CN112750303A - Highway patrol is alert with unmanned aerial vehicle system - Google Patents

Highway patrol is alert with unmanned aerial vehicle system Download PDF

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Publication number
CN112750303A
CN112750303A CN202011417389.1A CN202011417389A CN112750303A CN 112750303 A CN112750303 A CN 112750303A CN 202011417389 A CN202011417389 A CN 202011417389A CN 112750303 A CN112750303 A CN 112750303A
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China
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unmanned aerial
aerial vehicle
vehicle system
ground
remote
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CN202011417389.1A
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Chinese (zh)
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周振华
朱宇光
杨博媛
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Changzhou Vocational Institute of Light Industry
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Changzhou Vocational Institute of Light Industry
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Priority to CN202011417389.1A priority Critical patent/CN112750303A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
    • 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
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • 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
    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • G05D1/0061—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements for transition from automatic pilot to manual pilot and vice versa
    • 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
    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • G05D1/0077—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements using redundant signals or controls
    • 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
    • G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • 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
    • G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/26—Government or public services
    • G06Q50/265—Personal security, identity or safety
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/21—Server components or server architectures
    • H04N21/218—Source of audio or video content, e.g. local disk arrays
    • H04N21/2181—Source of audio or video content, e.g. local disk arrays comprising remotely distributed storage units, e.g. when movies are replicated over a plurality of video servers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/21—Server components or server architectures
    • H04N21/218—Source of audio or video content, e.g. local disk arrays
    • H04N21/2187—Live feed
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client 
    • H04N21/61—Network physical structure; Signal processing
    • H04N21/6106—Network physical structure; Signal processing specially adapted to the downstream path of the transmission network
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Abstract

A highway patrol police unmanned aerial vehicle system is disclosed, wherein the sky end comprises an unmanned aerial vehicle provided with a three-axis nacelle; the relay terminal comprises a graph transmission data relay station and a graph transmission antenna; the ground end comprises a takeoff field, a ground control station and a 4G direct broadcast module; the remote end comprises a mobile command center, a remote command center and a remote intelligent terminal; the unmanned aerial vehicle wirelessly transmits with a graph transmission data relay station provided with a graph transmission antenna, and wirelessly transmits without relay with a ground control station; and the image transmission data relay station performs wireless transmission with the ground control station and the 4G live broadcast module. The system improves the high-efficiency law enforcement monitoring and evidence obtaining capability of the traffic police in the complex environment, can realize portable and quick maneuvering deployment, integrates the aerial monitoring visual angle and the ground monitoring system into a heaven-earth-human integrated layout, records various road traffic conditions in all directions, provides the most powerful evidence information for decision making of field and central commanders, and simultaneously reduces the possibility that the traffic police on-duty personnel suffer from safety hazards and accidental injuries.

Description

Highway patrol is alert with unmanned aerial vehicle system
Technical Field
The invention relates to the field of urban public security, in particular to an unmanned aerial vehicle system for highway patrol police.
Background
With the continuous development of urban modern construction, traffic flow, logistics and people flow are increasing day by day, urban public security situation changes complexly, the traditional manual site is familiar with geographic environment or depends on a common plane map to command and dispatch, so that special emergency requirements such as public security emergency cannot be met, and the application requirement of site visualization is more and more urgent.
On the basis of map traffic big data analysis, police force deployment is more targeted, but specific operations are still executed by more manpower, including field law enforcement on rolling traffic flows, policemen can intuitively judge various violation incidents by naked eyes at the first time, the visual angle range and the height are limited, and some problems occurring nearby cannot be directly perceived; secondly, law enforcement dispatch is transmitted through a command center, but more importantly, analysis is carried out through video information or telephone alarm information of a fixed monitoring camera, and spatial data are still limited. When an emergency is handled, the situation beyond 50 meters around a congested road surface is difficult to master one by taking a site as a center, and particularly, smooth road and guidance for emergency rescue lack higher and farther visual field information to provide decision guidance.
