CN110697045B - Unmanned aerial vehicle airborne multi-channel delivery system based on 4G and 5G remote control - Google Patents
Unmanned aerial vehicle airborne multi-channel delivery system based on 4G and 5G remote control Download PDFInfo
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- CN110697045B CN110697045B CN201911090422.1A CN201911090422A CN110697045B CN 110697045 B CN110697045 B CN 110697045B CN 201911090422 A CN201911090422 A CN 201911090422A CN 110697045 B CN110697045 B CN 110697045B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/01—Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The invention discloses an unmanned aerial vehicle airborne multi-channel delivery system based on 4G and 5G remote control, which comprises an unmanned aerial vehicle, a throwing device, a controller, 5G CPE device, a power supply element, a server and a handheld control terminal, wherein the unmanned aerial vehicle is provided with a power supply unit; the unmanned aerial vehicle is used for carrying throwing equipment, a controller, 5G CPE equipment and a power supply element; the throwing equipment is electrically connected with the controller; the controller is electrically connected with the 5G CPE equipment and is communicated with the server according to 4G and 5G networks of the 5G CPE equipment; the invention combines the unmanned aerial vehicle technology, the 5G network communication technology and the throwing precision state covered by the throwing equipment, solves the problems of throwing accuracy and working efficiency during multi-target throwing according to the stack-in processing process, and can continue repeated throwing operation when throwing fails, thereby achieving the purposes of continuous throwing and quick supplement and improving the integral fault-tolerant rate.
Description
Technical Field
The invention relates to the technical field of airborne multi-channel delivery systems, in particular to an unmanned aerial vehicle airborne multi-channel delivery system based on 4G and 5G remote control.
Background
How to deliver an inflatable lifebuoy immediately in front of a plurality of drowners in most emergency situations, such as water rescue? The traditional rescue method can only throw the inflatable lifebuoy to the vicinity of a plurality of people falling into water, or can be flushed away by water flow without throwing the inflatable lifebuoy to the vicinity, and only one person falling into water can be rescued at one time, so that the problems of low working efficiency and low throwing accuracy are difficult to solve, how to quickly supplement the inflatable lifebuoy after the inflatable lifebuoy is flushed away by water flow, and how to respectively throw a plurality of inflatable lifebuoys to the front of a plurality of people falling into water at one time when a plurality of people falling into water appear;
in order to solve the above problems, a technical solution is now provided.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle airborne multi-channel throwing system based on 4G and 5G remote control, which combines an unmanned aerial vehicle technology with a 5G network communication technology and a throwing precision state covered by throwing equipment, solves the problems of throwing accuracy and working efficiency during multi-target throwing according to a stack-in processing process, can continue repeated throwing operation when throwing fails, achieves the purposes of continuous throwing and quick replenishment, and improves the integral fault-tolerant rate.
The technical problems to be solved by the invention are as follows:
how through an effectual mode, solve current throwing rescue in-process, have work efficiency low and throw accurate low problem to after aerifing the life buoy and being washed away by rivers, how quick replenishment, and when the multiple person that falls into water appears, how once only throw in the life buoy of a plurality of respectively to the problem of the face of multiple person that falls into water.
