CN202102301U - Super long-range unmanned aerial vehicle control system based on civil mobile phone network - Google Patents

Abstract

The utility model discloses an ultra-long-distance unmanned aerial vehicle control system based on a civil mobile phone network, which is composed of an airborne system and a ground system, and the airborne system is composed of a communication navigation subsystem and an attitude control subsystem. The communication and navigation subsystem completes mobile phone communication, automatic navigation and task functions, the attitude control subsystem completes the attitude and speed control of the UAV, and the ground system realizes manual or automatic control commands, which are received by the attitude control subsystem , to realize the take-off and landing control of the UAV and the conversion of the working mode. The utility model adopts the mobile phone network to realize the ultra-remote control of the UAV, and overcomes the shortcomings of the corresponding control equipment in the existing UAV technology, such as large volume, heavy weight, large power consumption, and strong electromagnetic radiation; the data based on the mobile phone network It has a wide range of applications in many fields such as forest fire prevention, surveying and mapping, exploration, aerial photography, disaster reduction and relief, law enforcement supervision, and emergency command.

Description

Ultra-long-range drone control system based on civilian mobile phone network

technical field

   The utility model relates to an ultra-long-distance unmanned aerial vehicle control system based on a civil mobile phone network, which is suitable for the fields of forest fire prevention, surveying and mapping, exploration, aerial photography, disaster reduction and relief, law enforcement supervision and the like.

Background technique

At present, the forest fire inspection methods currently adopted by the forestry department have the following characteristics: manned watchtowers are mostly located in deep mountains and old forests, the working conditions of the watchmen are harsh, and the observation distance is small; satellite observation is expensive, greatly affected by weather, and time-sensitive General; the cost of manned patrol aircraft is high, and it is difficult to achieve uninterrupted patrols throughout the day. Generally speaking, space/aviation fire patrol has been proven to be the most effective way of prevention and detection, and my country's Fengyun series geostationary orbit meteorological satellites have this function.

At home and abroad, drones have been used to complete inspection tasks. The remote control methods used by existing drones mainly include satellite links, high-power remote controllers and data radio stations, which are expensive. In addition, it consumes a lot of power and has a large electromagnetic radiation power, which has special requirements for the layout of the antenna, and it is difficult for the equipment on board to be electromagnetically compatible.

Existing long-endurance UAVs generally have high wing loads and imperfect take-off and landing equipment on the aircraft, resulting in excessive take-off and landing speeds of the aircraft. As a result, the requirements for the take-off and landing site and the surrounding clearance conditions are relatively high, and at the same time, the requirements for the operator's manipulation skills and psychological quality are almost strict. These are all very unfavorable for the daily universal use of aviation means for work.

Unmanned aerial vehicles are affected by various complex conditions, and the accident rate is much higher than that of existing manned aerial vehicles. On the one hand, it embodies the use value of unmanned aerial vehicles, but from the perspective of common daily use, the life-cycle cost of existing unmanned aerial vehicles is relatively high, and there are problems that they cannot be used or dare not be used.

The existing aviation remote sensing, telemetry and monitoring generally adopt the control or use mode of the control center (vehicle). Although the system is highly integrated, the single-node control mode degrades the reliability of the entire system. Once a key node fails, the entire system will be paralyzed. In daily work, it will inevitably cause the impression that the attendance rate and the integrity rate are low.

Utility model content

The technical problem to be solved by the utility model is to provide a low-cost, high-reliability ultra-long-distance unmanned aerial vehicle control system based on a civil mobile phone network.

In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is:

An ultra-long-range unmanned aerial vehicle control system based on a civil mobile phone network, which is composed of an airborne system and a ground system; the airborne system is composed of a communication navigation subsystem and an attitude control subsystem;

The communication and navigation subsystem includes a first single-chip microcomputer equipped with a navigation program, a navigation module, a first steering gear control module, a memory module, a second single-chip microcomputer equipped with a task program, a second steering gear control module, a mobile phone module, and a connection socket and a sensor module; the memory module is bidirectionally connected to the first single-chip microcomputer and the second single-chip microcomputer respectively; the output terminal of the navigation module is connected to the corresponding input terminal of the first single-chip microcomputer, and the corresponding output terminal of the first single-chip microcomputer is connected to The input terminal of the first steering gear control module; the output terminal of the sensor module is connected to the corresponding input terminal of the second single-chip microcomputer, and the corresponding output terminal of the second single-chip microcomputer is connected to the input terminal of the second steering gear control module; the mobile phone module and the connecting socket are respectively bidirectionally connected with the second single-chip microcomputer;

The attitude control subsystem includes a third single-chip microcomputer, a third steering gear control module, a first wireless data transmission module, a height sensor, a speed sensor and a connecting plug; the third single-chip microcomputer is respectively connected to the first wireless data transmission module, The connecting plug is bidirectionally connected, and the output ends of the height sensor and the speed sensor are respectively connected to corresponding input ends of the third single-chip microcomputer;

The ground system includes a computer, a second wireless data transmission module and a game controller, the computer is bidirectionally connected to the second wireless data transmission module, and the output of the game controller is connected to the corresponding input of the computer.

