CN202102301U - Super long-range unmanned aerial vehicle control system based on civil mobile phone network - Google Patents
Super long-range unmanned aerial vehicle control system based on civil mobile phone network Download PDFInfo
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- CN202102301U CN202102301U CN2011201795690U CN201120179569U CN202102301U CN 202102301 U CN202102301 U CN 202102301U CN 2011201795690 U CN2011201795690 U CN 2011201795690U CN 201120179569 U CN201120179569 U CN 201120179569U CN 202102301 U CN202102301 U CN 202102301U
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- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
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Abstract
The utility model discloses a super long-range unmanned aerial vehicle control system based on a civil mobile phone network, which is formed by an airborne system and a ground system. The airborne system is composed of a communication and navigation subsystem and an attitude control subsystem. The communication and navigation subsystem completes mobile phone communication, automatic navigation and task functions, the attitude control subsystem completes attitude and speed control of an unmanned aerial vehicle, the ground system achieves manually or automatically sending out control instruction which is received by the attitude control subsystem so as to achieve take-off and landing control and work mode conversion of the unmanned aerial vehicle. The super long-range unmanned aerial vehicle control system adopts the mobile phone network to achieve the super long-range control of the unmanned aerial vehicle, overcomes the shortcomings that a corresponding control device in the existing technology of the unmanned aerial vehicle is large in volume, heavy in weight, large in power consumption and strong in electromagnetic radiation, obtains distributed control based on data and instruction transmission of the mobile phone network, can be widely applied to many fields of forest fire prevention, surveying and mapping, exploration, aerial photography and videography, disaster reduction and disaster relief, law enforcement and supervision, emergency command and the like.
Description
Technical field
The utility model relates to a kind of very-long-range UAV control system based on civilian cell phone network, is applicable to fields such as forest fire protection, mapping, exploration, aeroplane photography shooting, the mitigation disaster relief, law enforcement supervision.
Background technology
At present, means are maked an inspection tour in the forest fire alarm that forest department adopts at present has following characteristics respectively: the someone is worth and keeps sightseeing tower many duty personnel's condition of work is abominable at remote, thickly forested mountains, and observed range is less; The moonscope cost of use is higher, receives weather effect big, and is ageing general; It is high that someone drives the patrol aircraft use cost, is difficult to realize that whole day uninterruptedly makes an inspection tour.In general, space/aviation fire alarm is maked an inspection tour to be proved to be and is the most effectively prevention and discovery mode, and the serial geo-stationary orbit weather satellite of the wind and cloud of China promptly possesses this function.
Bring into use unmanned plane to accomplish the tour task both at home and abroad.The Long-distance Control means that existing unmanned plane uses mainly contain satellite link, high-power telepilot and data radio, and cost is high.Its power consumption is big in addition, and electromagnetic radiance is big, and to the specific (special) requirements that is furnished with of antenna, airborne equipment electromagnetic compatibility difficulty is big.
Unmanned plane was higher owing to the general wing carries when existing length was navigated, and launching and recovering equipment imperfection on the machine causes the landing speed of aircraft too high.Thus landing site and peripheral obstruction clearance criteria are had relatively high expectations, manipulation technology and the psychological quality to operator requires to be close to harsh simultaneously.These use the aviation means to carry out work for daily ubiquity all is very disadvantageous.
Unmanned vehicle receives the influence of various complex conditions, and accident rate is far above existing piloted vehicle.On the one hand, embodied the use value of unmanned vehicle, but from the daily angle evaluation of generally using, the life cycle cost of existing unmanned vehicle exists the problem of can not using and dare not using than higher.
Existing airborne remote sensing, remote measurement and monitoring, what generally adopt is the control or the use-pattern of control center's (car).Though level of integrated system is high, the control model of single node makes system-wide reliability variation in case key node goes wrong, will cause system-wide paralysis.Must cause the low impression of the attendance rate and serviceability rate in routine duties.
