CN218751477U - A airborne computer and unmanned aerial vehicle control system for unmanned aerial vehicle - Google Patents
A airborne computer and unmanned aerial vehicle control system for unmanned aerial vehicle Download PDFInfo
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Abstract
The utility model discloses an airborne computer and an unmanned aerial vehicle control system for an unmanned aerial vehicle, wherein the airborne computer comprises an airborne host, a controllable power supply expansion module, a switch module and an HDMI acquisition module; the controllable power supply expansion module is respectively connected with the airborne host, the HDMI acquisition module and the switch module; the HDMI acquisition module is connected with the switch module through an RJ45 network cable, and the switch module is connected with the airborne host through the RJ45 network cable; the HDMI interface of the HDMI acquisition module is connected with the airborne camera through an HDMI line; the airborne computer is light in size, has rich interfaces, and can be matched with an expansion module to realize interface expansion; supporting the video transmission by adopting a UDP protocol, and reducing the transmission delay from more than 10s to less than 5 s; supporting the free switching of transmission of multiple links; the health condition of each network is detected through the heartbeat packet by establishing a virtual network, one or more available networks are automatically used, and the application side is transparent and noninductive; the video pictures can be fused and then sent to the airborne ground station.
Description
Technical Field
The utility model relates to a computer technology field, more specifically relates to an airborne computer and unmanned aerial vehicle control system for unmanned aerial vehicle.
Background
The functional modules of the personal computer and the handheld mobile device are mostly fixed, while the onboard computers on the unmanned aerial vehicle are different, and the functions of the onboard computers need to be customized according to specific task requirements. Because the application occasions that the airborne computer on the unmanned aerial vehicle faces are different, the emphasis point of its type selection to main control chip is also different. Researches show that the main frequency of a main control chip adopted by a computer used in the aerospace field is very low (relative to a personal computer), on one hand, the main frequency is limited in the aspects of power consumption and radiation resistance of the chip, and on the other hand, the main frequency also shows that the requirement of an onboard computer on an unmanned aerial vehicle on the computing capability is not high, but the demand on a communication interface, an IO port and the like is large; in addition, one of the most important requirements of computers in the aerospace field is high reliability, and theoretically, under the same external conditions (environmental process and the like), the more transistors integrated on one chip, the lower the reliability of the chip, so that one criterion of the design of the onboard computer on the unmanned aerial vehicle is just to meet the requirements (just enough), and the simpler the whole hardware system is, the better the possibility of reducing system failure is.
Therefore, the development of an onboard computer for an unmanned aerial vehicle and an unmanned aerial vehicle control system is urgently needed to meet application requirements.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a support heterogeneous perception data of multisource and assemble with the new technical scheme of the gateway equipment that many networks insert.
According to a first aspect of the present invention, there is provided an on-board computer for an unmanned aerial vehicle, comprising: the system comprises an airborne host, a controllable power supply expansion module, a switch module and an HDMI acquisition module; the controllable power supply extension module is respectively connected with the airborne host, the HDMI acquisition module and the switch module so as to supply power to the airborne host, the HDMI acquisition module and the switch module; the HDMI acquisition module is connected with the switch module through an RJ45 network cable, and the switch module is connected with the airborne host through the RJ45 network cable so as to realize data interaction; and the HDMI interface of the HDMI acquisition module is connected with the airborne camera through an HDMI wire.
Optionally, the on-board host comprises: the processor, with CPU unit, GPU unit, memory cell, eMMC memory cell, network interface, USB interface, IO interface, HDMI and debugging interface and the power interface that the treater is connected, wherein, machine carries the host computer to pass through power interface connects controllable power extension module, machine carries the host computer to pass through network interface connects the switch module.
Optionally, the processor model adopted by the onboard host is NVIDIA Jetson Xavier NX, and the CPU unit adopted by the onboard host is a 6-core NVIDIA card
v 8.2.64-bit CPU, the GPU unit adopted by the airborne host is 384-core NVIDIA Volta TM GPU@1100MHz with 48Tensor Cores；
Or the processor model adopted by the airborne host is NVIDIA Jetson Nano, the CPU unit adopted by the airborne host is 4-core ARM Cortex-A57, and the GPU unit adopted by the airborne host is 128-core NVIDIAMaxwell TM GPU@921MHz。
Optionally, the controllable power supply expansion module is a 2S power supply expansion module or a 12S power supply expansion module, a power supply input voltage range of the 2S power supply expansion module is 7V-26V, and a power supply input voltage range of the 12S power supply expansion module is 15V-60V.
