CN205721375U - Many rotor unmanned aerial vehicle communication and safety monitoring system - Google Patents
Many rotor unmanned aerial vehicle communication and safety monitoring system Download PDFInfo
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- CN205721375U CN205721375U CN201620129211.XU CN201620129211U CN205721375U CN 205721375 U CN205721375 U CN 205721375U CN 201620129211 U CN201620129211 U CN 201620129211U CN 205721375 U CN205721375 U CN 205721375U
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Abstract
The utility model provides a many rotor unmanned aerial vehicle communication and safety monitoring system, a serial communication port, include: the system comprises a ground control system and a remote control system positioned on the multi-rotor unmanned aerial vehicle; the ground control system is connected with the remote control system through an iridium communication network; the ground control system receives and processes detection information and safety monitoring data transmitted by the remote control system through the iridium communication network, and sends a control instruction and other data to the remote control system through the iridium communication network; the remote control system sends detection information and safety monitoring data to the ground control system through an iridium communication network; and receiving the control instruction and other data sent by the ground control system through the iridium communication network, analyzing and processing the control instruction and other data, and completing the specified task. The utility model discloses a many rotor unmanned aerial vehicle communication and safety monitoring system realize the purpose at the effective communication range of iridium satellite any place real-time safety monitoring.
Description
Technical field
This utility model belongs to aircraft emergency flight control and safety monitoring field, particularly relate to the communication of many rotor wing unmanned aerial vehicles and
Safety monitoring system.
Background technology
Many rotor wing unmanned aerial vehicles aircraft (UAV) because its framework is simple, maneuverability is good, low cost of manufacture, good stability, more weak
Gyroscopic effect and the feature such as good spatial operation motility become current study hotspot.Meanwhile, many due to it again
Variable, non-linear, close coupling, the characteristic of drive lacking, be set with very strict requirement to Controlling model and parameter.
Along with development and the lifting of battery durable ability of aircraft industry, the cruising speed of many rotor wing unmanned aerial vehicles, continuation of the journey
Radius, cruising time and flying height have bigger lifting.Current existing long distance control system includes that radio is at a high speed
Data transfer system, image transmission system, 2.4G hand-held remote control system etc., effective monitoring scope from 100m to 22km, the wherein U.S.
900MHz Xtend wireless data transmission module farthest gain distance is 22km, and general coverage is about 3km.Existing long-range prison
The finiteness of Ore-controlling Role monitoring range, cannot meet the requirement of many rotor wing unmanned aerial vehicles flying radius and flying height, it is impossible to
Effectively realize the ground remote control of many rotor wing unmanned aerial vehicles, parameter adjustment, data analysis and safety detection etc., thus many rotors without
Man-machine when running into urgent emergency case (including that cell voltage is too low, wind speed is excessive, urgent avoidance) uncontrollable many rotors unmanned
Aerial parachute-opening, pose adjustment, flight speed and the height adjustment of machine, easily causes the damage of many rotor wing unmanned aerial vehicles body, equipment damage
The various sudden safety problems such as wound, personal injury.
On the other hand, IRIDIUM (also known as iridium satellite plan) is that the first generation that Motorola Inc. of the U.S. proposes really relies on
Satellite communication system provides the global personal communication mode of contact, it is intended to break through the office of existing cellular radio Communication based on ground
Limit, by space to any area, anyone voice, data, fax and paging information are provided.Its maximum feature is, by defending
Relay between star realizes global communication, is equivalent to terrestrial cellular mobile telephone system to move the sky to. it with make at present
Satellite communication system compare and have two big advantages: one is that track is low, and transmission speed is fast, and information loss is little, communication
Quality is greatly improved；Two is that IRIDIUM need not special grounded receiving station, unfrequented barren land on the earth, communication
The outlying district fallen behind, natural disaster local communication all becomes unblocked.
By the omnibearing its communication ability of iridium satellite communication network, GCU can be preferably to many rotors
Unmanned plane carries out safety monitoring and emergency flight control.At many rotor wing unmanned aerial vehicles, flight failure, body injury, ground data link occur
The emergency case such as loss, can recover many rotor wing unmanned aerial vehicles, in order to avoid causing bigger loss in time by gps satellite location.In addition
By means of iridium satellite communication network, in the range of iridium satellite effective communication, the space in the communication of many rotor wing unmanned aerial vehicles limits and will no longer deposit
, communication range is no longer affected by external factor such as geographical environments so that many rotor wing unmanned aerial vehicles earthquake rescue, rescue and relief work,
The fields such as atmospheric monitoring, marine monitoring, geophysical surveying have and are more widely applied.
Utility model content
This utility model is recorded and is disclosed and a set of can communicate wirelessly sum in multi-rotor aerocraft flight course
According to the telecommunication system analyzed, it is achieved the real-time ground remote control of multi-rotor aerocraft, parameter adjustment, data are divided by operator
Analysis, safety monitoring and in emergency circumstances emergency flight control, the function such as recover in time, to reach to appoint in the range of iridium satellite effective communication
Where point, any time, the purpose of the Real-time security monitoring of any distance.Therefore in design many rotor wing unmanned aerial vehicles iridium satellite communication system
During system, should be taken into account promptness, stability, independence, the problem such as can monitor.Promptness seeks to require that many rotor wing unmanned aerial vehicles exist
Master control system just can access iridium satellite communication network after powering on timely, builds link well for ensuing work；Stablize and be exactly
Ensure that many rotor wing unmanned aerial vehicles are after establishing data transmission link, it is possible to ensure that this link continuously effective works, until number
End according to work such as transmission and command reception；Independence refer to many rotors break down cannot continue flight time, including
Crash, GPS information loss, power failure etc., unaffected the remaining able to of this communication system normally works, and returns to current location
Information, gives many rotors for change for ground staff；Can monitor refer to many rotor wing unmanned aerial vehicles access iridium satellite communication network set up data pass
After sending link, performed all command operatings, data transmit-receive can be monitored by ground control platform.
