CN207603685U - A kind of unmanned plane express system - Google Patents
A kind of unmanned plane express system Download PDFInfo
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- CN207603685U CN207603685U CN201721134819.2U CN201721134819U CN207603685U CN 207603685 U CN207603685 U CN 207603685U CN 201721134819 U CN201721134819 U CN 201721134819U CN 207603685 U CN207603685 U CN 207603685U
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- unmanned plane
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- base station
- hair
- express delivery
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Abstract
A kind of unmanned plane express system, including the express delivery unmanned plane and control terminal by network linking, which is characterized in that control terminal at least has sent hair/Shipping Address, ambient image and hair/delivery period to express delivery unmanned plane；Express delivery unmanned plane includes at least first processor, the first navigator fix subsystem, flight subsystem, first memory, the first radio communication subsystem and video camera, and hair/Shipping Address, ambient image and the hair/delivery period that first processor sends control terminal are stored in first memory；The hair for the control terminal that first processor is received according to the first radio communication subsystem/send address and time planning flight path and send flight subsystem to perform aerial mission；First navigator fix subsystem is compared to determine whether to reach hair/Shipping Address for obtaining the position of express delivery unmanned plane in real time with the position of memory storage hair Shipping Address；Video camera is used to obtain the image of environment, and first processor is additionally operable to that the ambient image that video camera obtains is compared to further determine whether to reach hair/Shipping Address with the ambient image stored in memory.Unmanned plane can be made to correctly find hair/Shipping Address using unmanned plane express system provided by the utility model.
Description
Technical field
The utility model is related to a kind of unmanned plane express systems, belong to unmanned aerial vehicle (UAV) control technical field.
Background technology
It is all by way of manually sending with charge free to send express delivery at present, and with the fast development of logistic industry, manpower sends express delivery with charge free
Cost also rise therewith, simultaneously as congested in traffic, cause part is sent to be delayed.It has proposed and is carried out with unmanned plane in the prior art
Express delivery, but in the prior art, the control majority of unmanned plane is point-to-point control, and each unmanned plane matches a ground base
It stands, in this way, can lead to the problem of following：The transmitting high-frequency signal that ground base station generates electromagnetic interference caused by environment；Hold
Easily stolen information by enemy using unmanned plane；Lead to the wasting of resources.
Utility model content
To overcome technical problem in the prior art, it is fast that the goal of the invention of the utility model is to provide a kind of unmanned plane
Delivery system, unmanned plane and control terminal are communicated using wireless network in the system, save resource.
To realize the goal of the invention, a kind of unmanned plane express system of offer of the utility model, including passing through network
The express delivery unmanned plane and control terminal of link, which is characterized in that express delivery unmanned plane also includes at least the first communication card slot, and first is logical
For letter card slot for being inserted into communication card, the first communication card stores UAV Communication identifier, and with its user correspondingly
Registration；The network includes at least base station, the base station control center for control base station and the switching of the data for switch data
Center, the data main dispatching centre direct or through gateway and are connected with mobile telephone network, data network, by express delivery unmanned plane and
Control terminal connects.
Preferably, control terminal at least through network to express delivery unmanned plane have sent hair/Shipping Address, ambient image and
Hair/delivery period；Express delivery unmanned plane includes at least first processor, the first navigator fix subsystem, flight subsystem, the
One memory, the first radio communication subsystem and video camera, hair/Shipping Address that first processor sends control terminal,
Ambient image and hair/delivery period are stored in first memory；First processor is received according to the first radio communication subsystem
Control terminal hair/send address and time planning flight path and send flight subsystem to perform aerial mission；
First navigator fix subsystem for obtaining the position of express delivery unmanned plane in real time, and the position of hair Shipping Address stored with memory
It puts and is compared to determine whether to reach hair/Shipping Address；Video camera is used to obtain the image of environment, and first processor is also used
In the ambient image that video camera obtains is compared to further determine whether to reach with the ambient image stored in memory
Hair/Shipping Address.
Preferably, control terminal is computer, and user is needed by inputting being sent through network to express delivery unmanned plane for instruction
The destination address and time that dispensed substance is sent to.
Preferably, control terminal is mobile platform, user by way of voice or input instruction through network to express delivery without
Man-machine transmission needs the destination address and time that dispensed substance is sent to.
Preferably, express delivery unmanned plane includes at least detection of obstacles subsystem, and first processor is according to detection of obstacles
The flight control program for the information adjustment express delivery unmanned plane that system detectio arrives, and send it to flight subsystem.
Preferably, control terminal includes at least second memory, display, the second radio communication subsystem and control terminal
It identifies card slot, unmanned aerial vehicle (UAV) control program is saved in the second memory, second processor is called to be stored in second memory
Unmanned aerial vehicle (UAV) control program, and shown over the display.
Preferably, base station includes at least unmanned plane base station, and unmanned plane base station includes at least servo mechanism, includes at least electricity
Machine, the motor include at least stator and rotor, the stator include at least according to the coil of the electric energy production kinetic energy of offer and
The coil of recovery section energy is used in rotor rotation process, the rotor to include arranging forever in N polarity and S alternating polarities
Magnet.
Preferably, unmanned plane base station at least supplements the energy using solar energy.
Preferably, express delivery unmanned plane include at least amplifier power supply, the amplifier power supply include range detector, processor and
Variable power supply, the delayer are used to that modulated signal caused by modulation signal generator to be postponed then to be supplied to modulation
Device；The amplitude detector is used to extract the amplitude of modulated signal caused by modulated signal generator and be supplied to processor,
The processor controls the output voltage of variable power supply according to the amplitude, to supply high frequency power amplifier.