According to the utility model discloses a second aspect provides an unmanned aerial vehicle control system, include: as in the first aspect of the utility model the airborne computer for unmanned aerial vehicle, unmanned aerial vehicle fly controlling means, airborne camera and airborne ground station, the airborne computer for unmanned aerial vehicle respectively with airborne camera with unmanned aerial vehicle flies controlling means and connects in order to acquire real-time video stream data and unmanned aerial vehicle and flies the accuse data, the fusion video data that the airborne computer for unmanned aerial vehicle will handle and obtain send to airborne ground station.
Optionally, the system further includes an image transmission communication link formed by an image transmission sky terminal and an image transmission ground terminal, and the airborne computer for the unmanned aerial vehicle sends processed fusion video data to the image transmission ground terminal through the image transmission sky terminal, and then the image transmission ground terminal sends the image transmission to the airborne ground station.
Optionally, the image-passing sky terminal is connected with a network port of a switch module of an onboard computer of the unmanned aerial vehicle through a video interface, and a power interface of the image-passing sky terminal is connected with a power output interface of a controllable power expansion module of the onboard computer of the unmanned aerial vehicle.
Optionally, the network interface of the map-based ground terminal is connected to the airborne ground station through a GH port-to-network port line, and the power input interface of the map-based ground terminal is directly connected to the dc power supply.
Optionally, the map-based ground terminal is a portable mobile terminal, and the map-based ground terminal is further provided with a remote control signal input interface, a data transmission data output interface and a power output interface.
Optionally, the system further includes a plurality of video application terminals, and the airborne ground station forwards the received fused video data to the plurality of video application terminals to implement application processing.
According to the utility model discloses an embodiment has following beneficial effect:
the utility model discloses an on-board computer for unmanned aerial vehicle is a high-performance embedded on-board computer, and its size is light and handy, possesses abundant interface, can match extension module to realize interface expansion simultaneously; the video transmission is supported by adopting a UDP protocol, the transmission delay is reduced from more than 10s to less than 5s, and precious time is provided for emergency treatment; supporting the free switching of transmission of multiple links; the health condition of each network is detected through the heartbeat packet by establishing a virtual network, one or more available networks are automatically used, and the application side is transparent and noninductive; the video pictures can be fused and then sent to the airborne ground station.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a block diagram of an on-board computer for a drone provided in accordance with an embodiment;
fig. 2 is a first schematic hardware connection diagram of an onboard computer for a drone according to an embodiment;
fig. 3 is a schematic hardware connection diagram of an onboard computer for a drone according to an embodiment;
fig. 4 is a block diagram of a drone control system provided in accordance with an embodiment;
fig. 5 is a schematic structural diagram of an image-passing ground terminal in an unmanned aerial vehicle control system according to an embodiment.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values.
The first embodiment is as follows:
referring to fig. 1-3, the present embodiment provides an onboard computer for a drone, comprising: the system comprises an airborne host, a controllable power supply expansion module, a switch module and an HDMI acquisition module; the controllable power supply expansion module is respectively connected with the airborne host, the HDMI acquisition module and the switch module so as to supply power to the airborne host, the HDMI acquisition module and the switch module; the HDMI acquisition module is connected with the switch module through an RJ45 network cable, and the switch module is connected with the airborne host through the RJ45 network cable to realize data interaction; the HDMI interface of the HDMI acquisition module is connected with the airborne camera through an HDMI line.
It should be noted that, in this embodiment, the onboard host has a large-load parallel operation and a complex graphics processing capability, and can be widely applied to edge AI artificial intelligence application. The airborne host serves as a video image transmission edge computing platform and is responsible for receiving unmanned aerial vehicle flight control data and real-time video streams, video fusion is completed, the unmanned aerial vehicle flight control data and the real-time video streams are transmitted to the airborne ground station, meanwhile, the airborne host provides various interfaces to support connection of different extension modules, and various unmanned aerial vehicle video image transmission application scenes are met.
In the embodiment, the controllable power supply extension module respectively supplies power to the HDMI acquisition module, the switch module and the airborne host; the HDMI acquisition module is connected with the switch module through RJ45 network cables respectively, and the network port of the airborne host is also connected with the switch through the RJ45 network cables to achieve information interaction; two HDMI interfaces at the back of the HDMI acquisition module are connected with the HDMI line and connected with the onboard camera.
