CN115047914A - Control system and unmanned aerial vehicle equipment for unmanned cluster - Google Patents
Control system and unmanned aerial vehicle equipment for unmanned cluster Download PDFInfo
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Abstract
The invention discloses a control system and unmanned aerial vehicle equipment applied to an unmanned cluster, wherein the system comprises: the sensing module is used for scanning the specified wave band to obtain the interference intensity of each frequency band in the specified wave band and transmitting the interference intensity of each frequency band to the control platform; the first control system is used for determining the working frequency band of the unmanned aerial vehicle according to the interference intensity of each frequency band and sending the working frequency band to the communication module; and the second control system is used for acquiring the environment information through the external interface, identifying the environment information and indicating the communication module to adopt the working frequency band to carry out the cooperative control of the unmanned cluster according to the identification result. The signal interference intensity of surrounding scenes is obtained through the sensing module, scene cognition is carried out through the control platform to determine the working frequency band of the unmanned aerial vehicle, target recognition is carried out according to environment information collected by an external interface, a cluster can be timely informed to carry out collaborative rescue according to the result of the target recognition, and efficient and accurate rescue to forest fires is achieved.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to a control system applied to an unmanned cluster.
Background
China is vast in breadth, the tasks of preventing and controlling forest and grassland fire are heavy, professional casualties caused by fire extinguishing and disaster relief sometimes happen, and with the development of artificial intelligence, unmanned aerial vehicles, unmanned vehicles and radio communication technologies, more technical means are provided for forest and grassland fire extinguishing and rescue. For example, the unmanned cluster is used for replacing manpower to extinguish and rescue forest fires, so that the forest and grassland fires can be extinguished under the condition that the safety of users is guaranteed.
However, the unmanned aerial vehicle fire extinguishing mainly adopts personnel remote control operation, the fire extinguishing and rescuing area is limited, and the unmanned aerial vehicle cannot cope with large-scale forest and grassland fires. The unmanned cluster adopts a communication framework of a clustering broadband ad hoc network, can only work in a small area, and has a limited rescue area. And every unmanned aerial vehicle in the cluster carries out each item work and lacks unified planning and designing, leads to unmanned aerial vehicle's consumption big to can't put out the accurate of conflagration in fact. Therefore, the existing unmanned cluster can not realize efficient and accurate rescue of forest fires.
Disclosure of Invention
The invention provides a control system and unmanned aerial vehicle equipment applied to an unmanned cluster, and aims to realize efficient and accurate fire extinguishing and rescuing of forest fires.
According to an aspect of the present invention, there is provided a control system applied to an unmanned cluster, including: control platform, with communication module, perception module and the external interface that control platform connects respectively, wherein, control platform includes: the system comprises a force calculation module set, a first control system and a second control system;
the sensing module is used for scanning in a specified waveband to acquire the interference intensity of each frequency band in the specified waveband and transmitting the interference intensity of each frequency band to the control platform;
the first control system is used for determining the working frequency band of the unmanned aerial vehicle according to the interference intensity of each frequency band through one or more force calculation modules in the force calculation module set, and sending the working frequency band to the communication module;
and the second control system is used for acquiring environmental information through the external interface, performing target identification on the environmental information through one or more force calculation modules in the force calculation module set, and indicating the communication module to adopt the working frequency band to perform unmanned cluster cooperative control according to an identification result.
According to another aspect of the present invention, there is provided an unmanned aerial vehicle device, in which the control system applied to the unmanned cluster in the present embodiment is configured.