The utility model content
The technical matters that the utility model will solve provides the very-long-range UAV control system based on civilian cell phone network that a kind of cost is lower, reliability is higher.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is:
A kind of very-long-range UAV control system based on civilian cell phone network is made up of mobile system and ground system; Said mobile system is made up of communication navigation subsystem and attitude RACS;
Said communication navigation subsystem comprises first single-chip microcomputer, navigation module, the first steering wheel control module, memory module, the second singlechip that task program is housed, the second steering wheel control module, mobile module, gang socket and the sensor assembly that Navigator is housed; Said memory module respectively with said first single-chip microcomputer, said second singlechip is two-way is connected; The respective input of output termination first single-chip microcomputer of said navigation module, the corresponding output end of said first single-chip microcomputer connects the input end of the first steering wheel control module; The respective input of the output termination second singlechip of said sensor assembly, the corresponding output end of said second singlechip connects the input end of the second steering wheel control module; Said mobile module is connected with said second singlechip is two-way respectively with gang socket;
Said attitude RACS comprises the 3rd single-chip microcomputer, the 3rd steering wheel control module, first wireless data transfer module, height sensor, speed pickup and attachment plug; Said the 3rd single-chip microcomputer respectively with said first wireless data transfer module, said attachment plug is two-way is connected, the output terminal of said height sensor and speed pickup connects the respective input of said the 3rd single-chip microcomputer respectively;
Said ground system comprises computing machine, second wireless data transfer module and game console, and said computing machine is connected with second wireless data transfer module is two-way, the respective input of the said computing machine of output termination of said game console.
Preferably, the said sensor assembly in the said communication navigation subsystem is temperature sensor, flame detector, humidity sensor or the wind transducer of switching value output or the output of universal serial bus numeral.
Said attitude RACS also comprises unmanned plane state sensor module, the respective input of said the 3rd single-chip microcomputer of output termination of said unmanned plane state sensor module.Said unmanned plane state sensor is temperature sensor, voltage sensor, current sensor or the speed probe of switching value output or the output of universal serial bus numeral.
Said sensor assembly or unmanned plane state sensor are provided with more than one.
Said ground system also comprises an above camera, the respective input of the output termination computing machine of said camera.
Said ground system also comprises unmanned plane from motion tracking land station, and said unmanned plane is from the respective input of the said computing machine of output termination of motion tracking land station.
The model of said first to the 3rd single-chip microcomputer is STC89C52/54; Said first to the 3rd steering wheel control module is made up of single-chip microcomputer and peripheral circuit thereof, and the model of said single-chip microcomputer is STC89C52/54, and said peripheral circuit comprises reset circuit and crystal oscillating circuit; The model of said first, second wireless data transfer module is FC-201/SA;
The model of the memory module in the said communication navigation subsystem is AT24C16; Said navigation module is GPS, GLONESS, Galileo or the Big Dipper; The model of said mobile module is JB35GM;
The model of the height sensor in the said attitude RACS is MPS3128 or eagle tree barometric altimeter; The model of said speed pickup is an eagle tree air speed appearance.
Said mobile system is lifted on the unmanned plane through the becket bridle that electric detonator is housed, and the control line of said electric detonator connects said attachment plug.
The beneficial effect that adopts technique scheme to produce is: (1) the utility model adopts cell phone network to realize the very-long-range control to unmanned plane, has overcome the shortcoming that corresponding opertaing device volume is big in the existing unmanned plane technology, weight is big, power consumption is big, electromagnetic radiation is strong; (2) based on the data of cell phone network and the transmission of instruction, realized distributed control, having overcome in the prior art with control center's (car) is the single node control model of characteristic, and system reliability improves, and with low cost; (3) when the unmanned plane situation is unusual, start Separation and Recovery mechanism automatically, the realization mobile system separates with unmanned plane, thus the higher mobile system of recovery value further reduces use cost; (4), therefore all have widely and use in a lot of fields such as forest fire protection, mapping, exploration, aeroplane photography shooting, the mitigation disaster relief, law enforcement supervision and emergency commands because native system has good low-altitude performance, and task load-carrying surplus is big.
Description of drawings
Fig. 1 is a communication navigation subsystem functional-block diagram;
Fig. 2 is an attitude RACS functional-block diagram;
Fig. 3 is the ground system functional-block diagram;
Fig. 4 is the flow chart of first single-chip microcomputer;
Fig. 5 is the flow chart of second singlechip;
Fig. 6 is the flow chart of the 3rd single-chip microcomputer;
Fig. 7 is the workflow diagram of the utility model.
