CN111665863A - Relay control method and system for unmanned aerial vehicle - Google Patents
Relay control method and system for unmanned aerial vehicle Download PDFInfo
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- CN111665863A CN111665863A CN202010475678.0A CN202010475678A CN111665863A CN 111665863 A CN111665863 A CN 111665863A CN 202010475678 A CN202010475678 A CN 202010475678A CN 111665863 A CN111665863 A CN 111665863A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention relates to a relay control method and system for an unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle operation. According to the real-time position of the unmanned aerial vehicle, whether the real-time position of the unmanned aerial vehicle is on a preset switching route or not is judged by the flight control center, when the unmanned aerial vehicle is on the preset switching route, the flight control center controls the hangar corresponding to the preset switching route to take over signals of the unmanned aerial vehicle, unmanned flight speed data and image transmission data are transmitted to the flight control center from the hangar, and a control instruction of the flight control center is sent to the unmanned aerial vehicle from the hangar, so that relay control of signals of the unmanned aerial vehicle is realized, and reliability and safety of the unmanned aerial vehicle in a long-distance operation process are improved.
Description
Technical Field
The invention relates to a relay control method and system for an unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle operation.
Background
At present, unmanned aerial vehicles play an important role in the technical fields of routing inspection, delivery, surveying and mapping, search and rescue and the like. Because unmanned aerial vehicle self communication distance is shorter, and duration is poor, hardly uses on long distance operation route.
Disclosure of Invention
The invention aims to provide a relay control method and system for an unmanned aerial vehicle, and aims to solve the problems of reliability and safety in the existing unmanned aerial vehicle operation process.
The invention provides a relay control method for an unmanned aerial vehicle to solve the technical problems, and the control method comprises the following steps:
the flight control center acquires the position signal of the unmanned aerial vehicle in real time, compares the position signal with a set routing inspection route, judges whether the unmanned aerial vehicle is in a preset switching route, controls the first communication module corresponding to the hangar with the switching route to work electrically if the unmanned aerial vehicle is in the preset switching route, and takes over the control right of the unmanned aerial vehicle by the hangar according to the instruction of the flight control center, wherein the first communication module is a wireless communication module which is used for communicating with the unmanned aerial vehicle in the hangar.
According to the real-time position of the unmanned aerial vehicle, whether the real-time position of the unmanned aerial vehicle is on a preset switching route or not is judged by the flight control center, when the unmanned aerial vehicle is on the preset switching route, the flight control center controls the hangar corresponding to the preset switching route to take over signals of the unmanned aerial vehicle, unmanned flight state data and image transmission data are transmitted to the flight control center from the hangar, and a control instruction of the flight control center is sent to the unmanned aerial vehicle from the hangar, so that relay control of signals of the unmanned aerial vehicle is realized, and reliability and safety of the unmanned aerial vehicle in a long-distance operation process are improved.
Further, in order to ensure the safety of the relay control of the unmanned aerial vehicle, after the first communication module of the hangar is powered on to work, the first communication module establishes communication connection with the unmanned aerial vehicle through a handshake mechanism to obtain the serial number of the unmanned aerial vehicle, the hangar forwards the obtained serial number of the unmanned aerial vehicle to the flight control center, the flight control center sends a take-over key to the hangar according to the serial number of the unmanned aerial vehicle, the first communication module of the hangar completes the switching of the preset switching route according to the take-over key, and the take-over of the control right of the unmanned aerial vehicle is realized.
Furthermore, energy consumption is reduced under the condition that energy relay is guaranteed, when the unmanned aerial vehicle completes switching on a preset switching route, the flight control center needs to judge whether the unmanned aerial vehicle has a power supply request, and when the unmanned aerial vehicle has the power supply request and a standby landing request, the corresponding machine storehouse is controlled to be shut down and the power supply module is controlled to be powered on.
Further, in order to ensure normal power supply after shutdown, when the shutdown drive module and the power supply module in the hangar are powered on, the shutdown drive module and the power supply module are subjected to self-checking, if the self-checking is qualified, the shutdown drive module and the power supply module in the hangar are controlled to keep a power-on state, if the self-checking is unqualified, the shutdown drive module and the power supply module in the hangar are controlled to be powered off, and a self-checking result is sent to the flight control center.
