CN112311872A - Unmanned aerial vehicle nest autonomous cruise network system - Google Patents
Unmanned aerial vehicle nest autonomous cruise network system Download PDFInfo
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
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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
- H04L67/10—Protocols in which an application is distributed across nodes in the network
- H04L67/1097—Protocols in which an application is distributed across nodes in the network for distributed storage of data in networks, e.g. transport arrangements for network file system [NFS], storage area networks [SAN] or network attached storage [NAS]
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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
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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
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Abstract
The invention provides an unmanned aerial vehicle nest autonomous cruise network system, which belongs to the technical field of unmanned aerial vehicles and comprises a positioning subsystem, an intelligent power supply management subsystem, a distributed storage subsystem, an automatic unmanned aerial vehicle autonomous management subsystem, a working scene building subsystem and a control subsystem; according to the unmanned aerial vehicle single-machine full-self-service cruise system, the taking-off and landing data and the conduction data of the unmanned aerial vehicle nest machine are effectively protected by using a timestamp technology of a block chain, meanwhile, the intelligent power supply management subsystem is used for providing long-time electric quantity storage for the unmanned aerial vehicle, and the automatic unmanned aerial vehicle autonomous management subsystem is combined to build the unmanned aerial vehicle single-machine full-self-service cruise system with high safety and reliability and high cruising ability.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle nest autonomous cruise network system.
Background
The development of the relevant fields of aviation is driven by the change of electronics and information technology, an unmanned aerial vehicle flies through wireless control or autonomously according to a preset program, many actual requirements such as military use and civil use can be met, the unmanned aerial vehicle becomes a hotspot of research attention in the industry at present, along with the gradual maturity of the research and development technology, the production cost is greatly reduced, and the unmanned aerial vehicle is widely applied in various fields. Nevertheless, unmanned aerial vehicle still has many limitations in the use, has its self limitation, also has external environment's factor, has restricted unmanned aerial vehicle's use occasion, and one is that unmanned aerial vehicle need solve frequent charging problem in the in-process of outdoor use. The unmanned aerial vehicle that uses electric energy drive in the existing market all uses lithium cell power supply. The lithium battery has light weight, long service life and high bearing energy, so the lithium battery becomes a second choice for providing the energy of the unmanned aerial vehicle. However, the lithium battery needs to be supplied with power by a stable power supply, so that the application scene of the unmanned aerial vehicle is limited to a place where power can be conveniently obtained, and the value flight time of the unmanned aerial vehicle is limited. There is a need for a mobile service platform that can be recharged anytime and anywhere. The mobile charging station can charge the unmanned aerial vehicle, and can be moved conveniently to take electricity at any time and any place; in addition, the service desk needs to provide more intelligent shutdown and takeoff service for the automatic returning unmanned aerial vehicle, and the unmanned aerial vehicle is prevented from accidentally taking off when stopped and charged. Because unmanned aerial vehicle belongs to the electronic product, high humidity environment can break down, and the service desk still need provide the environment that keeps out the wind and keep out the rain for unmanned aerial vehicle, and at present, the product in this aspect is not many on the market, and the cost amount of product is also very expensive in addition.
In the current most unmanned aerial vehicle application scenes, designated flight tasks can be completed only by manually remotely operating the unmanned aerial vehicle, the manpower is not completely liberated yet, and the operation mode is easily influenced by the route geographical position, the external operation environment and the meteorological conditions. For the unmanned aerial vehicle flyer, the labor intensity is high, the working condition is hard, the labor efficiency is low, and the operation requirement is difficult to meet; in addition, the manual remote control operation provides high requirements for the operation level of the unmanned aerial vehicle flyer, and the unmanned aerial vehicle can be crashed due to air accidents and cause great loss of personnel or property by carelessness, so that the further development of the unmanned aerial vehicle industry is limited by the problems. Only the unmanned aerial vehicle gets rid of the constraint of manpower completely, realizes the full autonomic flight of single machine, full play its high efficiency, high reliability, high accuracy, not influenced by the region and advantages such as reduce the operation cost, just can effectively promote the efficiency and the level of operation and widen its application scenario.
