CN115793681A - Mooring levitation reconnaissance and communication relay system and control method thereof - Google Patents

Abstract

The invention discloses a mooring ascending reconnaissance and communication relay system and a control method, wherein the mooring ascending reconnaissance and communication relay system comprises: the system comprises a ground platform, a lift-off platform, a task load and a control terminal, wherein the data transmission between the ground platform and the lift-off platform comprises a mooring cable and a wireless module, the task load comprises a reconnaissance load or/and relay communication, the orientation equipment comprises an inertial navigation device and a video attitude measurement device of the ground platform, and the redundancy of various equipment improves the working reliability and increases the functions; the control method realizes accurate judgment of risks caused by possible equipment faults through the states and parameters of the electronic equipment and the sensor monitoring system, and issues safe flight instructions, equipment control and information processing correspondingly; the system has the measures of state monitoring equipment, standby power supply, emergency wireless transmission instructions and the like, and safe and reliable flight and work are realized; the load monitoring system has functions of monitoring loads and relaying the loads and realizing monitoring or communication relaying. The invention has high reliability, low power consumption and strong adaptability.

Description

Mooring levitation reconnaissance and communication relay system and control method thereof

Technical Field

The invention belongs to the technical field of reconnaissance systems, and relates to a mooring levitation reconnaissance and communication relay system and a control method thereof.

Background

Reconnaissance is an action for acquiring information such as environment, activities, targets and the like in an area of interest, is a commonly adopted means for monitoring activities such as military combat, police security, commercial propaganda and the like, and mainly acquires image information of the environment and the targets, coordinate information of the targets and the like; communication relay means that a communication condition is provided for radio stations distributed in different areas of a space, and communication between the radio stations to another and some radio stations through relay equipment is realized.

In order to reconnoiter and accurately acquire target information in a wider range and provide long-distance communication capability for ground equipment, the mooring and lifting mode has the advantages of high working efficiency, long sustainable time and the like. The mooring and lift-off reconnaissance and communication relay system can comprise a ground platform, a lift-off platform, a reconnaissance and/or communication load, a mooring cable, a release mechanism, power supply equipment and a control terminal, wherein a positioning sensor (such as GPS (global positioning system) or Beidou satellite receiving equipment) and a standby power supply can be arranged on the lift-off platform, and an attitude measurement sensor (such as an inertial measurement unit) can be arranged on the lift-off platform or the ground platform.

Whether a mooring levitation reconnaissance and communication relay system can operate effectively is influenced by faults of a levitation platform, cables, power supply and the like, the faults can cause the levitation platform and loads of the system to fall, and safety risks exist; lack of attitude data of the lift-off platform and overlarge data error can cause poor scout and positioning accuracy; when the communication is not aligned, the communication is interrupted or the signal is weakened, and the communication distance is shortened.

In order to ensure that the mooring, levitation and reconnaissance and communication relay system can reliably run instead of being out of control, falling, injuring people or damaging articles, the reliability of the mooring, levitation and reconnaissance and communication relay system needs to be improved; in order to guarantee the reconnaissance performance, reasonable control is needed to reduce the reconnaissance positioning error according to the bearing capacity of the lift-off platform; to ensure the communication relay performance, the radio stations need to be accurately connected to meet the high-performance communication condition.

Application number 201810511325.4 describes a tethered fire-fighting aerial reconnaissance platform, which comprises a suspended unmanned aerial vehicle fire-fighting reconnaissance platform, a tethered cable, an automatic mooring and releasing system, a high-voltage power supply system and a ground control center, and does not relate to the specific scheme of system control.

Application number 201911160066.6 describes a mooring unmanned aerial vehicle-mounted platform, including mooring unmanned aerial vehicle and vehicle, place mooring unmanned aerial vehicle on the vehicle, have the box to fall into a plurality of partitions, be provided with generator set and provide the power for mooring unmanned aerial vehicle, have the control room to include flight control system, have servo capstan one end to be connected with generator and flight control system, other one end is connected with mooring unmanned aerial vehicle, does not relate to the reconnaissance and controls specific scheme. Application number 201611162336.3 describes a vehicle-mounted unmanned aerial vehicle tethered communication reconnaissance system, comprising a tethered power supply and communication system, without involvement of a reconnaissance scheme.

Application No. 201621491971.1 describes a captive balloon control platform and captive balloon system, disposed within a mooring system control pod, the control platform including a host for controlling levitation recovery, such that the captive balloon does not need to be operated on a console within a ground mooring system equipment pod during levitation recovery.

Application number 201580066435.9 describes an unmanned aerial vehicle aerial supply floating platform and a control method thereof, and the unmanned aerial vehicle aerial supply floating platform comprises a detection device, a wireless communication device and a flight control device, wherein the detection device is used for detecting the requirement of an unmanned aerial vehicle and generating a supply signal; the wireless communication device establishes communication connection with a floating platform flying or hovering in the air; the flight control device determines a target floating platform according to the received information, generates a flight control signal, and adjusts the space distance between the unmanned aerial vehicle and the target floating platform, so that the target floating platform can provide aerial supply for the unmanned aerial vehicle, and a reconnaissance control scheme is not involved.

Application number 202010610191.9 describes an adopt beyond-the-horizon unmanned aerial vehicle signal relay system of mooring unmanned aerial vehicle, by beyond-the-horizon flight platform, ground terminal, mooring lift-off platform constitutes, solve remote fixed wing unmanned aerial vehicle's control problem, ground terminal adopts the large capacity battery power supply, through the power supply of electrically conductive cable to mooring lift-off platform, mooring lift-off platform has stand-by power supply to be rechargeable battery group, regard as the flight control channel with the wifi module, do not relate to reconnaissance, control.

Utility model application number 201821746823.9 describes a relay communication moored unmanned aerial vehicle intelligence lift-off platform that emergency rescue used, including lift-off platform unit, mooring cable unit, ground guarantee unit and lift platform, described structural feature, do not relate to the control problem.

The devices respectively relate to and describe system composition, balloon recovery control, flow control or structural characteristics of unmanned aerial vehicle floating platform supply, and do not relate to control of a mooring and lifting reconnaissance system, particularly to system safety control and target accurate positioning control.

Disclosure of Invention

Object of the invention

The purpose of the invention is: the device and the method for standby power supply and fault handling solve the problems that the conventional mooring floating platform has insufficient control measures, low working reliability and low reconnaissance precision mainly through approximate observation.