According to the technical scheme of the embodiment of the invention, the signal interference information of surrounding scenes is acquired through the sensing module, the scene cognition is carried out through the control platform to determine the working frequency band of the unmanned aerial vehicle, the target recognition is carried out according to the environment information acquired by the external interface, the information sharing and the real-time cooperation can be carried out based on the communication interaction between nodes according to the target recognition result, the high-efficiency large-area accurate fire extinguishing is carried out through the optimized marshalling configuration, the fire extinguishing efficiency can be effectively improved, the fire loss is reduced, and the casualties are reduced.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a control system applied to an unmanned cluster according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a technical architecture of a control system applied to an unmanned cluster according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a control system applied to an unmanned cluster according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of an unmanned aerial vehicle device according to a third embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a schematic structural diagram of a control system applied to an unmanned cluster according to an embodiment of the present invention, and the embodiment is applicable to a situation of fire extinguishing and rescue of a forest fire in the unmanned cluster. As shown in fig. 1, the system includes: the system comprises a control platform 10, a communication module 20, a sensing module 30 and an external interface 40 which are respectively connected with the control platform 10, wherein the control platform 10 comprises a force calculation module set, a first control system and a second control system;
the sensing module 20 is configured to scan in a specified band to obtain interference intensity of each frequency band in the specified band, and transmit the interference intensity of each frequency band to the control platform 10;
the first control system is used for determining the working frequency band of the unmanned aerial vehicle according to the interference intensity of each frequency band through one or more force calculation modules in the force calculation module set, and sending the working frequency band to the communication module 20;
and the second control system is used for acquiring the environmental information through the external interface 40, performing target identification on the environmental information through one or more force calculation modules in the force calculation module set, and instructing the communication module to adopt the working frequency band to perform unmanned cluster cooperative control according to the identification result.
Specifically, in this embodiment, by providing a system including structures such as a control platform, a communication module, and a sensing module, an unmanned cluster integrating communication, sensing, calculation processing, and control can be implemented. In addition, the communication module and the sensing module in this embodiment may specifically use a Software Defined Radio (SDR) chip as a processing unit for wireless spectrum sensing channel analysis and interference analysis, which is, of course, only illustrated in this embodiment, and the specific types of the chips used by the communication module and the sensing module are not limited.
Specifically, the computing power module set of the embodiment may specifically adopt a System On Chip (SOC), and the computing power modules included in the computing power module set may specifically include a CPU or an NPU, where the CPU supports general computing power and the NPU supports AI computing power. In addition, the first control system in this embodiment may be a non-real-time system, the second control system may be a real-time system, and the force module set is applied to a microkernel unified operating system in the unmanned aerial vehicle, the CPU mainly supports the non-real-time system and the real-time system in the microkernel unified operating system, and the NPU mainly supports the non-real-time operating system in the microkernel unified operating system. In addition, the applications of the unmanned aerial vehicle corresponding to the real-time system and the non-real-time system in the embodiment are different, and the real-time system is mainly used for applications with higher requirements on real-time performance, such as fire extinguishing bomb control, flight control, cluster coordination and the like; and the non-real-time system is mainly used for applications with low real-time requirements, such as scene cognition, target recognition, decision planning and the like. Of course, this embodiment is only an example, and does not limit the specific application types of the drones corresponding to the real-time system and the non-real-time system.
It is worth mentioning that, the sensing module, the communication module and the control platform in this embodiment mainly perform information interaction through an internal bus, the sensing module can transmit the interference intensity of each frequency band in the designated frequency band to the first control system through the internal bus after acquiring the interference intensity, the first control system receives the interference intensity of each frequency band through the NPU to perform scene cognition processing, and determines a specific scene of the frequency band where the unmanned aerial vehicle is located, specifically, the cognition of the wireless communication scene can be realized by adopting a neural network model, a reinforcement learning model or a decision tree model. The sensing module sorts the interference intensity according to the corresponding wave band and transmits the sorted interference intensity to the CPU, specifically, the CPU compares the interference intensity of each frequency band with a threshold value, and when the interference intensity exceeds the threshold value, the working frequency band is screened again, and the communication module is informed to perform communication in the unmanned cluster according to the updated working frequency band through the internal bus; and when the interference intensity of each frequency band does not exceed the threshold value, informing the communication module to keep the current working frequency band to carry out communication in the unmanned cluster.
Optionally, the second control system is configured to acquire environment information through an external interface, perform target identification on the environment information, and obtain an identification result, where the identification result includes a rescue position and a rescue intensity.