Disclosure of Invention
Aiming at the problems, the unmanned aerial vehicle system for the highway patrol police is provided, the high-efficiency law enforcement monitoring and evidence obtaining capability of a traffic police in response to a complex environment is improved through the allocation of the composite wing unmanned aerial vehicle, the portable and quick maneuvering deployment can be realized, the integrated layout of the air monitoring visual angle and the ground monitoring system is integrated into a heaven-earth-man integrated layout, various road traffic conditions can be recorded in an all-dimensional and detailed manner, the most powerful evidence information is provided for decision making of field and central commanders, and meanwhile, the possibility that traffic police on-duty personnel suffer from safety hazards and accidental injuries is also reduced.
An unmanned aerial vehicle system for highway patrol police comprises a sky end, a relay end, a ground end and a remote end;
the sky end is used for urban aerial patrol and comprises an unmanned aerial vehicle provided with a three-axis nacelle; the relay terminal comprises a graph transmission data relay station and a matched graph transmission antenna; the ground end comprises an unmanned aerial vehicle takeoff field, a ground control station and a 4G direct broadcast module; the remote end comprises a mobile command center, a remote command center and a remote intelligent terminal;
the unmanned aerial vehicle wirelessly transmits with a graph transmission data relay station provided with a graph transmission antenna, and wirelessly transmits without relay with a ground control station; and the image transmission data relay station performs wireless transmission with the ground control station and the 4G live broadcast module.
Furthermore, the wireless transmission in the system adopts a 1.36GHz/840MHz frequency band diagram digital-audio integrated data chain.
Further, the image data relay station and the image antenna are disposed at a high point such as in a rooftop city.
Further, the ground control station adopts touch screen control to carry out operation control on the unmanned aerial vehicle.
Furthermore, a 4G module is arranged in the ground control station, high-definition live broadcast forwarding is carried out after airborne videos are uploaded to a cloud end in real time, a mobile command center and a remote command center are supported to check and track, and a remote intelligent terminal is supported to carry out real-time access and interaction.
Furthermore, the unmanned aerial vehicle is a composite pneumatic layout of four rotor wings and flying wing type fixed wings, and is provided with an airborne intelligent identification tracking module; unmanned aerial vehicle uses rapid disassembly structure, adopts the design of silence tail propeller blade to choose carbon fiber material for use as the main design material of fuselage, adopt the lithium cell as the power energy source.
Further, unmanned aerial vehicle adopts three redundancy safety's flight control autopilot, and when the sensor trouble, two other sensors can directly independently switch over and continue the task, and fixed wing and many rotors are provided by independent power suit respectively, including battery, oar, electricity accent and motor, and it is each other for backup, when one of them power suit became invalid or during the trouble, another set of power suit was independently started.
Further, the power suit includes battery, oar, electricity accent and motor.
Further, the unmanned aerial vehicle in the system carries out the following risk control design: an abnormal autonomous return function of the graph transmission link; the satellite navigation signal abnormal autonomous landing function; a battery low-voltage protection function; and a power failure automatic switching function.
The invention has the following beneficial effects:
1) the practicability is as follows: the model selection of the unmanned aerial vehicle flight platform and the matched equipment thereof selects equipment with high cost performance, economy and practicability on the basis of meeting the standard of police unmanned aerial vehicle system.
2) Safety: the selected unmanned aerial vehicle product passes through the safety of the ministry of public security and the quality inspection and authentication of the electronic product of operation, has a complete safety risk pre-control mechanism, and avoids the occurrence of accidental disasters.
3) Ease of use: the unmanned aerial vehicle product of selecting easily dismantles the installation, carries the transportation convenience, and the flight is controlled simple and convenient safe easy-to-use, and real-time video can be integrated inserts public security internal system.
Drawings
Fig. 1 is an architecture diagram of an aerial security protection overall scheme in an embodiment of the present invention.
Fig. 2 is a schematic diagram of an abnormal ground station of the map transmission link according to the embodiment of the present invention.
Fig. 3 is a schematic diagram of the low voltage operation setup according to the embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings in the specification.
An unmanned aerial vehicle system for highway patrol police refers to fig. 1 and comprises a sky end, a relay end, a ground end and a remote end.
The sky end is used for urban aerial patrol and comprises an unmanned aerial vehicle provided with a three-axis nacelle; the relay terminal comprises a graph transmission data relay station and a matched graph transmission antenna; the ground end comprises an unmanned aerial vehicle takeoff field, a ground control station and a 4G direct broadcast module; the remote end comprises a mobile command center, a remote command center and a remote intelligent terminal.