(II) technical scheme

In order to solve the technical problems, the invention firstly provides a mooring and levitation reconnaissance and communication relay system which comprises a ground platform, a levitation platform, a task load and a control terminal.

(1) The ground platform is a mechanism which can be fixed on the ground or integrated on a vehicle, comprises a power supply system, mooring equipment, a positioning navigation device, a video attitude measurement device, a communication radio station, a wireless module and the like, provides installation and collection space, a fixing mode, power supply, external communication and emergency instruction transmission for the system, provides direction reference, ground platform attitude and aerial lift-off platform attitude data, and controls the release or recovery of cables. Wherein:

the power supply system comprises a generator, a power manager, a commercial power interface box and an equipment interface box. The generator is connected with the power supply manager through a cable, the power supply manager is connected with the electric equipment through a cable, the generator provides electric power for each electric equipment of the system through the power supply manager, and the control unit in the generator monitors the state of the generator. The power manager comprises an interface board, a control board, a voltage regulator and the like, which are connected with the generator and the commercial power interface box through the interface board and an external cable, wherein one part of the power manager provides working power for the electric equipment of the ground platform, the other part of the power manager converts the generator or the external commercial power into direct-current high-voltage output to supply power for the lift-off platform, and the interface board, the control board and the voltage regulator monitor the self state and monitor the input and output power parameters (voltage and power consumption) of each path. The commercial power interface box consists of a shell, a connector, a protection switch and the like, is used for being connected with external commercial power and a power manager cable, and replaces a generator to supply power for the system. The equipment interface box consists of a group of connectors which are respectively connected with electric equipment cables and used for distributing the system power supply to each electric equipment of the system.

The mooring equipment comprises a rotary cylinder, a motor, a resolver, a composite collector ring, a mooring cable and a control panel. The rotary drum is installed on the ground platform through a bracket, a mooring cable is wound on the rotary drum, and the rotary drum is driven by a motor to rotate so as to wind or reversely rotate so as to release the cable; the resolver is arranged on a rotating shaft of the rotating cylinder bracket and used for measuring the rotating angle value and the rotating speed of the rotating cylinder; the composite slip ring is arranged in the hollow part of the resolver, arranged at the innermost side of the support rotating shaft and used for transmitting data among a power supply output by the power supply manager, the control terminal and the lift-off platform; the mooring cable comprises an electric wire for transmitting electric power, an optical fiber for transmitting data information, a braided reinforcing layer and a tension sensor, wherein the electric wire and the optical fiber are protected by the outer braided reinforcing layer and are respectively connected with the control terminal and the lift-off platform through connectors; the control panel is connected with the control terminal and used for forwarding control signals from the control terminal and parameters of all electronic units in the mooring equipment; the tension sensor is a device which is arranged at the position of the mooring cable close to the lift-off platform and used for monitoring the tension force applied to the cable and transmitting the tension force to the control terminal through the mooring cable.

The positioning navigation device comprises a navigation satellite receiver and an inertial navigation device. The navigation satellite receiver can be a Beidou satellite receiver, a GPS receiver and a GLONASS receiver, is connected with the inertial navigation device through a cable and periodically uploads current coordinate data; the inertial navigation device comprises a triaxial inertial measurement unit, an accelerometer, a control panel and the like, wherein the control panel monitors the state of equipment, the angle of the equipment installation direction relative to the north direction, attitude angles (azimuth, pitch and roll directions) under a triaxial coordinate system and local earth coordinate values, is connected with a control terminal through a cable, and reports position coordinates, ground platform attitude angles and self-state parameters of the equipment; the gyroscope can be a fiber-optic gyroscope or a laser gyroscope.

The video attitude measuring device comprises a high-resolution digital camera and an imaging objective lens. The imaging objective lens consists of a group of optical lenses and a shell, is arranged at the front end of the digital camera detector and focuses the image of the lift-off platform on the target surface of the digital camera detector; the control panel in the digital camera reads images, characteristic points (length and included angle are calibrated) on an aircraft support on the images are measured, the attitude, orientation and height of the lift-off platform are detected through image processing length and angle change, the digital camera calculates state parameters of the lift-off platform, and the state parameters are reported to the control terminal through cables.

The communication radio station comprises a radio station host, a power amplifier and an antenna, wherein the radio station host is connected with a control terminal cable and used for transmitting digital information;

the wireless module comprises an antenna, a serial port conversion circuit and a control circuit, monitors, receives and transmits data packets, and is partially arranged on the ground platform and connected with a control terminal cable; the other part is arranged on the lift-off platform, is connected with a flight control computer cable of the lift-off platform and transmits the state parameters of each device of the lift-off platform to the wireless module part arranged on the ground platform.

(2) The lift-off platform is a multi-rotor aircraft, comprises an aircraft main body, a standby power supply, a wireless module, a cable connector and the like, provides a flight function, bears a task load, is fixed on the ground platform through a support of the aircraft main body during collection, and lifts off to fly during work. Wherein:

the aircraft body comprises a plurality of groups of motors, blades, an aircraft bracket and a flight control computer, wherein the motors and the blades are connected with the aircraft bracket, symmetrically distributed at the upper part of the lift-off platform and provide lift force for the lift-off platform through rotation; the flight control computer monitors the state of the aircraft and the state of a standby power supply (voltage, capacity and the like), and built-in software of the flight control computer comprises a control algorithm, controls each motor to work, keeps stable and moves in a specific direction, is connected with a mooring cable and a part of cables of the wireless module, and sends flight control data and state data of the lift-off platform to the control terminal; the aircraft body can be a four-rotor aircraft, a six-rotor aircraft or a four-shaft eight-rotor aircraft.

The standby power supply comprises a group of batteries, is arranged on a bracket of the lift-off platform aircraft, is connected with the motor, the flight control computer and the wireless module through cables, and provides landing energy for each device of the lift-off platform.

The wireless module comprises an antenna, a radio frequency unit, an interface conversion unit and a control unit, can send the self state of each device on the lift-off platform downwards, forwards the control instruction of the control terminal upwards, and is used for sending a landing instruction to the flight control computer in an emergency state; the wireless module can adopt ZigBee, wifi or other wireless instruction transmission equipment.