Optionally, the second control system is configured to instruct the communication module to perform cooperative rescue of the unmanned cluster in an intra-cluster ad hoc network or an inter-cluster ad hoc network by using a working frequency band when it is determined that the rescue intensity exceeds a specified intensity; the second control system is used for determining a planned path according to the rescue position and executing flight control aiming at the unmanned aerial vehicle according to the planned path; and the second control system is used for executing fire extinguishing bomb projection control aiming at the unmanned aerial vehicle according to the rescue intensity when controlling the unmanned aerial vehicle to reach the rescue position.
Specifically, the external interfaces in the embodiments of the present application include a Gigabit Multimedia Serial Links (GMSL) interface, an ethernet EHT communication interface, a Controller Area Network (CAN) interface, and the like, where each external interface is connected to a peripheral device in a different form, specifically, a camera, a radar, and the like. Of course, this embodiment is merely an example, and the specific type of the external interface is not limited.
In one specific implementation, the environmental information collected through the external interface is transmitted to a second control system of the control platform through an internal bus, the second control system performs target identification on the environmental information to obtain an identification result, specifically identifies a specific fire point, namely a rescue position, in the forest and grassland environmental information and a fire value of the fire point, and determines fire extinguishing and rescue intensity according to the fire value. And the second control system makes a decision according to the recognition result, and determines flight control aiming at the unmanned aerial vehicle, projection control of fire extinguishing bombs, cooperative rescue control of the unmanned aerial vehicle cluster and the like. For example, the designated intensity set by the unmanned aerial vehicle is 3 levels, that is, the rescue intensity level 3 is located in the self-rescue range of the unmanned aerial vehicle, and when the designated intensity is higher than the level 3, it is determined that the unmanned aerial vehicle cannot complete the self-rescue operation on the fire point within the designated time. Therefore, when the rescue intensity is determined to be 6 levels, the communication module is instructed through the internal bus to send an assistance request in the intra-cluster ad hoc network or the inter-cluster ad hoc network based on the previously determined working frequency band so as to perform cooperative rescue of the unmanned cluster. On the other hand, for the unmanned aerial vehicle, when the rescue position is determined to be the point A, an optimal planned path for reaching the point A is determined according to the current position, the point A and the actual flight environment, and flight control for the unmanned aerial vehicle is executed according to the determined planned path so as to accurately and timely reach the rescue position point A. And determining the throwing amount of the fire extinguishing bomb at the point A according to the rescue intensity, and throwing the fire extinguishing bomb to the point A according to the throwing amount. Therefore, manual control is not needed, and when a large-range forest fire dangerous situation occurs, timely mie rescue of the dangerous situation can be realized through cooperative control of the unmanned cluster.
It should be noted that fig. 2 is a schematic diagram of a technical architecture in the present embodiment. The technical architecture is designed as a bottom layer supporting system work and mainly comprises a cognitive communication and sensor layer, a computing platform layer, a system software layer and a functional software layer. The cognitive communication and sensor layer adopts a software radio architecture, meets the requirements of unmanned cluster networking and wireless cognition by loading different waveforms, and mainly supports the normal work of an external interface, a communication module and a sensing module; the computing platform layer provides AI computing power for cognitive communication, target recognition and decision planning, and provides general computing power for flight control, fire extinguishing bomb control and cluster cooperative control, and the computing platform layer mainly supports the normal work of the computing power module; the system software layer realizes heterogeneous integration of a real-time operating system and a non-real-time operating system through hypervisor, and supports normal work of an operating system applied by the unmanned aerial vehicle; the functional software layer comprises safety-critical flight control, fire extinguishing bomb control, cluster cooperative control and task-critical normal execution of applications such as cognitive communication, target recognition, decision planning and the like.
It should be noted that, in this embodiment, an unmanned cluster formed by unmanned aerial vehicles is specifically exemplified as a scene for rescuing forest fire, but in practical applications, an unmanned cluster formed by vehicles may also be specifically used to rescue other specific scenes.
This application embodiment, acquire the signal interference intensity of scene around through the perception module, carry out scene cognition through control platform and determine unmanned aerial vehicle's working frequency channel, and carry out target identification according to the environmental information who gathers external interface, can carry out information sharing and real-time cooperation based on the communication interaction between the node according to target identification's result, carry out high-effect big regional accurate fire extinguishing with the marshalling configuration of optimization, can effectively improve the efficiency of putting out a fire, reduce the loss of fire, reduce casualties.
