CN111610802A - Relay control method and system for unmanned aerial vehicle flight - Google Patents
Relay control method and system for unmanned aerial vehicle flight Download PDFInfo
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Abstract
The invention relates to a relay control method and a relay control system for unmanned aerial vehicle flight, which belong to the field of unmanned aerial vehicle control and comprise the following steps: when the hangar monitors the unmanned aerial vehicle, identity identification information and positioning information of the unmanned aerial vehicle are sent to a flight control center; the flight control center identifies the unmanned aerial vehicle, and if the unmanned aerial vehicle is in the communication switching area, the flight control center sends a connection instruction to the hangar; the communication switching area is determined by the flight route; after receiving the connection instruction, the hangar establishes communication with the unmanned aerial vehicle and serves as a communication relay between the unmanned aerial vehicle and the flight control center. The method realizes the relay cruise flight of the unmanned aerial vehicle, and meets the application requirement of long-distance large-range inspection of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to a relay control method and system for unmanned aerial vehicle flight, and belongs to the field of unmanned aerial vehicle control.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle controlled by radio remote control equipment and a self-contained program control device, and is widely applied to the military and civil fields. The control of the unmanned aerial vehicle integrates technologies in a plurality of fields, including the fields of remote centralized flight control, relay link communication, automatic control, video monitoring and the like.
Communication, electric power, the oil equipment extension distance that the field set up is long, lays the wide range, and the people is difficult to reach, is difficult to patrol and examine through the manpower.
The unmanned aerial vehicle is very suitable for polling outdoor facilities, reduces the operation and maintenance cost of the facilities, improves the polling efficiency, can find faults and problems in time, and stops the machine in time to rush repair. In patrol and examine, unmanned aerial vehicle's control and the collection of patrolling and examining data are gathered, are realized by flying the control center, therefore unmanned aerial vehicle and the real-time reliable communication connection who flies the control center just become crucial.
However, the inspection range of the unmanned aerial vehicle is limited by the wireless communication distance between the unmanned aerial vehicle and the flight control center, the battery capacity of the unmanned aerial vehicle and the experience of the flight crew, and thus, it is difficult to perform the flight control operation in a long distance and a large range.
Disclosure of Invention
The invention aims to provide a relay control method and system for unmanned aerial vehicle flight, which are used for solving the problem of reliability and safety when the existing unmanned aerial vehicle is used for flight control operation.
In order to achieve the above object, the scheme of the invention comprises:
the invention discloses a relay control method for unmanned aerial vehicle flight, which is characterized by comprising the following steps:
1) when the hangar monitors the unmanned aerial vehicle, identity identification information and positioning information of the unmanned aerial vehicle are sent to a flight control center;
2) the flight control center identifies the unmanned aerial vehicle, and if the unmanned aerial vehicle is in the communication switching area, the flight control center sends a connection instruction to the hangar; the communication switching area is determined by the flight route;
3) after receiving the connection instruction, the hangar establishes communication with the unmanned aerial vehicle and serves as a communication relay between the unmanned aerial vehicle and the flight control center.
According to the method, in the flight or temporary operation of the unmanned aerial vehicle for determining the flight path, the flight control center actively establishes communication with a downstream hangar according to the current cruise position, and communication relay cruise of the unmanned aerial vehicle is realized. The continuous and reliable flight communication of the unmanned aerial vehicle is guaranteed.
Further, in step 2), the connection instruction includes a takeover key; and 3), after the takeover key received by the hangar is matched with the unmanned aerial vehicle, establishing communication with the unmanned aerial vehicle, and using the communication relay as a communication relay between the unmanned aerial vehicle and a flight control center.
Further, in step 1), the method for monitoring the unmanned aerial vehicle by the hangar which is not in communication with the unmanned aerial vehicle comprises the following steps: intercepting the drone identification signal at low power; and 3), after the takeover key received by the hangar is matched with the unmanned aerial vehicle, establishing communication with the unmanned aerial vehicle at normal power.