The cable connector comprises a multi-core socket with a self-locking function, and an optical fiber and electric wire connecting part which connects the mooring cable with the lift-off platform.

(3) The mission load is a reconnaissance load or/and relay communication equipment, is arranged below the main body of the lift-off platform aircraft and on the bracket, is connected with the mooring cable, and is used for regional reconnaissance and monitoring or used for communication relay. Wherein:

the reconnaissance load comprises a sensor or a receiving and transmitting antenna, a control unit and a rotary table, the sensor or the receiving and transmitting antenna searches and aims at a target to acquire scene information and target information, the control unit carries out self-checking on equipment and acquires reconnaissance information, the reconnaissance load is connected with a mooring cable through a cable, the reconnaissance information is transmitted to the control terminal through the mooring cable, and a control instruction of the control terminal is received.

The relay communication equipment comprises a receiving module, a transmitting module, a control unit and an antenna. The receiving module receives external radio station or data link information through an antenna; the transmitting module is connected with the receiving module and forwards the information through an antenna; the control unit monitors the state of the relay communication equipment, is connected with the mooring cable, receives a control instruction of the control terminal and transmits the state data of the relay communication equipment to the control terminal.

The system can be only provided with a reconnaissance load, and the reconnaissance load can be a photoelectric reconnaissance load or a radar or passive radio reconnaissance load; the system can only be equipped with relay communication load; the system can also be equipped with both a scout load and a relay communication load.

(4) The control terminal is equipment for managing a system and controlling equipment, is arranged on a ground platform, is generally provided with seats (a workbench and a seat), is used by an operator, and comprises a control electronic box, a computer, a handle, a wireless module and control software thereof, wherein each equipment is connected with a power supply manager to obtain power supply, the computer and the handle are connected with the control electronic box, and the control electronic box is connected with a mooring cable and is used for control, reconnaissance information processing, relay alignment control and safety control. Wherein:

the control electronic box comprises an interface board, a control board, an information processing board, a power board, a panel, a shell and the like, receives self-checking information, scout load information and communication monitoring information of each device of the system through a cable, and forwards control instructions and data to each device by control software.

The computer comprises a display, a keyboard, a mainboard, an interface board, a memory and the like, wherein the interface board is communicated with the keyboard, the control electronic box and the handle and receives information and instructions, and control software is installed on the memory and carries out operation through the mainboard.

The handles are provided with two groups, and one group of keys is used for controlling the take-off, landing, advancing and the like of the lift-off platform. One set is used for state control of the task load.

The wireless module is connected with the control terminal, is the same as the wireless module of the lift-off platform in composition, is a pair of instruction and data transceiver, and is used for emergently sending a recovery landing instruction to the lift-off platform when the transmission of the mooring cable fails.

The control software comprises equipment control components, information processing components, communication management components and the like, is deployed on a computer and is used for summarizing and analyzing self-checking information and working states of the equipment of the system, resolving reconnaissance information and judging and deciding a flight control strategy.

The self-checking is that the equipment sends information whether the main electronic unit of the equipment is faulty or not to the control electronic box, namely, the equipment sends 0 when no fault exists through a data reporting protocol and connector definition determined by a system, otherwise, the equipment sends the serial number of the faulty electronic unit or 1 under the serial number of the electronic unit;

the equipment self-checking comprises three modes of equipment power-on self-checking, cycle self-checking during working, self-checking under the inquiry of a control terminal and the like. The equipment power-on self-test is that after the equipment is powered on, the self-state inquiry is carried out, whether each controlled unit is normal or not is determined, and a self-test result is sent to the control software according to a self-test protocol; the cycle self-checking during the working period is that each device automatically self-checks according to the period set by the control software, and reports a fault code to the control software according to a self-checking protocol when a fault occurs; the self-checking under the inquiry of the control terminal is that the control software inquires the state of important equipment before operating an instruction, inquired equipment carries out self-checking and reports a self-checking result.

The invention also provides a control method of the mooring levitation reconnaissance and communication relay system, which comprises the following steps:

step 1, carrying out system self-check, carrying out self-check on each device of the system, reporting self-check information to a control terminal, and continuously monitoring data of each device by the control terminal to obtain the working state of each device; under the condition that one or more devices are abnormal in state, controlling the lift-off platform to stop running and indicating an operator to eliminate faults; controlling the lift-off platform to take off according to the take-off speed or the flying height under the condition that the equipment states are all normal;

step 2, each device circularly performs self-checking and sends state information to the control terminal; continuing flying when no fault exists; when dangerous faults occur, the control terminal controls the lift-off platform to land and recover;

step 3, monitoring the state of the ground platform power supply system by the control terminal, and continuing flying when no fault exists; when a fault occurs, the power supply of the standby power supply of the lift-off platform is switched, and the lift-off platform is controlled to land and recover; the control terminal simultaneously monitors the state of the standby power supply of the lift-off platform and continues flying when no fault exists; when the power supply system is normal and the standby power supply fails, the lift-off platform is controlled to land and recover;

step 4, the control terminal monitors the release tension of the mooring cable of the mooring equipment, and the tension exceeds a threshold value to implement deceleration control; continuing to fly in the original state when the tension does not exceed the threshold; the control terminal simultaneously monitors the release length of the cable and the lift-off height of the lift-off platform, and the difference between the release length and the lift-off height is greater than a threshold value to implement speed reduction control; continuing the original state flight before the difference between the release length and the lift-off height is not greater than the threshold value; meanwhile, the control terminal monitors the transmission condition of the mooring cable, and the transmission is normal and continues flying; when transmission is interrupted, the control software emergently sends an instruction through the wireless module to control the lift-off platform to land and recover;

step 5, monitoring flight parameters and attitude data of the lift-off platform by the control terminal, and continuing flying when the data is stable and the attitude is normal; when the conditions of frequent state change and power consumption increase occur, height-reducing flight control is implemented until the state is stable and normal or landing recovery is carried out;

step 6, monitoring the spatial position data of the levitation platform acquired by the ground platform video attitude measurement device by the control terminal, and continuing flying when the data is normal; when the trend of deviating from the ground platform is generated and the height or horizontal position threshold value is exceeded, the homing flight control is implemented until the lift-off platform returns to the specified height range and the position limit area where the ground platform is located;

step 7, the control terminal monitors the task load state, and the task load works normally and continues to work; when the task load has a fault, controlling the lift-off platform to land and recover;

