CN215416387U - Unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle Download PDFInfo
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- CN215416387U CN215416387U CN202121615267.3U CN202121615267U CN215416387U CN 215416387 U CN215416387 U CN 215416387U CN 202121615267 U CN202121615267 U CN 202121615267U CN 215416387 U CN215416387 U CN 215416387U
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Abstract
The application provides an unmanned aerial vehicle, wherein, this unmanned aerial vehicle includes: the system comprises a control module, a first information acquisition module, a force calculation module, a second information acquisition module, a flight control module and a scheduling module; the scheduling module is respectively connected with the second information acquisition module and the flight control module; the flight control module is connected with the first information acquisition module; the first information acquisition module is connected with the force calculation module; the force calculating module is connected with the control module; the control module is respectively connected with the first information acquisition module and the scheduling module and is used for sending a control instruction to the first information acquisition module and/or the scheduling module according to a processing result sent by the calculation module after the target data is processed; unmanned aerial vehicle in this application has reduced the data wireless transmission's between unmanned aerial vehicle and the ground control platform process, is favorable to improving unmanned aerial vehicle's response speed to current environment.
Description
Technical Field
The application relates to the technical field of intelligent control of unmanned aerial vehicles, in particular to an unmanned aerial vehicle.
Background
Unmanned aerial vehicle is called unmanned aerial vehicle for short, can divide into for military use unmanned aerial vehicle and civilian unmanned aerial vehicle, because the needs of various tasks, most unmanned aerial vehicle all loads data acquisition device, and data acquisition device plays crucial function in unmanned aerial vehicle's use.
Among the prior art, the user passes through the data acquisition of the current environment that wireless transmission channel passed back according to unmanned aerial vehicle, uses unmanned aerial vehicle's ground control platform to control unmanned aerial vehicle and flies in the current environment, but this mode when data transmission delays, and the user can't know unmanned aerial vehicle's all ring edge borders immediately, so can't respond to unmanned aerial vehicle's all ring edge borders immediately.
SUMMERY OF THE UTILITY MODEL
In view of this, the embodiment of the present application provides an unmanned aerial vehicle to solve the problem that unmanned aerial vehicle can not respond to the surrounding environment immediately.
The embodiment of the application provides an unmanned aerial vehicle, unmanned aerial vehicle includes: the system comprises a control module, a first information acquisition module for acquiring target data at a target position, a calculation module for performing data processing on the target data sent by the first information acquisition module, a second information acquisition module for acquiring flight data of the unmanned aerial vehicle, a flight control module for controlling the unmanned aerial vehicle to fly, and a scheduling module for scheduling the second information acquisition module and/or the flight control module;
the scheduling module is respectively connected with the second information acquisition module and the flight control module;
the flight control module is connected with the first information acquisition module;
the first information acquisition module is connected with the force calculation module;
the force calculation module is connected with the control module;
the control module is respectively connected with the first information acquisition module and the scheduling module and is used for sending a control instruction to the first information acquisition module and/or the scheduling module according to the processing result of the target data sent by the computing power module.
Preferably, the drone further comprises: a communication module for establishing a communication connection between the control module and a ground station; the communication module is respectively connected with the control module and the ground station.
Preferably, the drone further comprises: the obstacle avoidance module is used for generating an obstacle avoidance flight instruction; and the obstacle avoidance module is connected with the scheduling module.
Preferably, the drone further comprises: the visual auxiliary module is used for assisting the first information acquisition module to acquire target data; the visual auxiliary module is respectively connected with the scheduling module and the first information acquisition module.
Preferably, the control module is connected with a cloud end for assisting the computing power module in data processing.
Preferably, the second information acquisition module comprises at least one sensor; the dispatching module is respectively connected with each sensor.
Preferably, the flight control module comprises at least one target flight control module; the scheduling module is respectively connected with each target flight control module.
Preferably, the target flight control module comprises a flight control sub-module for controlling the flight attitude of the drone and a navigation sub-module for controlling the flight route of the drone; the scheduling module is respectively connected with the flight control submodule and the navigation submodule.