To this end, this utility model provides a kind of many rotor wing unmanned aerial vehicles communication and safety monitoring system, including: ground control system
System and the tele-control system being positioned on many rotor wing unmanned aerial vehicles；Ground control system and tele-control system are by iridium satellite communication network
Network connects；
Described ground control system receives and processes the detection information that tele-control system is transmitted by iridium satellite communication network
With security monitoring data, and by manipulation instruction send out by iridium satellite communication network to tele-control system send；
Described tele-control system sends detection information and security monitoring by iridium satellite communication network control system earthward
Data；And receive the manipulation instruction that ground control system is sent by iridium satellite communication network, and carry out dissection process, complete rule
Fixed task;
Wherein, described ground control system includes: ground control main frame, communication data extended line, surface control module and
Ground antenna；
Described ground control main frame is connected with surface control module by communication data extended line, is used for setting up ground control
Iridium satellite communication network data transmission path between system and the tele-control system on many rotor wing unmanned aerial vehicles, receives and locates
The data that reason tele-control system sends, returns through iridium satellite communication network and surface control module, and manipulation instruction is sent out
Give surface control module, sent to tele-control system by ground antenna the most again；
Described communication data extended line connects ground control main frame and surface control module, be used for making ground control main frame and
Surface control module separates on geographical position；
Described surface control module is connected with ground antenna, is converted into for the manipulation instruction sent by ground control main frame
The data stream of certain format, and store up in a buffer area, then by ground antenna, this data stream is passed with the form of microwave
Give iridium satellite communication network；And by the microwave signal received by ground antenna, resolve to the code that can directly read, and
Ground control main frame is sent to, for its dissection process by data extension line；
Ground antenna includes ground GPS antenna and ground iridium satellite communication antenna；Ground GPS antenna is used for receiving current geographic
Positional information；Ground iridium satellite communication antenna for receive tele-control system passback detection information and security monitoring data, with
And send manipulation instruction to tele-control system；
Wherein, described tele-control system includes: unmanned plane manipulation main frame, remote control module and remote antenna；
Described unmanned plane manipulation main frame is connected with remote control module, for being connect remote control module by remote antenna
The manipulation instruction received carries out dissection process, completes the task of regulation；And grasped earthward by remote control module and remote antenna
Ore-controlling Role sends detection information and security monitoring data；
Remote control module is connected with remote antenna, unmanned plane manipulation main frame, receives the spy that unmanned plane manipulation main frame gathers
Measurement information and security monitoring data, convert the data into the data stream of certain format, and be stored in a buffer area, pass through
Remote antenna sends this data stream to iridium satellite communication network with the form of microwave；And by remote antenna from iridium satellite communication network
Received microwave signal resolves to the code that can directly read, and is sent to unmanned plane manipulation main frame, for its dissection process；
Remote antenna includes long-range gps antenna and long-range iridium satellite communication antenna；Remotely gps antenna is used for receiving current geographic
Positional information；The manipulation that remotely iridium satellite communication antenna sends for receiving ground control system instructs and manipulates system earthward
System sends detection information and security monitoring data.
Wherein, described tele-control system receives many rotor wing unmanned aerial vehicles current geographic position information also by gps antenna, and
By iridium satellite communication network, described current geographic position information is sent to ground control system.Wherein, described communication data prolongs
Long line uses RS232 to turn the mode that RS485 extends, make distance between ground control main frame and surface control module 20 meters with
On.
Wherein, described surface control module, by the microwave signal received by ground antenna, resolves to directly read
Code, and remote control module resolved to from the microwave signal received by iridium satellite communication network by remote antenna can be straight
Connecing in the code of reading, the described code that can directly read is HEX code.
Wherein, described detection information includes: the data that the sensor on many rotor wing unmanned aerial vehicles, detector obtain；Described peace
Full supervision packet includes: many rotor wing unmanned aerial vehicles current pose value, magnitude of voltage, velocity amplitude, altitude value and current geographic position
Confidence ceases.
Wherein, the assembling integrated with the communication module in described remote control module of described remote antenna, and remote antenna
It is connected by feeder line with between communication module.
To sum up, this utility model is recorded and is disclosed and a set of can communicate wirelessly in multi-rotor aerocraft flight course
Telecommunication system with data analysis, it is achieved operator is to the real-time ground remote control of multi-rotor aerocraft, parameter adjustment, data
Analyze, safety monitoring and in emergency circumstances emergency flight control, the function such as recover in time, to reach in the range of iridium satellite effective communication
Any place, any time, the purpose of the Real-time security monitoring of any distance, solving many rotor wing unmanned aerial vehicles needs to fly any
The row moment can smoothly complete the communication with ground control platform, response problem, and the subsidiary passback of cell voltage, position letter
The renewal of breath, the passback of GPS information, the passback of sensing data, the passback of detection data, the work such as renewal of assignment instructions.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below is only
It is embodiments more of the present utility model, for those of ordinary skill in the art, in the premise not paying creative work
Under, it is also possible to other accompanying drawing is obtained according to these accompanying drawings.
Many rotor wing unmanned aerial vehicles communication that Fig. 1 provides for this utility model and safety monitoring system first embodiment structural representation
Figure；
The communication of many rotor wing unmanned aerial vehicles and safety monitoring system the second example structure that Fig. 2 provides for this utility model are illustrated
Figure；
Ground control system structure in many rotor wing unmanned aerial vehicles communication that Fig. 3 provides for this utility model and safety monitoring system
Schematic diagram；
Many rotor wing unmanned aerial vehicles remote control system structural representation that Fig. 4 provides for this utility model；
Many rotor wing unmanned aerial vehicles remote control module hardware architecture diagram that Fig. 5 provides for this utility model；
The iridium satellite remote control module system architecture schematic diagram that Fig. 6 provides for this utility model.
Detailed description of the invention
This utility model is recorded and is disclosed and a set of can communicate wirelessly sum in multi-rotor aerocraft flight course
According to the telecommunication system analyzed, it is achieved the real-time ground remote control of multi-rotor aerocraft, parameter adjustment, data are divided by operator
Analysis, safety monitoring and in emergency circumstances emergency flight control, the function such as recover in time, to reach to appoint in the range of iridium satellite effective communication
Where point, any time, the purpose of the Real-time security monitoring of any distance.Therefore in design many rotor wing unmanned aerial vehicles iridium satellite communication system
During system, should be taken into account promptness, stability, independence, the problem such as can monitor.Promptness seeks to require that many rotor wing unmanned aerial vehicles exist
Master control system just can access iridium satellite communication network after powering on timely, builds link well for ensuing work；Stablize and be exactly
Ensure that many rotor wing unmanned aerial vehicles are after establishing data transmission link, it is possible to ensure that this link continuously effective works, until number
End according to work such as transmission and command reception；Independence refer to many rotors break down cannot continue flight time, including
Crash, GPS information loss, power failure etc., unaffected the remaining able to of this communication system normally works, and returns to current location
Information, gives many rotors for change for ground staff；Can monitor refer to many rotor wing unmanned aerial vehicles access iridium satellite communication network set up data pass
After sending link, performed all command operatings, data transmit-receive can be monitored by ground control platform.