The switch module in this embodiment is mini-type, which learns the port location and looks at the source address by reading a complete data frame. A source address port table is thus generated and maintained, so that network traffic is restricted to the port associated with this transfer. Since isochronous transfers are automatically initiated on these ports, and likewise the table values are automatically refreshed in response to field wiring changes, if a frame with an unknown destination is received on one port, all other ports will also receive the frame.
In this embodiment, the HDMI acquisition module is connected to an onboard camera, which is a full-digital video and audio transmission interface capable of transmitting uncompressed audio and video signals.
Referring to fig. 2-3, in this embodiment, the onboard host, the HDMI acquisition module, and the switch module are respectively connected to the expandable power supply module via corresponding XT30 power expansion lines, where the corresponding 2S power expansion module or 12S power expansion module is selected according to whether the power output of the unmanned aerial vehicle is 2S or 12S. The airborne camera is connected with the HDMI acquisition module through a video acquisition HDMI line.
In addition, it should be noted that the airborne computer for unmanned aerial vehicle in this embodiment adopts light material design, can accomplish that the size is light and handy and the outward appearance is novel.
Optionally, the on-board host in the on-board computer for the drone of this embodiment includes: the processor, the CPU unit, GPU unit, memory cell, eMMC memory cell, network interface, USB interface, I/O interface, HDMI and debugging interface and the power interface that are connected with the processor, wherein, controllable power extension module is connected through power interface to the airborne host computer, and the exchanger module is connected through network interface to the airborne host computer.
Optionally, the model of the processor used by the onboard host in the onboard computer for the drone is NVIDIA Jetson Xavier NX, and the model of the CPU used by the onboard host is 6-core NVIDIA card
v 8.2-bit CPU, the GPU unit adopted by the airborne host is 384-core NVIDIA VoltaTM GPU @1100MHz with 48Tensor Cores;
or the processor model adopted by the airborne host is NVIDIA Jetson Nano, the CPU unit adopted by the airborne host is 4-core ARM Cortex-A57, and the GPU unit adopted by the airborne host is 128-core NVIDIAMaxwell GPU @921MHz.
Optionally, the controllable power expansion module in the airborne computer for the unmanned aerial vehicle of this embodiment is a 2S power expansion module or a 12S power expansion module, the power input voltage range of the 2S power expansion module is 7V-26v, and the power input voltage range of the 12s power expansion module is 15V-60V.
Specifically, the airborne computer for unmanned aerial vehicle of this embodiment divide into 2 versions: RACe7000 and RACe5000, RACe7000 carries NVIDIA Jetson Xavier NX processor, has heavy load parallel operation and complex graphic processing ability, is widely applied to artificial intelligence application of edge AI; RACe5000 carries an NVIDIA Jetson Nano processor, and has excellent edge technology and graphic processing capability as an entry-level edge AI product. See the following table for two versions of specific technical parameters:
table one: .
The ubiquitous problem of unmanned aerial vehicle system who carries on quick-witted on-vehicle computer at present stage is: 1) High-delay video transmission: at present, the time delay of video transmission to a ground station, which is acquired by an unmanned aerial vehicle in an unmanned aerial vehicle scene network (4G, guard) is about 600ms, and a packet loss phenomenon is accompanied; when the bandwidth is less than 2Mb, the existing video transmission scheme (RTMP based on TCP) is adopted, and video delay of about 10s is actually measured in a scene network; 2) The transmission mode is single: each network may have a break scenario during flight. The airborne computer for the unmanned aerial vehicle of the embodiment supports the adoption of a UDP (User Datagram Protocol), does not need handshaking, and an application layer completes data retransmission (packet loss if necessary), so that the scene of network recovery can be ensured to recover data transmission as soon as possible and reduce delay, and the transmission scheme enables the video delay to be reduced to about 3-5 s. The airborne computer for the unmanned aerial vehicle supports the establishment of a virtual link on the device through a linux virtual device driver, the detection of the link is completed through a sending packet (a heartbeat packet) on different links (fusing 4G, weitong and MESH communication modes) through a user-defined application protocol and a UDP packet, the collection of application data is completed through the communication of the virtual devices on an application layer, and a proper path or multiple paths are selected according to the current state of a network to complete the transmission of the data.
To sum up, the onboard computer for the unmanned aerial vehicle of the embodiment of the invention is a high-performance embedded onboard computer, has light size and abundant interfaces, and can be matched with the expansion module to realize interface expansion; the video transmission is supported by adopting a UDP protocol, the transmission delay is reduced from more than 10s to less than 5s, and precious time is provided for emergency treatment; supporting the free switching of transmission of multiple links; the health condition of each network is detected through the heartbeat packet by establishing a virtual network, one or more available networks are automatically used, and the application side is transparent and noninductive; the video pictures can be fused and then sent to the airborne ground station.