Preferably, the first information acquisition module comprises an acquisition module for acquiring the target data and an acquisition control module for controlling the acquisition module; the acquisition control module is respectively connected with the acquisition module, the control module and the flight control module; the acquisition module is connected with the force calculation module.
Preferably, the scheduling module comprises a programmable chip.
The embodiment of the utility model has the beneficial effects that:
in the unmanned aerial vehicle that this application provided, the target data of target location department is gathered to first information acquisition module, promptly: current data in the current environment, the power of calculation module is connected with this first information acquisition module, after first information acquisition module acquires the target data, send target data to the power of calculation module, so that the power of calculation module is handled this target data, the power of calculation module is handled this target data back, send the processing result to control module, control module sends control command to first information acquisition module according to this processing result, with the data of control first information acquisition module reacquisition, and/or control module sends control command to the scheduling module according to this processing result, so that the scheduling module sends control command to the flight control module, the flight control module is according to this control command control unmanned aerial vehicle flight, promptly: the control module controls the unmanned aerial vehicle to respond to the current environment; compared with the prior art, this application unmanned aerial vehicle is at the flight in-process, first information acquisition module is after obtaining the target data in the current environment, directly handle this target data through calculating the power module, and feed back the processing result to control module, so that control module controls unmanned aerial vehicle according to the processing result and makes the response to the current environment, this mode has reduced the process of the data wireless transmission between unmanned aerial vehicle and the ground control platform, be favorable to improving unmanned aerial vehicle's response speed to the current environment.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 shows a schematic structural diagram of an unmanned aerial vehicle provided in an embodiment of the present application;
fig. 2 shows a schematic structural diagram of another unmanned aerial vehicle provided in the embodiment of the present application;
fig. 3 shows a schematic structural diagram of another drone provided in the embodiment of the present application;
fig. 4 shows a schematic structural diagram of another drone provided in the embodiment of the present application;
fig. 5 shows a schematic structural diagram of another drone provided in the embodiment of the present application;
fig. 6 shows a schematic structural diagram of another drone provided in the embodiment of the present application;
fig. 7 shows a schematic structural diagram of another drone provided in the embodiment of the present application;
fig. 8 shows a schematic structural diagram of another drone provided in the embodiment of the present application;
fig. 9 shows a schematic structural diagram of another unmanned aerial vehicle provided in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is noted that the terms "first" and "second", etc. are used merely to distinguish descriptions, and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the term "connected" is to be interpreted broadly, e.g. as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Examples
Fig. 1 shows a schematic structural diagram of a drone 100 provided in an embodiment of the present application, please refer to fig. 1, where the drone 100 includes: the unmanned aerial vehicle control system comprises a control module 101, a first information acquisition module 102 used for acquiring target data at a target position, a calculation module 103 used for carrying out data processing on the target data sent by the first information acquisition module 102, a second information acquisition module 104 used for acquiring flight data of the unmanned aerial vehicle 100, a flight control module 105 used for controlling the unmanned aerial vehicle 100 to fly, and a scheduling module 106 used for scheduling the second information acquisition module 104 and/or the flight control module 105;
the scheduling module 106 is connected to the second information acquisition module 104 and the flight control module 105 respectively;
the flight control module 105 is connected with the first information acquisition module 102;
the first information acquisition module 102 is connected with the force calculation module 103;
the force calculating module 103 is connected with the control module 101;
the control module 101 is connected to the first information acquisition module 102 and the scheduling module 106, and configured to send a control instruction to the first information acquisition module 102 and/or the scheduling module 106 according to the processing result of the target data sent by the computation module 103.
