CN107221200A - Unmanned plane managing and control system and management-control method with weather warning function - Google Patents
Unmanned plane managing and control system and management-control method with weather warning function Download PDFInfo
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- CN107221200A CN107221200A CN201710347989.7A CN201710347989A CN107221200A CN 107221200 A CN107221200 A CN 107221200A CN 201710347989 A CN201710347989 A CN 201710347989A CN 107221200 A CN107221200 A CN 107221200A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
- G08G5/0091—Surveillance aids for monitoring atmospheric conditions
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Abstract
The invention discloses a kind of unmanned plane managing and control system and management-control method with weather warning function.The present invention includes multiple meteorological data monitors on server, the unmanned plane of execution task and air route.Multiple meteorological data monitors are deployed in the suitable location in unmanned plane air route by the system of the present invention, with the data of the wind speed, wind direction and rainfall intensity that monitor deployment point, and these data are persistently sent to server, server judges the meteorologic parameter in each air route if appropriate for unmanned plane during flying according to these data, and the course line of the unmanned plane of adjustment execution task accordingly.The system of the present invention is capable of the meteorological change in at-once monitor air route and according to the flight path of the timely management and control unmanned plane of weather condition.
Description
Technical field
The present invention relates to the unmanned plane managing and control system and management-control method with weather warning function, more specifically, this hair
It is bright to be related to unmanned plane meteorological support field.The present invention is that unmanned plane plans flight path using server, in real time monitoring air route gas
It is that unmanned plane arranges the flight path of safety and saving electric power as situation, and according to the weather condition in air route, so as to fly ensureing
Transport task is completed while row is safe efficient energy-saving.
Background technology
Having had at present is used for unmanned plane the application in retail stores management field, in express delivery, takes out food delivery field, there is utilization
The example report of unmanned plane delivery.
The Chinese patent of Application No. 201620058684.5 discloses a kind of unmanned plane during flying control system, with the letter that navigates
Mark assists unmanned plane to be accurately positioned, and realizes that high density high-frequency unmanned plane during flying is formed into columns.
With the further development of unmanned air vehicle technique, commercial unmanned plane more densely performs boat according to the air route planned
Row task is the prospect that following unmanned plane application field is expected.
And current unmanned plane take-off weight relatively light, wind resistance rain ability is more fragile.In urban environment, natural wind is by height
Low different effect on building, will produce complicated air-flow varying effect, for small aircraft, unexpected down draft
With the change of ascending air, it is likely to result in aircraft and loses stabilization.The unmanned plane of certain load flight is carried, is flown in city air route
During row, easily influenceed by complicated air-flow and rainfall and endanger flight safety.
Traditional weather radar, it is impossible to accomplish miniaturization and low cost to adapt to unmanned plane meteorological support field.And be used for
The millimetre-wave radar or laser radar of Meteorological Services, in face of complicated urban background clutter, are all difficult to ensure that Effect on Detecting.
Wind-force and wind direction on unmanned plane air route, and rainfall intensity, are to influence the main weather factor of unmanned plane safe flight.
Based on this, in the urgent need to a kind of reliable unmanned plane managing and control system with weather warning function, with easily and effectively
And the anemobiagraph and raininess instrument of low cost are deployed in the air route of unmanned plane on the way, to realize the real-time prison to air route meteorological data
Survey, be unmanned plane adjusting and optimizing flight path according to the different meteorological condition in each section of air route
, transport task is completed while flight safety is ensured efficient energy-saving.
The content of the invention
It is an object of the invention to solve above-mentioned technical problem, there is provided a kind of unmanned plane pipe with weather warning function
Control system.
The present invention is specifically adopted the following technical scheme that:
Unmanned plane managing and control system with weather warning function, wherein, described system is included:
The unmanned plane of execution task, can fly on air route set in advance, and by the flight information comprising current location information
It is sent to server；
Multiple meteorological data monitors, are located on air route set in advance, to monitor the gas of meteorological data monitor current location
Image data；And
Server, is communicated with described unmanned plane and multiple meteorological data monitors, and meteorological data described in real-time reception is monitored
The weather information of instrument transmission, to judge the unmanned plane based on the current positional information of the unmanned plane and described weather information
If appropriate for the flight plan for continuing executing with predetermined air route, and according to judged result to described unmanned plane send continuation fly or
The order that person changes its course or terminated the flight.