As is well known, the unmanned aerial vehicle has high requirements on the environment in the operation process and cannot operate under the conditions of high wind power and rain. In addition, unmanned aerial vehicle flight in-process, communication module and the global positioning system who carries on receive external electromagnetic interference more easily on the aircraft. At present, unmanned aerial vehicle's means of communication mainly relies on shortwave and ultrashort wave. The short wave is greatly influenced by atmosphere propagation condition change of an ionization layer, and the communicable probability is low; ultrashort wave belongs to the line of sight communication, and factors such as earth curvature, mountain shelter from, multipath effect all directly influence communication distance, have restricted unmanned aerial vehicle's the scope of patrolling and examining. The satellite communication can well break through the limitation of the communication conditions and achieve the purpose of over-the-horizon communication. When unmanned aerial vehicle work in strong electromagnetic environment, these communication module just receive the interference of noise easily and lead to the data inefficacy, and then lead to unmanned aerial vehicle the condition emergence of crash. If many anti-unmanned aerial vehicle equipment on the market, its theory of operation is through high-power electromagnetic wave cover and disturb target unmanned aerial vehicle's remote control signal and GPS signal to trigger unmanned aerial vehicle's safety mechanism, make its original place landing or the return journey of out of control, reach the purpose of eliminating current airspace threat. Most electric power patrols and examines the project on the market at present, unmanned aerial vehicle is all patrolled and examined apart from the electric wire 10 meters to prevent that unmanned aerial vehicle from receiving electromagnetic interference's influence.
Therefore, the safe and reliable unmanned aerial vehicle single-machine full-autonomous cruise system with high cruising ability is built, and the system has important significance in the aspects of unmanned aerial vehicle standard industry application, task safety guarantee, operation efficiency improvement and the like.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle nest autonomous cruise network system which is used for building a safe and reliable unmanned aerial vehicle single-machine full-self-service cruise system with high cruising ability.
In order to achieve the purpose, the invention provides the following technical scheme: the system comprises a positioning subsystem, an intelligent power management subsystem, a distributed storage subsystem, an automatic unmanned aerial vehicle autonomous management subsystem, a working scene building subsystem and a control subsystem; the positioning subsystem comprises an RTK positioning module and is used for high-precision positioning of unmanned aerial vehicle flight under various flight conditions; the intelligent power management subsystem comprises a power distribution module, a power distribution network fault detection module and a power distribution network maintenance module, and is used for an unmanned aerial vehicle nest to automatically supply power to the unmanned aerial vehicle; the distributed storage subsystem comprises a block chain module which is used for carrying out safety control on the system and ensuring that the system can stably and safely operate; the automatic unmanned aerial vehicle autonomous management subsystem comprises a block crisis prevention module and a processing module; the working scene building subsystem is used for monitoring the working state of the unmanned aerial vehicle nest in a complex and severe field working environment; and the control subsystem is used for editing instructions at a background and sending the instructions to the unmanned aerial vehicle through a network to control the unmanned aerial vehicle.
As a preferred aspect of the present invention, the RTK positioning module includes a micro-electromechanical sensor, an RTK measuring instrument, and the micro-electromechanical sensor is used in combination with the RTK measuring instrument.
As a preferable scheme of the invention, the power distribution module comprises a photovoltaic cell, a fan, a controller and a storage battery, the controller is connected with the photovoltaic cell, the controller is far away from the photovoltaic cell and transmits electric quantity to a load at one end, and the other end is connected to the storage battery for electric quantity storage.
As a preferred scheme of the present invention, the power distribution network maintenance module employs a PMS2.0 system.
As a preferred scheme of the present invention, the work scene construction subsystem includes a scene simulation module.
As a preferable aspect of the present invention, the crisis prevention module includes a gyro sensor, an accelerometer sensor, a magnetometer sensor, a GPS sensor, and a barometer sensor.
As a preferred scheme of the present invention, the control subsystem includes a communication motherboard, an equipment control motherboard, an unmanned aerial vehicle take-off and landing service desk, a video image acquisition camera, a sensor module, a GPS module, and a network transmission module, the communication motherboard is connected to the network transmission module, the video image acquisition camera transmits data to the communication motherboard, the communication motherboard exchanges information with the equipment control motherboard, the communication motherboard and the equipment control motherboard are connected via two serial ports, the GPS module, the sensor module, and the unmanned aerial vehicle take-off and landing service desk are all connected to the equipment control motherboard, and the equipment control motherboard can control the unmanned aerial vehicle take-off and landing service desk.