The purpose of the invention can be realized by the following technical scheme:
an unmanned aerial vehicle airborne multi-channel delivery system based on 4G and 5G remote control comprises an unmanned aerial vehicle, a throwing device, a controller, 5G CPE (customer premise equipment), a power supply element, a server and a handheld control terminal;
the unmanned aerial vehicle is used for carrying throwing equipment, a controller, 5G CPE equipment and a power supply element so as to accurately guide various required devices to the vicinity of a target and the upper space;
the throwing equipment is electrically connected with the controller and receives a control instruction to be controlled by the controller;
the controller is electrically connected with the 5G CPE equipment and is communicated with the server according to 4G and 5G networks of the 5G CPE equipment;
the 5G CPE equipment is used for providing 4G and 5G networks, a communication link of the unmanned aerial vehicle is formed by connecting the 5G CPE equipment with the 4G and 5G networks, and the model of the 5G CPE equipment is 5G CPE PRO H112-370;
the power supply element is used for providing power supply interfaces of various types and power of various parameter types for the throwing equipment, the controller and the 5G CPE equipment, consists of a power supply conversion module and a battery, and is integrated on the unmanned aerial vehicle;
the server is used for transferring and communicating the handheld control terminal and the unmanned aerial vehicle, transferring a command of the handheld control terminal to the unmanned aerial vehicle, sending information fed back by the unmanned aerial vehicle to the handheld control terminal and recording an operation log of the time;
the handheld control terminal is used for controlling the unmanned aerial vehicle and the throwing equipment;
the unmanned aerial vehicle is internally provided with a data acquisition module, a data analysis module, an angle analysis module, a comprehensive processing module and a signal execution module;
the data acquisition module is used for acquiring throwing claw state information and throwing claw distance information of the unmanned aerial vehicle in real time, transmitting the throwing claw state information to the data analysis module and transmitting the throwing claw distance information to the angle analysis module;
the angle analysis module carries out angle balance operation on the throwing claw distance information received in real time to obtain real-time angle values alpha i of each throwing claw, and the angle values alpha i are transmitted to the comprehensive processing module;
the data analysis module carries out throwing analysis operation on the throwing claw condition information received in real time to obtain real-time precision coefficients Yi of all throwing claws and transmits the precision coefficients Yi to the comprehensive processing module;
the comprehensive processing module compares the real-time precision coefficient Yi of each throwing claw and the angle value alpha i of each throwing claw with preset values d and f, when Yi is larger than the preset value d, the throwing claw corresponding to Yi generates a secondary precision signal, otherwise, the secondary precision signal generates a quasi-precision signal, when alpha i is larger than the preset value f, the throwing claw corresponding to alpha i generates an over-angle signal, otherwise, the angle signal generates a stable angle signal, and the precision signals and the angle signals are transmitted to the signal execution module together;
the signal execution module edits the throwing claw to generate a text of a 'preferred throwing state' when receiving a precision signal and an angle stabilizing signal corresponding to the throwing claw in real time, edits the throwing claw to generate a text of a 'weak throwing state' when receiving a secondary precision signal and an angle exceeding signal corresponding to the throwing claw in real time, and edits the throwing claw to generate a 'proper throwing state' when the throwing claw is in other conditions, and sends the texts of the states to the handheld control terminal;
the handheld control terminal displays the state texts, and is electrically connected with the signal execution module.
Furthermore, the unmanned aerial vehicle is also used for real-time state monitoring and image shooting, communicates with the handheld control terminal according to image transmission and data transmission, receives a control instruction of the handheld control terminal, and transmits the real-time flight attitude and the shot image to the handheld control terminal.
Furthermore, the throwing equipment is multipath throwing equipment, is provided with multipath throwing claws and is used for simultaneously grabbing various parts to be thrown for independent and collective throwing and feeding back the working state in real time, and the model of the throwing equipment is a throwing device JS-PT4 which consists of 4 single throwing devices EMAX ES3001 and a controller;
further, the controller sends a control instruction through an RJ45 interface and a WIFI connection network, and the control instruction is processed to control the throwing equipment to work.
Furthermore, the 5G CPE equipment is adaptively connected with the 4G and 5G networks, provides an RJ45 interface for external connection with the WIFI network, and has a network routing function.
Furthermore, the handheld control terminal is connected with 4G and 5G networks for transmission and consists of a touch screen and a control handle; the touch screen is used for displaying the posture and the image of the unmanned aerial vehicle and the working state of the throwing equipment and controlling the unmanned aerial vehicle and the throwing equipment according to touch operation; the control handle is used for controlling the unmanned aerial vehicle and the throwing equipment, and the control handle consists of a control handle configured by the unmanned aerial vehicle and a flat plate or a mobile phone inserted with an SIM.
Furthermore, the state information of the throwing claw comprises grabbing weight data of the throwing claw, traction rope length data of the throwing claw and wind speed data of the throwing claw, the grabbing weight data, the traction rope length data of the throwing claw and the wind speed data of the throwing claw can be obtained according to the modes of a sensor, a laser ranging technology and the like, the distance information of the throwing claw comprises vertical distance data between the throwing claw and the unmanned aerial vehicle and horizontal distance data between the throwing claw and the unmanned aerial vehicle, and the vertical distance data and the horizontal distance data can be obtained according to the laser ranging technology.
Further, the angle balance operation comprises the following specific steps:
acquiring throwing claw distance information of the unmanned aerial vehicle in real time, and respectively marking vertical distance data between each throwing claw and the unmanned aerial vehicle and horizontal distance data between each throwing claw and the unmanned aerial vehicle as Qi and Wi, wherein i is 1. Then according to the formula
And solving the real-time angle value alpha i of each throwing claw.