The unmanned aerial vehicle wirelessly transmits with a graph transmission data relay station provided with a graph transmission antenna, and wirelessly transmits without relay with a ground control station; and the image transmission data relay station performs wireless transmission with the ground control station and the 4G live broadcast module.
The integral scheme design surrounds the air public security patrol and inspection of cities and the patrol requirements of key traffic hubs and urban highway entrances and exits, and consists of four parts, namely a sky end, a relay end, a ground end and a remote end, the system is a set of unmanned aerial inspection system with airborne AI computing power, the coverage radius can reach 30km, the urban areas and the high-speed entrance and exit ranges of main cities with large spring transportation pressure in our province can be covered, aerial high-definition aerial images can be transmitted back and live in cloud mode in real time, and video signals can be transmitted back to a command hall in real time. The system adopts the aerodynamic layout of the composite wings, supports vertical take-off and landing, can realize the identification and monitoring of specific targets, is matched with an onboard intelligent identification tracking module, and has the advantages of high system integration level, simple operation, high reliability, wide application range and the like.
The unmanned aerial vehicle is suitable for urban complex take-off and landing environments and electromagnetic environments, adopts a composite pneumatic layout of four rotors and flying wing type fixed wings, integrates the advantages of vertical take-off and landing of multiple rotors and fixed wing remote range, is flexible and flexible, and can be suitable for various complex take-off and landing environments.
The system adopts a 1.36GHz/840MHz frequency band diagram digital-audio integrated data link, the frequency band meets the requirements of the Ministry of industry and the Ministry of industry, the frequency band is compatible with other industry frequency bands and does not interfere with each other, the communication signal strength can be observed in real time, meanwhile, the system data link supports building relay transmission, the urban communication reaches 30km, and the large-range patrol is really realized.
The flying platform of the unmanned aerial vehicle adopts the design of a quick-release structure, the preparation time is less than 5 minutes from a carrying state to a takeoff state, and the unmanned aerial vehicle can take off quickly when an emergency occurs. The flying platform selects the latest carbon fiber material as the main design material of the aircraft body, the weight of the aircraft body is reduced while the strength of the aircraft body is improved, the maximum flying speed can reach 125 km/h and the maximum endurance time can reach 90 minutes due to the excellent material and the production process.
The system adopts the lithium cell as power energy source, and the silence tail pushes away the paddle design, combines efficient pneumatic design, and when unmanned aerial vehicle flying height reached more than 100 meters, its sound was just difficult to hear to the human ear.
The system is used for mounting a three-axis mechanical stability-increasing cradle head, the image rotation problem of a fixed-wing two-axis nacelle is effectively solved, the stability precision of the nacelle can still reach 0.01 ℃ during high-speed patrol flight, meanwhile, a 30-time zooming visible light camera is arranged in the nacelle, observation interest points within the range of 5-10 kilometers can be searched at the wide-angle end under 200-meter high altitude, and human body appearance characteristics and license plate numbers can be clearly seen at the telephoto end. The system airborne AI intelligent visual identification tracking module is provided with an intelligent identification person and a vehicle, in actual operation, tracking operation can be carried out only by clicking a frame of the identified person or vehicle on a touch screen at the ground end, and in a pod tracking mode of an airplane, a single person can realize actions such as autonomous tracking, hovering and the like by depending on a video picture without manual airline intervention. The AI module can also realize the statistics of the density of the stream of people and traffic, and can effectively provide key data for command and decision.
The system adopts a flight control autopilot with three redundancies, when the sensors fail, the other two sensors can directly and autonomously switch to continue the task, and the system is stable and reliable. The fixed wing and many rotors are provided by independent power suit (battery, oar, electricity are transferred, the motor) respectively, and each other is the backup, and when one of them power became invalid or during the trouble, another set of power can independently start, protects the safety on unmanned aerial vehicle and ground.
The built-in 4G module of ground station system can carry out the live broadcast of high definition and forward after uploading the high in the clouds with machine-carried video in real time, not only can support on-the-spot interim command center and remote command center to look over the tracking, can also support the removal end like cell-phone, PAD etc. and visit and interdynamic in real time, anytime and anywhere, want to see just seeing.
Specifically, in this embodiment, the following devices and models are used as core components of the system.
