CN112198897A - Unmanned aerial vehicle cluster control flight path planning control system and method thereof - Google Patents
Unmanned aerial vehicle cluster control flight path planning control system and method thereof Download PDFInfo
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- CN112198897A CN112198897A CN202010975001.3A CN202010975001A CN112198897A CN 112198897 A CN112198897 A CN 112198897A CN 202010975001 A CN202010975001 A CN 202010975001A CN 112198897 A CN112198897 A CN 112198897A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0005—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with arrangements to save energy
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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Abstract
本发明公开了一种无人机集群控制飞行航线规划控制系统及其方法，包括控制基站、无人机控制系统、通讯传输模块和数据检测模块，所述控制基站分别与航线规划系统、无人机控制系统连接，所述无人机控制系统与数据检测模块连接，所述数据检测模块分别与飞行平台、飞控模块以及数据对比单元连接，所述数据对比单元与航拍检测模块连接，所述数据检测模块通过飞行平台与通讯传输模块连接，所述数据检测模块通过飞控模块与手持操作端连接；所述航拍检测模块包括摄像机、射线模块、三维运动捕捉模块、数据采集终端、数据分析模块和数据采集模块。该无人机集群控制飞行航线规划控制系统、方法，设计合理，具有安全性高的优点，值得推广。
The invention discloses an unmanned aerial vehicle cluster control flight route planning and control system and a method thereof, comprising a control base station, an unmanned aerial vehicle control system, a communication transmission module and a data detection module. The UAV control system is connected with the data detection module, the data detection module is respectively connected with the flight platform, the flight control module and the data comparison unit, the data comparison unit is connected with the aerial photography detection module, and the data comparison unit is connected with the aerial photography detection module. The data detection module is connected with the communication transmission module through the flight platform, and the data detection module is connected with the handheld operation terminal through the flight control module; the aerial photography detection module includes a camera, a ray module, a three-dimensional motion capture module, a data acquisition terminal, and a data analysis module and data acquisition module. The UAV swarm control flight route planning control system and method have the advantages of reasonable design and high safety, and are worthy of promotion.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle cluster control flight path planning control system and a method thereof.
Background
Unmanned aircraft, commonly known as: unmanned planes, unmanned aerial vehicles, unmanned combat airplanes, and bee-type machines; the airplane is a wide range of remote control aircrafts without the need of a pilot to board and pilot, and is generally in particular to an unmanned reconnaissance airplane of the military. The unmanned aerial vehicle mainly has five key technologies, namely an engine body structure design technology, an engine body material technology, a flight control technology, a wireless communication remote control technology and a wireless image return technology, and the five key technologies support the development and improvement of the modern intelligent unmanned aerial vehicle.
The existing unmanned aerial vehicle flight control system can only store one flight route, the unmanned aerial vehicle can automatically cover the last flight route record when executing a mission route, the flight control system cannot automatically store and read the previous flight route track record, an operator needs to reset a flight point and plan the flight route at a ground station, the workload of ground operators is increased, and the intelligent degree is low.
Disclosure of Invention
The invention aims to provide a system and a method for planning and controlling a flight path controlled by an unmanned aerial vehicle cluster, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned aerial vehicle cluster control flight route planning control system comprises a control base station, an unmanned aerial vehicle control system, a communication transmission module and a data detection module, wherein the control base station is respectively connected with the route planning system and the unmanned aerial vehicle control system;
the aerial photography detection module comprises a camera, a ray module, a three-dimensional motion capture module, a data acquisition terminal, a data analysis module and a data acquisition module;
the flight path planning system comprises a preset mission flight path module, a preset return flight path module, a preset forced landing flight path module and a preset landing flight path module, the control base station comprises a flight control core board, a system management module, a remote control receiver, a storage module and a power supply module, and the storage module comprises a processor;
the power supply module comprises a charging module, a battery module, a stabilized voltage power supply module, an over-pressure protection circuit and a lightning stroke prevention module.
Preferably, the air route planning system is respectively connected with a preset task air route module, a preset return air route module, a preset forced landing air route module and a preset landing air route module, and the preset task air route module, the preset return air route module, the preset forced landing air route module and the preset landing air route module are mutually connected.