Further, the specific steps of the tossing analysis operation are as follows:
the method comprises the following steps: acquiring the state information of throwing claws of the unmanned aerial vehicle in real time, and respectively marking the grabbing weight data of each throwing claw, the traction rope length data of each throwing claw and the wind speed data of each throwing claw as Ei, Ri and Ti, wherein i is 1.
Step two: according to the formula
And (3) solving real-time precision coefficients Yi of each throwing claw, wherein e, r and t are precision factors, e is larger than t and is larger than r, and e + r + t is 5.3852, a, b and c are weight coefficients and are in one-to-one correspondence with Ei, Ri and Ti, b is larger than c and is larger than a, and a + b + c is 3.9422.
The invention has the beneficial effects that:
after a plurality of people falling into water are found, rescue workers can hang a plurality of inflatable life buoys on the throwing equipment, and the unmanned aerial vehicle is guided to the vicinity above the first person falling into water by the aid of the handheld control terminal, the posture of the handheld control terminal and the real-time transmitted images;
collecting the state information and distance information of the throwing claws of the unmanned aerial vehicle in real time, and respectively carrying out throwing analysis operation and angle balance determination operation on the state information and distance information of the throwing claws according to the state information and distance information of the throwing claws, namely calibrating and carrying out formula correction weight analysis on the grabbing weight data of each throwing claw, the traction rope length data of each throwing claw and the wind speed data of each throwing claw to obtain the real-time precision coefficient Yi of each throwing claw, and calibrating and carrying out angle processing on the vertical distance data between each throwing claw and the unmanned aerial vehicle and the horizontal distance data between each throwing claw and the unmanned aerial vehicle to obtain the real-time angle value alpha i of each throwing claw;
comparing the throwing claw with preset values d and f, editing each throwing claw according to the comparison result to generate a text of 'excellent throwing state', 'weak throwing state' and 'proper throwing state', and sending the text of 'excellent throwing state', 'weak throwing state' and 'proper throwing state' to the handheld control terminal for displaying;
adjusting the attitude of the unmanned aerial vehicle according to the state texts, throwing a first inflatable life buoy, determining a final throwing position according to the real-time transmitted image, continuously guiding the unmanned aerial vehicle to the vicinity of the upper air of the next person falling into water after the throwing is finished, and repeating the operation until the rescue is finished and the return voyage is finished;
the unmanned aerial vehicle technology, the 5G network communication technology and the throwing precision state covered by the throwing equipment are combined, the throwing accuracy and the working efficiency problem during multi-target throwing are solved together according to the stack-in type processing process, repeated throwing operation can be continuously carried out when throwing fails, the purposes of continuous throwing and quick supplement are achieved, and the integral fault-tolerant rate is improved.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings;
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a flow chart of the operation of the present invention;
FIG. 3 is a block diagram of the internal modules of the unmanned aerial vehicle of the present invention.
Detailed Description
As shown in fig. 1-3, an unmanned aerial vehicle airborne multi-channel delivery system based on 4G and 5G remote control comprises an unmanned aerial vehicle, a throwing device, a controller, 5G CPE devices, a power supply element, a server and a handheld control terminal;
the unmanned aerial vehicle is used for carrying throwing equipment, a controller, 5G CPE equipment and a power supply element, is also used for real-time state monitoring and image shooting, is communicated with the handheld control terminal according to image transmission and data transmission, receives a control instruction of the handheld control terminal, and transmits real-time flying postures and shot images to the handheld control terminal;
the power supply element is used for providing power supply interfaces of various types and power of various parameter types for the throwing equipment, the controller and the 5G CPE equipment, consists of a power supply conversion module and a battery, and is integrated on the unmanned aerial vehicle;
the 5G CPE equipment is adaptively connected with the 4G and 5G networks, the model of the 5G CPE equipment is 5G CPE PRO H112-370, an RJ45 interface is externally provided for being connected with the WIFI network to the controller, and the controller is communicated with the server according to the interface;
the controller receives a control instruction of the server through the RJ45 interface and the WIFI connection network and sends the control instruction to control the throwing equipment to work;
the throwing equipment is electrically connected with the controller, controls the throwing action of the throwing equipment according to a control command of the controller, is multi-path throwing equipment, is provided with multi-path throwing claws and is used for grabbing various parts to be thrown for independent and simultaneous throwing, and feeds back the working state in real time, and the model of the throwing equipment is a throwing device JS-PT4 which consists of 4 single throwing devices EMAX ES3001 and the controller;
