CN101592955A - A fully automatic unmanned aerial vehicle control system - Google Patents
A fully automatic unmanned aerial vehicle control system Download PDFInfo
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Abstract
本发明涉及无人驾驶飞行器领域，尤其涉及一种全自动无人飞行器控制系统，其特征在于地面控制系统包括主要由中心控制器、主控计算机、inernet网络和中心天线形成的主控制系统，作为人机交互界面的用户计算机，GPS导航系统；无人飞行器上的机载飞控系统设有飞行器控制器、组网天线、GPS天线、DSP、导航摄像头、传感器；地面控制系统中的主控制系统得到远程internet控制权限，由主控计算机对中心控制器输入信号，经中心控制器处理后通过天线实现与机载飞控系统的远程无线通讯和控制。本发明与现有技术相比，自动化程度高，实现无人飞行器的多种飞行任务；可应用各种低空遥感、航拍、监控、摄影测量、摄像，通信数据转播等。
The present invention relates to the field of unmanned aerial vehicles, in particular to a fully automatic unmanned aerial vehicle control system, which is characterized in that the ground control system includes a main control system mainly formed by a central controller, a main control computer, an inernet network and a central antenna, as The user computer of the human-machine interface, GPS navigation system; the airborne flight control system on the unmanned aerial vehicle is equipped with aircraft controller, networking antenna, GPS antenna, DSP, navigation camera, sensor; the main control system in the ground control system After obtaining the remote internet control authority, the main control computer inputs signals to the central controller, and after being processed by the central controller, the remote wireless communication and control with the airborne flight control system is realized through the antenna. Compared with the prior art, the present invention has a high degree of automation and realizes various flight tasks of the unmanned aerial vehicle; it can be applied to various low-altitude remote sensing, aerial photography, monitoring, photogrammetry, video recording, communication data relay and the like.
Description
[technical field]
The present invention relates to the unmanned vehicle field, relate in particular to a kind of full-automatic unmanned aerial vehicle control system.
[background technology]
Unmanned vehicle is a comprehensive high-tech product inter-trade, interdisciplinary.Application and Development along with new technologies such as mechanics, thermodynamics, materialogy, artificial intelligence, computer technology, microelectric technique, the communication technology, advanced Push Technology, nanometer technology, semiconductor technology, manufacturing technology, new forms of energy, the a collection of brand-new military-civil aviation aircraft that turns to outstanding feature with high-performance, high-level efficiency, information be about to occur, and becomes the representative of 21 century aeronautical technology development.Pilotless helicopter has then embodied the example of the integrated application of complex art of above-mentioned new and high technology, is that structure is the most complicated in the unmanned vehicle, the complex art integrated platform that technological layer is maximum.
Unmanned vehicle is the not manned vehicle of controlling by radio robot or airborne computer stored program controlled.The unmanned vehicle use cost is low, not only can finish the task that manned aircraft is carried out, and more is applicable to the task that people's aircraft should not be carried out, as scouting, air rescue commander and the remote sensing monitoring of hazardous location.Wherein, the technical advantage of pilotless helicopter is can spot takeoff, landing, not high to the conditional request of landing site, and its flight also is by wireless remote control or realizes program control by airborne computer.The general wireless remote mode that adopts is handled depopulated helicopter, and the aircraft flight distance can only be confined in the visual range, and a people can only control an airplane, has greatly limited the application of depopulated helicopter.In addition, if adopt remote manual control, the time of aircraft operation also is restricted, otherwise can accident occur because of operator's defatigation makes aircraft.
[summary of the invention]
The present invention has adopted intelligentized Total Automatic Flight Control System for overcoming the deficiencies in the prior art, can automatically control unmanned vehicle; Also can realize far distance controlled, can accomplish that a people controls many unmanned vehicles by the network control technology.