See Fig. 1, the many rotor wing unmanned aerial vehicles communication provided for this utility model and safety monitoring system first embodiment knot
Structure schematic diagram, as it is shown in figure 1, this system includes: ground control system 1 and the tele-control system being positioned on many rotor wing unmanned aerial vehicles
2.Ground control system 1 and tele-control system 2 are connected by iridium satellite communication network 3.
Ground control system 1 receive and process tele-control system 2 by the detection information of iridium satellite communication network 3 transmission and
Security monitoring data, and manipulation instruction and other data are sent out and sent to tele-control system 2 by iridium satellite communication network 3.Far
Process control system 2 sends detection information and security monitoring data by iridium satellite communication network 3 control system 1 earthward；And connect
Receive manipulation instruction and other data that ground control system 1 is sent by iridium satellite communication network 3, and carry out dissection process, complete
The task of regulation.
Further, this utility model embodiment provide tele-control system 2 also by gps antenna receive many rotors without
Man-machine current geographic position information, and by iridium satellite communication network 3, described current geographic position information is sent to ground control
System 1.
See Fig. 2, the many rotor wing unmanned aerial vehicles communication provided for this utility model and safety monitoring system the second embodiment knot
Structure schematic diagram.In the present embodiment, the 26S Proteasome Structure and Function of this system each functional module be will be described in greater detail.Such as Fig. 2 institute
Showing, this system includes: ground control system 1 and the tele-control system 2 being positioned on many rotor wing unmanned aerial vehicles.Ground control system 1
Connected by iridium satellite communication network 3 with tele-control system 2.
Ground control system 1 receive and process tele-control system 2 by the detection information of iridium satellite communication network 3 transmission and
Security monitoring data, and manipulation instruction and other data are sent out and sent to tele-control system 2 by iridium satellite communication network 3.Far
Process control system 2 sends detection information and security monitoring data by iridium satellite communication network 3 control system 1 earthward；And connect
Receive manipulation instruction and other data that ground control system 1 is sent by iridium satellite communication network 3, and carry out dissection process, complete
The task of regulation.
More specifically, described ground control system 1 includes: ground control main frame 11, communication data extended line 12, ground
Control module 13 and ground antenna 14.
Described ground control main frame 11 is connected with surface control module 13 by communication data extended line 12.Ground control master
Machine 11 is for setting up the iridium satellite communication network between ground control system 11 and the tele-control system on many rotor wing unmanned aerial vehicles 2
Network data transmission path, receives and processes tele-control system 2 and send, through iridium satellite communication network 3 and surface control module 13
The data of passback, and manipulation instruction and other data are sent to surface control module 13, the most again by ground antenna 14
Send to tele-control system 2.
Described communication data extended line 12 connects ground control main frame 11 and surface control module 13, is used for making ground control
Main frame 11 and surface control module 13 separate on geographical position.Concrete, in this utility model embodiment, communication data prolongs
Long line 12 uses RS232 to turn the mode that RS485 extends, so that the distance between ground control main frame 11 and surface control module 13
More than 20 meters.
Described surface control module 13 is connected with ground antenna 14, for the manipulation instruction sent by ground control main frame 11
It is converted into the data stream of certain format, and stores up in a buffer area, then pass through ground antenna 14 by this data stream with microwave
Form send iridium satellite communication network 3 to；And by the microwave signal received by ground antenna 14, resolve to directly to read
The code (this code preferred HEX code) taken, and send ground control main frame 11 to by data extension line, for its dissection process.
Ground antenna 14 includes ground GPS antenna and ground iridium satellite communication antenna；Ground GPS antenna is used for receiving current position
Reason positional information；Ground iridium satellite communication antenna for receive tele-control system 2 passback detection information and security monitoring data,
And send manipulation instruction and other data to tele-control system 2..
Described tele-control system 2 includes: unmanned plane manipulation main frame 21, remote control module 22 and remote antenna 23.
Described unmanned plane manipulation main frame 21 is connected with remote control module 22.Unmanned plane manipulation main frame 21 is for remotely control
Manipulation instruction and other data that molding block 22 is received by remote antenna 23 carry out dissection process, complete the task of regulation；And
Detection information and security monitoring data are sent by remote control module 22 and remote antenna 23 control system 1 earthward.
Remote control module 22 is connected with remote antenna 23, unmanned plane manipulation main frame 21.Remote control module 22 receives nothing
The detection information of man-machine manipulation main frame 21 collection and security monitoring data, convert the data into the data stream of certain format, and
It is stored in a buffer area, sends this data stream to iridium satellite communication network 3 with the form of microwave by remote antenna；And
Remote antenna 23 is resolved to from the microwave signal received by iridium satellite communication network 3 code (this code that can directly read
Preferably HEX code), it is sent to unmanned plane manipulation main frame 21 for its dissection process.
Remote antenna 23 includes long-range gps antenna and long-range iridium satellite communication antenna；Remotely gps antenna is used for receiving many rotors
Unmanned plane current geographic position information；Manipulation instruction that remotely iridium satellite communication antenna sends for receiving ground control system 1 and
Other data and earthward control system 1 send detection information and security monitoring data.More specifically, described detection letter
Breath includes: the data that the sensor on many rotor wing unmanned aerial vehicles, detector obtain；Described security monitoring data include: many rotors without
Man-machine current pose value, magnitude of voltage, velocity amplitude, altitude value and current geographic position information.
Further, it will be appreciated by persons skilled in the art that the technical problems to be solved in the utility model is, revolves more
Wing unmanned plane needs to smoothly complete communication with ground control platform, response, cell voltage in any flight moment
Passback, the renewal of positional information, the passback of GPS information, the passback of sensing data, the passback of detection data, assignment instructions
The work such as renewal, therefore design many rotor wing unmanned aerial vehicles iridium satellite communication system time, should be taken into account promptness, stability, independence,
The problem such as can monitor.Promptness seeks to require that many rotor wing unmanned aerial vehicles just can access iridium satellite after master control system powers on timely
Communication network, builds link well for ensuing work；Stably seek to ensure that many rotor wing unmanned aerial vehicles are establishing data transmission
After link, it is possible to ensure that this link continuously effective works, until the end of the work such as data transmission and command reception；Independence
Refer to many rotors break down cannot continue flight time, including crash, GPS information loss, power failure etc., this communication system
Unaffected remaining able to of uniting normally works, and returns current location information, gives many rotors for change for ground staff；Can monitor and be exactly
Refer to that many rotor wing unmanned aerial vehicles access after iridium satellite communication network sets up data transfer links, performed all command operatings, data
Transmitting-receiving can be monitored by ground control platform.For reaching above-mentioned technique effect, this utility model embodiment provides one
The communication of many rotor wing unmanned aerial vehicles and safety monitoring system is positioned based on iridium satellite communication network and GPS.