When the unmanned aerial vehicle does not fly into a communication area of the unmanned aerial vehicle, the hangar monitors a set channel only in a low power consumption mode, the set channel is a channel which is preset by the hangar and the unmanned aerial vehicle and can communicate, after the unmanned aerial vehicle enters a communication visual field of the unmanned aerial vehicle, the identity of the unmanned aerial vehicle is confirmed through a flight control center, the unmanned aerial vehicle is awakened and taken over after the identity of the unmanned aerial vehicle is confirmed to be correct, the unmanned aerial vehicle forwards information such as control and data through the hangar, relay control of the unmanned aerial vehicle is achieved, meanwhile, the power consumption of each hangar is reduced, and the reliability and the safety of cruising of the unmanned aerial vehicle are.
Further, in step 3), after receiving the connection request signal instruction, the hangar powers on the hangar operating device and/or the battery charging and replacing device, and the hangar operating device and/or the battery charging and replacing device performs self-checking, and if an error exists, the unmanned aerial vehicle and/or the unmanned aerial vehicle is notified to control the flight control center.
When the unmanned aerial vehicle does not fly into the communication area of the hangar, the cabin door, the operation equipment of the shutdown platform and the unmanned aerial vehicle charging and switching equipment are powered off to save electric power. When learning that unmanned aerial vehicle is about to get into self communication range, the initiative is berthhed and the relevant equipment circular telegram that charges to the unmanned aerial vehicle of self, makes its self-checking, if there is the trouble can not charge then advance to the unmanned aerial vehicle early warning, makes the unmanned aerial vehicle that is about to have the demand of charging directly return or go to other hangars nearby and charge, and the area of can not charging of no longer mistake income, guarantees the reliable safety of process of cruising, and unmanned aerial vehicle can not fly to make an end.
Further, in step 3), after the hangar and the unmanned aerial vehicle establish communication, the flight control center or the unmanned aerial vehicle sends charging request information to the hangar according to the electric quantity condition of the unmanned aerial vehicle; and after receiving the charging request information, the hangar powers on hangar operating equipment and/or battery charging and replacing equipment, and the hangar operating equipment and/or the battery charging and replacing equipment make preparations for the unmanned aerial vehicle to stop and charge/replace the battery.
When unmanned aerial vehicle is about to go to charge, the relevant equipment of hangar is hot in advance and is equipped with, need not unmanned aerial vehicle and berths and waits or even hover and wait, saves time.
Furthermore, the flight control center obtains weather conditions around the corresponding hangar through the hangar, and if the weather conditions are not suitable for the unmanned aerial vehicle to fly, the unmanned aerial vehicle returns to the nearest other hangars or bypasses an area where the weather conditions are not suitable for the unmanned aerial vehicle to fly.
Weather is forecast to the flight control center in advance, and the flight control center controls unmanned aerial vehicle to prevent unmanned aerial vehicle from entering extreme weather area by mistake and damaging unmanned aerial vehicle.
The invention discloses a control system for unmanned aerial vehicle flight, which comprises a flight control center and a plurality of hangars continuously arranged on a flight path of the unmanned aerial vehicle; when the hangar monitors the unmanned aerial vehicle, identity identification information and positioning information of the unmanned aerial vehicle are sent to a flight control center; the flight control center identifies the unmanned aerial vehicle, and if the unmanned aerial vehicle is in the communication switching area, the flight control center sends a connection instruction to the hangar; the communication switching area is determined by the flight route; after receiving the connection instruction, the hangar establishes communication with the unmanned aerial vehicle and serves as a communication relay between the unmanned aerial vehicle and the flight control center.
Further, the connection instruction comprises a takeover key; and 3), after the takeover key received by the hangar is matched with the unmanned aerial vehicle, establishing communication with the unmanned aerial vehicle, and using the communication relay as a communication relay between the unmanned aerial vehicle and a flight control center.
Further, in step 1), the method for monitoring the unmanned aerial vehicle by the hangar which is not in communication with the unmanned aerial vehicle comprises the following steps: intercepting the drone identification signal at low power; and 3), after the takeover key received by the hangar is matched with the unmanned aerial vehicle, establishing communication with the unmanned aerial vehicle at normal power.