1) Composite wing unmanned aerial vehicle body
The ZT-3V electric vertical take-off and landing fixed wing unmanned aerial vehicle adopts a composite pneumatic layout of four rotor wings and flying wing type fixed wings, integrates the advantages of vertical take-off and landing of the rotor wings and the long-range flight of the fixed wings, is flexible and flexible, and can adapt to various complex take-off and landing environments; the safe flight control autopilot with three redundancies is adopted, so that the safety type autopilot is stable and reliable; the adaptive high-precision triaxial mechanical stability augmentation series nacelle system can be supported, the innovative special nacelle touch control terminal reduces the control difficulty of locking and tracking a moving target, and the operation task can be efficiently completed in the patrol and tracking application.
2) Three-redundancy flight controller
The polaris autopilot is a three-redundancy universal autopilot specially made for industrial unmanned aerial vehicles, preferably adopts a high-performance sensor, is subjected to verification under severe conditions such as temperature, air pressure and environmental stress, and is stable and reliable; the method integrates L1 nonlinearity and total energy control algorithm, supports the expansion of an intelligent vision navigation module and RTK + PPK centimeter-level positioning accuracy, completes the automatic switching of rotor wing and fixed wing modes by one key, supports various conventional layout unmanned aerial vehicles, supports vertical take-off and landing, sliding take-off and landing, ejection/vehicle-mounted take-off, parachuting and the like, supports various control modes such as full automation and semi-automation, air route planning, automatic take-off, automatic cruise, automatic rotor wing mode forced landing switching under special conditions, and integrates functions such as a black box.
3) Digital-image integrated data chain
ZT3014S is a high-definition image transmission all-in-one that surpasses the visual range, low time delay, adopt OFDM carrier technology, the special frequency channel of unmanned aerial vehicle is 1.4GHz, support frequency hopping anti-interference technique, can real-time supervision communication link signal, can pass the high image of 1080P/30 back in real time for 30km at most, the time delay of air interface reaches 45ms, support image link, numerical control link, difference GPS correction link, S-BUS link etc. the multichannel unifies, has small, light in weight, highly integrated advantage.
4) Image transmission data relay station
The image transmission data relay station integrates double ZT3014S long-distance image transmission (1.4 GHz and 840 MHz) inside, the 840MHz image transmission is responsible for transmitting a relay signal back to a ground end, the relay distance can reach 30km maximally, the broadband frequency hopping technology greatly improves the anti-interference capability of the signal, and the integrated tripod and the relay station can be conveniently placed on a roof or other high points in cities by being provided with an antenna and a supporting tripod.
5) High-precision triaxial stability-increasing photoelectric pod
G1030 is a triaxial 30-time visible light focusing and stability-increasing cradle head, the triaxial nacelle specially customized for the fixed wing effectively solves the original image rotation problem of the two-axis fixed wing nacelle, the high-speed flight mode still has ultrahigh stability, and the stability precision reaches 0.01 degree. The optical zoom is 30 times, and the human face and the license plate can be clearly seen even in the high altitude of hundreds of meters. The product possesses the perpendicular function of cloud platform key-round/key to and follow mode and independent mode. By matching with a tracking identification module, the vehicle and the person in the video can be accurately identified, and the tracking can be selected independently.
6) Ground touch control platform
The multifunctional ground touch controller is a highly integrated touch screen controller which integrates an image, a flight map and a pod controller and is researched and developed on the basis of a ZT3014S all-in-one high-definition map transmission all-in-one machine, can lock and intelligently follow a moving target through simple touch operation, and avoids the constraint of wires on operators by using a wireless communication mode; have advantages such as intelligence, portable, easy operation, built-in 4G video rebroadcast function simultaneously, can be with video through 4G signal access to high in the clouds.
In order for the unmanned aerial vehicle in the present system to perform better work, the following risk control design is performed.
1) Autonomous return function for abnormal graph transmission link
The flight control provides various self-defined protection measures for the measurement and control link abnormity, and a user sets protection for the measurement and control link abnormity through a ground station to realize a self-defined protection function, as shown in fig. 2.
Firstly, under the state of non-flight path flight, three schemes of autonomous return, autonomous landing and original state maintenance are provided;
secondly, under the flight state of the flight path, two schemes of continuing the flight path and interrupting the flight path are provided.