Preferably, the sensor module in the communication and navigation subsystem is a temperature sensor, a flame detector, a humidity sensor or a wind direction sensor with switch output or serial bus digital output.

The attitude control subsystem also includes a UAV state sensor module, the output terminals of the UAV state sensor module are connected to the corresponding input terminals of the third single-chip microcomputer. The UAV state sensor is a temperature sensor, a voltage sensor, a current sensor or a speed sensor with a switch value output or a serial bus digital output.

More than one sensor module or UAV state sensor is provided.

The ground system also includes more than one camera, and the output terminals of the cameras are connected to the corresponding input terminals of the computer.

The ground system also includes a UAV automatic tracking ground station, and an output terminal of the UAV automatic tracking ground station is connected to a corresponding input terminal of the computer.

The model of the first to the third single-chip microcomputer is STC89C52/54; the first to the third servo control module is composed of a single-chip microcomputer and its peripheral circuit, the model of the single-chip microcomputer is STC89C52/54, and the peripheral circuit includes a reset circuit and crystal oscillator circuit; the models of the first and second wireless data transmission modules are FC-201/SA;

The model of the memory module in the communication navigation subsystem is AT24C16; The navigation module is GPS, GLONESS, Galileo or Beidou; The model of the mobile phone module is JB35GM;

The model of the altitude sensor in the attitude control subsystem is MPS3128 or the eagle tree barometric altimeter; the model of the speed sensor is the eagle tree airspeed meter.

The airborne system is hoisted on the UAV through a rope ring equipped with an electric detonator, and the control line of the electric detonator is connected to the connecting plug.

The beneficial effects of adopting the above technical solution are: (1) The utility model realizes the ultra-remote control of the drone by using the mobile phone network, and overcomes the large volume, heavy weight and power consumption of the corresponding control equipment in the existing drone technology. (2) Based on the transmission of data and instructions based on the mobile phone network, distributed control is realized, which overcomes the single-node control mode characterized by the control center (vehicle) in the prior art, and the system reliability (3) When the situation of the UAV is abnormal, the separation and recovery mechanism is automatically activated to realize the separation of the airborne system and the UAV, so as to recover the airborne system with higher value and further reduce the cost of use; ( 4) Because the system has excellent low-altitude performance and large task load margin, it has a wide range of applications in many fields such as forest fire prevention, surveying and mapping, exploration, aerial photography, disaster reduction and relief, law enforcement supervision, and emergency command.

Description of drawings

Fig. 1 is a schematic block diagram of the communication and navigation subsystem;

Fig. 2 is a schematic block diagram of the attitude control subsystem;

Fig. 3 is a schematic block diagram of the ground system;

Fig. 4 is the program block diagram of the first single-chip microcomputer;

Fig. 5 is the program block diagram of the second single-chip microcomputer;

Fig. 6 is the program block diagram of the 3rd single-chip microcomputer;

Fig. 7 is a work flow diagram of the utility model.

Detailed ways

Referring to Fig. 1 to Fig. 6, the utility model is composed of an airborne system and a ground system; the airborne system is composed of a communication navigation subsystem and an attitude control subsystem.

The communication navigation subsystem completes mobile phone communication, automatic navigation and task functions, and it includes a first single-chip microcomputer equipped with a navigation program, a navigation module, a first steering gear control module, a memory module, a second single-chip microcomputer equipped with a task program, and a second single-chip microcomputer equipped with a task program. Two steering gear control modules, mobile phone modules, connection sockets and sensor modules; the memory module is bidirectionally connected with the first single-chip microcomputer and the second single-chip microcomputer respectively; the output terminal of the navigation module is connected to the corresponding input terminal of the first single-chip microcomputer , the corresponding output terminal of the first single-chip computer is connected to the input terminal of the first steering gear control module; the output terminal of the sensor module is connected to the corresponding input terminal of the second single-chip computer, and the corresponding output terminal of the second single-chip computer is connected to the second steering gear The input terminal of the computer control module; the mobile phone module and the connection socket are bidirectionally connected with the second single-chip microcomputer respectively. The sensor module is a temperature sensor, a flame detector, a humidity sensor or a wind direction sensor with switch value output or serial bus digital output. The temperature sensor, flame detector, humidity sensor or wind direction sensor can be used alone or in combination according to the application field. When in use, the output terminals of the sensor module are respectively connected to the corresponding input terminals of the second single-chip microcomputer. The program block diagrams of the first single-chip microcomputer and the second single-chip microcomputer are shown in Fig. 4 and Fig. 5 .