As a preferred aspect of the present invention, the service desk initialization includes the following steps:
s1, firstly, hardware initialization is carried out, and whether the unmanned aerial vehicle is on a shutdown platform is judged;
s2, if the unmanned aerial vehicle is on the stop platform in the step 1, detecting whether a control signal can be received, if the unmanned aerial vehicle is not on the stop platform, detecting whether the stop platform extends out, if the stop platform extends out, detecting whether the control signal can be received again, if the stop platform does not extend out, opening an upper window, extending out the platform, and judging again;
s3, after the above steps, if the control signal can be received, the operation is executed.
As a preferred aspect of the present invention, the service desk performs a procedure including the following steps:
s1, reading GPS signals by a serial port;
s2, extracting GPS data to obtain UTC time and converting the UTC time into local time;
s3, when the set time is reached, reading information such as the state quantity and the electric quantity of the aircraft, if weather is rainy or low in visibility, the server is in a waiting state, if the electric quantity is low, the last step is executed, and if the flight condition is met, the next step is executed;
s4, starting a service desk and sending a takeoff instruction to the aircraft;
s5, sending a closing instruction after the aircraft stops at a fixed point, and closing the service desk;
and S6, charging the service desk, and sending a signal to turn off the relay after the electric quantity is full.
Compared with the prior art, the invention has the beneficial effects that:
1. this unmanned aerial vehicle nest network system that independently cruises, the unmanned aerial vehicle nest sets up intelligent power management subsystem, unmanned aerial vehicle nest power intelligent management is through analysis distribution network fault type, the drawback of mode is salvageed to traditional trouble, combine the automatic system of patrolling and examining of unmanned aerial vehicle, build the novel distribution network based on PMS2.0 system and salvage the platform, this platform has realized the sharing of multisystem information, the trouble is reported for repairment automatic receiving, the party, can analyze, study and judge, merge the work order, through unmanned aerial vehicle system of patrolling and examining, it patrols and examines to replace the manual work with full automatization unmanned aerial vehicle, the realization is to salvageing on-the-spot real time monitoring.
2. The unmanned aerial vehicle nest autonomous cruise network system adopts a distributed storage subsystem and utilizes a timestamp technology of a block chain to enable a time type network covert channel under a block chain network environment to have anti-interference performance, is not influenced by a network environment and is not influenced by a technology based on modification of network data time attributes; by utilizing the chain type storage technology of the block chain, the storage type network covert channel under the block chain network environment has tamper resistance and is not influenced by the technology based on communication content modification; by using the block chain peer-to-peer network communication technology, the distributed multi-line transmission of the hidden information under the block chain network environment is realized, and the defects that a static single-line transmission mode under the traditional network environment is easy to be detected, interfered and blocked pertinently are overcome.
3. According to the unmanned aerial vehicle nest autonomous cruise network system, through the crisis prevention module and the processing module of the automatic unmanned aerial vehicle autonomous management subsystem, before the unmanned aerial vehicle sails in executing tasks, all modules of an unmanned aerial vehicle power supply, positioning, communication, camera shooting and the like can be self-checked, and the take-off sailing task can be executed all the time normally, so that the safety is ensured; and in the process of executing the task by the unmanned aerial vehicle, if signal interruption or abnormal interference occurs, the return flight is automatically executed, the unmanned aerial vehicle returns to the starting unmanned aerial vehicle nest, and an abnormal report is returned, so that the unmanned aerial vehicle is effectively protected.