Under the non-airline flight state, possess three kinds of schemes of independently returning a journey, independently descending and keeping original state, mean promptly:
when the non-airline loss-of-contact control is designed to be directly returned after loss-of-contact, the airplane is in abnormal communication with the remote controller link, and the airplane is forced to automatically enter a return state (even if the airplane is in a manual mode, the airplane is forced to be converted into an automatic mode and enter the return state).
When the non-airline loss-of-contact control is designed to land after loss-of-contact, the airplane is abnormal in communication of the remote controller link, and the airplane can land directly at the current position.
When the non-airline loss control is set to be ignored, the airplane keeps the original flying state after loss of the connection and does not take any protective measures.
Under the flight state of the flight path, two schemes of continuing the flight path and interrupting the flight path are provided, namely:
when the airplane is in the flight operation process of the air route, and the air route is set to be a continuous air route by the air route loss control, the airplane has abnormal communication of a remote controller link, and the airplane can continuously execute the air route until the air route is executed and then returns or directly lands.
When the airplane is in the flight operation process of the air route, and the air route is interrupted by the air route loss control, the communication of the remote controller link of the airplane is abnormal, and the airplane can directly return or directly land.
The non-airline loss control and airline loss control protection setting has a priority classification, and the priority of airline loss control is higher than that of non-airline loss control. The airplane often flies in a long-distance area, so that the communication of the remote controller in the whole process is normally not met, many users can directly turn off the remote controller, and the two offline protection functions are configured in a self-defined mode, so that the users can realize the air route task and can continuously execute the air route task. The conventional flight control is designed to ensure that the airplane can safely fly back to the original place by means of the logic of return control immediately after the airplane is disconnected, the flight control disconnection protection control can realize the user-defined function, and different settings are carried out according to flight requirements and flight environments, so that the user can be applicable to more and richer application scenes.
2) Satellite navigation signal abnormal autonomous landing function
When the satellite navigation signal of the airplane is abnormal, the airplane automatically enters a manual mode, the airplane enters a complete attitude control mode, and the flight control ground station can have language and warning language prompts.
3) Battery low voltage protection function
Low-power protection measures: first-stage: setting three schemes of return voyage, landing and neglecting. And (2) second stage: both the landing and the ignore scenario are set as shown in fig. 3.
The primary low-electricity alarm value is a single-chip battery voltage alarm value set by the flight control parameter setting type, and the secondary low-electricity alarm value is lower than 0.1V of the set single-chip battery voltage alarm value by default.
The low-voltage protection of the airplane can be set according to the user's requirements in a self-defined mode. The total number of the batteries and the voltage value of each battery which can not give out low-voltage alarm are set by a user, so that the total voltage of the battery for monitoring the flight control is calculated in real time by the flight control, when the voltage of the battery is lower than an alarm set value, the flight control ground station gives out the prompt of related low-power voice and alarm words, and the set low-power protection measures are executed.
And low-power return logic, the return logic of the same key is consistent, and the straight line returns to a flying starting point after climbing to meet the return height. And low power landing logic, namely, after the voltage of each battery of the power voltage is lower than the corresponding voltage, the airplane directly lands at the current position. Neglecting low power, namely keeping the original flying state of the airplane after the voltage of each battery of the power voltage is lower than the corresponding voltage.
The low-voltage self-defined protection provides more protection options for users, meets the use of various batteries and more flight requirements of customers, and simultaneously protects the safety of the airplane. The flight control defaults that the primary low-power protection measure is return flight, the secondary low-power protection measure is landing, and users generally do not use the flight control method unless special requirements are met.
4) Automatic power failure switching function
The system is provided with two sets of power devices, the fixed wing power and the multi-rotor power are independent and do not interfere with each other, when one set of power fails or breaks down, the unmanned aerial vehicle can automatically switch the other set of power, and flight safety is guaranteed.
Through the construction of this system, the traffic police team can realize the air law enforcement of unmanned aerial vehicle, can realize the air of large visual angle long visual distance through the 30 times visible light nacelle of carry and patrol and examine the control, realize air warning, dredging through the 120dB super sound pressure pronunciation broadcasting system of carry, reduce on-the-spot law enforcement personnel and go out the work, can call personnel nearby when discovering unexpected situation and hurry to on-the-spot law enforcement, effectively reduce the conventionality and patrol and examine the cost.