Preferably, the variable power supply includes n grades of DC voltage units, and each DC voltage unit mutually cascades, each direct current
Voltage cell includes a battery pack, a fly-wheel diode and an electronic switch, and the anode of battery pack is connected to afterflow two
The cathode of pole pipe；The anode of fly-wheel diode is connected to the first end of electronic switch, and the second end of electronic switch is connected to battery
The cathode of group, the control terminal of electronic switch are connected to processor, and processor controls electronics according to the signal that range detector provides
It switches on-off, the n is the integer more than or equal to 2.
Compared with prior art, unmanned plane and control terminal utilize nothing in unmanned plane express system provided by the utility model
Gauze network communicates, and saves resource.
Description of the drawings
Fig. 1 is the composition schematic diagram of the control system of unmanned plane base station provided by the utility model；
Fig. 2 is the built-up circuit figure of the power section in unmanned plane base station provided by the utility model；
Fig. 3 is the composition frame chart of the control system of express delivery unmanned plane provided by the utility model；
Fig. 4 is the composition frame chart of radio subsystem provided by the utility model;
Fig. 5 is the circuit diagram of the high frequency power amplifier in communication subsystem provided by the invention
Fig. 6 is the flow chart of the winged control program being installed on express delivery unmanned plane of this bright offer；
Fig. 7 is the flow chart of the unmanned control program provided by the utility model being installed in control terminal.
Specific embodiment
The embodiment of the utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning
Same or similar element is represented to same or similar label eventually or there is the element of same or like function.Below by ginseng
The embodiment of attached drawing description is examined, the embodiment is exemplary, and is only used for explaining the utility model, and cannot be construed to this
The limitation of utility model.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that it is used in the specification of the utility model
Wording " comprising " refer to there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or
Other one or more features of addition, integer, step, operation, element, component and/or their group.It should be understood that when us
Element is claimed to be " connected " or during " coupled " to another element, it can be directly connected or coupled to other elements or can also
There are intermediary elements.In addition, " connection " used herein or " coupling " can include wireless connection or wireless coupling.Used here as
Wording "and/or" including one or more associated list items whole or any cell and all combine.
Those skilled in the art of the present technique are appreciated that unless otherwise defined all terms used herein are (including technology art
Language and scientific terminology), there is the meaning identical with the general understanding of the those of ordinary skill in the utility model fields.Also
It should be understood that those terms such as defined in the general dictionary, it should be understood that have and the context of the prior art
In the consistent meaning of meaning, and unless by specific definitions as here, otherwise will not use idealization or too formal
Meaning is explained.
Those skilled in the art of the present technique are appreciated that " terminal " used herein above, " terminal device " including wireless signal
The equipment of receiver has the equipment of the wireless signal receiver of non-emissive ability.
It will be appreciated by those skilled in the art that the utility model so-called " application ", " application program " and similar statement
Concept, be the same concept well known to those skilled in the art, refer to be instructed by series of computation machine and related data resource has
The computer software for being suitable for electronics operation that mechanism makes.Unless specified, this name is not in itself by programming language type, grade
Not, the operating system of operation of also not rely by it or platform are limited.In the nature of things, this genus is not also by any type of
Terminal is limited.
According to the unmanned plane express system that the utility model one embodiment provides include by the express delivery of network linking without
Man-machine and control terminal, the network include at least base station, switch for the base station control center of control base station and for data
Center, the network can include fixed telephone network of the prior art, mobile telephone network, data network etc..Network is excellent
Choosing choosing includes the network of unmanned plane base station.Data main dispatching centre（MSC）Interchanger is also included at least, the interchanger can will connect
A kind of format signal received is converted to the signal of another form, convenient for being transmitted in different networks.
In an illustrative embodiments, in wireless network, each equal pilot signal transmitted in base station, the pilot signal
It can be received by all radio communications systems in the covering space of base station.Boundary to avoid base station institute overlay area is led
Frequency interferes, and can adopt time division multiplexing mode, i.e. adjacent base station is adjacent small to avoid in the pilot signal transmitted in different time-gap
The interference of area's boundary.Frequency division multiplexing mode can also be used, that is, i.e. the frequency of the pilot signal that adjacent base station is sent is different.
One embodiment according to the present utility model, unmanned plane base station provided by the utility model include rack, dynamical system
The control system of unmanned plane base station provided by the utility model is described in detail with reference to Fig. 1 for system and control system.
As shown in Figure 1, according to the utility model one embodiment, the control system of unmanned plane base station include processor 405,
MEMS402, memory 401, memory 408 and winged control device 406 fly the servo mechanism offer that control device 406 is configured to unmanned plane
Signal is controlled, the servo mechanism of unmanned plane illustratively includes four motor control scoldings and four motors, such as controller CON1, control
Device CON2 processed, controller CON3, controller CON4, such as motor M1, motor M2, motor M3, motor M4, four controllers are controlled respectively
Make four motors.Memory 401 is used for storage system program, application program and data.MEMS402 is used to obtain the boat of unmanned plane
To information and processor 405 is supplied to, course information includes pitch angle, roll angle, angle of heel etc..
According to the utility model one embodiment, the control system of unmanned plane base station further includes navigator fix subsystem 403,
It receives the location information and temporal information about unmanned plane base station of navigation positioning satellite by antenna A1, and data are transmitted
To processor 405.