step 8, the control terminal monitors the attitude of the levitation platform and the orientation of the borne relay communication equipment antenna, angular deviation or transmission quality reduction occurs, and the levitation platform is controlled to rotate to realize rotation of the communication antenna until the orientation meets the requirements or the signal quality meets the requirements; the relay communication equipment flies in the original attitude when the antenna angle is stable and the transmission quality is normal;

step 9, the control terminal monitors the load reconnaissance information, selects the type and the state of the sensor according to the requirement, and controls the distance measurement and the image interception; the control terminal processes the information acquired by the reconnaissance load through reconnaissance software, and completes the resolving of the geodetic coordinates of the target by combining the read data of the ground platform positioning navigation device, the attitude data of the levitation platform measured by the video attitude measuring device and the orientation and distance measuring data of the reconnaissance load to acquire the attribute data of the target coordinates and the like;

step 10, the control terminal controls the lift-off platform to enter a flight accompanying state when a vehicle or a ship bearing the ground platform is maneuvering according to the instruction; controlling the movement speed and direction of a terminal carrier and the flight parameters and power consumption of the lift-off platform, and implementing flight tracing; continuing to fly in the original state when the monitored flying parameters and power consumption of the lift-off platform are in a normal range; the power consumption of the lift-off platform exceeds a threshold value, the flight height and speed are reduced, and a deceleration command is sent to a bearing vehicle or a ship;

step 11, the control terminal manages the reconnaissance information through a handle and an input device, such as storage, playback, compilation and the like;

step 12, the control terminal reports the scout information, the equipment information and the working state obtained by the system through the communication radio station;

and step 13, the control terminal controls the lift-off platform to descend and recover according to the receiving and withdrawing instruction, and controls the lift-off platform and the task load carried by the lift-off platform to be powered off.

(III) advantageous effects

The mooring rising reconnaissance and communication relay system provided by the technical scheme comprises the following components

Has the beneficial effects that:

firstly, a standby power supply with capacity capable of guaranteeing safe landing is configured on the lift-off platform, so that the flight reliability of the lift-off platform is improved;

secondly, the control terminal, the related sensor and the interface form a control system to realize state monitoring of each key device of the system, so that the system can effectively deal with and guarantee working reliability under dangerous conditions such as device faults, wind influence and the like, and can also realize effective control of reconnaissance and communication relay tasks;

thirdly, the ground platform and the lift-off platform are provided with wireless modules, so that control instructions can be effectively transmitted under the condition of cable faults, and the reliability of the lift-off platform is improved;

fourthly, a positioning navigation device is not arranged on the lift-off platform, but is replaced by a video attitude measurement device of a ground platform, and by means of image measurement of a high-resolution camera, attitude and position data with higher precision are provided, and meanwhile, the load of the lift-off platform is reduced by thousands of grams, so that the load is reduced, and the lift-off platform is favorable for improving the bearing efficiency and the working reliability;

and fifthly, the lift-off platform is used as a rotary table of the relay communication equipment, so that the load of the communication equipment is reduced, the bearing weight of the lift-off platform is reduced, the power consumption of the system is reduced, and the working reliability of the system is improved.

The mooring and rising-air reconnaissance and communication relay system control method provided by the technical scheme has the following beneficial effects that the power supply and flight control parameters are monitored, the states of all equipment are monitored, and a control strategy is adopted correspondingly:

firstly, the states of a ground platform power supply system and a lift-off platform standby power supply are monitored, and under the condition of ensuring that a set of power supply scheme is effective, safe landing recovery is implemented, so that the reliability and safety of the system are improved;

secondly, the cable, the flight attitude and the like in the process of mooring and lifting the lift-off platform can be monitored, the cable release fault or wind influence can be timely discovered, and a wireless transmission instruction is correspondingly adopted to implement safe landing recovery, so that the reliability and the safety of the system are improved;

thirdly, a set of complete self-checking process is provided, power-on and cycle check are carried out, and the check is reported to the control terminal, so that the control system can master whether the equipment is normal or fails in real time, and a basis is provided for control action;

fourthly, the task load state is controlled and monitored, and the control of sensor selection, parameter setting or control, rotary search, tracking, directional alignment and the like can be carried out according to the reconnaissance effect or the relay communication effect, so that effective reconnaissance or communication relay is realized;

fifthly, the position change of the ground platform is monitored, the lift-off platform can be controlled to fly or translate according to instructions, the maneuver under the non-landing state is realized, the ground platform can better adapt to the regional environment, and the effective reconnaissance or communication relay is realized.

Drawings

Fig. 1 is a schematic diagram of a mooring rising reconnaissance and communication relay system.

Fig. 2 is a schematic layout of a mooring rising reconnaissance and communication relay system.

Fig. 3 is a control flow diagram of the mooring rising reconnaissance and communication relay system.

Detailed Description

In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.

Example 1

As shown in fig. 1, in the mooring and lift-off reconnaissance and communication relay system of the present embodiment, the power consumption state of the electric equipment such as the lift-off platform is collected by the power manager, the state information of the electric equipment such as the lift-off platform is collected by the control terminal, the real-time grasping of the power-off state of the system lift-off platform and the real-time grasping of the disconnection state of the mooring cable are realized, and the power supply of the backup battery and the transmission of the wireless module are correspondingly converted, so that the reliable control is realized.

The control terminal is connected with each device of the system through a cable, the power manager monitors self-checking information and power supply data states of the power supply system and the standby power supply, determines whether the power supply is normal or not, and transmits the power supply to the control terminal, the control terminal controls safe flight when the power supply is normal, and controls emergency landing when any one of the power supply system and the standby power supply fails or adopts replacement power supply and controls emergency landing; monitoring the state of a wireless module by monitoring the data receiving and transmitting state of a tethered cable, and judging whether the tethered cable is normal or not and whether emergency landing is required or not; the aerial position and the attitude of the lift-off platform acquired by the video attitude measurement device are monitored to determine whether the aircraft is normal and can fly safely; through the three measures, the safety of the system is guaranteed;

the control terminal determines whether each device of the system can safely operate and normally work or not by receiving the self-checking information reported by each device, so that the reliability of the system is guaranteed;

the control terminal monitors the release resistance of the mooring equipment through the tension sensor, receives the operation data of the equipment and the height of the lift-off platform through the mooring cable, and correspondingly controls the cable to release or fly in a height-reducing mode; receiving and monitoring relay communication transmission quality and coordinates of communication equipment through a mooring cable, determining whether the equipment is aligned, and correspondingly controlling and adjusting an angle to meet the communication quality requirement; the method comprises the steps of receiving and monitoring scouting load video information through a mooring cable, controlling aiming, tracking and distance measuring control, intercepting images and recording information; receiving and monitoring scout load video information, orientation data of a load relative to a zero position and positioning navigation device data through a mooring cable, and solving target coordinate information; receiving and monitoring the instruction and state of an aircraft flight control computer through a mooring cable, and controlling the lift-off platform to be switched into the state of a flight accompanying carrier (a vehicle or a ship) corresponding to a flight accompanying requirement; and controlling the aircraft to land and recover according to the recovery command.