This system global structure schematic diagram is as in figure 2 it is shown, can be divided into by ingredient: ground control system 1 and remotely control
System 2 processed, the former is to build at the ground control platform of fixed-site, and the latter is integrated with many rotor wing unmanned aerial vehicles bodies mechanism
Install.
Ground control system 1 is the core to many rotor wing unmanned aerial vehicles remote control, is also the shape that works many rotor wing unmanned aerial vehicles
The key that state is observed in time.Therefore this ground control system 1 should possess and can set up data link at any time with iridium satellite communication network 3
Ability, many rotor wing unmanned aerial vehicles are loaded the ability of remote control instruction, the energy that accurately resolves many rotor wing unmanned aerial vehicles feedback data
Power and the ability etc. of the renewable upgrading of software section.Therefore in this many rotor wing unmanned aerial vehicles communication and safety monitoring system, ground
Control system 1 should be by structures such as ground control main frame 11, communication data extended line 12, surface control module 13 and ground antennas 14
Become.
Ground control main frame 11
Ground control main frame 11 is the core of whole ground control system 1.This ground control main frame 11 is connect by a USB
Mouth turns the connecting line of serial ports through USB, is more finally connected with remote control module 13 by communication data line extended line 12, sets up
Data transmission path, is responsible for reception and is sent after iridium satellite communication network long-range eventually through ground iridium satellite by many rotor wing unmanned aerial vehicles
The data of control module passback, and instruction and other data of the transmission of ground control platform are sent to ground iridium satellite and remotely control
Data are sent, as shown in Figure 3 by molding block the most again by iridium satellite communication network.
Ground control main frame 11 still runs the basis of the communication of many rotor wing unmanned aerial vehicles and safety monitoring system simultaneously, for this is
The hommization window design of system, the loading of many rotors remote control commands, many rotors are by iridium satellite communication network feedback data
Receive and process and provide service by functions such as the geography information tracks such as the GPS parsed show.Therefore ground control
The performance of main frame 11 should meet table 1 requirement.
| Index | Parameter | Index | Parameter |
| CPU dominant frequency | ≥800MHz | USB number of ports | ≥2 |
| Memory size | ≥2G | Indispensable driving | Visa\Ni Soft Motion |
| Screen resolution | ≥1024*768 |
Table 1 ground control host performance requirement
Communication data line extended line 12
The data communication extended line 12 of ground control system 1 is to connect surface control module 13 and ground control main frame 11
Data communication bridge.Try one's best few place to ground antenna 14 be placed in the openst, shelter as far as possible, and also to
It is arranged in safer, convenient, comfortable operating room to the operator of many rotor wing unmanned aerial vehicles iridium satellite ground control platform as far as possible
In, this communication data extended line 12 should be the longest.A kind of RS232 is preferably used in this utility model embodiment and turns RS485
The mode extended, thus can realize extending to data signal (extend to 1200 meters in theory) beyond hundred meters.
Surface control module 13
Surface control module 13 is whole ground control system 1 transceiving data and the core of control instruction.Its operation principle
It is that the data that this module receives itself are transferred to the data form that can identify in iridium satellite communication network 3 and transmit.This process
Mainly including two aspects, one is the data that the many rotor wing unmanned aerial vehicles manipulation instruction sent on ground is converted into certain format
Stream, and be stored in a buffer area, then by the iridium satellite communication antenna in ground antenna 14, by these group data with microwave
Form sends the data buffer zone of iridium satellite communication network to；On the other hand it is that the iridium satellite communication antenna in ground antenna 14 is connect
The microwave signal received, resolves to the HEX code that can directly read, and sends ground control to by communication data extended line 12
Main frame 11, for its dissection process.
Ground antenna 14
Ground antenna 14 includes ground GPS antenna and ground iridium satellite communication antenna.This ground antenna 14 is ground control system
System 1 system receives many rotor wing unmanned aerial vehicles return data and sends control instruction and the essential condition of parameter, is also that ground controls mould
The hardware foundation that block 13 connects together with iridium satellite communication network 3.The ground control system 1 that this utility model is studied has two
Individual pin interfaces, respectively iridium satellite communication interface and gps data coffret.Gps antenna is responsible for receiving current geographic position letter
Breath, iridium satellite communication antenna is responsible for receiving the detection information of many rotor wing unmanned aerial vehicles passback and security monitoring data are sent to iridium satellite communication
Network, send control instruction and the task of parameter to many rotor wing unmanned aerial vehicles.
Tele-control system 2 is to be assemblied on many rotor wing unmanned aerial vehicles, and according to the space structure of many rotor wing unmanned aerial vehicles, center of gravity
The tele-control system of the integrated designs such as balance and Streamline Design.This tele-control system 2 is many rotor wing unmanned aerial vehicles and ground
Control system 1 carries out the unique channel of remote data communication, is also that many rotor wing unmanned aerial vehicles ground control platform is unmanned to many rotors
The sole mode that machine remotely controls.The function of this system mainly includes two aspects: the first is by manipulating with unmanned plane
Data communication between main frame 21, is packaged and delivered to remote control module 22 by the related data that many rotor wing unmanned aerial vehicles gather,
It is then passed through iridium satellite communication network 3 and returns these data.It two is ground control system 1 to be sent by iridium satellite communication network 3
To the control instruction of many rotor wing unmanned aerial vehicles, send unmanned plane manipulation main frame 21 to by remote control module 22, complete ground behaviour
The Ore-controlling Role 1 long-range control to many rotor wing unmanned aerial vehicles.Therefore, many rotor wing unmanned aerial vehicles remote control system should be main by unmanned plane manipulation
Machine 21, remote control module 22 and remote antenna 23, as shown in Figure 4.
Unmanned plane manipulation main frame 21
Unmanned plane manipulation main frame 21 is instructed and it for the manipulation received remote control module 22 by remote antenna 23
He carries out dissection process at data, completes the task of regulation；And by remote control module and remote antenna control system earthward
Send detection information and security monitoring data.
Remote control module 22
Remote control module 22 is whole many rotor wing unmanned aerial vehicles tele-control system 2 transceiving data and the core of control instruction
The heart.Its operation principle is that the data that this module receives itself transfer to the data that can identify in iridium satellite communication network and transmit
Form.This process mainly includes two aspects: one, by communicating with setting up between unmanned plane manipulation main frame 21, receives many rotors
The related data of unmanned plane collection, the status data of many rotors self, geography information, safety detection data, then by these numbers
According to being converted into the data stream of certain format, and it is stored in a buffer area, eventually through remote antenna 23(iridium satellite communication sky
Line), send these group data to iridium satellite communication network 3 with the form of microwave；Its two be receive by many rotors iridium satellite antenna from iridium
Microwave signal received by star communication network, resolves to the HEX code that can directly read, and by data communication circuit transmission
Manipulate main frame 21 to unmanned plane, for its dissection process, thus complete the task of regulation.