According to the unmanned plane managing and control system with weather warning function of the present invention, described meteorological data monitor is included
Positioning unit, the positional information that can be disposed place in the lump when sending meteorological data is sent to described server.
According to the unmanned plane managing and control system with weather warning function of the present invention, described unmanned plane carries airborne positioning
Unit, to monitor the current positional information of described unmanned plane in real time, and is sent to described server.
In the specific embodiment of the present invention, described server can be unmanned plane choosing according to route grid
Select and plan preferred air route, so that unmanned plane determines self-position and according to Route reform according to airborne positioning unit；Unmanned plane
In flight, the flight information such as the position of itself and speed, height is sent back into server in real time, is easy to its fortune of server monitoring
OK.
According to the unmanned plane managing and control system with weather warning function of the present invention, described meteorological data monitor includes
Anemobiagraph, with level monitoring direction and/or the wind-force and wind direction data and airstream data of vertical direction.
According to the unmanned plane managing and control system with weather warning function of the present invention, boat is preset in described server
The wind-force threshold value that can be born of unmanned plane on line, wherein the wind-force that described server transmits the anemobiagraph received
Information is compared with described threshold value, and sends order to described unmanned plane according to comparative result.
In the more excellent embodiment of the present invention, anemobiagraph of the invention can detect the wind-force of horizontal direction, wind
To further, moreover it is possible to detect the wind-force and wind direction data of vertical direction, such as can detect the number of down draft and ascending air
According to.
In of the invention one preferably embodiment, multiple anemobiagraphs of the invention are deployed on air route easily by air-flow
The sensitive position of influence, and the wind-force parameter of position is sent back into server in real time.Server is sent from each anemobiagraph
Data, learn the wind-force information of meteorological sensitive position on current all air routes.
Further, server is according to the wind-force information of acquisition, judges position and the route of every frame unmanned plane current flight
Wind-force whether the wind resistance threshold value prestored close to it, when being judged as a certain unmanned plane position or the position that will be gone to
Wind-force exceed its wind resistance threshold value when, server by preferentially sent to the unmanned plane change its course, make a return voyage or forced landing instruction.
The present invention a more excellent embodiment in, it is contemplated that wind shear and fierce down draft, for build compared with
Small unmanned plane has a great impact, when two adjacent anemobiagraphs of the deployed position of the present invention while detecting down draft,
And the information that server is beamed back according to the unmanned plane received is learnt, the adjacent anemobiagraph of down draft is detected described while
Between exist flight unmanned plane when, server will send the instruction of urgent climb altitude to the unmanned plane, to avoid the air route area
Between possible down draft cause unmanned plane to fall.
In the other side of the present embodiment, two adjacent anemobiagraphs of deployed position of the invention detect strong side simultaneously
Wind, and the information that server is beamed back according to the unmanned plane received is learnt, the adjacent wind speed of extreme crosswind is detected described while
When there is the unmanned plane of flight between instrument, server will send the instruction in amendment course to the unmanned plane in the case, make its remote
From the building of surrounding, to avoid extreme crosswind influence from causing to collide building.
According to the unmanned plane managing and control system with weather warning function of the present invention, described meteorological data monitor includes
Raininess instrument, to monitor the size of rainfall intensity, and described result is sent to described server.
According to the unmanned plane managing and control system with weather warning function of the present invention, boat is preset in described server
The threshold value of the rainfall intensity that can be born of unmanned plane on line, wherein described server transmits the raininess instrument received
Rainfall intensity information be compared with described threshold value, and order is sent to described unmanned plane according to comparative result.
According to the unmanned plane managing and control system with weather warning function of the present invention, the described mode changed its course includes described
Server according to route grid be that unmanned plane selects and plans preferred air route so that unmanned plane is according to its airborne positioning unit
Determine self-position and according to preferred Route reform.