Further, in order to ensure the safety of the unmanned aerial vehicle in extreme weather, the hangar also acquires weather forecast data, and when the weather forecast data shows that extreme weather exists in the place where the hangar with the unmanned aerial vehicle control right is taken over, the hangar sends a stop and rest instruction to the taken-over unmanned aerial vehicle through the first communication module of the hangar, so that the unmanned aerial vehicle is forced to enter the garage or to land on the spot.
The invention also provides a relay control system for the unmanned aerial vehicle, which comprises a flight control center and at least two hangars, wherein each hangar is provided with a first communication module and a second communication module, the first communication module is used for communicating with the unmanned aerial vehicle, the second communication module is used for being connected with the flight control center or the second communication modules in other hangars, the flight control center is used for acquiring the position signal of the unmanned aerial vehicle in real time, comparing the position signal with a set routing inspection route, judging whether the unmanned aerial vehicle is in a preset switching route, if so, controlling the first communication module of the hangar corresponding to the switching route to work on electricity, and taking over the control right of the unmanned aerial vehicle by the hangars according to the instruction of the flight control center.
According to the real-time position of the unmanned aerial vehicle, whether the real-time position of the unmanned aerial vehicle is on a preset switching route or not is judged by the flight control center, when the unmanned aerial vehicle is on the preset switching route, the flight control center controls the hangar corresponding to the preset switching route to take over signals of the unmanned aerial vehicle, unmanned flight state data and image transmission data are transmitted to the flight control center from the hangar, and a control instruction of the flight control center is sent to the unmanned aerial vehicle from the hangar, so that relay control of signals of the unmanned aerial vehicle is realized, and reliability and safety of the unmanned aerial vehicle in a long-distance operation process are improved.
Further, in order to ensure the safety of the relay control of the unmanned aerial vehicle, after a first communication module of the hangar is powered on to work, the first communication module establishes communication connection with the unmanned aerial vehicle through a handshake mechanism, acquires a serial number of the unmanned aerial vehicle, and forwards the acquired serial number of the unmanned aerial vehicle to a flight control center; meanwhile, switching of a preset switching route is completed after receiving a take-over key issued by the flight control center according to the unmanned aerial vehicle serial number, and take-over of the unmanned aerial vehicle control right is achieved.
Furthermore, energy consumption is reduced under the condition that energy relay is guaranteed, a shutdown driving module and a power supply module are arranged in the hangar, and when the unmanned aerial vehicle completes switching on a preset switching route and the flight control center judges that the unmanned aerial vehicle has a power supply request, the shutdown driving module and the power supply module in the hangar which completes switching are controlled to be powered on.
Further, in order to ensure that power can be normally supplied after shutdown, the shutdown drive module and the power supply module in the hangar need to be subjected to self-inspection after being powered on, if the self-inspection is qualified, the shutdown drive module and the power supply module in the hangar are controlled to keep a power-on state, and if the self-inspection is unqualified, the shutdown drive module and the power supply module in the hangar are controlled to be powered off, and a self-inspection result is sent to the flight control center.
Further, in order to ensure the safety of the unmanned aerial vehicle in extreme weather, the hangar also acquires weather forecast data, and when the weather forecast data shows that extreme weather exists in the place where the hangar with the unmanned aerial vehicle control right is taken over, the hangar sends a stop and rest instruction to the taken-over unmanned aerial vehicle through the first communication module of the hangar, so that the unmanned aerial vehicle is forced to enter the garage or to land on the spot.
Drawings
Fig. 1 is a schematic diagram of an appearance structure of an airfield in an embodiment of an unmanned aerial vehicle relay control system of the invention;
FIG. 2 is a schematic diagram illustrating an internal electrical control principle of an aircraft hangar in an embodiment of the unmanned aerial vehicle relay control system of the present invention;
FIG. 3 is a schematic diagram of the working principle of the unmanned aerial vehicle inspection system in the embodiment of the unmanned aerial vehicle relay control system of the invention;
FIG. 4 is a flowchart of a method for controlling the relay of an unmanned aerial vehicle according to the present invention;
wherein 1 is a transparent cup and 2 is an apron.