Referring to fig. 2, the ground platform of the present embodiment is arranged on the ground and fixedly installed, or installed on a vehicle or a ship to realize ground fixing, maneuvering and moving, and is used in different regions or positions. .

The power supply system of the ground platform comprises a generator, a power manager, an equipment junction box and a commercial power interface box. The generator is a noise-reducing mute diesel generator, is fixed on a bottom plate of a ground platform, generates power by burning diesel oil, converts the power into electric energy, outputs 380VAC and has the maximum output power of 20kW. The power manager is connected with a generator cable, converts 380VAC into direct current to be output, is connected with an equipment junction box, is connected with a mooring cable and used for lifting off a platform through the equipment junction box at one path, is connected with a control terminal, a communication radio station, a video attitude measuring device and a positioning navigation device through 28V DC for power supply at the other path, and is connected with a mooring equipment take-up and pay-off mechanism and other electric equipment of a ground platform through 28V DC for power supply at the other path. The equipment junction box is connected with the power manager to obtain a power supply, and is respectively connected with each electric device of the system to supply power. The mains supply interface box is externally connected with a mains supply, is accessed and input by 380VAC, replaces a generator, is connected with the power supply manager in the system, supplies power for all equipment of the system through the power supply manager, and is mainly used near buildings or places with mains supply power supply conditions.

The mooring device of the ground platform is a rotatable cable collecting and releasing structure, one end of a rotating center is provided with a group of collecting rings which comprise a hollow electric slip ring and an optical fiber slip ring, power connection and signal transmission connection are provided for the ground platform and the lift-off platform, and then photoelectricity, instruction transmission and information of the lift-off platform and the equipment borne by the lift-off platform are transmitted through the mooring cable. The mooring cable of the mooring device is a composite cable and comprises optical fibers and electric wires, the length of the cable is 120m, the electric wires are used for transmitting power of 600-1600V DC to the lift-off platform, and the optical fibers are used for transmitting control instructions to the lift-off platform, and transmitting device states, reconnaissance information and the like on the lift-off platform to the control terminal.

The positioning navigation device of the ground platform is a composite navigation positioning device, wherein the satellite positioning device is a satellite positioning receiver with the receiving capability of Beidou, GPS and GLONASS, the inertial navigation device is a fiber-optic gyroscope strapdown inertial navigation system, the satellite navigation positioning capability, the inertial navigation positioning capability and the composite navigation positioning capability are provided for the system, the north-seeking precision is 0.8mrad, the attitude precision is 0.09mrad, the horizontal positioning precision is 9m (circle probability error), the elevation positioning precision is 10m (middle error), and the navigation positioning error is not more than 0.1 percent of the moving stroke of the ground platform.

The video attitude measurement device of the ground platform is equipment capable of measuring the attitude of the lift-off platform through imaging by a camera, and can solve and output the included angle between the orientation of a main body of the lift-off platform and the north direction and the flying height of the lift-off platform relative to the ground platform by combining a north reference value and a three-axis attitude value output by an inertial navigation device of the ground platform, wherein the north error is 0.5mrad, and the height measurement error when the height is increased by about 100m is 0.05m.

The communication radio station of the ground platform is an ultrashort wave radio station and is mainly used for reporting and transmitting scout information and local working state.

The lift-off platform is a six-rotor electric aircraft, a built-in electronic unit of the lift-off platform can convert 600V DC-1600V DC into motor working voltage 50V DC, 24V DC, 5V DC and the like for output, and power supply requirements of different devices are met; the propeller blades are 36' propellers, and the maximum power of a single motor is 1770W; the lift-off platform can bear 28kg of task load and can effectively work at the altitude of 5000 m.

The emergency power supply of the lift-off platform weighs 3.5kg, can bear the load of the task and fly for no less than 2min after the lift-off platform is disconnected with a ground platform power supply system, and can be safely landed and recovered.

The wireless module of the lift-off platform is ZigBee equipment, an RS-422 port is connected with the lift-off platform flight control unit, the wireless module on the control terminal is connected in a wireless mode, the wireless frequency is 2.4GHz, the serial port rate is set to be 115200bps, and the transmission distance is not less than 500m.

The task load of this embodiment is a task device weighing 28 kg. The reconnaissance load is a two-axis stable photoelectric pod, comprises a digital camera, a thermal infrared imager and a laser range finder, can rotate in azimuth and elevation to facilitate searching, has the weight of 18kg, and is used for regional reconnaissance and monitoring; the relay communication load is a regional broadband radio station, is used for providing communication relay for radio stations within a range of 10km in a region, comprises a regional broadband radio station forwarding device and receiving and transmitting antennas, and has the weight of not more than 15kg.

The control electronic box of the control terminal of the embodiment includes an interface board, a power board, an image processing board and the like, monitors parameters and states of all devices of the system, processes videos of the detected load, and forwards instructions sent by the control terminal from a handle and a keyboard.

The computer of the control terminal is a reinforced computer, is provided with a standard keyboard and is used for installing control software, sending an operation instruction, storing scout information and equipment state information, processing a working document and performing information editing and analysis; the display is a 17' flat panel display, has a heating screen, is suitable for various applications in the environment at the air temperature, has a resolution of 1920 multiplied by 1080, and is used for displaying information such as scout videos, data, equipment states, working documents and the like.