Further, in step 3), after receiving the connection instruction, the hangar powers on the hangar operating device and/or the battery charging and swapping device, and the hangar operating device and/or the battery charging and swapping device performs self-checking, and if an error exists, notifies the flight control center.
Drawings
FIG. 1 is a schematic diagram of an unmanned aerial vehicle inspection system;
FIG. 2 is a schematic diagram of a hangar architecture;
FIG. 3 is an electrical schematic of the hangar of the present invention;
fig. 4 is a flowchart of the unmanned aerial vehicle relay method of the invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The method comprises the following steps:
the unmanned aerial vehicle inspection system shown in fig. 1 comprises an inspection center 1, a hangar A, a hangar B, a hangar C and an inspection unmanned aerial vehicle 2, wherein the hangars A, the hangars B and the hangars C are sequentially arranged along an unmanned aerial vehicle inspection route. The flight control center is a control and data processing center of the unmanned aerial vehicle, and the unmanned aerial vehicle is controlled manually by a flyer based on the returned video images or automatically by a preset program based on the data of a sensor on the unmanned aerial vehicle; meanwhile, data collected by the unmanned aerial vehicle, such as patrol image data, weather meteorological data, remote sensing and telemetering data and the like, are transmitted back to the flight control center and collected and summarized in the flight control center. In the automatic flight of unmanned aerial vehicle, can take over the operation link at any time in the manual work of flying control center, like search and rescue and call, throw, illumination, fine and examine etc.. And taking the diversity of flight control operation tasks into consideration, and providing an information cloud service interface by the flight control center. The machine base comprises a relay base and a power supply base, wherein the relay base is the machine base only with forwarding and relaying functions and has the function equivalent to a relay station; the electricity supply bank is a bank that can supply electricity to the aircraft (generally, the electricity supply bank has a function of a relay bank at the same time). The spacing distance or the setting density of the hangar is determined according to the electric power endurance mileage of the unmanned aerial vehicle and the communication distance between the unmanned aerial vehicle and the hangar. In order to ensure uninterrupted and reliable communication, at least the communication ranges of the adjacent hangars and the unmanned aerial vehicles are overlapped with each other to a certain extent, and the overlapping distance is subject to the switching of the communication hangars which can be completed by the unmanned aerial vehicles in flight. After the communication can be seamlessly connected, under the condition that a certain margin is left according to the endurance mileage of the unmanned aerial vehicle, some electricity supplementing storehouses are arranged in the storehouses at intervals so as to meet the endurance requirement of the unmanned aerial vehicle.
The hangar of the present invention is shown in fig. 2, and comprises a hemispherical transparent cup as a cabin door, an apron, the opening and closing (lifting and falling closing) of the cabin door is driven by a cabin door hydraulic system, and the apron can have a lifting function, and the lifting is driven by the apron hydraulic system. When the unmanned aerial vehicle leaves the garage, the cabin door is lifted, the parking apron is lifted, the unmanned aerial vehicle is lifted to the ground, then the unmanned aerial vehicle takes off, and the cabin door is closed; when the unmanned aerial vehicle returns to the flight, the cabin door is lifted, the apron is lifted to the ground, after the unmanned aerial vehicle lands on the apron, the apron descends to bring the unmanned aerial vehicle to descend into the hangar, and then the cabin door is closed; the apron of lift prevents that unmanned aerial vehicle from taking off and bumping with the hangar when descending, has reduced the requirement that unmanned aerial vehicle controlled. The hangar is equipped with many specifications of many interfaces charger to adapt to the demand of charging of different model unmanned aerial vehicles. The hangar possesses simple and easy automatic quick replacement battery mechanism, satisfies many times unmanned aerial vehicle operation of taking off and land in succession.
The hangar pump for providing pressure for the cabin door hydraulic system and the parking apron hydraulic system is provided by a hangar power supply. The power supply of the hangar is preferably two, one is used for supplying power to the communication system, and the other is used for supplying power to the unmanned aerial vehicle charging and replacing power and the hydraulic system. Of course there may be only one bulk power module or more power modules. The opening and closing of the cabin door and the lifting of the platform can also be driven by a motor lead screw and the like.