According to the utility model one embodiment, unmanned plane base station is carried radio subsystem and revolved by rotor craft stops
It goes up constant position in the air and is formed.Radio subsystem include radio subsystem include sender TX, receiver RX,
Switching switch 404 and antenna equipment A2, the antenna are configured as providing electromagnetic signal covering to certain area for A2, will connect
The electromagnetic wave of receipts is converted to electric signal and sends receiver RX to through switching switch 405；Receiver RX is configured to reception antenna and sets
The electric signal of the first radio frequency that standby A2 transmission comes, and be demodulated, then send processor 405 to, processor is to the letter of reception
It number is handled and to be then modulated on the second radio frequency by sender TX again, sent out again by antenna equipment A2 through switching switch 404
It sees off；Second radio frequency is penetrated another radio subsystem under covering and is received by antenna is auxiliary.
Antenna assembly A2 may include various filters, multiplexer, duplexer etc..The radio signal of different frequency may need
Want different types of antenna and the electronic circuit for handling the radio signal of different frequency.The collection of letters in the utility model
Existing radio technology can be used to realize in machine RX and sender TX.For example, by using be based on but be not limited to cellular radio technology or
Communication technology of satellite is realized.The Common examples of cellular radio technology include but not limited to：Universal Mobile Telecommunications System
(UMTS), CDMA 2000 etc..In the case where providing the content of the utility model, person of ordinary skill in the relevant is easy
Solution is applicable to the described a variety of possible radiotechnics applied.
In the utility model, unmanned plane base station refers to be configured what is sent according to setting program or ground control terminal
Instruction is autonomous to grasp and can revolve any unmanned rotor wing unmanned aerial vehicle for stopping the long period in the air, and the rotor wing unmanned aerial vehicle is in the air
It can be powered using solar energy.Unmanned plane base station can be run at lower height more notable than satellite, preferably；Unmanned plane
Base station, which is substantially revolved, stops several kms as at dry km.Compared with satellite, unmanned plane base station closer on ground or low latitude, because
Antenna entrained by this unmanned plane is more much smaller than the antenna entrained by satellite, unmanned plane base station constructions cost and maintenance cost
It is more much lower than telecommunication satellite.3 the unmanned plane base provided according to the utility model one embodiment is described in detail below in conjunction with the accompanying drawings
The power section stood.
Fig. 3 is the built-up circuit figure of the power section in unmanned plane base station provided by the utility model, as shown in figure 3, root
According to one embodiment, the unmanned plane base station that utility model provides is provided the energy by solar energy, is rotated with driving motor, so as to band
Dynamic rotor wing rotation.The solar-electricity source circuit includes：Photovoltaic cell SE, charger CH1, battery pack E1 and MPPT control mould
Block, for photovoltaic cell SE for converting light energy into electric energy, photovoltaic cell film, which can be attached at antenna, one piece of upper surface or carrying
Photovoltaic panel, the cathode output end of photovoltaic cell SE are connected to the first input end of charger, and cathode output end is through resistance R3 connections
In the second input terminal of charger；Resistance R1 and R2, which are in series, is then parallel to photovoltaic cell SE both ends, and wherein intermediate node is used for
Take out the sampling voltage of photovoltaic cell；R3 is current sampling resistor, and MPPT control modules are according to sampled voltage and sample rate current
It is worth and provides control signal to charger CH1；According to photovoltaic cell SE output voltages, the sampled value of output current, charger is adjusted
Power when environment temperature, light intensity change, makes solar cell always in maximum power output state, improve solar energy
The service efficiency of battery.Power section in unmanned plane base station further includes straight feedback switch K1, and the first end for switching K1 is connected to SE
Cathode output end, second end is connected to the anode of diode D1, and the negative terminal of diode D1 is provided out electric energy, MPPT control moulds
Block is also according to the break-make of the straight feedback switch K1 of sampled value control of too photovoltaic cell output voltage, output current.The first of charger
The positive terminal for being connected to diode D2 is brought out, the negative pole end of diode D2 is connected to the positive terminal of battery pack E1, battery pack E1
Negative pole end be connected to the second output terminal of charger, i.e., circuit is arranged such in male end, the utility model altogether, is in order in sunlight
When abundance is enough, electric energy is provided directly to the driving circuit of motor using photovoltaic cell SE and charged a battery, do not filled in sunlight
When sufficient, electric energy is provided using driving circuit of the battery to motor.
According to the utility model one embodiment, unmanned plane base station includes the control circuit of four motors and four motors,
Their composition is identical, is illustrated by taking first motor M1 and its driving circuit as an example, and motor M1 includes shell, is placed in shell
Interior stator and rotor further includes the speed encoder rotated together with the axis of rotor and rectification encoder, and speed encoder is such as
VS1, rectification encoder such as CD1, circuit for controlling motor include motor driver, and such as DR1 further includes polarity control unit PC1, speed
Spend control unit VC1 and pulse width modulation controlled unit PWM1, motor driver DR1 in response to control signal switch power half
Conductor device, by the first stator coil of DC power transmission to stator.Herein, since electric-motor drive unit DR1 is set
Into the first stator coil to stator（Motor winding）Winding M supplies direct current, therefore its structure can be according to motor
Type (number of phases of stator winding) and change.In order to drive a phase, 6 switch elements are needed.This six switch element composition bridges
Shape structure can use transistor, IGBT, MOSFET and FET as switch element.