The control terminal has two groups of handles, one group is used for controlling the lift-off platform, and the other group is used for controlling the reconnaissance load, wherein the former is used for manually controlling the flight action or hovering of the lift-off platform, and the latter is used for selecting a reconnaissance load sensor, selecting a sensor state, focusing, ranging and tracking.

The wireless module of the control terminal and the wireless module on the lift-off platform are in a pair, are connected with the control electronic box through a serial port RS-422, are wirelessly connected with the lift-off platform and are used for emergently sending a landing recovery instruction to the lift-off platform when a transmission fault of a mooring cable occurs.

The control software of the control terminal is software with functions of flying control of the lift-off platform, reconnaissance load control, information processing, compilation and the like, and selects various control instructions and executes related information processing schemes through a software integration framework and a menu embedded in the framework.

The redundant power supply equipment of the embodiment comprises a power supply system of the ground platform and a standby battery of the lift-off platform, and the safety of the system is improved by the two power supply equipment.

The redundant transmission measures of the lift-off platform and the ground platform comprise a mooring cable and a wireless module pair, and the safety of the system is improved by the two transmission measures.

Each device of the embodiment has the functions of power-on self-test, periodic self-test, self-test under inquiry and self-test information reporting, and the device can work reliably under normal state.

Example 2

As shown in fig. 3, the control method of the present embodiment is:

step 1, when the system works, after each device is electrified, each device performs self-checking, determines the state of a main electronic unit in the device, reports state information to a control electronic box through an RS-422 interface, forwards the state information to control software on a computer, and locates each electronic unit of each device. The self-test reporting byte is defined as shown in table 1:

table 1 reporting byte definitions

When the self-checking state of each device of the system is normal, the next operation can be implemented; otherwise, stopping the machine for checking and troubleshooting.

And 2, when the system is started and the lift-off platform is lifted off (the height is not more than 120m and the conventional height is 100 m), the equipment is circularly self-checked and reported to the control electronic box and is forwarded to the control software, and when the self-checking state of each equipment is normal, the equipment can continuously fly, work or execute other control instructions according to the original control instructions, otherwise, the equipment immediately lands and recovers, and the failure is eliminated.

And 3, reading self-checking state information of the generator and output voltage and power of the power supply system monitored by the power manager by control software on the computer through the control electronic box, judging that the aircraft is faultless and continuously flying when the self-checking state is normal and the output voltage and power are in a normal range (when the output voltage and power are not obviously lower than a working value or exceed a set value, the rated value of the output voltage is 800VDC, the power consumption of a plain area is not more than 15kW, and the power consumption of a plateau area is not more than 20 kW).

Otherwise, judging that a fault occurs; the control software sends an instruction to the lift-off platform, the power supply of the lift-off platform standby power supply is automatically switched, and the lift-off platform is controlled to land and recover.

And the electronic box is controlled to simultaneously read the self-checking state and the output voltage (50V DC) of the standby power supply of the lift-off platform, and the self-checking state and the output voltage are forwarded to control software on a computer, so that the aircraft can continuously fly when no fault exists. Otherwise, the control software judges that the standby power supply fails and automatically controls the lift-off platform to descend and recover.

Step 4, the control software reads the release tension of the mooring cable of the mooring equipment through controlling the electronic box, and when the tension measured by the sensor exceeds a threshold value of 45kg, the mooring equipment reports data and automatically implements speed reduction control; when the tension does not exceed the threshold value, the control software does not adjust the instruction, and the lift-off platform continues flying in the original state.

The control software simultaneously reads the cable release length from the mooring equipment, reads the lift-off height of the lift-off platform from the video attitude measuring device, compares the release length with the lift-off height, and judges that the speed is too slow to release when the release length is greater than the lift-off height but not more than 10%, and implements the speed reduction lift-off of the lift-off platform; when the release length is greater than 40% of the lift-off height and the cable tension is greater than 30kg, it is judged that the wind influence is greater than that, danger exists, and the lift-off control of the lift-off platform is implemented.

And under the condition that the related fault of the cable state does not occur, the control software judges that the system state is normal, the control parameters are not adjusted, and the lift-off platform continues flying according to the original state.

The control software monitors the transmission condition of the mooring cable, if the video image and the state data are refreshed in real time and normally transmitted, the control instruction is not adjusted, and the lift-off platform continues to fly in the original state; otherwise, the transmission fault is judged, the control software automatically sends an emergency landing instruction to the lift-off platform through the wireless module, and the lift-off platform automatically performs landing recovery.

And 5, reading flight parameters of the lift-off platform and attitude data of the lift-off platform obtained by the video attitude measurement device through the control software by controlling the electronic box, wherein when the data are stable and the attitude is normal, the control software does not make an adjustment instruction, and the lift-off platform continues to fly according to the original state or the instruction.

Otherwise, when the state changes frequently and the power consumption increases abnormally, the control software sends a landing instruction through the control electronic box to control the lift-off platform to implement the height-lowering flight control until the state is stable and normal or the landing recovery is carried out;

step 6, the control software reads the spatial position data of the lift-off platform acquired by the video attitude detection device through controlling the electronic box, and the control software continues flying when the data is normal (in the overhead direction of the ground platform, the height change is not more than 10m, and the deviation from the center position of the ground platform is not more than 15m in radius); and when the trend of deviating from the ground platform exceeds a threshold value (15 m), performing homing flight control until the lift-off platform returns to the original position limited area.

Step 7, the control software reads the self-checking information of the task load through the control electronic box, and if the self-checking state of the task load is normal, the control software continues to work according to the original state or the instruction; and (4) reporting a fault by self-checking the task load, and controlling the lift-off platform to automatically fall and recover.

And 8, the control software reads the attitude data of the aerial platform and the orientation data of the antenna of the relay communication equipment, which are obtained by the video-lifting attitude-measuring device through controlling the electronic box, and controls the rotation direction of the aerial platform to realize the rotation of the communication antenna when the aerial platform has angular deviation with the original direction or data packet drop occurs in communication transmission until the aerial platform faces the original direction or the signal quality meets the requirement.

When the angle of the antenna of the relay communication equipment is stable and the transmission quality is normal, the lift-off platform flies in the original attitude.

And 9, the control software reads the information of the reconnaissance load through the control electronic box, an operator observes videos and scenes, selects the types (infrared thermal imager, digital camera and laser illuminator) and the states (black-white conversion, focal length increase or decrease adjustment, rotary search, video tracking and the like) of the sensors according to needs, and controls distance measurement and image capture through a handle key after a target is captured.