Detailed Description
Relay control system embodiment of unmanned aerial vehicle
The operation field of the unmanned aerial vehicle comprises inspection, delivery, surveying and mapping, search and rescue and the like, and the relay control system is explained in detail by taking relay control in the inspection process of the unmanned aerial vehicle as an example.
A general unmanned aerial vehicle inspection system is shown in fig. 3, and includes an inspection control center (for short, a flight control center), a plurality of hangars, and adjacent hangars are in communication connection, wherein at least one hangar is in communication connection with the flight control center, and is generally in communication connection with the nearest hangar of the flight control center, and the hangars, the hangars and the flight control center are in communication connection in a wired (optical fiber) or wireless manner. 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.
The flight control center is used for obtaining real-time position information of the unmanned aerial vehicle, dynamic flight data and inspection operation data (image-transmitted signals), the unmanned aerial vehicle is controlled according to the real-time position information and the dynamic flight data of the unmanned aerial vehicle, a corresponding ground hangar is controlled according to the real-time position information of the unmanned aerial vehicle, the flight control center stores a preset switching route in advance, the preset switching route refers to a road section needing to be switched over to relay signals of the unmanned aerial vehicle in the inspection route, the road section is determined by the flight control center according to the inspection route, the position of the unmanned aerial vehicle and the communication range of the hangar and the unmanned aerial vehicle, the preset switching route has multiple sections, and each section corresponds to one switched hangar. Meanwhile, the flight control center also stores serial numbers of all unmanned aerial vehicles and takeover keys corresponding to the serial numbers, and the takeover keys of different unmanned aerial vehicles can be different.
The machine base is mainly used for bidirectional relay of signals and energy to realize signal relay and energy supply, in the embodiment, the invention is explained by taking the machine base with the functions of relay communication and power supply as an example, namely, all the machine bases have the power supply function, and as other implementation modes, only one part of the machine bases can have the power supply function; the power supply mode can be charging or power exchanging, and can also be available at the same time, and the power supply mode of the hangar is charging.
The hangar structure in this embodiment is as shown in fig. 1, each hangar is provided with an apron 2 for landing of the unmanned aerial vehicle, the apron is provided with a transparent cup cover 1, and the transparent cup cover 1 is driven by a hatch door switch driving system to open and close. The cabin door switch driving system (a driving mechanism for short, a hydraulic mechanism and a pump can be adopted) controls the driving mechanism through the driving module by the control module so as to realize the lifting and closing of the transparent cup cover, and when the unmanned aerial vehicle enters or leaves a warehouse, the transparent cup cover is lifted under the driving of the hydraulic structure; when the unmanned aerial vehicle finishes warehousing or takes off, the transparent cup cover is closed under the driving of the hydraulic structure. In order to realize accurate landing of the unmanned aerial vehicle on the unmanned aerial vehicle parking platform, the color area is marked on the parking platform, and in the parking process of the unmanned aerial vehicle, the color area is identified through a camera on the unmanned aerial vehicle so as to realize accurate parking.
The electrical principle of the hangar in this embodiment is shown in fig. 2, the control module adopts an MCU, and is arranged on the control board, and the control board is provided with a first communication module (communication module a) connected with the MCU and used for communicating with the unmanned aerial vehicle, a second communication module (communication module B) used for communicating with other ground hangars and/or flight control centers, a driving module for controlling the driving mechanism, and a charging control module for controlling the charger; the driving mechanism and the charger are arranged outside the control panel. The machine library power supply preferably has two power supplies, one is used for supplying power to the control panel, and the other is used for supplying power to the driving mechanism and the charger outside the control panel, but only one high-capacity power supply module or more power supply modules can be provided. In this embodiment, the control panel is powered by a first storage battery, the driving mechanism and the charger are powered by a second storage battery, the first storage battery is connected to the control panel through a control power circuit, and the second storage battery provides power sources for the driving mechanism and the charger through a power circuit.