Specifically, the control module 101 is connected to the scheduling module 106, and when the control module 101 acquires the acquisition task sent by the ground station of the unmanned aerial vehicle 100, the control module 101 sends the acquisition task to the scheduling module 106, and after receiving the acquisition task, the scheduling module 106 acquires the physical quantity acquired by the second information acquisition module 104 and used for representing the current flight state of the unmanned aerial vehicle 100, that is: flight data to give flight control module 105 with collection task and flight data transmission, flight control module 105 controls this unmanned aerial vehicle 100 according to collection task and flight data and flies, and wherein, the collection task includes: specifying data such as a position, specified data, a specified attitude, a control instruction, a control parameter and the like; when controlling the unmanned aerial vehicle 100 to be located at the designated position in the designated posture, the flight control module 105 sends a first acquisition instruction to the first information acquisition module 102, so that the first information acquisition module 102 acquires target data at the target position, and sends the target data to the calculation power module 103, wherein the target data at the target position refers to current data at the current position acquired by the first information acquisition module 102; the calculation module 103 performs data processing on the received target data and sends a processing result after the data processing to the control module 101, the control module 101 judges whether the type of the processing result belongs to a target type according to the acquisition task, and if the type of the processing result belongs to the target type, the control module sends a first control instruction to the first information acquisition module 102 so that the first information acquisition module 102 acquires the data according to the first control instruction; if the target type is not the target type, a second control instruction is sent to the scheduling module 106, after the scheduling module 106 receives the second control instruction, the second control instruction is forwarded to the flight control module 105, so that the flight control module 105 controls the unmanned aerial vehicle 100 to fly according to the second control instruction, and after the control is completed, the flight control module 105 sends an acquisition instruction to the first information acquisition module 102, so that the first information acquisition module acquires current data; the target type is used for indicating that the unmanned aerial vehicle does not need to move, and the first information acquisition device can acquire specified data required by the user.
For example, the following steps are carried out: when the processing result obtained by the control module 101 is a blurry image at the designated position, the type of the image data belongs to the target type, so that the control module 101 only needs to send a re-acquisition instruction to the first information acquisition module 102 to enable the first information acquisition module 102 to re-acquire the image; when the processing result obtained by the control module 101 is that the designated position is located 100m to the right of the current position of the unmanned aerial vehicle, the type of the processing result does not belong to the target type, the control module 101 needs to send a control instruction for indicating that the unmanned aerial vehicle moves 100m to the right to the scheduling module 106, and the scheduling module 106 forwards the control instruction to the flight control module 105, so that the flight control module 105 controls the unmanned aerial vehicle 100 to fly 100m to the right.
The data processing includes: recognition, perception, reasoning, calculation, etc., such as: if the target data comprises an image, the data processing comprises: identifying an object in the image; if the target data includes physical quantities measured by a plurality of sensors, the data processing includes: fusing the physical quantities; further, the data processing further includes: the inference is performed by using a built-in NPU (network-Processing Unit), TPU (Tensor Processing Unit), GPU (graphics Processing Unit), and other units.
It should be noted again that control module 101 includes a multicore processor, and flight control module 105 includes a multicore processor.
In the unmanned aerial vehicle that this application provided, the target data of target location department is gathered to first information acquisition module, promptly: current data in the current environment, the power of calculation module is connected with this first information acquisition module, after first information acquisition module acquires the target data, send target data to the power of calculation module, so that the power of calculation module is handled this target data, the power of calculation module is to this target data processing back, send the processing result to control module, control module sends control command to first information acquisition module according to this processing result, with the data of control first information acquisition module reacquisition, and/or control module sends control command to the scheduling module according to this processing result, so that the scheduling module sends control command to the flight control module, the flight control module is according to this control command control unmanned aerial vehicle flight, promptly: the control module controls the unmanned aerial vehicle to respond to the current environment; compared with the prior art, this application unmanned aerial vehicle is at the flight in-process, first information acquisition module is after obtaining the target data in the current environment, directly handle this target data through calculating the power module, and feed back the processing result to control module, so that control module controls unmanned aerial vehicle according to the processing result and makes the response to the current environment, this mode has reduced the process of the data wireless transmission between unmanned aerial vehicle and the ground control platform, be favorable to improving unmanned aerial vehicle's response speed to the current environment.
On the basis of the explanation in fig. 1, fig. 2 shows a schematic structural diagram of another unmanned aerial vehicle 100 provided in the embodiment of the present application, please refer to fig. 2, where the unmanned aerial vehicle 100 further includes: a communication module 201 for establishing a communication connection between the control module 101 and a ground station 202; the communication module 201 is connected to the control module 101 and the ground station 202, respectively.