4. The unmanned aerial vehicle nest autonomous cruise network system can be used for autonomous takeoff and landing of an unmanned aerial vehicle through the control subsystem, and is matched with full-automatic operation of the unmanned aerial vehicle; the positioning and timing functions are realized, and the local position information can be acquired and the local time can be automatically calibrated through the GPS module; and can carry out two-way communication, realize the three-way data interaction of service desk, unmanned aerial vehicle, backstage, can provide unmanned aerial vehicle to charge.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic diagram of a service desk according to the present invention;
FIG. 3 is a diagram illustrating a service desk framework according to the present invention;
FIG. 4 is a schematic diagram illustrating the steps of the initialization process of the service desk in the present invention;
FIG. 5 is a flow chart illustrating the operation of the helpdesk.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1-5, the present invention provides the following technical solutions: the system comprises a positioning subsystem, an intelligent power management subsystem, a distributed storage subsystem, an automatic unmanned aerial vehicle autonomous management subsystem, a working scene building subsystem and a control subsystem;
the positioning subsystem comprises an RTK positioning module and is used for high-precision positioning of unmanned aerial vehicle flight under various flight conditions;
the intelligent power management subsystem comprises a power distribution module, a power distribution network fault detection module and a power distribution network maintenance module, and is used for an unmanned aerial vehicle nest to automatically supply power to the unmanned aerial vehicle;
the distributed storage subsystem comprises a block chain module which is used for carrying out safety control on the system and ensuring that the system can stably and safely operate;
the automatic unmanned aerial vehicle autonomous management subsystem comprises a block crisis prevention module and a processing module;
the working scene building subsystem is used for monitoring the working state of the unmanned aerial vehicle nest in a complex and severe field working environment;
and the control subsystem is used for editing instructions at a background and sending the instructions to the unmanned aerial vehicle through a network to control the unmanned aerial vehicle.
Specifically, the RTK positioning module comprises a micro-electromechanical sensor and an RTK measuring instrument, and the micro-electromechanical sensor and the RTK measuring instrument are connected and combined for use.
Specifically, the power distribution module comprises a photovoltaic cell, a fan, a controller and a storage battery, the controller is connected with the photovoltaic cell, the controller is far away from the photovoltaic cell end, electric quantity is conveyed to a load at one end, and the other end of the controller is connected to the storage battery to store the electric quantity.
In the embodiment, when the illumination is sufficient, the photovoltaic panel assembly generates direct current, the fan generates a little alternating current, the direct current and the little alternating current are rectified, a controller is used for controlling a part of direct current to supply power to the load, and a part of direct current charges the storage battery for standby; at night or in winter, the electric energy of the fan and the storage battery is used for a load, so that the reliability of the wind-solar hybrid power generation system is ensured, the storage battery is used as an energy storage component of the wind-solar hybrid power generation system, a single solar photovoltaic module is linear charging characteristic for charging the storage battery, long-term linear charging can lead to inertization of electric ions of the storage battery, the storage battery needs to be frequently charged by large current pulses to activate the electric ions, but the photovoltaic module is difficult to form large current pulse charging; aerogenerator just can form heavy current pulse and charge, the effectual power energy problem of having solved provides the guarantee of electric energy to unmanned aerial vehicle's flight simultaneously.
Specifically, the power distribution network maintenance module adopts a PMS2.0 system.
In the above-mentioned embodiment, build the novel distribution network salvagees platform based on PMS2.0 system, salvage the platform through this novel distribution network and realized the sharing of multisystem information, the trouble is reported and is repaiied automatic receiving, the party worker, can analyze, study and judge, merge the work order, patrol and examine the system through unmanned aerial vehicle, patrol and examine and replace the manual work with full automatization unmanned aerial vehicle and patrol and examine, the realization is to salvageing on-the-spot real time monitoring function, distribution network trouble salvagees efficiency has been improved, make the unmanned aerial vehicle nest can dock the power supply for unmanned aerial vehicle automatically, supply power for unmanned aerial vehicle nest self simultaneously, leave when outdoor at unmanned aerial vehicle nest system for a long time, can ensure.
Specifically, the work scene construction subsystem comprises a scene simulation module.
In the above-mentioned embodiment, the scene simulation module can simulate the planting soil of large tracts of land, to the planting soil of large tracts of land, the manpower is more consumeed in artifical nurse inspection, full-automatic unmanned aerial vehicle can realize independently cruising, detect crops and environmental aspect, through the external equipment of large-scale unmanned aerial vehicle, can realize that unmanned aerial vehicle independently cruises the crops of in-process and sprays, along with the further promotion of domestic land turnover rate, agricultural large-scale production becomes a trend, the urgent need scale, mechanized novel plant protection side.