Polarity control unit PC1 receives the photosensor signal of the rectification encoder CD1 from motor, and is driven to motor
Cells D R1 sends the control signal for being used to implement electric rectification device, so as to fulfill electric rectification device.Speed control unit VC1, which is received, to be come
Signal is controlled from the encoder VS1 signals of the speed encoder of motor, and to pulse width modulation controlled unit member PWM1 transmission speeds.
Fly the control signal that control device 406 sends rotating speed according to the instruction that processor 405 is sent to pulse width modulation controlled unit PWM1.Pulsewidth
Modulation control unit PWM1 sends to control the rotating speed of motor M1 according to control signal to motor driver DR1
Pwm signal.
Circuit for controlling motor DR1 also DC rectifier H1, the DC rectifier is to the second stator winding from motor（Power generation
Machine coil）The alternating current that G is generated carries out rectification and generates Rectified alternating current, and the filtered device C1 filtering of direct current generates straight
Galvanic electricity.Similarly, induction electric energy, the rectified device H2 of the induction electric energy and filtered capacitance C2 filters are generated in the second stator winding of M2
Wave is generating DC voltage；Induction electric energy is generated in the second stator winding of M3, the rectified device H3 of the induction electric energy is simultaneously filtered
Capacitance C3 filtering is generating DC voltage；Induction electric energy, the rectified device H3 of the induction electric energy are generated in the second stator winding of M4
And filtered capacitance C3 filtering is generating DC voltage, and the DC voltage of all generations is added up and is connected to charger CH2's
Input terminal, charger CH2 will be in the power storage accumulator E1 that generated due to motor.
According to the utility model one embodiment, the stator of motor includes multiple annular silicon chips stacked on top of each other, Duo Gefa
Machine winding slot, multiple motor slot for windings, multiple magnetic flux slot segmentations, it is multiple offset eliminate slot, be wrapped in corresponding generator around
Organize multiple generator windings around slot and the multiple motor windings being wrapped in around phase induction motor slot for winding.
Motor winding M is used as the motor for making rotor rotation come the electric power of motor circuit by receiving.Generator around
Group is used as generating electric power using by the electric current that rotor rotary inductive goes out.In this embodiment, the sum of slot for winding and winding is
6, it is in 3 regions.Along circumferential M, G, M, G, M and the G of arrangement as follows of stator (that is, 3 motor winding M and 3
Generator windings G).Motor winding M is connected to motor driver.Generator windings G is connected to corresponding DC rectifier
Device.When the winding parallel winding of each phase, these windings are distributed by phase and polarity and are wound and be connected to corresponding
Conducting wire on, each other without any connection.
Further, since the impartial relatively narrow magnetic flux point of width is equipped between motor slot for winding and generator windings slot
Cut slot, therefore magnetic flux is divided, so as to blocked can the magnetic flux of electric motor winding M flow to the path of generator windings G so that
The magnetic flux of motor winding M only flows to the magnetic field of stator, so as to which electronic function be made more effectively to drive.In addition, magnetic flux is divided
Slot remains unchanged the excitation width around motor slot for winding, so as to which motor slot for winding be allow not influenced in driving period
Adjacent winding slots are not operated with being influenced by adjacent winding slots.
Width equalization is equipped between generator windings slot and adjacent generator slot for winding and relatively narrow offset is eliminated
Slot is offseted with eliminating magnetic flux, so as to improve generating efficiency.
The rotor of generator unit includes multiple silicon chips stacked on top of each other and multiple flat permanent magnets, these are forever
Magnet is radially embedded in stacked silicon chip.In this regard, permanent magnet is designed to have strong magnetic force, so that phase can be formed
To wider magnetic field surface, therefore magnetic flux can be made to be gathered on the magnetic field surface, increase the magnetic flux density on magnetic field surface.Rotor
Number of poles is depending on the number of poles of stator.
Rotor is described in detail below, six permanent magnets are spaced equally from each other by be opened and be embedded in stacked round silicon chip
In.Non- magnetic core is equipped on the center of stacked round silicon chip, with supports permanent magnets and silicon chip, and passes through the center of non-magnetic core
Equipped with axis.Permanent magnet is formed as even shape, and idle space is formed between permanent magnet.
It is designed to have using the motor of permanent magnet and is mutually tied with the active energy of stator by energy by rotor
The rotary force for closing and being formed.In order to realize the super efficiency in motor, enhance being very important by energy for rotor.Cause
This, uses " neodymium (neodymium, iron, boron) " magnet in the present embodiment.These magnets increase magnetic field surface and magnetic flux are enable to gather
On the magnetic field of rotor, so as to increase the magnetic flux density in magnetic field.
At the same time, rectification encoder and speed encoder is set to control the rotation of motor.Rectification encoder CD1 and speed
Degree encoder VS1 is installed in the outer recess of motor body shell, is rotated together with the rotary shaft with rotor.
In the case of having sunlight, photovoltaic can be supplemented for power section in the unmanned plane base station provided in the utility model
It is stored in accumulator E1, in rotor wing rotation, also generates part electric energy, which also mends in accumulator, so as to improve
Accumulator uses duration, in this way, the rotation of unmanned plane base station long period can be made to be parked in aerial position substantially, so as to make unmanned plane
Realize that communication relay is possibly realized in base station.