Specifically, the ground station 202 sends an acquisition task to the communication module 201, and the communication module 201 sends the acquisition task to the control module 101 after receiving the acquisition task; after the control module 101 acquires data specified and collected by a user, the data is sent to the communication module 201, so that the communication module 201 sends the data to the ground station 202; this application passes through communication module 201, has established the real-time data transmission passageway of unmanned aerial vehicle 100 with ground station 202, makes things convenient for the real-time communication of unmanned aerial vehicle 100 with ground station 202.
It should be noted that, the communication module 201 may further receive a target instruction sent by the ground station 202, forward the target instruction to the control module 101, and send a feedback signal to the ground station 202 after receiving the feedback signal to the target instruction sent by the control module 101, where the target instruction includes: network upgrading instructions, updating instructions, optimizing instructions and the like.
It should be noted again that the communication module 201 is suitable for various high-bandwidth low-latency scenarios, and in addition, the communication module 201 adopts asymmetric, symmetric, and other encryption manners in the communication process to ensure the security of the transmitted data.
It should be noted again that the communication module 201 includes: 4G (the 4th Generation Mobile Communication Technology, fourth Generation Mobile Communication Technology), 5G (5th Generation Mobile Communication Technology, 5G), wireless Communication Technology Wifi, orthogonal frequency division multiplexing module, and the like.
On the basis of the explanation in fig. 1, fig. 3 shows a schematic structural diagram of another unmanned aerial vehicle 100 provided in the embodiment of the present application, please refer to fig. 3, where the unmanned aerial vehicle 100 further includes: an obstacle avoidance module 301 for generating an obstacle avoidance flight instruction; the obstacle avoidance module 301 is connected to the scheduling module 106.
Specifically, the obstacle avoidance module 301 generates an obstacle avoidance flight instruction through autonomous detection, and sends the obstacle avoidance flight instruction to the scheduling module 106, and the scheduling module 106 forwards the obstacle avoidance flight instruction to the flight control module 105, so that the flight control module 105 controls the unmanned aerial vehicle 100 to avoid the obstacle according to the obstacle avoidance flight control instruction.
On the basis of the explanation in fig. 1, fig. 4 shows a schematic structural diagram of another unmanned aerial vehicle 100 provided in the embodiment of the present application, please refer to fig. 4, where the unmanned aerial vehicle 100 further includes: a visual assistance module 401 for assisting the first information collection module 102 in collecting target data; the visual assistance module 401 is connected to the scheduling module 106 and the first information collecting module 102 respectively.
Specifically, the scheduling module 106 is connected to the visual assistance module 401, and is configured to schedule the visual assistance module 401, where the visual assistance module 401 sends a second acquisition instruction to the first information acquisition module 102 according to the autonomous recognition result, so as to assist the first information acquisition module 102 to acquire more accurate data.
Based on the explanation of fig. 1, fig. 5 shows a schematic structural diagram of another unmanned aerial vehicle 100 provided in the embodiment of the present application, please refer to fig. 5, where the control module 101 is connected to a cloud 501 for assisting the computation power module 103 in data processing.
Specifically, when the target data to be processed by the computing power module 103 is excessive, part of the target data which cannot be processed in time can be sent to the control module 101, the control module 101 forwards the received target data to the cloud terminal 501, so that the cloud terminal 501 performs data processing on the received target data, and sends a processing result to the control module 101 after processing.
It should be noted that the cloud 501 includes a cloud server of a local area network or a public network.
Based on the explanation of fig. 1, fig. 6 shows a schematic structural diagram of another drone 100 provided in the embodiment of the present application, please refer to fig. 6, where the second information acquisition module 104 includes at least one sensor; the scheduling module 106 is connected to each of the sensors.
Specifically, the second information collecting module 104 includes: sensor 601, sensor 602, … …, sensor 60n, and scheduling module 106 is connected to sensor 601, sensor 602, … …, sensor 60n, respectively, and is configured to schedule each sensor, such as: when a certain sensor has a problem, other sensors can be controlled to replace the sensor to acquire current data information so as to ensure the normal operation of the second information acquisition module 104.