The attitude control subsystem includes a third single-chip microcomputer, a third steering gear control module, a first wireless data transmission module, a height sensor, a speed sensor and a connecting plug; the third single-chip microcomputer is respectively connected to the first wireless data transmission module, The connection plug is bidirectionally connected, and the output terminals of the height sensor and the speed sensor are respectively connected to corresponding input terminals of the third single-chip microcomputer. The attitude control subsystem can also include a UAV state sensor module, the output terminal of the UAV state sensor module is connected to the corresponding input end of the third single-chip microcomputer; the UAV state sensor is a switch output or A temperature sensor, a voltage sensor, a current sensor or a rotational speed sensor with a serial bus digital output, and the drone state sensor can be used alone or in combination according to monitoring requirements. Refer to FIG. 6 for the program block diagram of the third single-chip microcomputer.

The ground system realizes manually or automatically issuing control instructions, which are received by the attitude control subsystem to realize the take-off and landing control of the drone and the conversion of the working mode; the ground system includes a computer, a second wireless data transmission module and a game controller The computer is bidirectionally connected to the second wireless data transmission module, and the output terminals of the game controller are connected to the corresponding input terminals of the computer. The ground system can also be provided with a camera, and the output terminal of the camera is connected to the corresponding input terminal of the computer. The camera can be provided with one or more cameras, respectively the first camera, the second camera...the Nth camera, which are respectively installed in different positions on the ground; the cameras can complete the ranging, height measurement and positioning of the drone. And the shooting function, cooperate with the computer to realize the automatic take-off and landing of the drone.

The ground system can also include the UAV automatic tracking ground station, the UAV automatic tracking ground station can be the Eagle Tree ground station, and its output terminal is connected to the corresponding input terminal of the computer to complete the close range of the UAV Automatic tracking.

The model of the first to the third single-chip microcomputer in this embodiment is STC89C52/54; the first to the third servo control module is made up of a single-chip microcomputer and its peripheral circuit, and the model of the single-chip microcomputer is STC89C52/54, and the described The peripheral circuit includes a reset circuit and a crystal oscillator circuit; the models of the first and second wireless data transmission modules are FC-201/SA;

The model of the memory module in the communication navigation subsystem is AT24C16; The navigation module is GPS, GLONESS, Galileo or Beidou; The model of the mobile phone module is JB35GM;

The model of the altitude sensor in the attitude control subsystem is MPS3128 or the eagle tree barometric altimeter; the model of the speed sensor is the eagle tree airspeed meter;

The game controller in the ground system is a general game controller, such as a general USB game controller of POWER PAD or TOPWAY card.

In this embodiment, the airborne system is hoisted on the drone through a rope ring equipped with an electric detonator, and the control line of the electric detonator is connected to the connecting plug.

The working process of the present utility model is referring to Fig. 7, and its concrete steps are as follows:

(1) Set navigation points on the ground through the communication and navigation subsystem;

(2) The ground system controls the take-off of the UAV, which can be manually controlled by the game controller or automatically taken off by the cooperation of the computer and the camera;

(3) When the UAV reaches the set height and speed, the UAV is controlled by the game controller or computer to enter the automatic cruise state, and then the attitude and speed of the UAV are controlled by the attitude control subsystem, and the communication navigation The subsystem completes the navigation of the UAV according to the navigation points set in step (1);

(4) In the automatic cruise state, the attitude control subsystem monitors whether the parameters such as the altitude, speed, temperature, voltage, current and rotational speed of the drone exceed the set threshold through the altitude sensor, speed sensor and UAV state sensor module ;

When the threshold is exceeded, the connecting plug of the attitude control subsystem is set to the separation and recovery position, and the electric detonator is exploded through the electric detonator control line, and the rope ring is disconnected, and the airborne system is separated from the drone under the action of gravity. The higher airborne system can be recovered; at the same time, the second single-chip microcomputer transmits the current coordinates and image information to the mobile phone module, and the mobile phone module sends the image and position data information to each terminal through the civilian mobile phone network until the airborne system is turned off;

When the threshold is not exceeded, go to step (5);

(5) During the cruising process, according to the mission plan, the UAV completes automatic cruising, and transmits image and position data through the mobile phone network; when receiving the navigation information sent by the mobile phone module, the second single-chip microcomputer completes the navigation point in the data memory. Update; then judge whether the cruise task is completed, when the cruise task is not over, repeat step (4); when the cruise task is over, enter step (6);

(6) After completing the flight of all navigation points, the UAV returns to the landing field;

(7) Manual or automatic landing through the ground system.