An operator selects an information processing component to process video and data information acquired by a reconnaissance load through menu selection in control software, and completes geodetic coordinate calculation of a target by combining read positioning navigation device data, levitation platform attitude data measured by a video attitude measuring device, reconnaissance load orientation and ranging data, wherein the positioning error of the target at 4km is level not more than 11m (CEP) and elevation 11m (PE); and the labeling of the coordinate, image, quantity and other attribute data of the target can be completed.

Step 10, an operator selects a flight accompanying software component of the control software according to an instruction, selects a flight accompanying working state of the lift-off platform, sends a movement direction and a movement speed to the lift-off platform when a vehicle or a ship carrying the system maneuvers, and enters flight accompanying control through a flight control unit of the lift-off platform, wherein the deviation distance between the position of the lift-off platform in the flight accompanying state and the center position of the ground platform is not more than 30m, and otherwise, the control software sends a flight control adjustment instruction until the position returns to the radius of 30m of the center position of the ground platform.

The control software reads flight parameters and power consumption of the lift-off platform through controlling the electronic box, and the lift-off platform continues to fly normally without adjusting control instructions under the condition that no fault is reported and the power consumption is not more than 20% of the normal power consumption range of the area; otherwise, the power consumption of the lift-off platform exceeds a threshold value, the lift-off platform is automatically controlled to reduce the flying height and speed, and a speed reduction instruction is sent to the carrying vehicle or the ship.

And step 11, an operator selects a menu and a key of the control software through an input device such as a handle, a keyboard and the like, and manages the acquired reconnaissance information such as storage, playback, editing and the like.

And step 12, the operator sends the scout information to the communication radio station through the 'report' menu of the control software, and reports the scout information, the equipment information and the working state obtained by the system to other radio station users.

Step 13, selecting a 'withdrawing' key through a menu of the control software by an operator according to the withdrawing instruction, and sending a landing withdrawing instruction to the lift-off platform by the control software through the control electronic box; the lift-off platform lands according to the instruction; and lifting off the platform after recovery, and powering off the task load and the like.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A mooring and lifting reconnaissance and communication relay system is characterized by comprising a ground platform, a lifting platform, a task load and a control terminal; the ground platform is fixed on the ground or integrated on a vehicle, comprises a power supply system, mooring equipment, a positioning navigation device, a video attitude measurement device, a communication radio station and a wireless module, provides installation and collection space, a fixing mode, power supply, external communication and emergency instruction transmission for the system, provides direction reference, ground platform attitude and aerial lift-off platform attitude data, and controls cable release or recovery; the lift-off platform is a multi-rotor aircraft, comprises an aircraft main body, a standby power supply, a wireless module and a cable connector, provides a flight function, bears a task load, is fixed on the ground platform through a bracket of the aircraft main body during collection, and lifts off and flies during work; the mission load is a reconnaissance load and relay communication equipment, is arranged on a lower bracket of the main body of the lift-off platform aircraft, is connected with a mooring cable, and is used for regional reconnaissance and monitoring or used for communication relay; the control terminal manages a system and controls equipment, is installed on a ground platform, is used by an operator, and comprises a control electronic box, a computer, a handle and a wireless module, wherein each equipment is connected with a power manager to obtain power supply, the computer and the handle are connected with the control electronic box, and the control electronic box is connected with a mooring cable and used for control, reconnaissance information processing, relay alignment control and safety control.

2. The mooring type levitation reconnaissance and communication relay system as claimed in claim 1, wherein the ground platform is provided with a power supply system, the levitation platform is provided with a standby battery, the power supply system monitors the current and voltage power consumption conditions of each device through a power manager of the power supply system, a generator and the power manager of the power supply system are provided with self-checking functions for locating to the board card, the standby battery is provided with a self-checking function, self-checking information is reported to the control terminal, and when a fault occurs, the self-checking information is timely reported to the control terminal; the mooring equipment of the ground platform is provided with a self-checking and data monitoring device, the control terminal monitors the transmission data of the mooring cable in real time, the wireless module has a self-checking function, self-checking information is reported to the control terminal in real time, and the control terminal is reported when the mooring cable is disconnected and the wireless module fails in time; the ground platform is provided with a positioning navigation device and a video attitude measuring device, and is used for measuring the attitude and the translation amount of the lift-off platform.

3. The mooring rising reconnaissance and communication relay system according to claim 2, wherein a control board of the rotary drum of the mooring equipment monitors a rotary state, a tension sensor of the mooring cable monitors a cable tensioning state, a control electronic box, a computer, a positioning navigation device and a communication radio station are provided with a control computer board, and the control computer board has a self-checking function, and self-checking and monitoring information is reported to the control terminal in real time; the self-checking unit of the control terminal is a system self-checking component, and the data monitoring parameters comprise control instructions, reconnaissance information and communication data of all equipment of the system.

4. The tethered airborne reconnaissance and communication relay system of claim 3, wherein the reconnaissance load of the mission load has a self-test computer board that checks the status of the sensors or transceiver antennas, the control unit, the turntable servo board, monitors reconnaissance receipt information, turntable orientation and pitch information; the relay communication load of the task load is provided with a self-checking computer board which checks the states of the receiving module, the transmitting module and the control unit and monitors the self-checking information, the receiving data packet and the transmitting data packet of the equipment.

5. The tethered airborne reconnaissance and communication relay system of claim 4, wherein the airborne platform is a quad-rotor aircraft, or a hexa-rotor aircraft, or a quad-eight rotor aircraft; the lift-off platform adopts a mooring cable and takes a power supply system of the ground platform as a main working power supply; the lift-off platform adopts a standby power supply and a wireless module, and is switched to the standby power supply for power supply and emergency landing recovery through monitoring information when a power supply system fails; when the transmission link of the mooring cable breaks down, the monitoring information is switched to the wireless module to send a control instruction and perform emergency landing and recovery.

6. The tethered airborne reconnaissance and communication relay system of claim 5, wherein the positioning navigation device is a dual satellite receiver combination, positioning and indicating north, the navigation satellite being a Beidou satellite, or GPS, or GLONASS;

or the positioning navigation device is a combination of a satellite receiver and an inertial navigation device, and the inertial navigation device is a fiber-optic gyroscope strapdown inertial navigation device or a laser gyroscope strapdown inertial navigation device.