Example two:
referring to fig. 4, the present embodiment provides an unmanned aerial vehicle control system, including: according to the first embodiment, the airborne computer for the unmanned aerial vehicle comprises an airborne computer, an unmanned aerial vehicle flight control device, an airborne camera and an airborne ground station, the airborne computer for the unmanned aerial vehicle is respectively connected with the airborne camera and the unmanned aerial vehicle flight control device to acquire real-time video streaming data and unmanned aerial vehicle flight control data, and the airborne computer for the unmanned aerial vehicle sends processed fusion video data to the airborne ground station.
Optionally, the unmanned aerial vehicle control system of this embodiment further includes an image transmission communication link formed by an image transmission sky terminal and an image transmission ground terminal, and the onboard computer of the unmanned aerial vehicle sends the processed fusion video data to the image transmission ground terminal through the image transmission sky terminal, and then transmits the fusion video data to the onboard ground station through the image transmission ground terminal.
It should be noted that, in this embodiment, an image-wise communication link (i.e., a multilink adaptive virtual network) is established based on an image-wise sky terminal and an image-wise ground terminal, so as to implement multiplexing of video data.
Optionally, referring to fig. 2, in the unmanned aerial vehicle control system of this embodiment, the map-passing sky terminal is connected to the network port of the switch module of the onboard computer for the unmanned aerial vehicle through a video interface, and a power interface of the map-passing sky terminal is connected to the power output interface of the controllable power expansion module of the onboard computer for the unmanned aerial vehicle.
Optionally, referring to fig. 5, in the unmanned aerial vehicle control system of this embodiment, a network interface (LAN) of the map-based ground terminal is connected to the airborne ground station through a GH port-to-network port line, and a power input interface (PWR) of the map-based ground terminal is directly connected to the dc power supply. It should be noted that, in this embodiment, the power input interface of the ground terminal is directly connected to the dc power supply through an XT30 power extension line.
Optionally, referring to fig. 5, in the unmanned aerial vehicle control system of this embodiment, the map-transmission ground terminal is a portable mobile terminal, and a remote control signal input interface (RC), a data transmission data output interface (UART), and a power output interface (VCC) are further disposed on the map-transmission ground terminal.
Optionally, referring to fig. 4, the unmanned aerial vehicle control system of this embodiment further includes a plurality of video application terminals, and the onboard ground station forwards the received fused video data to the plurality of video application terminals to implement application processing.
The unmanned aerial vehicle control system comprises an airborne computer positioned at an airborne sky end and an airborne ground station positioned at a ground end, wherein an airborne host serves as a video image transmission edge computing platform and is responsible for receiving unmanned aerial vehicle flight control data of an unmanned aerial vehicle flight control device and real-time video streams of an airborne camera, the video streams are transmitted to the airborne ground station after video fusion is completed, and meanwhile, the airborne host provides multiple interfaces to support connection of different expansion modules, so that various unmanned aerial vehicle video image transmission application scenes are met; the airborne ground station is used for receiving video streams pushed by the airborne computer, and the video streams are forwarded to video application terminals such as a director, and the like, and the users can conveniently monitor the operation condition of the system, configure the picture transmission parameters and assist in troubleshooting abnormity in real time by providing an API interface and a visual Web management background. The unmanned aerial vehicle control system of the embodiment supports the adoption of a User Datagram Protocol (UDP), does not need handshaking, an application layer completes data retransmission (packet loss if necessary), and ensures that a scene of network recovery can recover data transmission as soon as possible to reduce delay, and the transmission scheme reduces the video delay to about 3-5 s; the method supports the establishment of a virtual link on the equipment through a linux virtual equipment drive, the detection of the link is completed through sending a packet (a heartbeat packet) on different links (fusing 4G, weitong and MESH communication modes) through a user-defined application protocol and a UDP packet, the collection of application data is completed through the communication of the virtual equipment by an application layer, and the transmission of the data is completed through selecting one or more paths according to the current state of a network.