The communication module B is used for communicating with the flight control center, the connection with the flight control center may be a wired connection of a physical interface, or may be a wireless connection, and the wireless connection may generally adopt a mode of using the communication module B of another hangar as a relay to communicate with the flight control center in a multi-hop manner, or may be a direct communication connection 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 sleep, power needs to be continuously supplied to serve as a relay node of the other hangars and the flight control center, and 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; 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. In this embodiment, only one hangar is directly connected with the flight control center, and the other hangars are connected with the flight control center in a relay manner. Therefore, in the embodiment, in order to ensure that the unmanned aerial vehicle can perform data interaction with the flight control center in real time, once each hangar is started, the communication module B and the MCU are always in a live working state.
Communication module A is used for communicating with unmanned aerial vehicle, and communication module A can adopt wireless communication modules such as WIFI, APN, 4G or 5G, and only on unmanned aerial vehicle arrived the switching route, this switching route just makes sense to the communication module A power-on work of hangar. Therefore, the present invention provides a switching unit on the power line between the control power circuit and the communication module a, which is controlled by the MCU as shown in fig. 2. When judging that an unmanned aerial vehicle just enters a preset switching route, the flight control center sends a communication switching instruction to an MCU (microprogrammed control unit) of a hangar corresponding to the switching route, the MCU controls a switch unit to enable a first communication module of the MCU to work, the hangar can perform handshake authentication with the unmanned aerial vehicle through the communication module A, communication connection is established, an unmanned aerial vehicle serial number is obtained based on the communication connection, the obtained unmanned aerial vehicle serial number is forwarded to the flight control center by the hangar, the flight control center sends a take-over key to the hangar according to the unmanned aerial vehicle serial number, the first communication module of the hangar completes the switching of the preset switching route according to the take-over key, and the take-over of the unmanned aerial vehicle control right is realized.
The driving mechanism and the charger in the hangar are controlled to be in a power-off state when the driving mechanism and the charger do not need to work, the driving mechanism and the charger are controlled to be powered on to work only after the hangar receives a charging request of the unmanned aerial vehicle, and the charger in the embodiment is provided with a plurality of interfaces in order to meet the charging requirements of the unmanned aerial vehicles with different signals. The first method is that the unmanned aerial vehicle acquires SOC information of the unmanned aerial vehicle and judges whether the SOC is lower than a set threshold value, if so, the unmanned aerial vehicle directly sends a charging request to a corresponding hangar, and the charging request can be added to handshake information of the unmanned aerial vehicle and the hangar; secondly, the unmanned aerial vehicle sends the SOC information of the unmanned aerial vehicle to a corresponding hangar, and the hangar judges whether the unmanned aerial vehicle needs to be charged according to the SOC information; and the third method is that the unmanned aerial vehicle sends the SOC information of the unmanned aerial vehicle to a flight control center, the flight control center judges whether the unmanned aerial vehicle needs to be charged or not, and the flight control center sends a charging request to the hangar when the unmanned aerial vehicle needs to be charged.
In addition, the unmanned aerial vehicle needs to be stopped except charging, and may need to be stopped for rest in the hangar due to weather reasons, therefore, an environmental data acquisition module connected with the MCU is further arranged in the hangar, for example, an air speed sensor, a temperature and humidity sensor, an air pressure sensor and the like, meanwhile, the MCU also acquires weather forecast data issued by the flight control center through the communication module B, the hangar judges whether extreme weather (weather affecting normal flight of the unmanned aerial vehicle, such as strong wind, hail, rainstorm, heavy fog, strong convection weather and the like) exists according to the weather forecast data and the locally acquired environmental data, and if the hangar taking over the control right of the unmanned aerial vehicle judges that the extreme weather exists, the communication module a sends a stop and rest instruction to the unmanned aerial vehicle taken over, so as to force the unmanned aerial vehicle to enter into a warehouse or to be forced to land on the spot.