Embodiment
Referring to Fig. 1 ~ Fig. 6, the utility model is made up of mobile system and ground system; Said mobile system is made up of communication navigation subsystem and attitude RACS.
Said communication navigation subsystem is accomplished mobile communication, self-navigation and task function, and it comprises first single-chip microcomputer, navigation module, the first steering wheel control module, memory module, the second singlechip that task program is housed, the second steering wheel control module, mobile module, gang socket and the sensor assembly that Navigator is housed; Said memory module respectively with said first single-chip microcomputer, said second singlechip is two-way is connected; The respective input of output termination first single-chip microcomputer of said navigation module, the corresponding output end of said first single-chip microcomputer connects the input end of the first steering wheel control module; The respective input of the output termination second singlechip of said sensor assembly, the corresponding output end of said second singlechip connects the input end of the second steering wheel control module; Said mobile module is connected with said second singlechip is two-way respectively with gang socket.Said sensor assembly is temperature sensor, flame detector, humidity sensor or the wind transducer of switching value output or the output of universal serial bus numeral.Said temperature sensor, flame detector, humidity sensor or wind transducer can use separately or according to application combination use, the output terminal of said sensor assembly connects the respective input of second singlechip respectively during use.The flow chart of said first single-chip microcomputer and second singlechip is referring to Fig. 4 and Fig. 5.
Said attitude RACS comprises the 3rd single-chip microcomputer, the 3rd steering wheel control module, first wireless data transfer module, height sensor, speed pickup and attachment plug; Said the 3rd single-chip microcomputer respectively with said first wireless data transfer module, said attachment plug is two-way is connected, the output terminal of said height sensor and speed pickup connects the respective input of said the 3rd single-chip microcomputer respectively.Said attitude RACS can also comprise unmanned plane state sensor module, the respective input of said the 3rd single-chip microcomputer of output termination of said unmanned plane state sensor module; Said unmanned plane state sensor is temperature sensor, voltage sensor, current sensor or the speed probe of switching value output or the output of universal serial bus numeral, and said unmanned plane state sensor can use separately or use according to the monitoring demand combinations.The flow chart of said the 3rd single-chip microcomputer is referring to Fig. 6.
Said ground system realizes manually or automatically sending steering order, is received by the attitude RACS, realizes the landing control of unmanned plane and the conversion of mode of operation; Said ground system comprises computing machine, second wireless data transfer module and game console, and said computing machine is connected with second wireless data transfer module is two-way, the respective input of the said computing machine of output termination of said game console.Said ground system can also be provided with camera, the respective input of the output termination computing machine of described camera.Said camera can be provided with one or more, is respectively first camera, second camera ... The N camera is installed in ground diverse location respectively; Said camera can be accomplished range finding, survey height, location and the shoot function of unmanned plane, matches with computing machine and realizes the automatic landing of unmanned plane.
Said ground system can also comprise unmanned plane from motion tracking land station, and said unmanned plane can be set land station for eagle from motion tracking land station, the respective input of its output termination said computing machine, accomplish unmanned plane closely from motion tracking.
The model of first to the 3rd single-chip microcomputer described in the present embodiment is STC89C52/54; Said first to the 3rd steering wheel control module is made up of single-chip microcomputer and peripheral circuit thereof, and the model of said single-chip microcomputer is STC89C52/54, and said peripheral circuit comprises reset circuit and crystal oscillating circuit; The model of said first, second wireless data transfer module is FC-201/SA;
The model of the memory module in the said communication navigation subsystem is AT24C16; Said navigation module is GPS, GLONESS, Galileo or the Big Dipper; The model of said mobile module is JB35GM;
The model of the height sensor in the said attitude RACS is MPS3128 or eagle tree barometric altimeter; The model of said speed pickup is an eagle tree air speed appearance;
Game console in the said ground system is the current game controller, for example the Universal USB game console of POWER PAD or TOPWAY board.
Mobile system described in the present embodiment is lifted on the unmanned plane through the becket bridle that electric detonator is housed, and the control line of said electric detonator connects said attachment plug.