Fig. 3 is the composition frame chart of the control system of express delivery unmanned plane provided by the utility model.If Fig. 3 shows, according to this reality
With novel one embodiment, include processor 515, MEMS506, for the control system of express delivery unmanned plane for being inserted into control card
513 insertion groove 513, memory 509, flight controller 507 and servo mechanism 508, flight control controller 507 are configured to nothing
Man-machine servo mechanism 508 provides control signal, and the servo mechanism 508 of unmanned plane drives the rotary wings of unmanned plane or propeller rotation
Turn so as to which unmanned plane flies in the air, memory 509 is used to run program and data.MEMS506 for obtain express delivery without
Man-machine course information is simultaneously supplied to processor 506, and course information includes pitching, sideway, inclination.According to the utility model one
Embodiment, the control system of express delivery unmanned plane further include navigator fix subsystem 505, navigation positioning satellite are received by antenna
The location information and temporal information about itself, and transfer data to processor 515.
According to the utility model one embodiment, the control system of express delivery unmanned plane further includes radio subsystem, packet
Digital baseband unit 510, analog baseband 511, antenna and communication card slot are included, antenna is used to convert electric signal to be launched
It is radiated for electromagnetic wave and to certain space, is also used for spatial electromagnetic wave being converted to electric signal and is then supplied to analog baseband
511；Communication card slot is for being inserted into smart card, and smart card 512 is the unmanned plane card allotted by unmanned plane manager or network operator, institute
It states unmanned aerial vehicle (UAV) control card and saves and fly control program, flight range data and communication identification number, communication identification number and its user one
One is accordingly registered in management platform.
According to the utility model one embodiment, the telephone number of telecommunication department may be used in communication identification number.When transmitting,
Digital baseband unit 510 is packaged into data frame for data, source address, destination address, check code to be sent processor etc.
It adjusts and carries out source coding and channel coding and form digital baseband signal, be then sent to analog baseband 511, Analog Baseband
Digital baseband signal is modulated to radio frequency and carries out power amplification by unit 511 then sends antenna to；During the collection of letters, Analog Baseband list
The electric signal that antenna transmission comes is carried out low level signal amplification by member, is then demodulated taking-up digital baseband signal, and send number to
Word Base Band Unit 510, digital baseband 510 carry out digital baseband signal channel decoding, source coding and frame decoding and take out instruction number
According to, then send director data to processor 515, the control terminal that processor 515 is received according to radio communication subsystem
Instruction calls fly to control program and can perform aerial mission in flight range.
According to the utility model one embodiment, unmanned aerial vehicle control system further includes barrier detector 501, is used to obtain
The distance of unmanned plane and barrier is taken, processor provides instruction also according to the distance of unmanned plane and barrier to flight controller,
To change the flight path of unmanned plane.One embodiment according to the present utility model, the base station in wireless network can periodic broadcasting
Its location information plans its flight path convenient for express delivery unmanned plane.
According to the utility model one embodiment, unmanned aerial vehicle control system further includes speech subsystems 514, be used for by with
The acoustic information at family is converted to power information, and power information is amplified, analog-to-digital conversion and voice coding, is then supplied to processing
The information is also sent to control terminal through network by communications electronics subsystem, is also used for from memory by device 515, processor
Take out storage voice data and be decoded, digital-to-analogue conversion, amplification be then supplied to microphone and carry out voice broadcast.
In the utility model, for express delivery unmanned plane, it can communicate via wireless network with control terminal, control terminal
Can be the user being connected on internet, anywhere user can be monitored express delivery unmanned plane, and obtain fast
The information of unmanned plane acquisition is passed, such as control terminal is computer, user sends out by inputting instruction through network to express delivery unmanned plane
Send the destination address that dispensed substance is needed to be sent to and time.Can also be the user of mobile radio communication, user passes through voice or defeated
The mode for entering instruction sends the destination address that dispensed substance is needed to be sent to and time through network to express delivery unmanned plane.Control terminal
Can be connected to the online user of fixed-line telephone, user needs to dispense through network by way of voice to the transmission of express delivery unmanned plane
The destination address and time that substance is sent to.
In one embodiment, its antenna beam is directed toward " best " base for the radio subsystem of express delivery unmanned plane
It stands, and measures the intensity of pilot signal transmitted by base station.The most strong base station of express delivery unmanned plane selection pilot signal is led to
Letter.
When express delivery unmanned plane is advanced along its route, pilot tone letter of the radio subsystem periodic measurement from base station
Number.As described above, the overlay area that each base station is covered in space is divided into cell and periodically passes in each cell
Defeated pilot signal.The each base station pilot signals of express delivery unmanned plane periodic search.And to the strong of the pilot signal from different base station
Degree sequence, determines the need for switching to another base station based on the relative intensity of different base station pilot signal.The main packet of switching
Include following steps：First, the radio subsystem of express delivery unmanned plane obtains its position coordinates and measurement can for express delivery unmanned plane
The pilot frequency intensity for the base station seen.Pilot frequency intensity is ranked up, to determine the need for switching to another base station.It cuts if necessary
It changes, express delivery unmanned plane will switch initiation message and switching time is sent to the current base station to communicate with it and the base to be switched
It stands；Current base station and the base station notification gateway handover event to be switched and switching time of origin.Although aforementioned handoff procedure is opposite
In express delivery unmanned plane program is initiated to describe, but person of ordinary skill in the relevant be readily appreciated that hand-over can by base station,
Ground control terminal initiates, aforementioned to be merely an illustrative.