For the inspection system shown in fig. 3, the first communication modules of the hangar a, the hangar B and the hangar C all adopt WIFI modules, the second communication modules adopt optical fiber communication modules, and the flight control center, the hangar a, the hangar B and the hangar C are sequentially connected through optical fibers. The flight control center is stored with a routing inspection route, the starting point of the routing inspection route is the flight control center, the flight control center determines a switching route according to the routing inspection route, the position information of each hangar and the communication distance of the WIFI module, three switching routes are assumed to exist, each switching route corresponds to the hangar A, the hangar B and the hangar C, for example, when the unmanned aerial vehicle reaches the first switching route, the signal of the unmanned aerial vehicle needs to be switched to the hangar A, namely, the communication connection is established with the WIFI module of the hangar A. Therefore, before the unmanned aerial vehicle reaches the switching route, the WIFI module, the driving mechanism and the charger in the corresponding hangar are all in a power-off state, and the energy consumption state of the hangar is called a first-level energy consumption level (low level). Based on the inspection system, the relay control process of the system is as follows.
The hangar A establishes communication connection with the flight control center in an optical fiber or wireless mode, and the hangar B and the hangar C also establish communication connection with the flight control center through the relay of the hangar A. After the unmanned aerial vehicle departs from a flight control center, the unmanned aerial vehicle can directly perform data interaction with the flight control center within a WIFI module communication range of the flight control center, the unmanned aerial vehicle directly sends real-time position information, dynamic flight data and image transmission data to the flight control center through a WIFI communication module of the unmanned aerial vehicle, when the flight control center detects that the unmanned aerial vehicle reaches a first preset switching route, the flight control center sends a communication switching control command to a hangar A corresponding to the switching route through an optical fiber module, after receiving the control command, an MCU of the hangar A controls the WIFI module of the hangar A to be powered on and started, the hangar A can establish communication connection with the unmanned aerial vehicle through the WIFI module and acquire an unmanned aerial vehicle serial number, the hangar A forwards the acquired unmanned aerial vehicle serial number to the flight control center, the flight control center sends a corresponding takeover key to the hangar A according to the unmanned aerial vehicle serial number, and the WIFI module of the hangar A completes the switching of the preset switching, and the control right of the unmanned aerial vehicle is taken over. At the moment, the hangar A serves as a relay node to establish communication between the unmanned aerial vehicle and the flight control center to realize communication relay, at the moment, the unmanned aerial vehicle firstly sends the real-time position information, the dynamic flight data and the image transmission data to the hangar A through the WIFI module, and the hangar A forwards the real-time position information, the dynamic flight data and the image transmission data to the flight control center through the optical fiber communication module. The state of the energy consumption of the library a at this time is referred to as a second energy consumption level (intermediate level).
Meanwhile, after the unmanned aerial vehicle and the hangar A complete switching control, the hangar A also judges whether a charging request instruction of the unmanned aerial vehicle is received, if not, the hangar A is kept at the second energy consumption level, and at the moment, the hangar A only executes a task (signal forwarding) of the relay node. If the unmanned aerial vehicle arrives at the upper space of the hangar A, the transparent cup cover is controlled to lift up to make preparation for stopping, and when the unmanned aerial vehicle arrives at the stopping ground of the hangar A, the stopping platform is lowered to the cabin bottom to control the charger to charge the unmanned aerial vehicle. And when the self-check of the hangar A is unqualified, powering down a driving mechanism and a charger in the hangar A to restore the hangar A to a second energy consumption level, sending a result of the unqualified self-check to a flight control center, and replanning and scheduling other hangars to take over by the flight control center according to the electric quantity and the position of the unmanned aerial vehicle.
When the unmanned aerial vehicle finishes charging and taking off in the hangar A, the hangar A controls the driving mechanism and the charger to be powered off, so that the hangar A recovers to obtain a second energy consumption level, the unmanned aerial vehicle continues cruising along the routing inspection route, when the unmanned aerial vehicle reaches the second switching route, the flight control center sends a signal switching control instruction to the hangar B corresponding to the second switching route, the hangar B controls the WIFI module to be electrified after receiving the signal switching control instruction, so that the hangar B enters the second energy consumption level, and switching the relay node of the unmanned aerial vehicle from the hangar A to the hangar B in the manner of the hangar A, after the unmanned aerial vehicle finishes switching, the flight control center controls the WIFI module of the hangar A to be powered off, so that the hangar A is recovered to the lowest energy consumption level. The signal switching, charging judgment and control processes of the machine library B are completely the same as those of the machine library A, and the description is not repeated.