An electrical schematic diagram of the hangar of the present invention is shown in fig. 3, and includes a wireless communication module a for realizing communication and data transmission with an unmanned aerial vehicle, a communication module B for realizing relay communication with a flight control center, a power chip a (low power supply circuit), a power chip B (high power supply circuit), a controller mcu, a storage battery a, a storage battery B (power battery), a hangar pump, a battery changing mechanism, a charger, and a photovoltaic panel (not shown in fig. 3). Communication module A is used for with unmanned aerial vehicle communication connection, can adopt communication modes such as WIFI, 4G, 5G. The storage battery A supplies power to the communication module A through two power supplies which respectively comprise a power chip A and a power chip B, and the power chip A and the power chip B have different power supply capacities; or a single power supply chip is adopted to supply power to the communication module, and the power supply chip can work in different grades of power supply modes. The communication module B is used for communicating with the flight control center, and the connection with the flight control center can adopt wired connection of a physical interface or can adopt a wireless connection mode. In the wireless connection, the multi-hop communication with the flight control center may be generally performed by using other libraries as relays, and of course, the multi-hop communication may also be directly performed with the flight control center. If multi-hop communication is performed in a mode that other hangars are used as relays, the communication module B of each hangar cannot be powered off or dormant, power needs to be supplied continuously to serve as relay nodes of the other hangars and the flight control center, a cellular communication link is formed between each hangar and the flight control center through network forms or communication protocols such as WIFI, the Internet, RS485 or APN/4G/5G, and the like, and each hangar and the unmanned aerial vehicle have unique serial numbers for identity recognition. If each hangar is directly connected with the flight control center, the communication module B can be closed or made dormant when the hangars are not connected with the unmanned aerial vehicle, and electric quantity is saved. The communication module B is powered by the battery a (the associated power supply circuit is not shown in fig. 3).
The machine storehouse pump and the charger are powered by the storage battery B, the communication system, the machine storehouse pump and the charger have different voltage levels, and different batteries are adopted for supplying power, so that the service life of the batteries is prolonged; and meanwhile, the separate power supply is not influenced, and if the electric quantity of the storage battery B is exhausted, the hangar can still be used as a relay library to continue to provide data forwarding and communication control functions for the unmanned aerial vehicle in the region although the hangar cannot be stopped for charging.
The storage battery A and the storage battery B are powered by the photovoltaic panel, and the storage battery can be charged by adopting wind power generation in an area with rich wind power resources. The controller is connected with each module in a communication control mode.
The control method of the invention is shown in fig. 4, and comprises the following steps that firstly, each hangar is networked with a flight control center, and by taking wireless connection as an example, a cellular communication link which takes the flight control center as a central node is firstly established for realizing the communication connection between each hangar and the flight control center, the coverage area of the cellular communication link can be used as a relay flight area of the unmanned aerial vehicle, in the area, the unmanned aerial vehicle can be in relay communication with each hangar through WIFI, and further, the control of the unmanned aerial vehicle by the flight control center in flight operation, the return of data collected by the unmanned aerial vehicle to the flight control center, the landing of the unmanned aerial vehicle to any hangar to avoid extreme weather, complete battery charging and the like are completed based on the cellular communication link.
The method of the invention is specifically explained below with unmanned aerial vehicle inspection as a specific application scenario. For the hangar A, B, C on the cruising route of the unmanned aerial vehicle shown in fig. 1, the current unmanned aerial vehicle communicates with the hangar a, transmits image data acquired by inspection to the flight control center through the hangar a, and forwards a control instruction of the flight control center to the unmanned aerial vehicle through the hangar a. At the moment, the hangar B and the hangar C on the upstream and the downstream of the unmanned aerial vehicle inspection route work in a low power consumption mode, in the low power consumption mode, an outward output circuit of a storage battery B (a battery for supplying power to a hydraulic system and an unmanned aerial vehicle power supply system) is completely disconnected, and the storage battery B is only supplemented by a photovoltaic panel after the electric quantity of the storage battery B is naturally lost.