It should be noted that the at least one sensor includes: sensors such as a gyroscope, an accelerometer, an altimeter, a magnetic compass, a barometer, a GPS (Global Positioning System), a GNSS (Global Navigation Satellite System), and an optical flow module.
Based on the explanation of fig. 1, fig. 7 shows a schematic structural diagram of another drone 100 provided in the embodiment of the present application, please refer to fig. 7, where the flight control module 105 includes at least one target flight control module; the scheduling module 106 is connected to each of the target flight control modules.
Specifically, flight control module 105 includes: target flight control module 701, target flight control modules 702 and … …, and target flight control module 70n, and scheduling module 106 is connected to target flight control module 701, target flight control modules 702 and … …, and target flight control module 70n, respectively, and is configured to schedule each target flight control module, for example: when a certain target flight control module has a problem, other target flight control modules can be controlled to replace the target flight control module to control the plane of the unmanned aerial vehicle 100, so that the normal flight of the unmanned aerial vehicle 100 is guaranteed.
Based on the explanation of fig. 7, fig. 8 shows a schematic structural diagram of another drone 100 provided in the embodiment of the present application, please refer to fig. 8, where the target flight control module includes a flight control sub-module for controlling a flight attitude of the drone 100 and a navigation sub-module for controlling a flight route of the drone 100; the scheduling module 106 is connected to the flight control sub-module and the navigation sub-module respectively.
Specifically, the target flight control module 701 includes a flight control sub-module and a navigation sub-module, the target flight control module 702 also includes a flight control sub-module and a navigation sub-module, … …, and the target flight control module 70n also includes a flight control sub-module and a navigation sub-module, for each target flight control module, the scheduling module 106 is respectively connected with the flight control sub-module and the navigation sub-module included in the target flight control module, and is configured to send the flight data and the acquisition task to the flight control sub-module, so that the flight control sub-module controls the flight attitude of the unmanned aerial vehicle 100 according to the flight data and the acquisition task; and is further configured to send the flight data and the collection task to the navigation sub-module, so that the navigation sub-module determines the flight route of the drone 100 according to the flight data and the collection task.
On the basis of the explanation in fig. 1, fig. 9 shows a schematic structural diagram of another drone 100 provided in the embodiment of the present application, please refer to fig. 9, where the first information acquisition module 102 includes an acquisition module 902 for acquiring the target data and an acquisition control module 901 for controlling the acquisition module 902; the acquisition control module 901 is respectively connected with the acquisition module 902, the control module 101 and the flight control module 105; the acquisition module 902 is connected to the force calculation module 103.
Specifically, the control module 101 sends a first control instruction to the acquisition control module 901, and after receiving the first control instruction, the acquisition control module 901 controls the acquisition module 902 to perform acquisition according to the first control instruction; the flight control module 105 sends a second control instruction to the acquisition control module 901, and after receiving the second control instruction, the acquisition control module 901 controls the acquisition module 902 to perform acquisition according to the second control instruction; after collection, the collection module 902 sends the collected data to the force calculation module 103.
For example, the following steps are carried out: first information acquisition module 102 includes camera and camera gesture control assembly, and wherein, control module 101 is connected with camera gesture control assembly for send control command to camera gesture control assembly, camera gesture control assembly is connected with the camera, is used for carrying out every single move and rotation according to control command control camera, and this mode makes the camera not totally rely on the gesture that changes unmanned aerial vehicle 100 to obtain the image or the video in different angles and position, is favorable to making the shooting visual angle broader, obtains more comprehensive information.
It should be noted that the acquisition module 902 includes a visible light camera, a radar, an infrared tester, and other measurement devices, and when the acquisition module is a camera, the acquisition control module 901 includes components such as a camera attitude control component, a shooting control component (e.g., a shutter, an aperture, and the like).
Further, the scheduling module 106 includes a programmable chip.
Specifically, the scheduling module 106 specifically includes a programmable chip, for example: the FPGA (Field Programmable Gate Array) programs the Programmable chip to enable the scheduling module 106 to schedule the second information acquisition module 104 and the flight control module 105 in parallel, so that the unmanned aerial vehicle 100 adapts to complex work tasks.