According to the relay control mode, the unmanned aerial vehicle can reach the end point along the cruising route to complete the cruising task. In the cruising process, in order to avoid influence of extreme weather on the unmanned aerial vehicle, the unmanned aerial vehicle is controlled to enter the hangar to carry out shutdown and rest according to weather conditions, for example, when the unmanned aerial vehicle flies along the routing inspection route, the hangar A and the hangar B both receive rainstorm early warning information sent by a flight control center, the hangar A and the hangar B also judge that the rainstorm is possible according to self environmental information (such as lower air pressure ratio), if the unmanned aerial vehicle is taken over by the hangar B at the moment, the hangar B sends a shutdown and rest instruction to the unmanned aerial vehicle, and forces the unmanned aerial vehicle to enter the hangar B to carry out warehousing rest or on-site shutdown and rest according to actual conditions, if the hangar B carries out warehousing rest, the driving mechanism of the hangar B is controlled to be electrified, so that the hangar B enters a second energy consumption level to carry out shutdown preparation work of the unmanned aerial vehicle, and meanwhile, when the unmanned aerial vehicle enters the hangar B to, charging service can be provided for the unmanned aerial vehicle.
Relay control method of unmanned aerial vehicle
In the invention, in the unmanned aerial vehicle operation project, the flight control center acquires the position signal of the unmanned aerial vehicle in real time, compares the position signal with the set routing inspection route, judges whether the unmanned aerial vehicle is in the preset switching route, if so, controls the first communication module of the hangar corresponding to the switching route to be electrified and operated, and takes over the control right of the unmanned aerial vehicle by the hangar according to the instruction of the flight control center, the implementation flow of the method is shown in fig. 4, the specific process is described in detail in the system embodiment, and the detailed description is omitted here.
Through the process, the flight control center can switch the communication signals in the routing inspection route according to the position signals of the unmanned aerial vehicle and the preset switching route, so that communication relay is realized, and the safety and reliability of routing inspection by the unmanned aerial vehicle are improved. Meanwhile, the hangar can be controlled to be in different energy consumption levels according to the real-time position of the unmanned aerial vehicle and the actual requirements of the unmanned aerial vehicle. When the hangar is not the hangar corresponding to the switching road section of the unmanned aerial vehicle, controlling the hangar to work in a low energy consumption mode; when the hangar is not the hangar corresponding to the switching road section of the unmanned aerial vehicle, controlling the hangar to work in a medium energy consumption mode; when an unmanned aerial vehicle exists in the communication range of the hangar WIFI module and a charging requirement or a shutdown and rest requirement exists, the hangar is controlled to work in a high energy consumption mode. Therefore, the invention can realize the communication relay of the unmanned aerial vehicle and reduce the energy consumption level to the greatest extent on the premise of not influencing the normal signal transmission and energy supply of the unmanned aerial vehicle.
Claims (10)
1. A relay control method for an unmanned aerial vehicle is characterized by comprising the following steps:
the flight control center acquires the position signal of the unmanned aerial vehicle in real time, compares the position signal with a set routing inspection route, judges whether the unmanned aerial vehicle is in a preset switching route, controls the first communication module corresponding to the hangar with the switching route to work electrically if the unmanned aerial vehicle is in the preset switching route, and takes over the control right of the unmanned aerial vehicle by the hangar according to the instruction of the flight control center, wherein the first communication module is a wireless communication module which is used for communicating with the unmanned aerial vehicle in the hangar.
2. The relay control method for the unmanned aerial vehicle as claimed in claim 1, wherein after the first communication module of the hangar is powered on to operate, the first communication module establishes a communication connection with the unmanned aerial vehicle through a handshake mechanism to obtain a serial number of the unmanned aerial vehicle, the hangar forwards the obtained serial number of the unmanned aerial vehicle to the flight control center, the flight control center issues a takeover key to the hangar according to the serial number of the unmanned aerial vehicle, and the first communication module of the hangar completes switching of a preset switching route according to the takeover key to realize takeover of the control right of the unmanned aerial vehicle.