The communication module A in the low power consumption mode only reserves a basic communication interception function and intercepts one or more channels so as to find the unmanned aerial vehicle entering a communication visual field, and the intercepted channel is a common or pre-agreed channel for the unmanned aerial vehicle to communicate with the hangar. At the moment, the communication module is powered by a power chip A with a low power level, and the power chip A gets electricity from the storage battery A; or directly getting electricity from the photovoltaic panel, and only getting electricity from the storage battery A when the photovoltaic power generation is insufficient.
At this time, the communication module B is powered by the storage battery a or the photovoltaic panel, maintains a relay function of the hangar in a cellular communication link established with the flight control center and other hangars, and is used for forwarding control information or data of the unmanned aerial vehicle received by other hangars in the cellular communication link (or on the cruising route of the unmanned aerial vehicle). If only one unmanned aerial vehicle exists on the same cruising route, the current position of the unmanned aerial vehicle is in a low-power-consumption hangar except the space between the current position of the unmanned aerial vehicle and the flight control center, and the hangar does not need to bear a relay forwarding task in a cellular communication link of the flight control center, so that the communication module B can also enter a sleep mode.
When the unmanned aerial vehicle continues flying, the unmanned aerial vehicle enters the communication visual field of the hangar B, the hangar B monitors the broadcast information of the unmanned aerial vehicle through the communication module A (the unmanned aerial vehicle is monitored by the hangar B), and the broadcast information can only contain the identity identification information of the unmanned aerial vehicle. Because of the overlapping of the communication ranges between the adjacent hangars (for ensuring reliable communication, the communication ranges of the adjacent hangars overlap to some extent, if the next hangar can not reliably communicate, the unmanned aerial vehicle can also communicate with the previous hangar and safely return to the air), the unmanned aerial vehicle still communicates with the hangar A at the moment. When the intensity of the unmanned aerial vehicle broadcast information intercepted by the hangar B through the communication module A is larger than a certain value, the intercepted unmanned aerial vehicle identification information is sent to the flight control center through the communication module B and the cellular communication link. As another embodiment, other conditions may also be set, for example, after the hangar B monitors the broadcast information of the unmanned aerial vehicle, the time is set in a delayed manner, and if the broadcast information of the unmanned aerial vehicle does not disappear, the identity information of the unmanned aerial vehicle is sent to the flight control center; or the identity identification information is sent to the flight control center as soon as the hangar senses the identity identification information broadcasted by the unmanned aerial vehicle.
After receiving the identity identification information of the unmanned aerial vehicle sent from the hangar in the cellular communication link, the flight control center judges whether the unmanned aerial vehicle belongs to the unmanned aerial vehicle controlled by the flight control center or registered under the name of the flight control center. If not, the processing is not carried out, or the instruction is sent to the corresponding machine library to be not processed. If the unmanned aerial vehicle belongs to the unmanned aerial vehicle controlled by the flight control center, the flight control center sends the takeover key of the unmanned aerial vehicle to the hangar, and the hangar can relay the control and communication forwarding of the unmanned aerial vehicle after receiving the takeover key. The time for the flight control center to send the takeover key can be immediately sent after the identity of the unmanned aerial vehicle (the unmanned aerial vehicle belongs to the control of the unmanned aerial vehicle) is determined, namely the hangar B can immediately take over the unmanned aerial vehicle; or the broadcast information of the unmanned aerial vehicle also comprises position information, the hangar B continuously sends the unmanned aerial vehicle identity identification information and the position information to the flight control center at set time intervals after monitoring the broadcast information of the unmanned aerial vehicle, the flight control center selects proper positions (such as the geographic centers of the hangar A and the hangar B) to return to the unmanned aerial vehicle takeover key based on the position of the unmanned aerial vehicle after confirming the identity of the unmanned aerial vehicle, and the hangar B can take over the unmanned aerial vehicle. In the above embodiment, the key of the drone sent by the flight control center to the hangar B is used as the connection instruction for the hangar B to take over the drone, and as another embodiment, the key can be sent immediately after the flight control center confirms the identity of the drone, but the key is not a connection instruction, that is, the hangar B receives the key and then only performs storage processing, and further waits for an independent connection instruction, and at this time, the hangar B can continue to send the sensed position information of the drone; when the flight control center judges that the hangar switching (hangar relay) can be performed based on the position information or other conditions of the unmanned aerial vehicle, an independent connection instruction is sent out again.