To sum up, the unmanned aerial vehicle control system of the embodiment of the present invention adopts a high-performance embedded onboard computer, which has rich interfaces and can be matched with an expansion module to realize interface expansion; the video transmission is supported by adopting a UDP protocol, the transmission delay is reduced from more than 10s to less than 5s, and precious time is provided for emergency treatment; supporting the free switching of transmission of multiple links; the health condition of each network is detected through the heartbeat packet by establishing a virtual network, one or more available networks are automatically used, and the application side is transparent and noninductive; the video pictures can be fused and then sent to the airborne ground station.
Although some specific embodiments of the present invention have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. An on-board computer for a drone, comprising: the system comprises an airborne host, a controllable power supply expansion module, a switch module and an HDMI acquisition module; the controllable power supply expansion module is respectively connected with the airborne host, the HDMI acquisition module and the switch module so as to supply power to the airborne host, the HDMI acquisition module and the switch module; the HDMI acquisition module is connected with the switch module through an RJ45 network cable, and the switch module is connected with the airborne host through the RJ45 network cable so as to realize data interaction; and the HDMI interface of the HDMI acquisition module is connected with the airborne camera through an HDMI wire.
2. The on-board computer for a drone of claim 1, wherein the on-board host includes: the processor, with CPU unit, GPU unit, memory cell, eMMC memory cell, network interface, USB interface, IO interface, HDMI and debugging interface and the power interface that the treater is connected, wherein, machine carries the host computer to pass through power interface connects controllable power extension module, machine carries the host computer to pass through network interface connects the switch module.
3. The airborne computer for unmanned aerial vehicle of claim 2, wherein the processor model adopted by the airborne host is NVIDIA Jetson Xavier NX, and the CPU unit adopted by the airborne host is 6-core NVIDIA Carmel
v 8.2.64-bit CPU, wherein the GPU unit adopted by the airborne host is 384-core NVIDIA Volta TM GPU@1100MHz with 48Tensor Cores；
Or the processor model adopted by the airborne host is NVIDIA Jetson Nano, the CPU unit adopted by the airborne host is 4-core ARM Cortex-A57, and the GPU unit adopted by the airborne host is 128-core NVIDIAMaxwell TM GPU@921MHz。
4. The on-board computer for unmanned aerial vehicle of claim 3, wherein the controllable power expansion module is a 2S power expansion module or a 12S power expansion module, a power input voltage range of the 2S power expansion module is 7V-26V, and a power input voltage range of the 12S power expansion module is 15V-60V.
5. An unmanned aerial vehicle control system, comprising: the on-board computer for unmanned aerial vehicle of any one of claims 1 to 4, an unmanned aerial vehicle flight control device, an on-board camera, and an on-board ground station, the on-board computer for unmanned aerial vehicle being connected to the on-board camera and the unmanned aerial vehicle flight control device, respectively, to acquire real-time video streaming data and unmanned aerial vehicle flight control data, the on-board computer for unmanned aerial vehicle sending the processed fused video data to the on-board ground station.
6. The drone controlling system of claim 5, further comprising a map-based communication link consisting of a map-based sky terminal and a map-based ground terminal, wherein the onboard computer for the drone sends the processed fused video data to the map-based ground terminal via the map-based sky terminal and then to the onboard ground station via the map-based ground terminal.
7. The drone control system of claim 6, wherein the map-borne sky termination is connected to a portal of the switch module of the onboard computer for the drone through a video interface, and a power interface of the map-borne sky termination is connected to a power output interface of the controllable power extension module of the onboard computer for the drone.
8. The drone controlling system of claim 7, wherein the network interface of the map-passing ground terminal is connected to the airborne ground station through a GH port-to-port line, and the power input interface of the map-passing ground terminal is directly connected to a direct current power supply.
9. The unmanned aerial vehicle control system of claim 8, wherein the map-based ground terminal is a portable mobile terminal, and the map-based ground terminal is further provided with a remote control signal input interface, a data transmission data output interface and a power output interface.
10. The drone control system of claim 5, further comprising a plurality of video application terminals to which the onboard ground station forwards the received fused video data for application processing.
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Inventor after: Fang Yudong Inventor after: Huang Xiaohui Inventor after: Yang Jixing Inventor after: Liu Rong Inventor after: Liu Shulin Inventor after: Jia Zeyu Inventor after: Xing Xiaoyi Inventor after: Bian Lu Inventor after: Wang Yi Inventor before: Fang Yudong Inventor before: Huang Xiaohui Inventor before: Yang Jixing Inventor before: Liu Rong Inventor before: Liu Shulin Inventor before: Jia Zeyu Inventor before: Xing Xiaoyi Inventor before: Bian Lu Inventor before: Wang Yi |
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