Remote antenna 23
Remote antenna 23 includes iridium satellite communication antenna and gps antenna.Many rotor wing unmanned aerial vehicles iridium satellite communication antenna is remotely control
Molding block 2 and iridium satellite communication network 3 set up the hardware foundation of data communication link.What this utility model was studied remotely controls is
System 2 has two pin interfaces, respectively iridium satellite communication interface and gps data coffret.Wherein GPS interface be responsible in real time to
Remote control module returns current many rotors position geography information, and iridium satellite communication antenna interface is responsible for remote control module
The detection information and the security monitoring data that need passback are sent to iridium satellite communication network, and the two completes many rotor wing unmanned aerial vehicles number jointly
According to transmission and the task of security monitoring.
By foregoing description, people in the art should know many rotor wing unmanned aerial vehicles communication that this utility model provides
The technique effect being had with safety monitoring system, specifically includes: (1) many rotor wing unmanned aerial vehicles just can after master control system powers on
Access iridium satellite communication network in time, build telecommunication link well；(2) many rotor wing unmanned aerial vehicles establish data transmission link it
After, it is possible to ensure that this link continuously effective works；(3) many rotors break down cannot continue flight time, including crash, GPS
Information dropout, power failure etc., unaffected the remaining able to of this communication system normally works, and returns current location information, supplies
Ground staff gives many rotors for change；(4) after many rotor wing unmanned aerial vehicles access iridium satellite communication network sets up data transfer links, performed
All command operatings, data transmit-receive can be monitored by ground control platform.
The communication of many rotor wing unmanned aerial vehicles and the safety monitoring system that there is provided this utility model embodiment below do into one
Step describes in detail.
The selection of iridium satellite communication module
Iridium satellite communication module be surface control module the part of remote control module.The master of iridium satellite communication module (ISU)
Want function to be responsible for iridium satellite open network to set up data communication link, the data that caching will be received and dispatched, set or change iridium satellite
The service business pattern of communication company.Through to module volume, weight, bidirectional data transfers, carry GPS, global network cover,
Support the Comprehensive Evaluation of the performances such as transparent data transmission, digital serial port, it is contemplated that 9523 support voice-and-data dial features,
Data transmission capabilities meets requirement simultaneously, and therefore this utility model selects Iridium 9523 as the iridium satellite of remote control module
Communication module.The key feature of Iridium 9523 is as shown in table 2.
The key feature of table 2 Iridium 9523
The design of remote control module
Remote control module is with the use of jointly completing remotely to control many rotor wing unmanned aerial vehicles with unmanned plane manipulation main frame.
Using serial communication between this remote control module and unmanned plane manipulation main frame, general employing interrupts or inquiry mode is carried out.Should
Part is the core that many rotor wing unmanned aerial vehicles remotely control, and is to connect iridium satellite communication module and many rotor wing unmanned aerial vehicles master control calculating
The bridge of machine, its stability is directly connected to the success or failure of whole remote control process, the therefore selection to control chip herein
Design with control circuit plate also has especially strict requirements.This utility model is integrated into this iridium communication module remotely control
On molding block, iridium communication module 9523 is by the mother daughter board connector (53885-of the Molex of 40 pin 0.5mm spacing
0408) it is connected on remote control module.
This utility model make use of the following functions of iridium communication module 9523, is data/facsimile interface (Data/ respectively
Fax Port), SIM interface (SIM interface), power supply interface (Power), antenna signal interface (GPIO, Antenna
Configuration), remaining GPIO mouth (Other GPIO), this 5 big function by iridium satellite remote control module design phase
Peripheral circuit is answered to realize.By these 5 corresponding peripheral circuit module, many rotor wing unmanned aerial vehicles just remotely can be controlled by iridium satellite
Module enough realizes the communication with ground control platform, response, the passback of cell voltage, the renewal of positional information, sensing data
Passback, the passback of detection data, the expection safety detection work such as renewal of assignment instructions.
Remote control module is to connect iridium satellite communication module and the bridge of many rotor wing unmanned aerial vehicles main control computer, bears slow
Deposit data, set up communication, to the translation resolution of data, instruction backup and the task such as emergent.Its major function is as follows.
1) iridium satellite communication module and unmanned plane manipulation main frame are connected.When needs realize iridium satellite, remotely to control many rotors unmanned
During machine, then the data parsed by iridium satellite communication module and instruction is needed to keep in an extra buffer, it is ensured that to receive number
According to stability and effectiveness, the most again these instruction and datas are converted into specific form and send many rotor wing unmanned aerial vehicles to
Unmanned plane manipulation main frame.On the other hand, the data of detection are sent to by the way of iridium satellite communication when many rotor wing unmanned aerial vehicles
During ground control system, it is also desirable to the data of collection are converted into specific format, add corresponding frame head postamble, the most again via iridium
Star communication module and iridium satellite communication antenna are launched.
2) cache, resolve and change communication data.This function is mainly reflected in, and passes through iridium satellite when having data or instruction
When module loading gives many rotor wing unmanned aerial vehicles, may be in busy owing to the unmanned plane of many rotor wing unmanned aerial vehicles manipulates main frame or stop
Dormancy state, and then the interruption that remote control commands loads can not be normally entered, so needing these by iridium satellite communication network
Load the data come and instruction is temporarily stored in a relief area, in treating that unmanned plane manipulation main frame is waken up and can normally enter
Carrying out data transmission the when of disconnected.On the other hand, need detection data by iridium satellite communication network when many rotor wing unmanned aerial vehicles
Mode return data time, if data volume is excessive, then can not complete in another Frame, so needing temporary for these data
Being stored in a relief area, be then passed through this remote control module and its packing is processed, adding header hardwood tail normally to send.