Unmanned aerial vehicles can replace manpower, go deep into dangerous complex environment and carry out tasks, especially have the region of condition of a fire, hazardous chemicals and nuclear radiation. The method can effectively reduce the possible accidental injury of traffic police personnel, reduce or avoid the possible damage to social public facilities and reduce the influence on the social masses.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, but equivalent modifications or changes made by those skilled in the art according to the present disclosure should be included in the scope of the present invention as set forth in the appended claims.

Claims (9)

1. The utility model provides a highway patrol is alert with unmanned aerial vehicle system which characterized in that: the unmanned aerial vehicle system comprises a sky end, a relay end, a ground end and a remote end; the sky end is used for urban air patrol and comprises an unmanned aerial vehicle provided with a three-axis nacelle; the relay terminal comprises a graph transmission data relay station and a matched graph transmission antenna; the ground end comprises an unmanned aerial vehicle takeoff field, a ground control station and a 4G live broadcast module; the remote end comprises a mobile command center, a remote command center and a remote intelligent terminal; the unmanned aerial vehicle wirelessly transmits with a graph transmission data relay station provided with a graph transmission antenna, and wirelessly transmits without relay with a ground control station; and the image transmission data relay station performs wireless transmission with the ground control station and the 4G live broadcast module.
2. The unmanned aerial vehicle system for road patrol police as claimed in claim 1, wherein: the wireless transmission in the system adopts a 1.36GHz/840MHz frequency band diagram digital-audio integrated data chain.
3. The unmanned aerial vehicle system for road patrol police as claimed in claim 1, wherein: the image transmission data relay station and the image transmission antenna are arranged at a high point in a roof city.
4. The unmanned aerial vehicle system for road patrol police as claimed in claim 1, wherein: the ground control station adopts touch screen control to carry out operation control on the unmanned aerial vehicle.
5. The unmanned aerial vehicle system for road patrol police as claimed in claim 1, wherein: the built-in 4G module of ground control station carries out the live broadcast of high definition and forwards after uploading the high in the clouds with the machine-carried video in real time, supports mobile command center and remote command center to look over the tracking to support remote intelligent terminal to carry out real-time access and interdynamic.
6. The unmanned aerial vehicle system for road patrol police as claimed in claim 1, wherein: the unmanned aerial vehicle is a composite pneumatic layout of four rotor wings and flying wing type fixed wings, and is provided with an airborne intelligent identification tracking module; unmanned aerial vehicle uses rapid disassembly structure, adopts the design of silence tail propeller blade to choose carbon fiber material for use as the main design material of fuselage, adopt the lithium cell as the power energy source.
7. The unmanned aerial vehicle system for road patrol police as claimed in claim 1, wherein: unmanned aerial vehicle adopts the flight control autopilot of three redundancy safety, and when the sensor trouble, two other sensors can directly independently switch over and continue the task, and stationary vane and many rotors are provided by independent power suit respectively, including battery, oar, electricity accent and motor, and it is each other for backing up, and when one of them power suit became invalid or the trouble, another set of power suit independently started.
8. The unmanned aerial vehicle system for road patrol police as claimed in claim 7, wherein: the power suit comprises a battery, a paddle, an electric regulator and a motor.
9. The unmanned aerial vehicle system for road patrol police as claimed in claim 7, wherein: the unmanned aerial vehicle in the system carries out the following risk control design: an abnormal autonomous return function of the graph transmission link; the satellite navigation signal abnormal autonomous landing function; a battery low-voltage protection function; and a power failure automatic switching function.
CN202011417389.1A 2020-12-07 2020-12-07 Highway patrol is alert with unmanned aerial vehicle system Pending CN112750303A (en)

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CN204498252U (en) * 2015-01-29 2015-07-22 公安部第三研究所 A kind of police airborne video Reconnaissance system
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CN113923653A (en) * 2021-09-24 2022-01-11 中国人民解放军海军工程大学 Wireless unmanned aerial vehicle inspection and information safety protection system that charges
CN113923653B (en) * 2021-09-24 2023-12-15 中国人民解放军海军工程大学 Wireless unmanned aerial vehicle inspection and information safety protection system that charges

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