the server is used for transferring and communicating the handheld control terminal and the unmanned aerial vehicle, transferring a command of the handheld control terminal to the unmanned aerial vehicle, sending information fed back by the unmanned aerial vehicle to the handheld control terminal and recording an operation log of the time;
the handheld control terminal is used for controlling the unmanned aerial vehicle and the throwing equipment, namely the handheld control terminal is connected with the server through a 4G network and a 5G network, is transmitted, and indirectly controls the throwing equipment to work through data transmission of the server, the guiding throwing positions of the unmanned aerial vehicle and the throwing equipment are indirectly controlled according to the data transmission and the image transmission, the handheld control terminal consists of a touch screen and a control handle, the touch screen is used for displaying the posture and the image of the unmanned aerial vehicle and the working state of the throwing equipment and controlling the unmanned aerial vehicle and the throwing equipment according to touch operation, the control handle is used for controlling the unmanned aerial vehicle and the throwing equipment, and the control handle consists of a control handle configured by the unmanned aerial vehicle and a flat plate or a mobile phone inserted with an SIM;
the unmanned aerial vehicle is internally provided with a data acquisition module, a data analysis module, an angle analysis module, a comprehensive processing module and a signal execution module;
the data acquisition module is used for acquiring throwing claw state information and throwing claw distance information of the unmanned aerial vehicle in real time, transmitting the throwing claw state information to the data analysis module and transmitting the throwing claw distance information to the angle analysis module, wherein the throwing claw state information comprises grabbing weight data of a throwing claw, traction rope length data of the throwing claw and wind speed data of the throwing claw, the three can be acquired according to a sensor, a laser ranging technology and the like, the throwing claw distance information comprises vertical distance data between the throwing claw and the unmanned aerial vehicle and horizontal distance data between the throwing claw and the unmanned aerial vehicle, and the two can be acquired according to the laser ranging technology;
the angle analysis module carries out angle balance fixing operation on the throwing claw distance information received in real time, and the specific steps are as follows:
firstly, the distance information of the throwing claws of the unmanned aerial vehicle is acquired in real time, and the vertical distance data between each throwing claw and the unmanned aerial vehicle and the horizontal distance data between each throwing claw and the unmanned aerial vehicle are obtainedAre respectively marked as Qi and Wi, i is 1.. n, and Qi and Wi are in one-to-one correspondence with each other; then according to the formula
Obtaining real-time angle values alpha i of each throwing claw;
so as to obtain real-time angle values alpha i of each throwing claw, and transmit the angle values alpha i to the comprehensive processing module;
the data analysis module carries out throwing analysis operation on the throwing claw condition information received in real time, and the specific steps are as follows:
the method comprises the following steps: acquiring the state information of throwing claws of the unmanned aerial vehicle in real time, and respectively marking the grabbing weight data of each throwing claw, the traction rope length data of each throwing claw and the wind speed data of each throwing claw as Ei, Ri and Ti, wherein i is 1.
Step two: according to the formula
Obtaining real-time precision coefficients Yi of each throwing claw, wherein e, r and t are precision factors, e is larger than t and larger than r, and e + r + t is 5.3852, a, b and c are weight coefficients and are in one-to-one correspondence with Ei, Ri and Ti, b is larger than c and larger than a, and a + b + c is 3.9422;
obtaining real-time precision coefficients Yi of all throwing claws and transmitting the precision coefficients Yi to the comprehensive processing module;
the comprehensive processing module compares the real-time precision coefficient Yi of each throwing claw and the angle value alpha i of each throwing claw with preset values d and f, when Yi is larger than the preset value d, the throwing claw corresponding to Yi generates a secondary precision signal, otherwise, the secondary precision signal generates a quasi-precision signal, when alpha i is larger than the preset value f, the throwing claw corresponding to alpha i generates an angle-passing signal, otherwise, the angle-stabilizing signal is generated, and the precision signals and the angle signals are transmitted to the signal execution module together;
the signal execution module edits the throwing claw to generate a text of a 'preferred throwing state' when receiving a precision signal and an angle stabilizing signal corresponding to the throwing claw in real time, edits the throwing claw to generate a text of a 'weak throwing state' when receiving a secondary precision signal and an angle exceeding signal corresponding to the throwing claw in real time, and edits the throwing claw to generate a text of a 'proper throwing state' when the throwing claw is in other conditions, and sends the texts of all the states to the handheld control terminal;
the handheld control terminal displays the state texts according to the state texts, and is electrically connected with the signal execution module.