The workflow of the utility model is referring to Fig. 7, and its concrete steps are following:
(1) sets navigation spots through the communication navigation subsystem on ground;
(2) take off by ground system control unmanned plane, can take off perhaps to cooperate with camera through the game console manual control and accomplish taking off automatically of unmanned plane through computing machine;
(3) after unmanned plane reaches setting height and speed; Change the automatic cruising state over to through game console or computer control unmanned plane; Control the attitude and the speed of unmanned plane then by the attitude RACS, and accomplish the navigation of unmanned plane according to the navigation spots that sets in the step (1) by the communication navigation subsystem;
(4) in the automatic cruising state, whether the attitude RACS exceeds preset threshold through the parameters such as height, speed, temperature, voltage, electric current and rotating speed of height sensor, speed pickup and unmanned plane state sensor module monitors unmanned plane;
When exceeding threshold value, the Separation and Recovery position is put in the attachment plug of attitude RACS, through the electric detonator control line electric detonator is blown, and said becket bridle breaks off, and mobile system is separated with unmanned plane under action of gravity, is worth higher mobile system and is able to reclaim; Second singlechip is sent to mobile module with current coordinate and image information simultaneously, and mobile module is sent to each terminal through civilian cell phone network with image and position data, is closed until mobile system;
When not exceeding threshold value, get into step (5);
(5) in the process of cruising, according to mission planning, unmanned plane is accomplished automatic cruising, carries out image and position data transmission through cell phone network; When receiving the navigation information of mobile module transmission, second singlechip is accomplished the renewal of navigation spots in the data-carrier store; Judge then whether the task of cruising is accomplished, when the task of cruising does not finish, repeating step (4); When cruising task termination, get into step (6);
(6) after the flight of accomplishing all navigation spots, unmanned plane returns landing field;
(7) manually or automatically land through ground system.
Claims (9)
1. the very-long-range UAV control system based on civilian cell phone network is characterized in that being made up of mobile system and ground system; Said mobile system is made up of communication navigation subsystem and attitude RACS;
Said communication navigation subsystem comprises first single-chip microcomputer, navigation module, the first steering wheel control module, memory module, second singlechip, the second steering wheel control module, mobile module, gang socket and the sensor assembly that Navigator is housed; Said memory module respectively with said first single-chip microcomputer, said second singlechip is two-way is connected; The respective input of output termination first single-chip microcomputer of said navigation module, the corresponding output end of said first single-chip microcomputer connects the input end of the first steering wheel control module; The respective input of the output termination second singlechip of said sensor assembly, the corresponding output end of said second singlechip connects the input end of the second steering wheel control module; Said mobile module is connected with said second singlechip is two-way respectively with gang socket;
Said attitude RACS comprises the 3rd single-chip microcomputer, the 3rd steering wheel control module, first wireless data transfer module, height sensor, speed pickup and attachment plug; Said the 3rd single-chip microcomputer respectively with said first wireless data transfer module, said attachment plug is two-way is connected, the output terminal of said height sensor and speed pickup connects the respective input of said the 3rd single-chip microcomputer respectively;
Said ground system comprises computing machine, second wireless data transfer module and game console, and said computing machine is connected with second wireless data transfer module is two-way, the respective input of the said computing machine of output termination of said game console.
2. the very-long-range UAV control system based on civilian cell phone network according to claim 1 is characterized in that the said sensor assembly in the said communication navigation subsystem is temperature sensor, flame detector, humidity sensor, illuminance sensor or the wind transducer of switching value output or the output of universal serial bus numeral.
3. the very-long-range UAV control system based on civilian cell phone network according to claim 2; It is characterized in that said attitude RACS also comprises unmanned plane state sensor module, the respective input of said the 3rd single-chip microcomputer of output termination of said unmanned plane state sensor module.
4. the very-long-range UAV control system based on civilian cell phone network according to claim 3 is characterized in that said unmanned plane state sensor is temperature sensor, voltage sensor, current sensor or the speed probe of switching value output or the output of universal serial bus numeral.
5. according to claim 2 or 4 described very-long-range UAV control systems, it is characterized in that said sensor assembly or unmanned plane state sensor are provided with more than one based on civilian cell phone network.