Example two
Fig. 3 is a schematic structural diagram of a control system using an unmanned cluster according to an embodiment of the present invention, and this embodiment mainly specifically describes a communication module and a sensing module based on the above embodiment, where as shown in fig. 3, the communication module includes an intra-cluster communication module 21 and an inter-cluster communication module 22, and the sensing module includes an intra-cluster sensing module 31 and an inter-cluster sensing module 32.
Optionally, the in-cluster sensing module 31 is configured to scan a C band matched with an in-cluster ad hoc network of the unmanned aerial vehicle to obtain interference strength of each frequency band in the C band, and transmit the interference strength of each frequency band in the C band to the first control system; the inter-cluster sensing module 32 is configured to scan an L band matched with an inter-cluster ad hoc network of the unmanned aerial vehicle, acquire interference strength of each frequency band in the L band, and transmit the interference strength of each frequency band in the L band to the first control system; and the frequency of each frequency band in the C wave band is higher than that of each frequency band in the L wave band.
Specifically, in this embodiment, the unmanned aerial vehicles in the unmanned cluster are clustered according to the distance, and the unmanned aerial vehicles closer to each other are clustered into a cluster, so that the unmanned aerial vehicles are divided into a plurality of clusters, and each cluster contains a plurality of unmanned aerial vehicles. The corresponding band C in the unmanned cluster is high frequency, and the frequency range is 4-8 GHz; the unmanned cluster corresponds to an L wave band, the frequency is low, and the frequency range is 1-2 GHz. Of course, this embodiment is merely an example, and the specific bands used in the intra-cluster and the inter-cluster are not limited, and all of them are within the scope of the present application as long as they use different bands for communication, and this embodiment is not limited thereto. Different sensing modules are adopted for scanning in clusters and among clusters respectively, and the scanning in the clusters and the scanning among the clusters are not interfered with each other, so that the scanning efficiency and the sensing accuracy are improved. And scanning through the in-cluster sensing module to acquire the interference intensity of each frequency band in the C wave band, and scanning through the inter-cluster sensing module to acquire the interference intensity of each frequency band in the L wave band. And each sensing module transmits the acquired interference intensity of each frequency band under the corresponding wave band to the first control system through the internal bus.
Optionally, the first control system is configured to, when it is determined that the interference intensity of each frequency band in the C band is smaller than a first preset threshold, keep the current working frequency band of the ad hoc network in the cluster of the unmanned aerial vehicle unchanged; when the interference intensity of each frequency band in the C wave band is determined to be larger than a first preset threshold value, taking the frequency band with the minimum interference intensity in the C wave band as the current working frequency band of the ad hoc network of the unmanned aerial vehicle in the cluster; when the interference intensity of each frequency band in the L-band is smaller than a second preset threshold value, keeping the current working frequency band of the unmanned aerial vehicle in the inter-cluster ad hoc network unchanged; and when the interference intensity of each frequency band in the L wave band is determined to be larger than a second preset threshold value, taking the frequency band with the minimum interference intensity in the L wave band as the current working frequency band of the unmanned aerial vehicle in the inter-cluster ad hoc network.
Optionally, the communication module includes: the power calculating module is used for transmitting the current working frequency band of the in-cluster ad hoc network to the in-cluster communication module through an internal bus; and the computing force module is used for transmitting the current working frequency band of the inter-cluster ad hoc network to the inter-cluster communication module through the internal bus.
Specifically, the first control system performs decision analysis according to the acquired interference strength of each frequency band, and determines the working frequency bands of the unmanned aerial vehicle in and among clusters respectively, for example, a first preset threshold value set for intra-cluster communication is-110 dBm, and when the interference strength of each frequency band in the C-band is determined to be-110 dBm, it is determined that the current intra-cluster communication of the unmanned aerial vehicle is not affected, so that the intra-cluster communication module is notified to continue to maintain the current working frequency band for intra-cluster communication; and when the interference intensity of each frequency band in the C wave band is larger than-110 dBm, determining that the current intra-cluster communication of the unmanned aerial vehicle is affected, taking the frequency band with the minimum interference intensity in the C wave band, such as 6GHz-6.1GHz, as a new working frequency band, and transmitting the current working frequency band of the intra-cluster ad hoc network from 6GHz-6.1GHz to the intra-cluster communication module for intra-cluster communication.