7. The tethered airborne reconnaissance and communication relay system of claim 6, wherein the wireless module transmitting emergency control commands is: zigBee equipment, wifi equipment or a data transmission radio station.

8. A control method of a mooring and lift-off reconnaissance and communication relay system is characterized by comprising the following steps:

step 1, performing self-inspection on all equipment after a system is powered on, and controlling software to continuously monitor data of each equipment; acquiring the working state of each device, and controlling the lift-off platform to take off according to the take-off speed or the flight height under the condition that the device states are all normal; otherwise, not sending a take-off instruction, and displaying fault information on a computer display;

step 2, each device performs self-checking circularly and sends state information to the control terminal, and when no fault exists, the control software does not change an instruction, and the lift-off platform continues to fly in the original state or under the instruction; when a fault occurs, displaying the fault; when dangerous faults confirmed by the system occur, the control software automatically sends emergency landing instructions to control the lift-off platform to land and recover;

step 3, the control terminal receives and monitors the state of the power supply system, and the control terminal continues to fly in the original state when no fault exists; when a fault occurs, the control software judges the danger of the lift-off platform, the power supply is switched to be supplied by a standby power supply of the lift-off platform, the lift-off platform automatically shifts to emergency operation, and the lift-off platform is landed and recovered; the control terminal simultaneously monitors the state of the standby power supply of the lift-off platform, and continues to fly in the original state or under an instruction when no fault exists; when the standby power supply fails, the control software automatically sends an instruction, and the lift-off platform is lifted for emergency landing recovery;

step 4, the control terminal monitors the release tension of the mooring cable, and the mooring cable continues to fly in the original state or under the instruction when the tension does not exceed the threshold; the tension exceeds a threshold value to implement deceleration control; the control terminal monitors the cable release length and the lift-off height of the lift-off platform, and when the difference between the release length and the lift-off height is larger than a threshold value, an instruction is sent, and the lift-off platform implements speed reduction control; the aircraft continues flying in the original state or under the instruction before the difference between the release length and the lift-off height is not greater than the threshold value; meanwhile, the control terminal monitors the transmission condition of the mooring cable, and the transmission is normal and continues to fly under the original state or the instruction; when transmission is interrupted, the control software sends an instruction through the wireless module in an emergency mode, and the lift-off platform carries out emergency landing recovery;

step 5, monitoring flight parameters and attitude data of the lift-off platform by the control terminal, and continuing to fly in the original state or under an instruction when the data is stable and the attitude is normal; when the state changes frequently and the power consumption increases, the control software sends a descending flight instruction, and the lift-off platform descends to fly until the state is stable and normal or the landing is recovered;

step 6, the control terminal monitors the spatial position data of the lift-off platform acquired by the video attitude detection device, and the data continues to fly in the original state or under an instruction when the data is normal; when the trend of deviating from the ground platform height or horizontal position exceeds a threshold value, performing homing flight control until the lift-off platform returns to a specified position limit area;

step 7, the control terminal monitors the task load state, and the task load works normally and continues to work; when a task load is in fault, the control software sends an instruction, and the lift-off platform is lifted to be in emergency landing and recovered;

step 8, the control terminal monitors the attitude of the lift-off platform and the orientation of the antenna of the borne relay communication equipment, controls the lift-off platform to rotate and executes a relay task;

step 9, monitoring the reconnaissance load information by the control terminal, selecting a sensor, measuring distance, screenshot, calculating a target coordinate, and executing a reconnaissance task;

step 10, the control terminal controls the lift-off platform to enter a flight accompanying state and execute flight accompanying control when a vehicle or a ship bearing the ground platform is maneuvering according to the instruction;

step 11, the control terminal stores, plays back and organizes and manages the scout information through the handle and the input device;

step 12, the control terminal reports the scout information, the equipment information and the working state obtained by the system through the communication radio station;

and step 13, the control terminal controls the lift-off platform to descend and recover according to the withdrawing instruction, and controls the lift-off platform and the task load borne by the lift-off platform to be powered off.

9. The method for controlling a tethered airborne reconnaissance and communication relay system as claimed in claim 8, wherein the step of performing a relay mission in step 8 comprises:

step 81, in a normal working state of the system, monitoring the attitude of the lift-off platform and the orientation of the loaded relay communication equipment antenna by the control terminal, and continuing to fly under the original attitude or instruction when the antenna angle is stable and the transmission quality is normal;

step 82, monitoring and finding that the angle of the antenna deviates from an original value or the communication transmission quality is reduced, and controlling software to send a rotation instruction of the lift-off platform to realize the rotation of the communication antenna in the direction until the communication antenna is in the original direction or the signal quality meets the requirement;

in step 9, the step of executing the scout task includes:

step 91, in a normal working state of the system, receiving the scout load information by the control terminal, selecting the type and the state of the sensor by an operator through a handle key and a control software menu as required, and controlling distance measurement and image interception;

step 92, processing the information acquired by the reconnaissance load through control software by an operator, and completing the resolving of a target geodetic coordinate by combining the read data of the ground platform positioning navigation device, the attitude data of the lift-off platform measured by the video attitude measuring device, the orientation of the reconnaissance load and the distance measuring data to obtain target coordinate attribute data;

step 93, the operator stores, plays back and organizes and manages the reconnaissance information through a handle and an input device of the control terminal;

and 94, selecting a communication software component of the control software by the control personnel through the control terminal, and reporting the scout information, the equipment information and the working state obtained by the system through the communication radio station.

10. The method for controlling a mooring levitation reconnaissance and communication relay system as claimed in claim 9, wherein the step 10 of performing the accompanying flight control comprises:

101, an operator selects an accompanying flight instruction of a control software menu through a control terminal, and presses a key to issue accompanying flight control information to an ascending platform;

102, detecting the movement speed and direction of a bearing mechanism by a control terminal through a positioning navigation device, and controlling an aerial platform to enter a flight accompanying state; the control terminal monitors flight parameters and power consumption of the lift-off platform and continues to fly in the original state or under an instruction in a normal range; when the power consumption of the lift-off platform exceeds a threshold value, the control software sends an instruction for reducing the flying height and speed and sends a speed reduction instruction to a bearing vehicle or a ship, and the lift-off platform adjusts the flying according to the instruction.

Images