3) ground control system Remote to many rotor wing unmanned aerial vehicles is completed.This function is mainly reflected in, when many rotations
When being between wing unmanned plane and Current terrestrial control system in the range of geographic barrier limits, land station data link, 2.4G
The point-to-point communication modes such as hand-held remote control system are due to barrier obstruction, and it is unmanned that telecommand cannot effectively be transferred to many rotors
Machine.Owing to iridium satellite communication network uses satellite relay communication modes, being different from point-to-point communication modes, data transmission is not hindered
Hinder the stop of thing, time therefore in the range of the efficient communication being in iridium satellite communication network, at this moment can be sent out by ground control system
Send instruction, be transferred to remote control system on many rotor wing unmanned aerial vehicles by iridium satellite junction network, to reach many rotor wing unmanned aerial vehicles
The purpose remotely controlled.Again or when being in over the horizon scope between many rotor wing unmanned aerial vehicles and Current terrestrial control system, communicate away from
From exceed the maximum efficient communication of the point-to-point communication modes such as Current terrestrial radio station data link, 2.4G hand-held remote control system away from
From, telecommand cannot effectively be transferred to many rotor wing unmanned aerial vehicles.Owing to iridium satellite communication network uses satellite relay communication modes, no
Being same as point-to-point communication modes, data transmission is not affected by distance, the most at this moment can be sent by ground control system and refer to
Order, is transferred to remote control system on many rotor wing unmanned aerial vehicles by iridium satellite junction network, to reach long-range to many rotor wing unmanned aerial vehicles
The purpose controlled.Herein, the Remote of many rotor wing unmanned aerial vehicles is used the SBD short message transmission many rotors of mode Remote without
Man-machine, the maximum mobile message size of initiating of iridium communication module SBD communication mode is 1960 bytes, much larger than telecommand number
According to length, enough meet and use requirement.
4) receive many rotor wing unmanned aerial vehicles long-haul telemetry data, and be sent to ground control system.This function major embodiment
, when being between many rotor wing unmanned aerial vehicles and Current terrestrial control system in the range of geographic barrier limits, land station data
The point-to-point communication modes such as link, 2.4G hand-held remote control system are due to barrier obstruction, and ground control system cannot real-time reception
The telemetry of many rotor wing unmanned aerial vehicles passback.Owing to iridium satellite communication network uses satellite relay communication modes, it is different from point-to-point
Communication modes, data transmission do not stopped by barrier, time therefore in the range of the efficient communication being in iridium satellite communication network,
Remote control system on the most rotor wing unmanned aerial vehicles can pass through iridium satellite junction network current telemetry data back to ground
Control system, to reach the purpose of real-time reception telemetry.Again or when many rotor wing unmanned aerial vehicles and Current terrestrial control system it
Between be in over the horizon scope, it is point-to-point logical that communication distance exceedes Current terrestrial radio station data link, 2.4G hand-held remote control system etc.
The maximum effective communication distance of letter mode, ground control system cannot real-time reception many rotor wing unmanned aerial vehicles passback telemetry.
Owing to iridium satellite communication network uses satellite relay communication modes, being different from point-to-point communication modes, data are transmitted not by distance
Impact, the remote control system on the most rotor wing unmanned aerial vehicles can by iridium satellite junction network current telemetry data
Return to ground control system, to reach the purpose of real-time reception telemetry.Herein, many rotor wing unmanned aerial vehicles telemetry passback
Using SBD short message transmission mode to return to ground control system, the maximum mobile of iridium communication module SBD communication mode initiates
Message size is 1960 bytes, needs the telemetry length of passback much larger than many rotor wing unmanned aerial vehicles, enough meets and use requirement.
5) instruction backup, safety monitoring, emergency operation.Refer to for guaranteeing that many rotor wing unmanned aerial vehicles can receive like clockwork
Order, preferably individually opens an instruction backup area in iridium satellite remote control module, is used for storing every suit complete operation and refers to
The pattern of order and the most frequently used safest one group of instruction, these instruction modes and usual instructions group are the most accurately arranged
Row.When the instruction to unmanned plane manipulation main frame will be loaded to be resolved out, can treat really with these backup instruction comparative control
Unmanned plane manipulation main frame is sent again to after the most accurate.
The function embodiment of safety monitoring exists, when many rotor wing unmanned aerial vehicles are in aerial mission, can timing by many rotors without
Man-machine remote control system sends current body attitude value, magnitude of voltage, speed, flying height, geographical seat to iridium satellite communication network
The safety monitoring data such as mark.After ground control system receives these data by iridium satellite communication network, pass through data analysis
Recognize the state of flight of current many rotor wing unmanned aerial vehicles, thus reach the target of safety monitoring.The safety monitoring of many rotor wing unmanned aerial vehicles
Data back uses SBD short message transmission mode to return to ground control system, the maximum of iridium communication module SBD communication mode
Mobile message size of initiating is 1960 bytes, needs the safety monitoring data length of passback much larger than many rotor wing unmanned aerial vehicles, enough
Meet and use requirement.
The function of emergency operation is mainly reflected in, and when many rotor wing unmanned aerial vehicles are in aerial mission, ground flying environment is dashed forward
Right change, is no longer appropriate for performing aerial mission, if unmanned plane continues flight and has the danger of damage, at this moment leads to and can too much revolve
The ground control system of wing unmanned plane issues order of making a return voyage, order of spiraling, landing order, parachute-opening order to many rotor wing unmanned aerial vehicles
Deng, and many rotor wing unmanned aerial vehicles remote control system meeting timing transmission current geographic coordinate of control system the most earthward, in case promptly
Situation occurs, recovers unmanned plane in time.Or when many rotor wing unmanned aerial vehicles are in aerial mission, unexpected ground monitors front
There are obstacle, current flight height unairworthiness, if unmanned plane continues flight and has the danger of damage, at this moment lead to and can pass through
Ground control system issues the remote control system climbing in instruction, and many rotor wing unmanned aerial vehicles to many rotor wing unmanned aerial vehicles can timing
Control system sends current geographic coordinate earthward, in case emergency occurs, recovers unmanned plane in time.In addition to many rotors without
Man-machine emergency operation can be to use data dial mode, and the most effective and many rotor wing unmanned aerial vehicles set up data cube computation, remotely
Urgent manipulation unmanned plane carries out hedging action or urgent parachute-opening so that it is can safe falling.Iridium communication module data dials
Amount of communication data is not limited by communication mode, and data delay can be ignored substantially, enough meets our dynamic realtime manipulation nothing
Man-machine requirement.
Furthermore, it is contemplated that the complexity of reality flight environment of vehicle, wind speed and air-flow are difficult to predict, for reducing danger coefficient, I
Propose a series of emergency measure and form corresponding emergency plan, in case of need.
The supporting the use of the ground control system of many rotor wing unmanned aerial vehicles and remote control system jointly achieve many rotors without
Man-machine communication and the corresponding function of safety monitoring system.