For example, the user programs the programmable chip to enable the scheduling module 106 to schedule the replacement and the multiplexing verification of the plurality of second information acquisition modules 104 in parallel and schedule the replacement and the multiplexing verification of the plurality of flight control modules 105 in parallel, so as to avoid the situation that the system of the unmanned aerial vehicle 100 is crashed due to the occurrence of a problem in one sensor or the flight control module 105, and facilitate the unmanned aerial vehicle 100 to adapt to a complex work task.
The embodiment of the utility model has the beneficial effects that:
in the unmanned aerial vehicle that this application provided, the target data of target location department is gathered to first information acquisition module, promptly: current data in the current environment, the power of calculation module is connected with this first information acquisition module, after first information acquisition module acquires the target data, send target data to the power of calculation module, so that the power of calculation module is handled this target data, the power of calculation module is to this target data processing back, send the processing result to control module, control module sends control command to first information acquisition module according to this processing result, with the data of control first information acquisition module reacquisition, and/or control module sends control command to the scheduling module according to this processing result, so that the scheduling module sends control command to the flight control module, the flight control module is according to this control command control unmanned aerial vehicle flight, promptly: the control module controls the unmanned aerial vehicle to respond to the current environment; compared with the prior art, this application unmanned aerial vehicle is at the flight in-process, first information acquisition module is after obtaining the target data in the current environment, directly handle this target data through calculating the power module, and feed back the processing result to control module, so that control module controls unmanned aerial vehicle according to the processing result and makes the response to the current environment, this mode has reduced the process of the data wireless transmission between unmanned aerial vehicle and the ground control platform, be favorable to improving unmanned aerial vehicle's response speed to the current environment.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the present disclosure, which should be construed in light of the above teachings. Are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A drone, characterized in that it comprises: the system comprises a control module, a first information acquisition module for acquiring target data at a target position, a calculation module for performing data processing on the target data sent by the first information acquisition module, a second information acquisition module for acquiring flight data of the unmanned aerial vehicle, a flight control module for controlling the unmanned aerial vehicle to fly, and a scheduling module for scheduling the second information acquisition module and/or the flight control module;
the scheduling module is respectively connected with the second information acquisition module and the flight control module;
the flight control module is connected with the first information acquisition module;
the first information acquisition module is connected with the force calculation module;
the force calculation module is connected with the control module;
the control module is respectively connected with the first information acquisition module and the scheduling module and is used for sending a control instruction to the first information acquisition module and/or the scheduling module according to the processing result of the target data sent by the computing power module.
2. The drone of claim 1, further comprising: a communication module for establishing a communication connection between the control module and a ground station; the communication module is respectively connected with the control module and the ground station.
3. The drone of claim 1, further comprising: the obstacle avoidance module is used for generating an obstacle avoidance flight instruction; and the obstacle avoidance module is connected with the scheduling module.
4. The drone of claim 1, further comprising: the visual auxiliary module is used for assisting the first information acquisition module to acquire target data; the visual auxiliary module is respectively connected with the scheduling module and the first information acquisition module.
5. The drone of claim 1, wherein the control module is connected to a cloud for assisting the computing power module in data processing.
6. The drone of claim 1, wherein the second information acquisition module includes at least one sensor; the dispatching module is respectively connected with each sensor.
7. A drone according to claim 1, wherein the flight control module includes at least one target flight control module; the scheduling module is respectively connected with each target flight control module.
8. The drone of claim 7, wherein the target flight control module includes a flight control sub-module for controlling a flight attitude of the drone and a navigation sub-module for controlling a flight path of the drone; the scheduling module is respectively connected with the flight control submodule and the navigation submodule.
9. The drone of claim 1, wherein the first information acquisition module includes an acquisition module for acquiring the target data and an acquisition control module for controlling the acquisition module; the acquisition control module is respectively connected with the acquisition module, the control module and the flight control module; the acquisition module is connected with the force calculation module.
10. The drone of claim 1, wherein the scheduling module includes a programmable chip.
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