Specifically, the crisis prevention module includes a gyroscope sensor, an accelerometer sensor, a magnetometer sensor, a GPS sensor, and a barometer sensor.
In the above embodiment, the MEMS gyroscope and the accelerometer are used in the drone to maintain the stable flight of the drone, the MEMS sensor is different from the conventional sensor, and it adopts the concept of sensing the angular velocity by a vibrating object, so that there exists a resonance frequency, when the vibration frequency of the external disturbance is consistent with the natural vibration frequency of the MEMS gyroscope, a resonance effect is generated to strengthen the vibration, thereby affecting the accuracy of the data output by the gyroscope and even possibly damaging the sensor, the ultrasonic wave interferes with the MEMS gyroscope of the drone, so that the MEMS gyroscope on the drone cannot work normally, thereby the drone cannot perform attitude control, and further the drone crashes, when the drone needs to perform self-diagnosis before performing mission navigation, and whether the mission navigation task is normal is judged, all modules of the drone power supply, positioning, communication, camera shooting, and the like are self-checked, the takeoff and navigation tasks are executed all the time normally. If the self-checking finds that the module has a problem, an error report is returned, the task is abandoned, safety is ensured, and when the unmanned aerial vehicle executes the task and signal interruption or abnormal interference occurs, return flight is automatically executed, the unmanned aerial vehicle returns to the starting unmanned aerial vehicle nest, and an abnormal report is returned.
Concretely, control subsystem includes the communication mainboard, the equipment control mainboard, unmanned aerial vehicle service platform that takes off and land, video image gathers the camera, sensor module, the GPS module, network transmission module, the communication mainboard is connected with network transmission module, video image gathers camera transmission data to the communication mainboard, communication mainboard and equipment control mainboard information exchange, connect through two serial ports between the two, the GPS module, sensor module, the equal data connection of unmanned aerial vehicle service platform that takes off and land to the equipment control mainboard, the steerable unmanned aerial vehicle service platform that takes off and land of equipment control mainboard.
Combine above-mentioned each system module, provide the safety guarantee through the data of block chain technique to unmanned aerial vehicle and unmanned aerial vehicle nest, the block chain technique carries out the management and control to unmanned aerial vehicle safety: by utilizing a time stamp technology of a block chain, a time type network covert channel in a block chain network environment has anti-interference performance, is not influenced by the network environment and is not influenced by a technology based on modification of network data time attributes; by using the chain type storage technology of the block chain, the storage type network covert channel under the block chain network environment has tamper resistance and is not influenced by the technology based on communication content modification.
The data is stored in a distributed mode by using a block chain technology, and the data safety of the server can be completely guaranteed by using the Hash value generation and verification technology of the block chain. The Hash value of each block of the block chain is generated according to the characteristic value of the head of the block, the Hash value of the previous block and the content of the block, and as long as one of the three parts is changed, the corresponding Hash value is also changed. If a hacker attacks one database in the network, the block chains of other databases in the network are changed, so that the hacker cannot obtain all data at once, and the security of the database is greatly improved.
Specifically, the service desk initialization comprises the following steps:
s1, firstly, hardware initialization is carried out, and whether the unmanned aerial vehicle is on a shutdown platform is judged;
s2, if the unmanned aerial vehicle is on the stop platform in the step 1, detecting whether a control signal can be received, if the unmanned aerial vehicle is not on the stop platform, detecting whether the stop platform extends out, if the stop platform extends out, detecting whether the control signal can be received again, if the stop platform does not extend out, opening an upper window, extending out the platform, and judging again;
s3, after the above steps, if the control signal can be received, the operation is executed.