Fig. 4 is the composition frame chart of radio subsystem provided by the utility model, as shown in figure 4, radio subsystem packet
Include digital baseband circuit 510, OFDM generators 527, modulator 523, carrier generator 524,525 and of high-frequency power amplifying circuit
Amplifier power supply 526, OFDM generators 527 are used to by digital baseband sequence serial to parallel conversion and be modulated to N number of subcarrier, then into
Row IFFT converts to form parallel time domain data, i.e., parallel OFDM symbol, and the parallel time domain data is carried out and goes here and there change
It changes to form serial OFDM symbol, protection interval is then inserted between each serial OFDM symbol is formed and serial insert guarantor
Protect the OFDM symbol data stream at interval；The modulator 523 is used for the signal modulation that OFDM generators 527 are provided to oscillation
For carrier wave caused by device 524 to generate modulating wave, the high-frequency power amplifying circuit 525 is used for the modulating wave generated to modulator
It carries out power amplification and is supplied to antenna, radio subsystem provided by the utility model further includes delayer 522 and amplitude inspection
Device 521 is surveyed, the delayer 522 is used to be postponed modulated signal caused by OFDM generators 527 to be then supplied to tune
Device 523 processed；The amplitude detector 521 is used to extract the amplitude of modulated signal caused by digital baseband generator 510 and carry
Processor 515 is supplied, the processor 515 controls the output voltage of amplifier power supply 526 according to the amplitude, to supply high frequency power
Amplifying circuit 525.
The amplifier power supply 526 include n grades of DC voltage units, each DC voltage unit through electronic switch be in series with to
High frequency power amplifier provides electric energy, and each DC voltage unit includes a battery pack（Such as E1, E2 and En）, an afterflow two
Pole pipe（Such as D1, D2 and Dn）With an electronic switch（Such as T1, T2 and Tn）, the anode of battery pack is connected to the negative of fly-wheel diode
Pole；The anode of fly-wheel diode is connected to the first end of electronic switch, and the second end of electronic switch is connected to the cathode of battery pack,
The control terminal of electronic switch is connected to processor, and the signal control electronic switch that processor is provided according to range detector leads to
Disconnected, the n is the integer more than or equal to 2.
More specifically, first DC voltage unit includes a battery pack E1, a sustained diode 81 and an electricity
Sub switch T1, electronic switch are CMOS tube, and the anode of the battery pack E1 is connected to the cathode of sustained diode 81；Afterflow two
The anode of pole pipe D81 is connected to the drain electrode of CMOS tube T1, and the source electrode of CMOS tube T1 is connected to the cathode of the battery pack E1, CMOS
The grid of pipe T1 is connected to an output terminal of processor 515, and processor 515 controls CMOS tube T1 break-makes.CMOS tube T1 works
In on off state, when the grid of CMOS tube T1 inputs a high potential, CMOS tube T1 conductings, the cathode of battery pack E1 is equivalent to
It is connected to the anode of sustained diode 81.The voltage at 1 both ends of sustained diode is E1, and upper end is just, lower end is negative.Work as CMOS tube
When the grid of T1 inputs a low potential, CMOS tube T1 cut-offs.The voltage at 81 both ends of sustained diode is diode junction voltage.
Second DC voltage unit includes a battery pack E2, a sustained diode 82 and an electronic switch T2,
Electronic switch is CMOS tube, and the anode of the battery pack E2 is connected to the cathode of sustained diode 2；Sustained diode 82 is just
Pole is connected to the drain electrode of CMOS tube T2, and the source electrode of CMOS tube T2 is connected to the cathode of the battery pack E2, the grid of CMOS tube T2
An output terminal of processor 515 is connected to, processor 515 controls CMOS tube T2 break-makes.CMOS tube T2 works on off state,
When the grid of CMOS tube T2 inputs a high potential, CMOS tube T2 conductings, the cathode of battery pack E2, which is equivalent to, is connected to afterflow two
The anode of pole pipe D2.The voltage at 82 both ends of sustained diode is E2, and upper end is just, lower end is negative.When the grid of CMOS tube T2 is defeated
When entering a low potential, CMOS tube T2 cut-offs.The voltage at 82 both ends of sustained diode is diode junction voltage.
And so on, n-th of DC voltage unit includes a battery pack En, a sustained diode 8n and an electricity
Sub switch Tn, electronic switch are CMOS tube, and the anode of the battery pack En is connected to the cathode of sustained diode n；Two pole of afterflow
The anode of pipe Dn is connected to the drain electrode of CMOS tube Tn, and the source electrode of CMOS tube Tn is connected to the cathode of the battery pack En, CMOS tube
The grid of Tn is connected to an output terminal of processor 515, and processor 515 controls CMOS tube Tn break-makes.CMOS tube Tn is worked in
On off state, when the grid of CMOS tube Tn inputs a high potential, CMOS tube Tn conductings, the cathode of battery pack En, which is equivalent to, to be connect
To the anode of sustained diode 8n.The voltage at sustained diode n both ends is En, and upper end is just, lower end is negative.As CMOS tube Tn
Grid input a low potential when, CMOS tube Tn cut-off.The voltage at sustained diode 8n both ends is diode junction voltage.
In this way, in the case that if the electronic switch of each DC voltage unit simultaneously turns on, HVDC Modulation power supply is total
Output total voltage be Vcc1=E1+E2+ ...+En.The voltage value of each DC voltage unit output is identical in the utility model.
In the utility model, processor 515 controls the break-make of each electronic switch according to the signal that amplitude detector provides,
When amplitude is big, multiple electronic switches are connected, high power supply to power amplifier is provided, when amplitude is small, is made wherein
The conducting of several electronic switches, power amplifier is given to provide small central battery supply.As long as make the sum of corresponding out-put supply slightly
More than the range value detected can, the energy is greatly saved in so configured amplifier power supply, so as to further extending unmanned plane
Flight duration.