In addition, a second preset threshold value set for inter-cluster communication is-120 dBm, and when the interference intensity of each frequency band in the L wave band is determined to be less than 60dB, the current inter-cluster communication of the unmanned aerial vehicle is determined not to be affected, so that the inter-cluster communication module is informed to continuously keep the current working frequency band for inter-cluster communication; and when the interference intensity of each frequency band in the L-band is greater than 60dB, determining that the current inter-cluster communication of the unmanned aerial vehicle is affected, taking the frequency band with the minimum interference intensity in the L-band, such as 1.5GHz-1.6GHz, as a new working frequency band, and transmitting the current working frequency band of the inter-cluster ad hoc network, such as 1.5GHz-1.6GHz, to the inter-cluster communication module for inter-cluster communication.
This application embodiment, acquire the signal interference intensity of scene around through the perception module, carry out scene cognition through control platform and determine unmanned aerial vehicle's working frequency channel, and carry out target identification according to the environmental information who gathers external interface, can carry out information sharing and real-time cooperation based on the communication interaction between the node according to target identification's result, carry out high-effect big regional accurate fire extinguishing with the marshalling configuration of optimization, can effectively improve the efficiency of putting out a fire, reduce the loss of fire, reduce casualties. According to the method, different sensing modules are adopted to scan the interference intensity in the cluster and among the clusters respectively, and different communication modules are adopted to communicate, so that the working frequency range of the cluster in the cluster is accurately obtained, and the determined working frequency range is adopted to control the unmanned aerial vehicle to effectively communicate in the cluster and among the clusters of the unmanned cluster.
EXAMPLE III
Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle device according to an embodiment of the present invention, and the control system applied to the unmanned cluster according to any one of the embodiments is configured in the unmanned aerial vehicle device.
Wherein, the control system who is applied to unmanned cluster of this embodiment can install in unmanned aerial vehicle's geometric center position to because control system simple structure, light in weight and small, consequently can additionally not increase the too much bearing pressure of unmanned aerial vehicle, also can not occupy the too much consumption of unmanned aerial vehicle. Of course, this embodiment is merely an example, and does not restrict the system at the specific installation position of unmanned aerial vehicle, as long as can guarantee unmanned aerial vehicle's normal flight work, then all be in the protection scope of this application, no longer describe it in this application embodiment again.
It should be noted that each unmanned aerial vehicle in the unmanned cluster is configured with a control system applied to the unmanned cluster as shown in fig. 4, and further includes basic structures such as a direction server, an engine controller and a communication antenna required by the unmanned aerial vehicle for normal flight, so that the unmanned aerial vehicles in the unmanned cluster realize efficient and accurate collaborative fire extinguishing and rescue for forest fires without manual control.
According to the embodiment of the application, the signal interference strength of surrounding scenes is acquired through the sensing module, the working frequency band of the unmanned aerial vehicle is determined through scene cognition through the power calculating module, target recognition is carried out according to environmental information collected by an external interface, and a cluster can be timely notified to carry out cooperative rescue according to the result of the target recognition, so that efficient and accurate fire extinguishing and rescue of forest fires are realized.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and 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. A control system for use in an unmanned cluster, comprising: control platform, with communication module, perception module and the external interface that control platform connects respectively, wherein, control platform includes: the system comprises a force calculation module set, a first control system and a second control system;
the sensing module is used for scanning in a specified waveband to acquire the interference intensity of each frequency band in the specified waveband and transmitting the interference intensity of each frequency band to the control platform;
the first control system is used for determining the working frequency band of the unmanned aerial vehicle according to the interference intensity of each frequency band through one or more force calculation modules in the force calculation module set, and sending the working frequency band to the communication module;
and the second control system is used for acquiring environmental information through the external interface, performing target identification on the environmental information through one or more force calculation modules in the force calculation module set, and indicating the communication module to adopt the working frequency band to perform unmanned cluster cooperative control according to an identification result.