Claims (9)

1. A super-long-range unmanned aerial vehicle control system based on civil mobile phone network, characterized in that it is made of airborne system and ground system; said airborne system is made of communication navigation subsystem and attitude control subsystem; The communication and navigation subsystem includes the first single-chip microcomputer equipped with navigation program, navigation module, first steering gear control module, memory module, second single-chip microcomputer, second steering gear control module, mobile phone module, connection socket and sensor module; The memory module is bidirectionally connected with the first single-chip microcomputer and the second single-chip microcomputer respectively; the output terminal of the navigation module is connected with the corresponding input terminal of the first single-chip computer, and the corresponding output terminal of the first single-chip computer is connected with the first steering gear the input terminal of the module; the output terminal of the sensor module is connected to the corresponding input terminal of the second single-chip microcomputer, and the corresponding output terminal of the second single-chip computer is connected to the input terminal of the second steering gear control module; the mobile phone module and the connection socket are respectively connected with The second single-chip microcomputer is bidirectionally connected; The attitude control subsystem includes a third single-chip microcomputer, a third steering gear control module, a first wireless data transmission module, a height sensor, a speed sensor and a connecting plug; the third single-chip microcomputer is respectively connected to the first wireless data transmission module, The connecting plug is bidirectionally connected, and the output ends of the height sensor and the speed sensor are respectively connected to corresponding input ends of the third single-chip microcomputer; The ground system includes a computer, a second wireless data transmission module and a game controller, the computer is bidirectionally connected to the second wireless data transmission module, and the output of the game controller is connected to the corresponding input of the computer. 2. The ultra-long-distance unmanned aerial vehicle control system based on the civil mobile phone network according to claim 1, wherein the sensor module in the communication and navigation subsystem is a temperature sensor with switch output or serial bus digital output , flame detector, humidity sensor, light sensor or wind direction sensor. 3. the ultra-long-range unmanned aerial vehicle control system based on civil mobile phone network according to claim 2, it is characterized in that described attitude control subsystem also comprises unmanned aerial vehicle state sensor module, the output of described unmanned aerial vehicle state sensor module Terminate the corresponding input end of the third single chip microcomputer. 4. The ultra-long-range unmanned aerial vehicle control system based on the civil mobile phone network according to claim 3, wherein the unmanned aerial vehicle state sensor is a temperature sensor, a voltage sensor, a current sensor, a switch output or a serial bus digital output sensor or speed sensor. 5. The ultra-long-distance UAV control system based on civil mobile phone network according to claim 2 or 4, characterized in that more than one sensor module or UAV state sensor is provided. 6. The ultra-long-range unmanned aerial vehicle control system based on the civil mobile phone network according to claim 4, wherein the ground system also includes more than one camera, and the output of the camera is connected to the corresponding input of the computer. 7. The ultra-long-distance unmanned aerial vehicle control system based on the civil mobile phone network according to claim 6, wherein the ground system also includes the automatic tracking ground station of the unmanned aerial vehicle, and the output of the automatic tracking ground station of the unmanned aerial vehicle Terminate to the corresponding input of the computer. 8. According to any one of claims 1 to 4 or any one of claims 6 to 7, the ultra-long-range unmanned aerial vehicle control system based on the civilian mobile phone network is characterized in that the models of the first to third single-chip microcomputers are STC89C52/ 54; the first to third steering gear control modules are composed of a single-chip microcomputer and its peripheral circuit, the model of the single-chip microcomputer is STC89C52/54, and the peripheral circuit includes a reset circuit and a crystal oscillator circuit; the first and second wireless The model of the data transmission module is FC-201/SA; The model of the memory module in the communication navigation subsystem is AT24C16; The navigation module is GPS, GLONESS, Galileo or Beidou; The model of the mobile phone module is JB35GM; The model of the altitude sensor in the attitude control subsystem is MPS3128 or the eagle tree barometric altimeter; the model of the speed sensor is the eagle tree airspeed meter. 9. According to any one of claims 1 to 4 or any one of claims 6 to 7, the ultra-long-range unmanned aerial vehicle control system based on the civil mobile phone network is characterized in that the airborne system passes through a rope ring equipped with an electric detonator Hoisted on the drone, the control wire of the electric detonator is connected to the connecting plug.

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