Remote control module designs
The remote control module of many rotor wing unmanned aerial vehicles bear data cached, set up communication, to the translation resolution of data, refer to
Order backup and the task such as emergent, be the basic guarantee that effectively runs with emergency processing of many rotor wing unmanned aerial vehicles, therefore to this part
Design requires the strictest.Many rotor wing unmanned aerial vehicles that this utility model is used have the activity duration long, and the energy is low in energy consumption waits spy
Point, therefore when selecting iridium satellite remote control module chip and board design, it is considered however that the spies such as low in energy consumption, good stability
Point.To this end, we devise following scheme.
1) remote control module circuit design
Many rotor wing unmanned aerial vehicles iridium satellite remote control module uses integrated, modularized design thinking, by master cpu, peripheral electricity
Road, iridium satellite 9523 module, GPS module, level switch module, SIM module, power module etc. are integrated in a housing, but
It is divided into the most again 2 modules, Iridium_CPU plate and Iridium_Power plate independent design, and double by part between plate
Row's seat connects.So benefit of design is, signal processing and power pack independently separately, reduce the impact on holding wire,
Supply voltage is steadily reliable, fluctuates less；Make doubling plate to connect, reduce the volume shared by panel, make panel entirety relatively
For compact, size maximum is only 101 × 58mm, is only 23mm at doubling plate maximum height.
Iridium_CPU plate: comprise master cpu, interface circuit, level switch module, SIM module, GPS module, plate
Connect bus module etc. between interior secondary power supply, plate, be the core of remote control module；Iridium_Power plate: comprise
Iridium satellite 9523 module, main power source supply module (7-40V turns 5V), VCC3 supply module (5V turns 3V3), iridium satellite are launched VOOST and are supplied
Bus module etc. is connected between electricity module (5V turns 28V), external interface module (DB15 plug), plate.
Remote control module structure assembly follows standardization, modularity, structurized principle, is user-friendly to, safeguards,
Also system reliability can be improved to a certain extent.According to modularized design, structure is divided into Iridium_CPU module and
Iridium_Power module (power supply control), the two is spatially in laminated, and is connected by internal bus.As Fig. 3,
Shown in Fig. 4.Iridium_CPU module and Iridium_Power module (power supply control) are both designed as Field Replaceable Unit, fall
The low field maintenance time, improve working performance.
Many rotor wing unmanned aerial vehicles remote control module hardware architecture diagram is as shown in Figure 5.Top half is Iridium_CPU
Plate, mid portion is connection bus between plate, and the latter half is Iridium_Power plate.Iridium satellite remote control module system architecture
Specifically include that external interface, level switch module, GPS module, CPU module, iridium satellite module, SIM interface core as shown in Figure 6
The modules such as sheet, SIM card holder, boosted switch power module, switch power module, LDO power supply.
The iridium satellite communication system integrated design of many rotor wing unmanned aerial vehicles, communication module and communication antenna integrated design.Because
Connection between all of iridium satellite communication module and communication antenna is required for one section of feeder line, although the selection of feeder line is typically all screen
Cover line, to the decay of signal within 3dB.If but long in view of cable release, the decay to signal can be amid a sharp increase, affects iridium
The effectiveness of star communication and stability.If it is long to simultaneously take account of feeder line, when many rotor wing unmanned aerial vehicles need attitude to produce
When opening motor, the heavy current of generation can produce interference to data transmission.For these reasons, it is preferred to use communication module with
The design of communication antenna integration assembling, makes feed line length be reduced, and improves communication effectiveness and stability, and more added with
It is beneficial to overall assembling and the integrated design of many rotor wing unmanned aerial vehicles.
Try one's best few place to ground iridium satellite communication antenna be placed in the openst, shelter as far as possible, be also simultaneously
It is arranged in safer, convenient, comfortable work to the operator of many rotor wing unmanned aerial vehicles iridium satellite ground control platform as far as possible
Indoor, we require that this ground control system communication data extended line should be the longest.This is also to facilitate the user can be more
Add place conveniently, safely and operate the necessary choice of many rotor wing unmanned aerial vehicles iridium satellite communication ground report control platform.But in view of many rotations
The data line interface that wing unmanned plane iridium satellite remote control module is drawn uses the communication modes of RS232, it is known that this ground control is put down
The data communication line extended line of platform not can exceed that 15 meters.In order to preferably solve this problem, the utility model proposes one
RS232 turns the mode that RS485 extends, and first will draw RS232 interface from iridium satellite remote control module, then by RS232 interface
Use RS485 interface, the TX/RX of RS232 can be gone between and be converted into A/B lead-in wire, thus can realize extending data signal
(1200 meters are extended in theory) beyond hundred meters.
This utility model records the disclosedest many rotor wing unmanned aerial vehicles communication and safety monitoring system, can realize operator to many
The real-time ground remote control of rotor craft, parameter adjustment, data analysis, safety monitoring and in emergency circumstances emergency flight control and
Time the function such as recover, with reach in the range of iridium satellite effective communication any place, any time, the actual time safety prison of any distance
The purpose surveyed.Therefore design many rotor wing unmanned aerial vehicles iridium satellite communication system time, should be taken into account promptness, stability, independence, can
The problems such as monitoring.Promptness seeks to require that many rotor wing unmanned aerial vehicles just can access iridium satellite after master control system powers on timely and lead to
News network, builds link well for ensuing work；Stably seek to ensure that many rotor wing unmanned aerial vehicles are establishing data chain
After road, it is possible to ensure that this link continuously effective works, until the end of the work such as data transmission and command reception；Independence is just
Refer to many rotors break down cannot continue flight time, including crash, GPS information loss, power failure etc., this communication system
Unaffected remaining able to normally works, and returns current location information, gives many rotors for change for ground staff；Can monitor and refer to
After many rotor wing unmanned aerial vehicles access iridium satellite communication network sets up data transfer links, performed all command operatings, data are received
Send out and can be monitored by ground control platform.
One of ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, be permissible
Instructing relevant hardware by computer program to complete, described program can be stored in computer read/write memory medium
In, this program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only store-memory body (Read-Only Memory, ROM) or random store-memory body (Random Access
Memory, RAM) etc..
Above content is to combine concrete preferred implementation further detailed description of the utility model, it is impossible to
Assert that of the present utility model being embodied as is confined to these explanations.Ordinary skill for this utility model art
For personnel, without departing from the concept of the premise utility, it is also possible to make some simple deduction or replace, all should regard
For belonging to protection domain of the present utility model.