Preferably, the charging module is connected with a stabilized voltage power supply module through a battery module, and the stabilized voltage power supply module is respectively connected with an over-pressure protection circuit and a lightning stroke prevention module which are used for protecting the stabilized voltage power supply module.
Preferably, the charging module provides electric energy for the battery module, the battery module transmits the electric energy to the stabilized voltage power supply module, the overpressure protection circuit detects the electric energy pressure of the stabilized voltage power supply module, and the lightning stroke prevention module transmits the acquired information to the stabilized voltage power supply module.
Preferably, the ray module is connected with a data acquisition terminal through a three-dimensional motion capture module, the data acquisition terminal is connected with a data analysis module, the data analysis module is connected with the data acquisition module, and the data acquisition module is connected with a camera.
Preferably, the data acquisition module transmits acquired information to the data analysis module for analysis and processing, the data analysis module transmits the analyzed and processed data information to the three-dimensional motion capture module through the data acquisition terminal, and the three-dimensional motion capture module transmits the data information to the camera through the ray module.
Preferably, the system management is respectively connected with the flight control core board and the remote control receiver, the remote control receiver is connected with the power supply module, and the system management is further connected with the processor.
A method for controlling a flight path planning control system based on an unmanned aerial vehicle cluster comprises the following steps:
s1, establishing a control base station, dispatching the unmanned aerial vehicle for cruising, controlling the unmanned aerial vehicle by the control base station through an unmanned aerial vehicle control system, starting an aerial photography detection module, connecting a ray module with a data acquisition terminal through a three-dimensional motion capture module, connecting the data acquisition terminal with a data analysis module, connecting the data analysis module with the data acquisition module, connecting the data acquisition module with a camera, and carrying out cruising shooting by the camera;
and S2, the control base station regulates and controls a preset mission route module, a preset return route module, a preset forced landing route module and a preset landing route module through the route planning system, and performs route planning control on the unmanned aerial vehicle.
The invention has the technical effects and advantages that: this unmanned aerial vehicle cluster control flight route planning control system, a method, through establishing the control base station, can dispatch unmanned aerial vehicle and cruise, utilize unmanned aerial vehicle to cruise and shoot, unmanned aerial vehicle utilizes the route planning system to establish preset mission route module, preset the route module of returning a voyage, preset the forced landing route module, preset the landing route module, ensure that unmanned aerial vehicle function safety sails, storage module can store the route of planning, so that use next time, cooperate the handheld operating point of unmanned aerial vehicle to control unmanned aerial vehicle, cruise and shoot has been simplified, work efficiency is improved, and the security, this unmanned aerial vehicle cluster control flight route planning control system, a method, and reasonable design, has the high advantage of security, be worth promoting.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a block diagram of a route planning system of the present invention;
FIG. 3 is a block diagram of the power supply module of the present invention;
FIG. 4 is a block diagram of an aerial photography detection module according to the present invention;
fig. 5 is a block diagram of a control base station according to the present invention.
In the figure: the system comprises a control base station 1, an unmanned aerial vehicle control system 2, a communication transmission module 3, a flight platform 4, a data detection module 5, a flight control module 6, a handheld operation end 7, a data comparison unit 8, an aerial photography detection module 9, a flight line planning system 10, a power supply module 11, a task flight line preset module 12, a return flight line preset module 13, a forced landing flight line preset module 14, a landing flight line preset module 15, a charging module 16, a battery module 17, a voltage-stabilized power supply module 18, a pressure protection circuit 19, a lightning stroke prevention module 20, a camera 21, a ray module 22, a three-dimensional motion capture module 23, a data acquisition terminal 24, a data analysis module 25, a data acquisition module 26, a flight control core board 27, a system management 28, a remote control receiver 29, a storage module 30 and a processor 31.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
Unless otherwise indicated, all references to up, down, left, right, front, back, inner and outer directions herein are to be interpreted as referring to up, down, left, right, front, back, inner and outer directions in the drawings to which the invention is directed.