As another embodiment, after receiving the identity identification information of the unmanned aerial vehicle sensed by the hangar, the flight control center only performs identity confirmation, that is, only sends the identity identification result of the unmanned aerial vehicle and the takeover key (when the identity is determined) to the hangar, if the unmanned aerial vehicle is not identified, the hangar does not perform a rational action, if the unmanned aerial vehicle is identified, the hangar selects a takeover time according to the conditions, and takes over the unmanned aerial vehicle by using the received takeover key, where the specific conditions may be time delay, strength of the broadcast signal of the unmanned aerial vehicle sensed, or position information of the unmanned aerial vehicle.
After the machine library B receives the connection instruction, the machine library B is converted into a common power consumption mode, and in the machine library under the common power consumption mode, if the communication module B is dormant, the communication module B is awakened and is networked to a cellular communication link of the flight control center; the communication module A is powered by the power chip B with high power level, all communication resources are activated, a picture transmission channel is opened, forwarding preparation of unmanned aerial vehicle control signals and routing inspection data is made, the unmanned aerial vehicle is connected in parallel, the control signals are forwarded to the unmanned aerial vehicle, and data acquired by the unmanned aerial vehicle are forwarded to a flight control center; meanwhile, the storage battery B is immediately connected with an external power supply line, a hydraulic system and a power supply system of the hangar B are powered on to carry out self-checking, whether faults exist or not is checked, if faults exist (for example, a hydraulic pump motor cannot be started or blocked, a cabin door cannot be opened, a charger cannot be charged or the storage battery is low in electric quantity and cannot be charged and the like), the unmanned plane or the flight control center is informed that the hangar cannot land a plane or cannot be powered on, only a relay function is provided, only basic communication forwarding service can be provided, and whether the unmanned plane enters a communication area of the hangar to continuously fly or not is judged by the flight control center. At the moment, if the power of the unmanned aerial vehicle is insufficient or the unmanned aerial vehicle needs to enter the hangar for power supply and avoidance in bad weather, the unmanned aerial vehicle is prevented from continuing flying and can return to the previous hangar; if the unmanned aerial vehicle has sufficient power and can continuously fly to the next hangar (such as the hangar C in FIG. 1) and the weather condition is good, a communication connection can be established with the hangar and the flying inspection can be continuously performed.
If, for example, the high-power horizontal power chip B of the communication module a fails, the communication module a cannot activate all communication resources, and only can listen to the corresponding channel, the hangar fails to take over the unmanned aerial vehicle, and the unmanned aerial vehicle cannot obtain a control signal, cannot return the most basic information (such as sensor information and flight images) of the flight, does not have the condition of continuing the flight, and should return the flight immediately.
After the hangar B successfully takes over the unmanned aerial vehicle, the communication connection with the hangar A can be disconnected, the hangar B is connected, data and control instructions are relayed and forwarded by the hangar B, the hangar A can enter a low power consumption mode immediately or in a delayed time setting mode after disconnection, and after the hangar A enters the low power consumption mode, the communication module B cannot sleep because the hangar A is located between the unmanned aerial vehicle and a flight control center and needs to play a relay forwarding function in a cellular communication link. It is necessary to continue to relay the functions in the hangar B and the flight control center.
So far, the communication relay of the unmanned aerial vehicles from the hangar A to the hangar B (switching the communication hangars by the unmanned aerial vehicles) is completed. When the unmanned aerial vehicle flies to the communication range of the hangar C, the unmanned aerial vehicle communicates with the hangar C in the same way.
As another embodiment, after receiving the handshake signal of the unmanned aerial vehicle, the corresponding hangar does not switch on the external output circuit of the storage battery B, and the hydraulic system and the charging system are still powered off and do not perform self-checking. After the unmanned aerial vehicle is switched to be in communication connection with the hangar, charging request information (battery replacing request information can also be used, and a charging instruction can also be issued to the unmanned aerial vehicle and the hangar by the flight control center after the unmanned aerial vehicle SOC is obtained by the corresponding hangar) is sent to the hangar B according to the SOC information, an external output circuit is connected after the corresponding hangar receives the battery replacing request information, a hydraulic system and a charging system are electrified for self-checking, if a fault exists, an error is reported in time, and the flight control center or the unmanned aerial vehicle takes measures such as return voyage and the like according to the situation; self-checking is through then the hydraulic pump start in advance, sets up pressure in hydraulic system, but in time drives the drive hatch door after unmanned aerial vehicle arrives and opens, the air park rises, and unmanned aerial vehicle stops to finish and can in time charge.