For achieving the above object, a kind of full-automatic unmanned aerial vehicle control system of the present invention, comprise ground control system, airborne flight control system, unmanned vehicle, it is characterized in that: ground control system comprises: the main master control system that is formed by main control computer, inernet network and the center antenna of central control unit, control center's controller, as the subscriber computer of human-computer interaction interface, and the GPS navigation system; Airborne flight control system on the unmanned vehicle mainly is made up of controller of aircraft, networking antenna, gps antenna, DSP, navigation camera, sensor etc.; Master control system in the ground control system is arranged to long-range internet network control, master control system obtains long-range internet control authority, the authority user name of the subscriber computer of Long-distance Control is set by master control system again, password and the master control system IP address in the internet network, after landing the WEB interface, the control main control computer is to the center controller input signal, after handling, signal is launched by central control unit by center antenna, networking antenna in the airborne flight control system receives this signal and handles the back by DSP in the lump together with the picture signal that sensor feedback is transferred to flight controller for the sensor signal of controller of aircraft and the camera that navigates and received by the GPS receptacle, launch communication through center antenna again, realize the long-distance radio communication and the control of ground control system and airborne flight control system.
Described controller of aircraft adopts embedded computer system, and the cpu chip of embedded computer system is also distinguished control linkage GPS navigation module, INS control module, audio/video module, wireless broadband module, wireless bridge module.
One or many unmanned vehicles are set to relaying communication aircraft, and central control unit is realized WiMAX control by the networking antenna, start the WiMAX bridge function of relaying communication aircraft, realize the WiMAX relay and control function of aircraft.
Described airborne flight control system also has additional the analog quantity input of 2-8 road, the output of 4-8 way switch or a USB interface.
Described sensor comprises equilibristat, speed pickup, gyroscope, direction control moment controller, direction control moment detecting device, tail torque controller, tail moment detecting device, throttle control, Throttle Opening Control moment detecting device, obstacle sensor, temperature sensor, humidity sensor, altimeter, is used for the pressure transducer that oil mass detects, and overlaps the state of ground sensor that laser range finders constitute by 4.
Prior art of the present invention is compared, automaticity is high, has more powerful system stability and functional mobility, and passes through intellectualizing system, realize orientation flight, height-lock control, the spot hover of unmanned vehicle, advertised route flight and execute the task, over the horizon flight and executing the task; Can use various low-altitude remote sensings, take photo by plane, monitoring in the air, aerial photogrammetry, aerial shooting, communication data relay etc., be a kind of safe, reliably, the novel control techniques that flies cheaply, greatly expand the function and the purposes of unmanned vehicle.
[description of drawings]
Fig. 1 is a unmanned vehicle full-automatic driving system main composition synoptic diagram.
Fig. 2 is the composition synoptic diagram of the air craft carried flight control system and the ground control system of unmanned vehicle full-automatic driving system.
Referring to accompanying drawing 1,1 is master control system, and 2 is airborne flight control system, and 3 is the internet network.
Appointment Fig. 2 is a Figure of abstract.
[specific embodiment]
Below the present invention will be further described.
One, ground control system
Mainly comprise master control system, subscriber computer, the GPS navigation system, wherein master control system comprises that central control unit, main control computer, internet network, center antenna constitute, and mainly finish following function:
1, main control computer is controlled central control unit, and central control unit and aircraft are realized wide-band networking by separately center antenna and networking antenna respectively, finish the control to aircraft;
2, only after central control unit has been given long-range internet net authority, long-range internet net could carry out communication to central control unit, thereby finishes the control to aircraft;
3, the various status panel parameters of aircraft all can show at central control unit;
4, central control unit can be controlled many aircraft in the present networks simultaneously.
Two, airborne flight control system
Comprise that mainly controller of aircraft, networking antenna, GPS are compositions such as gps antenna, navigation camera, various sensor, the output of state of flight moment, finish inertial navigation INS/GPS navigation GNSS, specifically composition and function are as follows:
1, controller of aircraft: be aircraft core control terminal, mainly by embedded computer system, the GPS navigation module, the INS control module, the audio/video module, wireless broadband module, the wireless bridge module constitutes.
2, networking antenna: finish aircraft and central control unit wireless data transmission.