The invention provides an unmanned aerial vehicle cluster control flight path planning control system as shown in figures 1-5, which comprises a control base station 1, an unmanned aerial vehicle control system 2, a communication transmission module 3 and a data detection module 5, wherein the control base station 1 is respectively connected with a path planning system 10 and the unmanned aerial vehicle control system 2, the unmanned aerial vehicle control system 2 is connected with the data detection module 5, the data detection module 5 is respectively connected with a flight platform 4, a flight control module 6 and a data comparison unit 8, the data comparison unit 8 is connected with an aerial photograph detection module 9, the data detection module 5 is connected with the communication transmission module 3 through the flight platform 4, the data detection module 5 is connected with a handheld operation end 7 through the flight control module 6, the handheld operation end 7 is a mobile phone, and the handheld operation end 7 is an android operation system or IOS operation system, the handheld operation terminal 7 runs mobile phone software with functions of user login, personal information editing, flight data entry, digital identification, data statistical chart drawing, communication with a cloud server and the like;
the aerial photography detection module 9 comprises a camera 21, a ray module 22, a three-dimensional motion capture module 23, a data acquisition terminal 24, a data analysis module 25 and a data acquisition module 26;
the flight path planning system 10 comprises a preset mission flight path module 12, a preset return flight path module 13, a preset forced landing flight path module 14 and a preset landing flight path module 15, the control base station 1 comprises a flight control core board 27, a system management 28, a remote control receiver 29, a storage module 30 and a power supply module 11, and the storage module 30 comprises a processor 31;
the power supply module 11 includes a charging module 16, a battery module 17, a regulated power supply module 18, an over-voltage protection circuit 19, and a lightning strike prevention module 20.
Specifically, the flight path planning system 10 is respectively connected with a preset mission flight path module 12, a preset return flight path module 13, a preset forced landing flight path module 14 and a preset landing flight path module 15, and the preset mission flight path module 12, the preset return flight path module 13, the preset forced landing flight path module 14 and the preset landing flight path module 15 are connected with each other.
Specifically, charging module 16 is connected with constant voltage power supply module 18 through battery module 17, constant voltage power supply module 18 respectively with be used for the protection constant voltage power supply module 18's excessive pressure protection circuit 19 links to each other with prevention thunderbolt module 20, through constant voltage power supply module 18, excessive pressure protection circuit 19 and the design of prevention thunderbolt module 20 to can protect unmanned aerial vehicle's battery module 17.
Specifically, the charging module 16 provides electric energy for the battery module 17, the battery module 17 transmits the electric energy to the regulated power supply module 18, the overpressure protection circuit 19 detects the electric energy pressure of the regulated power supply module 18, and the lightning stroke prevention module 20 transmits the acquired information to the regulated power supply module 18.
Specifically, the ray module 22 is connected to a data acquisition terminal 24 through a three-dimensional motion capture module 23, the data acquisition terminal 24 is connected to a data analysis module 25, the data analysis module 25 is connected to a data acquisition module 26, and the data acquisition module 26 is connected to the camera 21.
Specifically, the data acquisition module 26 transmits acquired information to the data analysis module 25 for analysis and processing, the data analysis module 25 transmits the analyzed and processed data information to the three-dimensional motion capture module 23 through the data acquisition terminal 24, the three-dimensional motion capture module 23 transmits the data information to the camera 21 through the ray module 22, and the camera 21 can transmit the acquired information to the control base station 1 and the handheld operation terminal 7 through the aerial photography detection module 9, so that remote control and real-time monitoring are facilitated.
Specifically, the system management 28 is connected to the flight control core board 27 and the remote control receiver 29, the remote control receiver 29 is connected to the power supply module 11, and the system management 28 is further connected to the processor 31.
A use method of an unmanned aerial vehicle cluster control flight path planning control system comprises the following steps:
s1, establishing a control base station 1, dispatching an unmanned aerial vehicle for cruising, controlling the unmanned aerial vehicle by the control base station 1 through an unmanned aerial vehicle control system 2, starting an aerial photography detection module 9, connecting a ray module 22 with a data acquisition terminal 24 through a three-dimensional motion capture module 23, connecting the data acquisition terminal 24 with a data analysis module 25, connecting the data analysis module 25 with a data acquisition module 26, connecting the data acquisition module 26 with a camera 21, and carrying out cruising shooting by the camera 21;
and S2, the control base station 1 regulates and controls the preset mission route module 12, the preset return route module 13, the preset forced landing route module 14 and the preset landing route module 15 through the route planning system 10, and performs route planning control on the unmanned aerial vehicle.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
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Cited By (1)
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