As other embodiments, the hangar at the downstream of the routing inspection route detects the climate conditions of the area in real time, including air temperature, air pressure, wind power, humidity and other information, further, the weather conditions which may be about to appear in the future can be judged by combining the weather forecast information of the corresponding area through the flight control center, when the weather which is unsuitable for the unmanned aerial vehicle to cruise, such as strong wind, heavy rain, thunder and lightning and the like can appear, the flight route of the unmanned aerial vehicle is changed to communicate with the unmanned aerial vehicle and control the unmanned aerial vehicle, the extreme weather area is bypassed, or the hangar in front of the extreme weather area is hidden, and the unmanned aerial vehicle is prevented from being damaged when flying into the extreme weather area to stop.
In order to ensure flight safety under extreme conditions (if meet hail suddenly, the rain fall, strong convection weather, or unmanned aerial vehicle accident, when the electric quantity is less than the unable condition of parking safely of hangar of arriving of unmanned aerial vehicle such as critical electric quantity), the current hangar transmission emergency forced landing instruction of being connected with unmanned aerial vehicle of flight control center accessible makes unmanned aerial vehicle forced landing to ground, ensure the safety of aircraft and task nacelle, send unmanned aerial vehicle geographical position information to the hangar of connecting simultaneously, be convenient for search and rescue personnel in time take back aircraft and data. In special cases, the information can be self-destroyed (formatted unmanned aerial vehicle storage device).
The invention solves the problem that the flight of the unmanned aerial vehicle is limited by the communication distance by setting the hangars with the communication transfer function on the unmanned aerial vehicle cruising route, and the hangars are mutually relayed and communicated with a remote flight control center. Unmanned aerial vehicle generally communicates with the hangar in the current communication range through WIFI, sends the image data of patrolling and examining that unmanned aerial vehicle gathered for the hangar in the communication range, and this hangar passes data return through jumping and flies the accuse center, flies the accuse center and sends control information back to unmanned aerial vehicle through the same link equally. When the unmanned aerial vehicle is about to leave the communication range of the current hangar, the unmanned aerial vehicle establishes communication connection with the next hangar on the cruise route (in order to ensure seamless and reliable communication, the communication ranges of the adjacent hangars are overlapped with each other to a certain extent), and after the communication is reliably established, the unmanned aerial vehicle is disconnected with the previous hangar. Namely, each hangar adopts a relay mode to establish communication connection with the unmanned aerial vehicle in sequence to complete the transmission of the control instruction and the routing inspection data of the unmanned aerial vehicle.
In order to ensure that the hangar can reliably and timely establish communication connection with the unmanned aerial vehicle entering the communication range of the hangar, the hangar needs to keep hot communication standby, wait for connection, and receive and forward relevant information at any time. The long-term maintenance of the communication function can cause large electricity consumption, and the hangar on the cruising route is often arranged in the field in the wasteland and provides electric energy by means of the photovoltaic panel and the storage battery; and the hangar generally still must be simultaneously for unmanned aerial vehicle charging or change the battery, and limited electric quantity is especially precious to the hangar. Excessive consumption can lead to the hangar to lose its function, patrols and examines for unmanned aerial vehicle and bring hidden danger and loss. The method further reduces the communication power of the machine library when the machine library has no communication requirement, and solves the problem of large electric quantity consumption.
The embodiment of the system is as follows:
the invention relates to a control system for unmanned aerial vehicle flight, which comprises a flight control center and a plurality of hangars continuously arranged on the flight path of the unmanned aerial vehicle, wherein the descriptions of the flight control center, the hangars and the connection relation of the flight control center and the hangars in the embodiment of the method are clear enough, and are not repeated.