During working, after a plurality of drowning persons are found, rescue workers can hang a plurality of inflatable life buoys on the throwing equipment, and the unmanned aerial vehicle is guided to the vicinity of the upper air of the first drowning person by utilizing a handheld control terminal in combination with the posture and real-time transmitted images of the handheld control terminal;
the state information of a throwing claw of the unmanned aerial vehicle and the distance information of the throwing claw are collected in real time, the state information of the throwing claw comprises grabbing weight data of the throwing claw, traction rope length data of the throwing claw and wind speed data of the throwing claw, and the distance information of the throwing claw comprises vertical distance data between the throwing claw and the unmanned aerial vehicle and horizontal distance data between the throwing claw and the unmanned aerial vehicle;
carrying out throwing analysis operation and angle balance fixing operation on the throwing claw respectively, namely calibrating, formulating, correcting and analyzing the grabbing weight data of each throwing claw, the length data of a traction rope of each throwing claw and the wind speed data of each throwing claw to obtain a real-time precision coefficient Yi of each throwing claw, and calibrating and processing the vertical distance data between each throwing claw and the unmanned aerial vehicle and the horizontal distance data between each throwing claw and the unmanned aerial vehicle to obtain a real-time angle value alpha i of each throwing claw;
comparing the throwing claw with preset values d and f, editing each throwing claw according to the comparison result to generate a text of 'excellent throwing state', 'weak throwing state' and 'proper throwing state', and sending the text of 'excellent throwing state', 'weak throwing state' and 'proper throwing state' to the handheld control terminal for displaying;
adjusting the attitude of the unmanned aerial vehicle according to the state texts, throwing a first inflatable life buoy, determining a final throwing position according to the real-time transmitted image, continuously guiding the unmanned aerial vehicle to the vicinity of the upper air of the next person falling into water after the throwing is finished, and repeating the operation until the rescue is finished and the return voyage is finished;
the unmanned aerial vehicle technology, the 5G network communication technology and the throwing precision state covered by the throwing equipment are combined, the throwing accuracy and the working efficiency problem during multi-target throwing are solved together according to the stack-in type processing process, repeated throwing operation can be continuously carried out when throwing fails, the purposes of continuous throwing and quick supplement are achieved, and the integral fault-tolerant rate is improved.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.
Claims (7)
1. An unmanned aerial vehicle airborne multi-channel delivery system based on 4G and 5G remote control is characterized by comprising an unmanned aerial vehicle, a throwing device, a controller, 5G CPE (customer premise equipment), a power supply element, a server and a handheld control terminal;
the unmanned aerial vehicle is used for carrying throwing equipment, a controller, 5G CPE equipment and a power supply element;
the throwing equipment is electrically connected with the controller;
the controller is electrically connected with the 5G CPE equipment and is communicated with the server according to 4G and 5G networks of the 5G CPE equipment;
the 5G CPE equipment is used for providing a 4G network and a 5G network;
the power supply element is used for providing power supply interfaces of various types and power of various parameter types for the throwing equipment, the controller and the 5G CPE equipment;
the server is used for transferring and communicating the handheld control terminal and the unmanned aerial vehicle, transferring a command of the handheld control terminal to the unmanned aerial vehicle, sending information fed back by the unmanned aerial vehicle to the handheld control terminal and recording an operation log of the time;
the handheld control terminal is used for controlling the unmanned aerial vehicle and the throwing equipment;
the unmanned aerial vehicle is internally provided with a data acquisition module, a data analysis module, an angle analysis module, a comprehensive processing module and a signal execution module;
the data acquisition module is used for acquiring throwing claw state information and throwing claw distance information of the unmanned aerial vehicle in real time, transmitting the throwing claw state information to the data analysis module and transmitting the throwing claw distance information to the angle analysis module;
the angle analysis module carries out angle balance operation on the throwing claw distance information received in real time to obtain real-time angle values alpha i of each throwing claw, and the angle values alpha i are transmitted to the comprehensive processing module;