2. The system of claim 1, wherein the perception module comprises: the cluster sensing module comprises an intra-cluster sensing module and an inter-cluster sensing module;
the in-cluster sensing module is used for scanning a C wave band matched with an in-cluster ad hoc network of the unmanned aerial vehicle to acquire the interference intensity of each frequency band in the C wave band, and transmitting the interference intensity of each frequency band in the C wave band to the first control system;
the inter-cluster sensing module is used for scanning an L wave band matched with an inter-cluster ad hoc network of the unmanned aerial vehicle, acquiring the interference intensity of each frequency band in the L wave band, and transmitting the interference intensity of each frequency band in the L wave band to the first control system;
and the frequency of each frequency band in the C wave band is higher than the frequency of each frequency band in the L wave band.
3. The system of claim 2, wherein the first control system is configured to perform deep learning on the received interference strength of each frequency band, compare the received interference strength of each frequency band with a threshold after performing scene recognition processing, and determine the working frequency band of the unmanned aerial vehicle according to a comparison result.
4. The system of claim 3, wherein the first control system is configured to,
when the interference intensity of each frequency band in the C wave band is smaller than a first preset threshold value, keeping the current working frequency band of the ad hoc network of the unmanned aerial vehicle in the cluster unchanged;
when the interference intensity of each frequency band in the C wave band is determined to be larger than a first preset threshold value, taking the frequency band with the minimum interference intensity in the C wave band as the current working frequency band of the ad hoc network of the unmanned aerial vehicle in the cluster;
when the interference intensity of each frequency band in the L wave band is smaller than a second preset threshold value, keeping the current working frequency band of the unmanned aerial vehicle in the inter-cluster ad hoc network unchanged;
and when the interference intensity of each frequency band in the L wave band is determined to be larger than a second preset threshold value, taking the frequency band with the minimum interference intensity in the L wave band as the current working frequency band of the unmanned aerial vehicle in the inter-cluster ad hoc network.
5. The system of claim 4, wherein the communication module comprises: an intra-cluster communication module and an inter-cluster communication module,
the computing force module is used for transmitting the current working frequency range of the in-cluster ad hoc network to the in-cluster communication module through an internal bus;
and the computing force module is used for transmitting the current working frequency band of the inter-cluster ad hoc network to the inter-cluster communication module through the internal bus.
6. The system of claim 4, wherein the second control system is configured to collect the environmental information through the external interface, perform target identification on the environmental information, and obtain an identification result, where the identification result includes a rescue location and a rescue intensity.
7. The system according to claim 6, wherein the second control system is configured to instruct the communication module to perform cooperative rescue of the unmanned cluster in an intra-cluster ad hoc network or an inter-cluster ad hoc network by using the operating frequency band when it is determined that the rescue intensity exceeds a specified intensity;
the second control system is used for determining a planned path according to the rescue position and executing flight control aiming at the unmanned aerial vehicle according to the planned path;
the second control system is used for executing fire extinguishing bomb projection control aiming at the unmanned aerial vehicle according to the rescue intensity when the unmanned aerial vehicle is controlled to reach the rescue position.
8. The system of any one of claims 1 to 7, wherein the external interface comprises a Gigabit Multimedia Serial Link (GMSL) interface, an Ethernet (EHT) communication interface, or a Controller Area Network (CAN) interface.
9. Unmanned aerial vehicle device, characterized in that, be configured with the control system of any one of claims 1 to 8 in unmanned cluster.
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| CN113258956A (en) * | 2021-06-22 | 2021-08-13 | 北京理工大学 | Satellite communication signal processing method, device, electronic equipment and medium |
| CN114422956A (en) * | 2021-12-21 | 2022-04-29 | 中国科学院自动化研究所 | RISC-V framework-based fused differential positioning ad hoc network communication system and control method |
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