Claims (10)
1. A relay control method for unmanned aerial vehicle flight is characterized by comprising the following steps:
1) when the hangar monitors the unmanned aerial vehicle, identity identification information and positioning information of the unmanned aerial vehicle are sent to a flight control center;
2) the flight control center identifies the unmanned aerial vehicle, and if the unmanned aerial vehicle is in the communication switching area, the flight control center sends a connection instruction to the hangar; the communication switching area is determined by the flight route;
3) after receiving the connection instruction, the hangar establishes communication with the unmanned aerial vehicle and serves as a communication relay between the unmanned aerial vehicle and the flight control center.
2. The relay control method for unmanned aerial vehicle flight according to claim 1, wherein in step 2), the connection instruction comprises a takeover key; and 3), after the takeover key received by the hangar is matched with the unmanned aerial vehicle, establishing communication with the unmanned aerial vehicle, and using the communication relay as a communication relay between the unmanned aerial vehicle and a flight control center.
3. A relay control method for unmanned aerial vehicle flight according to claim 2, wherein in step 1), the method for monitoring the unmanned aerial vehicle by the hangar which is not in communication with the unmanned aerial vehicle is as follows: intercepting the drone identification signal at low power; and 3), after the takeover key received by the hangar is matched with the unmanned aerial vehicle, establishing communication with the unmanned aerial vehicle at normal power.
4. The relay control method for unmanned aerial vehicle flight according to claim 3, wherein in step 3), after the hangar receives the connection instruction, the hangar operating device and/or the battery charging and swapping device is powered on, the hangar operating device and/or the battery charging and swapping device performs self-checking, and if an error exists, the flight control center is notified.
5. The relay control method for unmanned aerial vehicle flight according to claim 3 or 4, characterized in that in step 3), after the hangar and the unmanned aerial vehicle establish communication, the flight control center or the unmanned aerial vehicle sends charging request information to the hangar according to the electric quantity condition of the unmanned aerial vehicle; and after receiving the charging request information, the hangar powers on hangar operating equipment and/or battery charging and replacing equipment, and the hangar operating equipment and/or the battery charging and replacing equipment make preparations for the unmanned aerial vehicle to stop and charge/replace the battery.
6. The relay control method for unmanned aerial vehicle flight according to claim 5, wherein the flight control center obtains weather conditions around the corresponding hangar through the hangars, and if the weather conditions are not suitable for unmanned aerial vehicle flight, the unmanned aerial vehicle returns to the nearest other hangars or bypasses an area where the weather conditions are not suitable for unmanned aerial vehicle flight.
7. A control system for unmanned aerial vehicle flight is characterized by comprising a flight control center and a plurality of hangars which are continuously arranged on a flight path of the unmanned aerial vehicle; when the hangar monitors the unmanned aerial vehicle, identity identification information and positioning information of the unmanned aerial vehicle are sent to a flight control center; the flight control center identifies the unmanned aerial vehicle, and if the unmanned aerial vehicle is in the communication switching area, the flight control center sends a connection instruction to the hangar; the communication switching area is determined by the flight route; after receiving the connection instruction, the hangar establishes communication with the unmanned aerial vehicle and serves as a communication relay between the unmanned aerial vehicle and the flight control center.
8. The control system for drone flight of claim 7, wherein the connection instruction includes a takeover key; and 3), after the takeover key received by the hangar is matched with the unmanned aerial vehicle, establishing communication with the unmanned aerial vehicle, and using the communication relay as a communication relay between the unmanned aerial vehicle and a flight control center.
9. The control system for the flight of drones according to claim 8, wherein in step 1), the method for the hangar not communicating with drones to monitor drones is as follows: intercepting the drone identification signal at low power; and 3), after the takeover key received by the hangar is matched with the unmanned aerial vehicle, establishing communication with the unmanned aerial vehicle at normal power.
10. The system according to claim 9, wherein in step 3), after receiving the connection command, the hangar powers on the hangar operating device and/or the battery charging and swapping device, and the hangar operating device and/or the battery charging and swapping device performs self-checking, and if there is an error, notifies the flight control center.
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