Claims (6)
1. rotor wing unmanned aerial vehicle communication and safety monitoring system more than one kind, it is characterised in that including: receive and process remotely control be
The detection information that transmitted by iridium satellite communication network of system and security monitoring data, and by manipulation instruction by iridium satellite communication network
The ground control system that network sends to tele-control system, and be positioned on many rotor wing unmanned aerial vehicles, by iridium satellite communication network to ground
Face control system sends detection information and security monitoring data；And reception ground control system is sent by iridium satellite communication network
Manipulation instruction, and carry out dissection process, complete the tele-control system of the task of regulation；Ground control system and remotely control
System is connected by iridium satellite communication network；
Wherein, described ground control system includes:
It is connected with surface control module by communication data extended line, is used for setting up ground control system and is positioned at many rotors unmanned
Iridium satellite communication network data transmission path between tele-control system on machine, receive and process tele-control system send,
Through the data that iridium satellite communication network and surface control module return, and manipulation instruction is sent to surface control module, so
After the ground control main frame that sent to tele-control system by ground antenna again；
Connect ground control main frame and surface control module, be used for making ground control main frame and surface control module in geographical position
The communication data extended line of upper separation；
Being connected with ground antenna, the manipulation instruction for being sent by ground control main frame is converted into the data stream of certain format, and
Storage, in a buffer area, then sends this data stream to iridium satellite communication network with the form of microwave by ground antenna；With
And by the microwave signal received by ground antenna, resolve to the code that can directly read, and by data extension line transmission
To ground control main frame, for the surface control module of its dissection process；
Ground GPS antenna and the ground antenna of ground iridium satellite communication antenna composition；It is unmanned that ground GPS antenna is used for receiving many rotors
Machine current geographic position information；Ground iridium satellite communication antenna is for receiving detection information and the safety prison of tele-control system passback
Control data and send manipulation instruction to tele-control system；
Described tele-control system includes: unmanned plane manipulation main frame, remote control module and remote antenna；
It is connected with remote control module, carries out at parsing for the manipulation instruction that remote control module is received by remote antenna
Reason, completes the task of regulation；And send detection information and peace by remote control module and remote antenna control system earthward
The unmanned plane manipulation main frame of full monitoring data；
It is connected with remote antenna, unmanned plane manipulation main frame, receives detection information and security monitoring that unmanned plane manipulation main frame gathers
Data, convert the data into the data stream of certain format, and are stored in a buffer area, by remote antenna by these data
Stream sends iridium satellite communication network to the form of microwave；And remote antenna is believed from the microwave received by iridium satellite communication network
Number resolve to the code that can directly read, be sent to unmanned plane manipulation main frame, for the remote control module of its dissection process；
The remote antenna being made up of long-range gps antenna and long-range iridium satellite communication antenna；Remotely gps antenna is used for receiving current geographic
Positional information；The manipulation that remotely iridium satellite communication antenna sends for receiving ground control system instructs and manipulates system earthward
System sends detection information and security monitoring data.
Many rotor wing unmanned aerial vehicles communication the most as claimed in claim 1 and safety monitoring system, it is characterised in that described long-range control
System is connected with the gps antenna receiving many rotor wing unmanned aerial vehicles current geographic position information, and by iridium satellite communication network by described
Current geographic position information is sent to ground control system.
Many rotor wing unmanned aerial vehicles communication the most as claimed in claim 2 and safety monitoring system, it is characterised in that described communication data
Extended line uses RS232 to turn the mode that RS485 extends, and makes the distance between ground control main frame and surface control module at 20 meters
Above.
Many rotor wing unmanned aerial vehicles communication the most as claimed in claim 2 or claim 3 and safety monitoring system, it is characterised in that described ground
Control module, by the microwave signal received by ground antenna, resolves to the code that can directly read, and remotely controls mould
Remote antenna is resolved to the code that can directly read from the microwave signal received by iridium satellite communication network by block, described can
It is HEX code with the code directly read.
Many rotor wing unmanned aerial vehicles communication the most as claimed in claim 2 or claim 3 and safety monitoring system, it is characterised in that described detection
Information includes: the data that the sensor on many rotor wing unmanned aerial vehicles, detector obtain；Described security monitoring data include: many rotors
Unmanned plane current pose value, magnitude of voltage, velocity amplitude, altitude value and current geographic position information.
Many rotor wing unmanned aerial vehicles communication the most as claimed in claim 3 and safety monitoring system, it is characterised in that described remote antenna
Assembling integrated with the communication module in described remote control module, and between remote antenna and communication module by feeder line even
Connect.
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| CN201620129211.XU CN205721375U (en) | 2016-02-19 | 2016-02-19 | Many rotor unmanned aerial vehicle communication and safety monitoring system |
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| CN201620129211.XU CN205721375U (en) | 2016-02-19 | 2016-02-19 | Many rotor unmanned aerial vehicle communication and safety monitoring system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107180561A (en) * | 2017-07-04 | 2017-09-19 | 中国联合网络通信集团有限公司 | A kind of unmanned plane during flying monitoring and managing method, platform and system |
| CN108280981A (en) * | 2018-03-01 | 2018-07-13 | 四川智慧鹰航空科技有限公司 | A kind of miniature drone wireless control system |
| CN108447237A (en) * | 2018-03-01 | 2018-08-24 | 四川智慧鹰航空科技有限公司 | A kind of signal transmitting apparatus for unmanned plane remote control |
| CN108563218A (en) * | 2018-06-11 | 2018-09-21 | 中国科学院工程热物理研究所 | Supersonic speed unmanned plane ultra-viewing distance communicates and safety control system |
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2016
- 2016-02-19 CN CN201620129211.XU patent/CN205721375U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107180561A (en) * | 2017-07-04 | 2017-09-19 | 中国联合网络通信集团有限公司 | A kind of unmanned plane during flying monitoring and managing method, platform and system |
| CN108280981A (en) * | 2018-03-01 | 2018-07-13 | 四川智慧鹰航空科技有限公司 | A kind of miniature drone wireless control system |
| CN108447237A (en) * | 2018-03-01 | 2018-08-24 | 四川智慧鹰航空科技有限公司 | A kind of signal transmitting apparatus for unmanned plane remote control |
| CN108563218A (en) * | 2018-06-11 | 2018-09-21 | 中国科学院工程热物理研究所 | Supersonic speed unmanned plane ultra-viewing distance communicates and safety control system |
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| TR01 | Transfer of patent right |
Effective date of registration: 20220630 Address after: 518000 electric power dispatching and communication building, 4020 Shennan East Road, Luohu District, Shenzhen, Guangdong Patentee after: Shenzhen Power Supply Co.,Ltd. Address before: 518000 electric power dispatching and communication building, 4020 Shennan East Road, Luohu District, Shenzhen, Guangdong Patentee before: Shenzhen Power Supply Co.,Ltd. Patentee before: Beihang University |