Fig. 5 is the circuit diagram of the high frequency power amplifier in communication subsystem provided by the invention, as shown in figure 5, this hair
The high-frequency power amplifying circuit of bright offer includes high-frequency signal input terminal IN, input matching network 300, amplifier, output matching
Network 400, high-frequency signal output terminal OUT and biasing circuit, amplifier are made of high power tube T44, high-frequency signal input terminal IN
Impedance matching is carried out through input matching network 300, and inputs a signal into the base stage of high power tube T44, the collection of high power tube T44
The signal of electrode output carries out impedance matching through output matching network and antenna loop and then inputs a signal into antenna loop, partially
Circuits are made of transistor T42, transistor T43 and resistance R45, and transistor T42 base stages are connected to control voltage through resistance R41
The collector of Vcon, transistor T42 are connected to power Vcc 1, and emitter is connected to the collector of transistor T43, transistor T43
Base stage the emitter of transistor T42 is connected to through resistance R45, the emitter of transistor T42 gives high power tube through resistance R47
The base stage of T44 provides electric current.
Preferably, high-frequency power amplifying circuit further includes temperature-compensation circuit, temperature-compensation circuit include transistor T45,
Transistor T41, resistance R43 and resistance R44, wherein, the base stage of transistor T45 is connected to the first end of resistance R42, resistance R42
Second end be connected to the first end of resistance R41, the second end of resistance R41 is connected to control voltage Vcon, the first of resistance R41
End is connected to the collector of transistor T41 and the base stage of transistor T42 simultaneously；Transistor T45 collectors are connected to through resistance R43
Power Vcc 1, emitter is connected to ground through resistance R44, and is connected to the base stage of transistor T41；The emitter of transistor T41 connects
Ground, collector are connected to the first end of electricity group R41.The present invention is as a result of the temperature-compensation circuit of such structure so that high
The temperature compensation capability of frequency power amplification circuit greatly improves.
Illustrate to be installed on the flow chart of the winged control program on express delivery unmanned plane with reference to Fig. 6, as shown in fig. 6, processing
It calls and is stored in winged control program in control card, the step of execution includes at least：
S01：Processor by radio communication subsystem receive control terminal hair/Shipping Address, time and ambient image
And plan flight path and the departure time；
S02：After flight, processor receives position data of the navigator fix device in relation to unmanned plane and passes through the position data
Network is sent to the control terminal controlled it, and the position data includes the earth X, Y, Z coordinate value；
S03：Judge the position data whether can flight range, if not the management platform to BTS management center
It sends record violating the regulations and adjusts flight path, if it is, performing next step；According to the utility model one embodiment, to keep away
Exempt from that unmanned plane flies to important military, politics and economic zone is scouted, area of space is divided by manager, it will be empty
Between region division for the feasible flight of unmanned plane region and by restricted area, unmanned plane can only can flown in flight range
Row, can the data of flight range be stored in advance in control card.
S04：Processor receives the data of barrier detector to determine the relative position of barrier and unmanned plane, and will barrier
Hindering the position data of object, subsystem is sent to control terminal through network by radio communication.
S05：Whether the relative distance of disturbance in judgement object and unmanned plane is more than or equal to setting value, if it is, adjustment
Flight path sends flying quality to flight controller if not, and flight controller provides control signal to servo mechanism, so that
Unmanned plane flies.
S05：Judge whether near hair/Shipping Address, the image of destination address is if it is obtained simultaneously by video camera
The ambient image sent with the control terminal of reception is compared, if image is consistent, make express delivery unmanned plane land or
Close to user, and pass through voice to user send voice messaging, with inform user unload/load onto substance, if being also less than purpose
Near address, then continue to fly.
S06：Judge whether to load onto/take away cargo, if it is fly back logistics sorting center by flight path, if not,
Information then is sent to control terminal, and waits for the instruction of control terminal.
Control terminal provided by the utility model include at least processor, memory, display, radio communication subsystem and
Control terminal identifies card slot, unmanned aerial vehicle (UAV) control program is saved in the memory, the identification card slot is for insertion by controlling
The communication recognition cards that terminal management person or network operator allot, the communication recognition cards save control terminal communication identification number, institute
Control terminal communication identification number is stated to be registered in management platform correspondingly with its user.Map number is stored in memory
According to and for controlling the application program of unmanned plane during flying.6 explanations are installed on the control program in control terminal below in conjunction with the accompanying drawings
Flow chart.
As shown in fig. 7, unmanned aerial vehicle (UAV) control program includes at least：
S01：Order, hair/Shipping Address and the time of client and ring image are received, and is assigned to an express delivery unmanned plane；
S02：It receives the position data that unmanned plane is sent and is parallel to ground data corresponding to unmanned plane in map datum
Position superposition unmanned plane icon, and near icon mark unmanned plane altitude information the step of.
S03：Receive the position data for the barrier that unmanned plane is sent and in map datum corresponding to the parallel of barrier
In the icon of the position of ground data superposition barrier, and near icon the step of mark obstacle height data.
S04：Whether take/take cargo away, if it is, sending instruction to express delivery unmanned plane, unmanned plane is made to fly back logistics
Sorting center, if not, contact hair/consignee.