3. The relay control method for the unmanned aerial vehicle as claimed in claim 1 or 2, wherein when the unmanned aerial vehicle completes switching on a preset switching route, the flight control center further needs to determine whether the unmanned aerial vehicle has a power supply and standby landing request, and when the unmanned aerial vehicle has the power supply and standby landing request, the corresponding shutdown driving module and the power supply module in the hangar are controlled to be powered on.
4. The relay control method for the unmanned aerial vehicle as claimed in claim 3, wherein after the shutdown driving module and the power-up module in the hangar are powered on, the shutdown driving module and the power-up module are self-checked, if the self-check is qualified, the shutdown driving module and the power-up module in the hangar are controlled to keep a power-on state, and if the self-check is unqualified, the shutdown driving module and the power-up module in the hangar are controlled to be powered off, and a self-check result is sent to the flight control center.
5. The relay control method for the unmanned aerial vehicle as claimed in claim 3, wherein the hangar further obtains weather forecast data, and when extreme weather exists in the hangar where the control right of the unmanned aerial vehicle is taken over is displayed in the weather forecast data, the hangar sends a stop and rest instruction to the unmanned aerial vehicle taken over through the first communication module of the hangar, so as to force the unmanned aerial vehicle to enter the hangar or to be forced to land on the spot.
6. The utility model provides a relay control system for unmanned aerial vehicle, includes and flies control center and two at least hangars, all is provided with first communication module and second communication module in every hangar, and wherein first communication module is used for communicating with unmanned aerial vehicle, and the second communication module is used for being connected with the second communication module in flying control center or other hangars, its characterized in that flies control center and is used for obtaining unmanned aerial vehicle's position signal in real time, compares it with the route of patrolling and examining of setting for, judges whether unmanned aerial vehicle is in predetermined switching route, if be in, then control and switch the first communication module of route correspondence hangar and go up electric work to take over unmanned aerial vehicle's control right by this hangar according to flying control center's instruction.
7. The relay control system for the unmanned aerial vehicle as claimed in claim 6, wherein after the first communication module of the hangar is powered on to operate, the first communication module establishes a communication connection with the unmanned aerial vehicle through a handshake mechanism, obtains a serial number of the unmanned aerial vehicle, and forwards the obtained serial number of the unmanned aerial vehicle to the flight control center; meanwhile, switching of a preset switching route is completed after receiving a take-over key issued by the flight control center according to the unmanned aerial vehicle serial number, and take-over of the unmanned aerial vehicle control right is achieved.
8. The relay control system for the unmanned aerial vehicle as claimed in claim 6 or 7, wherein the hangar is provided with a shutdown driving module and a power supply module, and when the unmanned aerial vehicle completes switching on a preset switching route and the flight control center determines that the unmanned aerial vehicle has a power supply request, the shutdown driving module and the power supply module in the hangar which completes switching are controlled to be powered on.
9. The relay control system for the unmanned aerial vehicle as claimed in claim 8, wherein after the shutdown driving module and the power-up module in the hangar are powered on, the shutdown driving module and the power-up module are subjected to self-checking, if the self-checking is qualified, the shutdown driving module and the power-up module in the hangar are controlled to keep a power-up state, and if the self-checking is unqualified, the shutdown driving module and the power-up module in the hangar are controlled to be powered off, and a self-checking result is sent to the flight control center.
10. The relay control system for the unmanned aerial vehicle as claimed in claim 8, wherein the hangar further obtains weather forecast data, and when extreme weather exists in the hangar where the control right of the unmanned aerial vehicle is taken over is displayed in the weather forecast data, the hangar sends a stop and rest instruction to the unmanned aerial vehicle taken over through the first communication module of the hangar, so as to force the unmanned aerial vehicle to enter the hangar or to be forced to land on the spot.
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| CN112965524A (en) * | 2021-02-07 | 2021-06-15 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method, device and system, storage medium and electronic equipment |
| CN115061493A (en) * | 2022-06-24 | 2022-09-16 | 深圳市多翼创新科技有限公司 | Unmanned aerial vehicle automatic safe driving system and method and unmanned aerial vehicle |
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