3, gps antenna: receive gps satellite signal.
4, navigation camera: manually monitor controlling aircraft.
5, equilibristat: input signal is controlled to aircraft controller, finishes automatic state of flight.
6, angular-rate sensor: input signal is controlled to aircraft controller, finishes automatic state of flight.
7, acceleration transducer: input signal is controlled to aircraft controller, finishes automatic state of flight.
8, gyroscope: input signal is controlled to aircraft controller, finishes automatic state of flight.
9, direction control moment controller:, finish state of flight by controller of aircraft control.
10, direction control moment detecting device: give controller of aircraft with three dimensional constitution feedback direction control moment information, finish automatic control.
11, tail torque controller:, finish state of flight by controller of aircraft control.
12, tail moment detecting device: feedback tail moment information is given controller of aircraft, finishes automatic control.
13, throttle control: whole aircraft power control is provided.
14, Throttle Opening Control moment detecting device: feedback throttle information is given controller of aircraft, finishes automatic control.
15, obstacle sensor: constitute by 6 cover ultrasound waves or laser range finder, monitor the obstacle restraining mass of the up, down, left, right, before and after aspect of aircraft respectively, when detecting barrier, adjust flight path automatically.
16, state of ground sensor: be made of 4 cover laser range finders, apart whether the interior ground of 1-4 rice scope is smooth to finish four on aircraft lands ground, makes aeromodelling airplane that the safe landing point be arranged.Also be the overhead accurate measured sensor of height distance of aircraft simultaneously.
17, temperature measuring set: adopt dedicated temperature sensor, the sense aircraft current environmental temperature.Temperature detection is accurate to 0.5 degree.
18, humidity measuring apparatus: adopt special-purpose humidity sensor, sense aircraft current environment humidity.Humidity Detection is accurate to 5%RH.
19, altimeter: adopt the special pressure sensor, 12 A/D conversion/EEROM proofread and correct, and detect current flight device sea level elevation, and sea level elevation detects and is accurate to 1 meter.
20, audio input port: the phonetic entry of two-channel or directional microphone, give central control unit by the wireless broadband transmission of controller of aircraft.
21, audio output port: the two-channel voice of central control unit, give the output of aeromodelling airplane controller by the wireless broadband transmission of central control unit.
22, oil mass detector: adopts pressure sensor, 12 A/D conversion/EEROM proofread and correct, and oil mass detects and is accurate to 25 grams.
23, electric weight detector: 12 A/D conversion/EEROM proofread and correct, and detect accurate 10mV, when electric weight is low, start charging system automatically, are charged by airborne motor or external charge power supply.
24, motor: finish the startup of engine, the air environment power supply, battery charge, the urgent power of aircraft, simple and easy oil electric mixed dynamic system is fit to the emergent flight of long-distance flight and engine failure and lands.
25, power supply:
A. chargeable storage is to whole aviation power supply.
B. during aircraft flight, the battery electric quantity deficiency charges the battery automatically.
C. external charge power supply: after the aircraft lands by external power supply to battery charge.When aircraft need fly, external power supply was powered to motor, by control system control, finished aircraft engine and started.
D. do not having the external charge power supply, when battery electric quantity is sufficient,,, is finishing aircraft engine and start to the power supply of aircraft electrical motivation by controller of aircraft control.
26, charging hook: be mainly used in long-range internet network control, after aircraft was by controller control engine start, external charge power supply and aircraft electrical origin system broke away from automatically.
27, engine: power is provided for whole aircraft, can manually boots with control system and start automatically.
Three, telecommunication network control
Master control system is arranged to long-range internet network control, long-range internet control just obtains authority, controlling party is in any place of the earth, as long as the internet network is arranged, just can control aircraft, controlling party does not need to install any software, the authority user name of Long-distance Control is set by master control system, password and the master control system IP address in the internet network, landing the WEB interface just can global function control.