S05：During unmanned plane flies back, receive the position data that unmanned plane is sent and corresponded in map datum
Unmanned plane is parallel to the icon of the position superposition unmanned plane of ground data, and unmanned plane altitude information is marked near icon；
S06：Receive the position data for the barrier that express delivery unmanned plane is sent and in map datum corresponding to barrier
The icon of the position superposition barrier of ground data is parallel to, and obstacle height data are marked near icon.
Processor may include digital signal processor (DSP), microprocessor, programmable logic device in the utility model
(PLD), gate array or multiple processing components and power management subsystem.Processor may also include internally cached storage
Device, the internal cache memory are configured to store the calculating for execution obtained from memory or control card
Machine readable instruction.The memory include non-transient computer medium, the medium for example including SRAM, quick flashing, SDRAM and/
Or hard disk drive (HDD) etc..Memory is configured to store computer-readable instruction to be executed by a processor.
According to the utility model, must be authorized using the user of unmanned plane to unmanned plane administrative department or by administrative department
Operator propose application using unmanned plane, allotted UAV Communication card by unmanned plane administrative department or sales department and flown
Row control card, such unmanned plane user can just be communicated by wireless network using control terminal with unmanned plane, and permitted
Perhaps it flies in region, military area, political region and Important Economic region is implemented in this way, criminal can be effectively prevented from
Act of espionage is destroyed using unmanned plane.Also unmanned plane could not be made to set and interfere civil aviaton, army's boat or ground.By
It therefore, can also be avoided by existing wireless network in the communication of the unmanned plane of the utility model, control terminal and management platform
Electromagnetic Interference caused by the electromagnetic wave of earth station's transmitting in existing unmanned aerial vehicle control system.
Processor in the utility model may include digital signal processor (DSP), microprocessor, programmable logic dress
Put (PLD), gate array or multiple processing components and power management subsystem.Processor may also include internally cached storage
Device, the internal cache memory are configured to store the calculating for execution obtained from memory or control card
Machine readable instruction.The memory include non-transient computer medium, the medium for example including SRAM, quick flashing, SDRAM and/
Or hard disk drive (HDD) etc..Memory is configured to store computer-readable instruction to be executed by a processor.
Although above with reference to attached drawing to being elaborated according to the design and example of the utility model aim, ability
Field technique personnel are any to be made based on the utility model it should be appreciated that under the premise of conceiving without departing from the utility model
Modifications and variations still fall within content in scope of protection of the utility model.
Claims (3)
1. a kind of unmanned plane express system, including the express delivery unmanned plane and control terminal by network linking, which is characterized in that
Express delivery unmanned plane also includes at least the first communication card slot, and for being inserted into communication card, the first communication card stores the first communication card slot
UAV Communication identifier, and registered correspondingly with its user；The network includes at least base station, for control base station
Base station control center and the data main dispatching centre for switch data, the data main dispatching centre direct or through gateway and
Mobile telephone network, data network are connected, and express delivery unmanned plane and control terminal are connected, and unmanned plane base station is to revolve in the air
Stop the rotor wing unmanned aerial vehicle of long period, unmanned plane base station includes motor, and the stator of motor includes multiple annular silicon stacked on top of each other
Piece, multiple generator windings slots, multiple motor slot for windings, multiple magnetic flux slot segmentations, multiple offset eliminate slot, are wrapped in accordingly
Multiple generator windings around generator windings slot and multiple motor for being wrapped in around phase induction motor slot for winding around
Group.
2. unmanned plane express system according to claim 1, which is characterized in that express delivery unmanned plane includes at least power amplifier electricity
Source, the amplifier power supply include range detector, processor, delayer and variable power supply, and the delayer is used to believe modulation
Number modulated signal caused by generator is postponed then to be supplied to modulator；The range detector is believed for extracting modulation
Number amplitude of modulated signal caused by generator is simultaneously supplied to processor, and the processor controls variable power supply according to the amplitude
Output voltage, to supply high frequency power amplifier.
3. unmanned plane express system according to claim 2, which is characterized in that the variable power supply includes n grades of direct currents
Unit is pressed, each DC voltage unit mutually cascades, and each DC voltage unit includes a battery pack, a fly-wheel diode and one
A electronic switch, the anode of battery pack are connected to the cathode of fly-wheel diode；The anode of fly-wheel diode is connected to electronic switch
First end, the second end of electronic switch is connected to the cathode of battery pack, and the control terminal of electronic switch is connected to processor, processing
The break-make of signal control electronic switch that device is provided according to range detector, the n is the integer more than or equal to 2.
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| CN201721134819.2U CN207603685U (en) | 2017-09-06 | 2017-09-06 | A kind of unmanned plane express system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109872111A (en) * | 2019-03-12 | 2019-06-11 | 武汉轻工大学 | Logistics Distribution Method, unmanned plane, storage medium and device based on unmanned plane |
| CN111596635A (en) * | 2020-06-19 | 2020-08-28 | 广州极飞科技有限公司 | Logistics distribution device and method, unmanned aerial vehicle, mobile terminal and storage medium |
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2017
- 2017-09-06 CN CN201721134819.2U patent/CN207603685U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109872111A (en) * | 2019-03-12 | 2019-06-11 | 武汉轻工大学 | Logistics Distribution Method, unmanned plane, storage medium and device based on unmanned plane |
| CN111596635A (en) * | 2020-06-19 | 2020-08-28 | 广州极飞科技有限公司 | Logistics distribution device and method, unmanned aerial vehicle, mobile terminal and storage medium |
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