the data analysis module carries out throwing analysis operation on the throwing claw condition information received in real time to obtain real-time precision coefficients Yi of all throwing claws and transmits the precision coefficients Yi to the comprehensive processing module;
the comprehensive processing module compares the real-time precision coefficient Yi of each throwing claw and the angle value alpha i of each throwing claw with preset values d and f, when Yi is larger than the preset value d, the throwing claw corresponding to Yi generates a secondary precision signal, otherwise, the secondary precision signal generates a quasi-precision signal, when alpha i is larger than the preset value f, the throwing claw corresponding to alpha i generates an over-angle signal, otherwise, the angle signal generates a stable angle signal, and the precision signals and the angle signals are transmitted to the signal execution module together;
the signal execution module edits the throwing claw to generate a text of a 'preferred throwing state' when receiving a precision signal and an angle stabilizing signal corresponding to the throwing claw in real time, edits the throwing claw to generate a text of a 'weak throwing state' when receiving a secondary precision signal and an angle exceeding signal corresponding to the throwing claw in real time, and edits the throwing claw to generate a text of a 'proper throwing state' when the throwing claw is in other conditions, and sends the texts of all the states to the handheld control terminal;
the handheld control terminal displays the state texts according to the state texts, and is electrically connected with the signal execution module;
the specific steps of the angle fixing operation are as follows:
the method comprises the steps of firstly, acquiring throwing claw distance information of the unmanned aerial vehicle in real time, and respectively marking vertical distance data between each throwing claw and the unmanned aerial vehicle and horizontal distance data between each throwing claw and the unmanned aerial vehicle as Qi and Wi, wherein i =1. Then according to the formula
Calculating real-time angle values alpha i of each throwing claw by i =1.. n;
the specific steps of the tossing analysis operation are as follows:
the method comprises the following steps: acquiring the state information of throwing claws of the unmanned aerial vehicle in real time, and respectively marking the grabbing weight data of each throwing claw, the traction rope length data of each throwing claw and the wind speed data of each throwing claw as Ei, Ri and Ti, wherein i =1.. n, and Ei, Ri and Ti are in one-to-one correspondence with each other;
step two: according to the formula
N, obtaining real-time precision coefficients Yi of each throwing claw, wherein e, r and t are precision factors, and e is larger than t and larger than r
A, b and c are weight coefficients and are in one-to-one correspondence with Ei, Ri and Ti, b is larger than c and larger than a
。
2. The unmanned aerial vehicle airborne multi-channel delivery system based on 4G and 5G remote control of claim 1, wherein the unmanned aerial vehicle is further used for real-time state monitoring and image shooting, communicates with the handheld control terminal according to image transmission and data transmission, receives a control instruction of the handheld control terminal, and transmits a real-time flight attitude and a shot image to the handheld control terminal.
3. The unmanned aerial vehicle airborne multi-channel throwing system based on 4G and 5G remote control is characterized in that the throwing equipment is multi-channel throwing equipment and is provided with multi-channel throwing claws for simultaneously grabbing various components to be thrown for independent and collective throwing and feeding back the working state in real time.
4. The system of claim 1, wherein the controller sends control commands via RJ45 interface and WIFI connection network, and processes the control commands to control the operation of the throwing device.
5. The system of claim 1, wherein the 5G CPE device is adaptively connected to the 4G and 5G network and provides an RJ45 interface for external connection to a WIFI network.
6. The unmanned aerial vehicle airborne multi-channel delivery system based on 4G and 5G remote control of claim 1, wherein the handheld control terminal is connected with and transmits the 4G and 5G network, and comprises a touch screen and a control handle; the touch screen is used for displaying the posture and the image of the unmanned aerial vehicle and the working state of the throwing equipment and controlling the unmanned aerial vehicle and the throwing equipment according to touch operation; the control handle is used for controlling the unmanned aerial vehicle and the throwing equipment.
7. The unmanned aerial vehicle airborne multi-channel delivery system based on 4G and 5G remote control is characterized in that the throwing claw state information comprises grabbing weight data of the throwing claw, traction rope length data of the throwing claw and wind speed data of the throwing claw, and the throwing claw distance information comprises vertical distance data between the throwing claw and the unmanned aerial vehicle and horizontal distance data between the throwing claw and the unmanned aerial vehicle.
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