Four, WiMAX relay and control function
When unmanned vehicle needs long-distance flight, the local time that wireless wide band signal can not effectively arrive, one in the aircraft or several setting up can be changed to relaying communication aircraft, after control communication relaying aircraft arrived given place, central control unit was controlled by WiMAX, started aircraft WiMAX bridge function and got final product, in this system, many aircraft can be used as relaying communication aircraft, and this function is fit to high mountain, uses under the rough topography environmental baselines such as valley.
Five, other additional functions
Also can add 2-8 road analog quantity input quantity in the airborne flight control system, as: the switch output of 12 A/D (0-5V/0-12V input), 4-8 road 100V/1A, 1 USB interface; And outwards out-put supply: direct current+5V (1A) or+12V (0.5A), these additional functions can be used as the secondary meter interface, finish aerial data acquisition, air-drop, series function such as condition agreement output grade.
Unmanned vehicle full-automatic driving of the present invention system, advanced technology, powerful, automaticity is high, has stronger system stability performance and functional mobility.Automated driving system of the present invention comprises helicopter, dirigible, flying saucer, balloon, fixed wing aircraft etc. applicable to various unmanned vehicles.By intelligent control loop of the present invention, unmanned vehicle can realize controlling directed flight, height-lock control, spot hover; Advertised route is flown and is executed the task; Over the horizon is flown and is executed the task; Can use various low-altitude remote sensings, take photo by plane, monitoring in the air, aerial photogrammetry, aerial shooting, fields such as communication data relay, traffic monitoring, atmosphere environment supervision, forest fire protection, seashore patrol supervision, military surveillance, be a kind of safe, reliably, the novel control techniques that flies cheaply.
Claims (5)
1. a full-automatic unmanned aerial vehicle control system comprises ground control system, airborne flight control system, unmanned vehicle, it is characterized in that:
Ground control system comprises: the main master control system that forms by main control computer, inernet network and the center antenna of central control unit, control center's controller, and as the subscriber computer of human-computer interaction interface, and the GPS navigation system;
Airborne flight control system on the unmanned vehicle is provided with controller of aircraft, networking antenna, gps antenna, DSP, navigation camera, sensor;
Master control system in the ground control system is arranged to long-range internet network control, master control system obtains long-range internet control authority, the authority user name of the subscriber computer of Long-distance Control is set by master control system again, password and the master control system IP address in the internet network, after landing the WEB interface, the control main control computer is to the center controller input signal, after handling, signal is launched by central control unit by center antenna, networking antenna in the airborne flight control system receives this signal and handles the back by DSP in the lump together with the picture signal that sensor feedback is transferred to flight controller for the sensor signal of controller of aircraft and the camera that navigates and received by the GPS receptacle, launch communication through center antenna again, realize the long-distance radio communication and the control of ground control system and airborne flight control system.
2. a kind of full-automatic unmanned aerial vehicle control system according to claim 1, it is characterized in that: described controller of aircraft adopts embedded computer system, and the cpu chip of embedded computer system is also distinguished control linkage GPS navigation module, INS control module, audio/video module, wireless broadband module, wireless bridge module.
3. according to the described a kind of full-automatic unmanned aerial vehicle control system of claim 1, it is characterized in that: one or many unmanned vehicles are set to relaying communication aircraft, central control unit is realized WiMAX control by the networking antenna, start the WiMAX bridge function of relaying communication aircraft, realize the WiMAX relay and control function of aircraft.
4. according to the described a kind of full-automatic unmanned aerial vehicle control system of claim 1, it is characterized in that: described airborne flight control system also has additional the analog quantity input of 2-8 road, the output of 4-8 way switch or a USB interface.
5. according to the described a kind of full-automatic unmanned aerial vehicle control system of claim 1, it is characterized in that: described sensor comprises equilibristat, speed pickup, gyroscope, direction control moment controller, direction control moment detecting device, tail torque controller, tail moment detecting device, throttle control, Throttle Opening Control moment detecting device, obstacle sensor, temperature sensor, humidity sensor, altimeter, be used for the pressure transducer that oil mass detects, and the state of ground sensor that is made of the quadruplet laser range finder.
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