first microprocessor (6) turns ethernet module by first serial
(8) remote signal that satellite receiver is sent converts PPM signal for the remote signal that earth station sends, and passes through remote control letter
PPM signal is sent to the drone body (12) by number transmitter (15).
4. emergency unmanned plane as claimed in claim 3, which is characterized in that be additionally provided on the pedestal and described first micro- place
Manage air velocity transducer (16), light sensor (18) and the precipitation rain fall sensor (19) of device (6) electrical connection, the first microprocessor
(6) by read air velocity transducer (16), light sensor (18), precipitation rain fall sensor (19) information, by first serial turn with
Too net module (8) is sent to earth station, assesses whether to reach the weather condition taken off using earth station.
5. emergency unmanned plane as claimed in claim 4, which is characterized in that also set up figure on the pedestal and pass signal receiver
(17) and with the figure vision signal interchanger (20) that signal receiver (17) are electrically connected is passed, the figure passes signal receiver
(17) for receiving the vision signal of drone body (12) acquisition, and by the vision signal interchanger (20) by acquisition
Video signal transmission is to earth station.
6. emergency unmanned plane as claimed in claim 5, which is characterized in that the drone body (12) includes rack, installation
On each rotor of the rack brushless motor (21), be mounted on the brushless motor (21) propeller (22), installation
The machine frame inside winged control (27) and be mounted on the battery (24) of described winged control (27) bottom, be mounted with below the rack
Three axis holders (28), unlimited megaphone (29) and searchlight (25) are equipped with foot prop, the foot prop on the rack spiral arm (23)
Bottom end is provided with ontology charging interface (26).
7. as claimed in claim 6 emergency unmanned plane, which is characterized in that the unmanned plane cabin to drone body (12) into
When row charging, first microprocessor (6) control relay (4) of the unmanned plane cabin is opened, and is utilized the charging module (9)
When charging to the battery (24) of drone body (12), while judging that battery (24) is standby using first microprocessor (6)
Between whether be greater than setting time；If it is not, then charging module (9) continues to charge to the battery (24) of drone body (12)；
If so, first microprocessor (6) control relay (4) is closed, discharged by the battery (24) of drone body (12) to nobody
Machine ontology (12) is powered；Cell voltage is detected using first microprocessor (6) simultaneously, judges whether cell voltage is less than and sets
Constant voltage；If so, first microprocessor (6) control relay (4) is opened, using the charging module (9) to unmanned plane sheet
The battery (24) of body (12) charges；If it is not, then continuing electric discharge to unmanned plane sheet by the battery (24) of drone body (12)
Body (12) is powered.
8. a kind of emergency unmanned aerial vehicle control system, which is characterized in that meet an urgent need nobody including as claimed in claim 1
Machine and the earth station that data communication is carried out with the emergency unmanned plane；
The earth station includes that earth station's shell (30) and the touch being mounted in the middle part of earth station's shell (30) operating surface are aobvious
Display screen (31), earth station's shell (30) is internal to be additionally provided with the second microprocessor, is electrically connected with second microprocessor
The second serial power module that turns ethernet module and be electrically connected with second microprocessor, second microprocessor uses
In turning the drone status data that ethernet module obtains the transmission of unmanned plane cabin by the second serial, unmanned plane shape is parsed
State data are simultaneously transmitted to the touch display screen and are shown, second microprocessor is also used to turn by the second serial
Ethernet module obtains the Weather information of unmanned plane cabin transmission, and assessing flight environment of vehicle according to Weather information whether there is risk,
Warning is issued the user with when there are risk, and forces to send unmanned aerial vehicle (UAV) control order to the unmanned plane cabin, controls nobody
Machine ontology executes corresponding actions.
9. emergency unmanned aerial vehicle control system as claimed in claim 8, which is characterized in that the earth station further includes being mounted on institute
The rocking bar (32) for stating touch display screen (31) two sides, the control button (33) being mounted on above the touch display screen (31), institute
It states rocking bar (32) and control button (33) is electrically connected with second microprocessor, second microprocessor is used for reading
The manual control signal that family is inputted by rocking bar (32) and control button (33), and ethernet module is turned by the second serial
It is transmitted to unmanned plane cabin.
10. emergency unmanned aerial vehicle control system as claimed in claim 9, which is characterized in that the earth station further includes being mounted on
The computer (34) of earth station's shell (30) display surface, the computer (34) pass through the vision signal of network interface and unmanned plane cabin
Interchanger (20) connection receives the vision signal of vision signal interchanger (20) transmission and is shown.
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| CN201910542403.1A CN110406686A (en) | 2019-06-21 | 2019-06-21 | A kind of emergency unmanned plane and control system |
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Application publication date: 20191105 |