Specifically, the service desk execution comprises the following steps:
s1, reading GPS signals by a serial port;
s2, extracting GPS data to obtain UTC time and converting the UTC time into local time;
s3, when the set time is reached, reading information such as the state quantity and the electric quantity of the aircraft, if weather is rainy or low in visibility, the server is in a waiting state, if the electric quantity is low, the last step is executed, and if the flight condition is met, the next step is executed;
s4, starting a service desk and sending a takeoff instruction to the aircraft;
s5, sending a closing instruction after the aircraft stops at a fixed point, and closing the service desk;
and S6, charging the service desk, and sending a signal to turn off the relay after the electric quantity is full.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An unmanned aerial vehicle nest autonomous cruise network system is characterized by comprising a positioning subsystem, an intelligent power supply management subsystem, a distributed storage subsystem, an automatic unmanned aerial vehicle autonomous management subsystem, a working scene building subsystem and a control subsystem; the positioning subsystem comprises an RTK positioning module and is used for high-precision positioning of unmanned aerial vehicle flight under various flight conditions; the intelligent power management subsystem comprises a power distribution module, a power distribution network fault detection module and a power distribution network maintenance module, and is used for an unmanned aerial vehicle nest to automatically supply power to the unmanned aerial vehicle; the distributed storage subsystem comprises a block chain module which is used for carrying out safety control on the system and ensuring that the system can stably and safely operate; the automatic unmanned aerial vehicle autonomous management subsystem comprises a block crisis prevention module and a processing module; the working scene building subsystem is used for monitoring the working state of the unmanned aerial vehicle nest in a complex and severe field working environment; and the control subsystem is used for editing instructions at a background and sending the instructions to the unmanned aerial vehicle through a network to control the unmanned aerial vehicle.
2. The drone nest autonomous cruise network system of claim 1, wherein the RTK positioning module includes a micro-electromechanical sensor, an RTK measurement instrument, the micro-electromechanical sensor used in conjunction with the RTK measurement instrument.
3. The unmanned aerial vehicle nest autonomous cruise network system of claim 1, characterized in that, the distribution module includes photovoltaic cell, fan, controller, battery, and the controller is connected photovoltaic cell, and the controller is kept away from photovoltaic cell end, carries the electric quantity to the load of one end, and the other end is connected to the battery and carries out the electric quantity storage.
4. The unmanned drone nest autonomous cruise network system of claim 1, wherein the power distribution network overhaul module employs a PMS2.0 system.
5. The drone nest autonomous cruise network system according to claim 1, characterised in that said working scenario construction subsystem comprises a scenario simulation module.
6. The drone nest autonomous cruise network system according to claim 1, characterised in that the crisis prevention module comprises gyroscope sensors, accelerometer sensors, magnetometer sensors, GPS sensors and barometer sensors.
7. The unmanned aerial vehicle nest autonomous cruise network system according to claim 1, characterized in that, the control subsystem includes communication mainboard, equipment control mainboard, unmanned aerial vehicle take-off and landing service desk, video image acquisition camera, sensor module, GPS module, network transmission module, communication mainboard is connected with network transmission module, video image acquisition camera transmits data to communication mainboard, communication mainboard and equipment control mainboard information interchange, connect through two serial ports between the two, GPS module, sensor module, unmanned aerial vehicle take-off and landing service desk average data are connected to the equipment control mainboard, the equipment control mainboard can control unmanned aerial vehicle take-off and landing service desk.
8. The drone nest autonomous cruise network system according to claim 7, characterized in that said service station initialization comprises the following steps:
s1, firstly, hardware initialization is carried out, and whether the unmanned aerial vehicle is on a shutdown platform is judged;
s2, if the unmanned aerial vehicle is on the stop platform in the step 1, detecting whether a control signal can be received, if the unmanned aerial vehicle is not on the stop platform, detecting whether the stop platform extends out, if the stop platform extends out, detecting whether the control signal can be received again, if the stop platform does not extend out, opening an upper window, extending out the platform, and judging again;
s3, after the above steps, if the control signal can be received, the operation is executed.
9. The drone nest autonomous cruise network system according to claim 7, characterized in that said service station performs steps comprising:
s1, reading GPS signals by a serial port;
s2, extracting GPS data to obtain UTC time and converting the UTC time into local time;
s3, when the set time is reached, reading information such as the state quantity and the electric quantity of the aircraft, if weather is rainy or low in visibility, the server is in a waiting state, if the electric quantity is low, the last step is executed, and if the flight condition is met, the next step is executed;
s4, starting a service desk and sending a takeoff instruction to the aircraft;
s5, sending a closing instruction after the aircraft stops at a fixed point, and closing the service desk;
and S6, charging the service desk, and sending a signal to turn off the relay after the electric quantity is full.
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