6. the very-long-range UAV control system based on civilian cell phone network according to claim 4 is characterized in that said ground system also comprises an above camera, the respective input of the output termination computing machine of said camera.
7. the very-long-range UAV control system based on civilian cell phone network according to claim 6; It is characterized in that said ground system also comprises unmanned plane from motion tracking land station, said unmanned plane is from the respective input of the said computing machine of output termination of motion tracking land station.
8. according to claim 1 ~ 4 any one or 6 ~ 7 any described very-long-range UAV control systems based on civilian cell phone network, the model that it is characterized in that said first to the 3rd single-chip microcomputer is STC89C52/54; Said first to the 3rd steering wheel control module is made up of single-chip microcomputer and peripheral circuit thereof, and the model of said single-chip microcomputer is STC89C52/54, and said peripheral circuit comprises reset circuit and crystal oscillating circuit; The model of said first, second wireless data transfer module is FC-201/SA;
The model of the memory module in the said communication navigation subsystem is AT24C16; Said navigation module is GPS, GLONESS, Galileo or the Big Dipper; The model of said mobile module is JB35GM;
The model of the height sensor in the said attitude RACS is MPS3128 or eagle tree barometric altimeter; The model of said speed pickup is an eagle tree air speed appearance.
9. according to claim 1 ~ 4 any one or 6 ~ 7 any described very-long-range UAV control systems based on civilian cell phone network; It is characterized in that said mobile system is lifted on the unmanned plane through the becket bridle that electric detonator is housed, the control line of said electric detonator connects said attachment plug.
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| CN2011201795690U CN202102301U (en) | 2011-05-31 | 2011-05-31 | Super long-range unmanned aerial vehicle control system based on civil mobile phone network |
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| CN2011201795690U CN202102301U (en) | 2011-05-31 | 2011-05-31 | Super long-range unmanned aerial vehicle control system based on civil mobile phone network |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102183941A (en) * | 2011-05-31 | 2011-09-14 | 河北科技大学 | Civil-mobile-phone-network-based ultra-long-range unmanned aerial vehicle control system |
| CN103869767A (en) * | 2012-12-07 | 2014-06-18 | 波音公司 | Forest sensor deployment and monitoring system |
| CN104395778A (en) * | 2014-03-11 | 2015-03-04 | 深圳市大疆创新科技有限公司 | Unmanned airplane positioning method and unmanned airplane, personal wireless terminal, positioning system |
| EP2897864A4 (en) * | 2012-09-19 | 2016-03-09 | Boeing Co | Forestry management system |
| CN107037845A (en) * | 2017-04-20 | 2017-08-11 | 中博宇图信息科技有限公司 | One kind is taken photo by plane UAV Flight Control System |
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2011
- 2011-05-31 CN CN2011201795690U patent/CN202102301U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102183941A (en) * | 2011-05-31 | 2011-09-14 | 河北科技大学 | Civil-mobile-phone-network-based ultra-long-range unmanned aerial vehicle control system |
| CN102183941B (en) * | 2011-05-31 | 2013-11-13 | 河北科技大学 | Civil-mobile-phone-network-based ultra-long-range unmanned aerial vehicle control system |
| EP2897864A4 (en) * | 2012-09-19 | 2016-03-09 | Boeing Co | Forestry management system |
| AU2013318512B2 (en) * | 2012-09-19 | 2016-03-31 | The Boeing Company | Forestry management system |
| CN103869767A (en) * | 2012-12-07 | 2014-06-18 | 波音公司 | Forest sensor deployment and monitoring system |
| CN104395778A (en) * | 2014-03-11 | 2015-03-04 | 深圳市大疆创新科技有限公司 | Unmanned airplane positioning method and unmanned airplane, personal wireless terminal, positioning system |
| WO2015135144A1 (en) * | 2014-03-11 | 2015-09-17 | 深圳市大疆创新科技有限公司 | Method for positioning unmanned aerial vehicle, unmanned aerial vehicle, personal wireless terminal, and positioning system |
| CN107037845A (en) * | 2017-04-20 | 2017-08-11 | 中博宇图信息科技有限公司 | One kind is taken photo by plane UAV Flight Control System |
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Granted publication date: 20120104 Termination date: 20120531 |