According to the unmanned plane managing and control system with weather warning function of the present invention, the unmanned plane of the execution task ought
The dump energy information of itself under preceding state of flight is sent to server, wherein described server storage has wind speed bars at different levels
Under part and different loads, power consumption feelings of each model unmanned plane under current meteorological data during flight under described system management and control
Condition, and according to the optimal voyage of the dump energy of unmanned plane planning unmanned plane.
Present invention additionally comprises the management-control method of the unmanned plane managing and control system with weather warning function, it includes following step
Suddenly：
Multiple meteorological data monitors are arranged in the suitable location in unmanned plane air route；
The data that the meteorological data monitor is monitored persistently are sent to server；
The server judges the meteorologic parameter in each bar air route if appropriate for unmanned plane during flying according to these data；And
The server sends continuation flight to described unmanned plane or changes its course or terminate according to the judged result of S3 steps
The order of flight.
Further, in another embodiment of the management-control method of the present invention, described server is according to the gas in each air route
Image data and dump energy, are the air route that unmanned plane disjunctive programming more saves electric power.
In a more excellent embodiment of the unmanned plane managing and control system of the present invention, the server of the system is also deposited
Contain under wind friction velocities at different levels and different loads, each model unmanned plane of the system management and control is in this case with the wind, against the wind
Or with power consumption condition during different angle wind-engaging flights.
Further, the server of the system can be that unmanned plane disjunctive programming is more saved according to the wind conditions in each air route
The about air route of electric energy.The step of this planing method is：
The wind data of point is sent to server by S1, anemobiagraph in real time；
S2, server are collected the wind data in air route where each anemobiagraph, and analyze each unmanned plane current flight route
Direction, and the wind data on the heading；
S3, further, when server is judging that a certain specific unmanned plane is in headwind flight, whether server is deposited for its retrieval
In the air route that other contrary wind situations are more slow, and analyze whether the electric energy that the distance in the air route will consume navigates against the wind less than current
Road；
S4, such as S3 steps are judged as YES, and server will send new route instructions to the unmanned plane, make it according to more saving electricity
The new Route reform of energy.
In another aspect of this invention, due to the reason such as tropical island effect of building in city, in special time period, air route
Region can produce continual and steady ascending air, when the data display that server is obtained from anemobiagraph to air route has ascending air
When, server will determine that whether a certain unmanned plane borrow ascending air that detours is favourable, and adjusts unmanned plane in an advantageous case
Flight path, with using ascending air so as to saving electric energy in flight.
It is readily apparent that with advances in technology, when manned aircraft can on the air route planned it is automatic or
During the automanual operation of person, system of the invention can equally provide weather warning and management and control function for it.
【Brief description of the drawings】
Below in conjunction with accompanying drawing, the present invention is described in detail, to be more clearly understood that technical scheme, wherein：
Fig. 1 show the structured flowchart of the unmanned plane managing and control system with weather warning function of the present invention；
Fig. 2 show the schematic diagram that the meteorological data monitor of the present invention is disposed on air route；
Fig. 3 show the structured flowchart of meteorological data detector；
Fig. 4 show the structured flowchart of unmanned plane.
【Embodiment】
The unmanned plane managing and control system with weather warning function of the present invention is done specifically with reference to the accompanying drawings and examples
It is bright:
With reference to shown in Fig. 2, Fig. 1 and Fig. 4, the unmanned plane 30 of task is performed, can above be flown in air route 81,82 ... set in advance
OK, and by current positional information and the dump energy information of itself it is sent to server 20.
As shown in Fig. 2 multiple meteorological data monitors 10, are located on air route 81,82 ... set in advance, to monitor it
The meteorological data of deployed position.
As shown in figure 1, server 20, communicates with described unmanned plane 30 and multiple meteorological data monitors 10, and in real time
The weather information that the meteorological data monitor 10 is transmitted is received, with based on the current positional information of the unmanned plane 30 and described
Weather information judge the unmanned plane 30 if appropriate for continuing executing with predetermined air route, and according to judged result to described nobody
Machine 30 sends the order for continuing to fly or changing its course or terminating the flight.
As shown in figure 3, the present invention meteorological data monitor 10 include positioning unit 11 and communication unit 12, its by means of
When helping the transmission meteorological data of communication unit 12, the positional information that place can be disposed in the lump is sent to described server
20。
As shown in figure 4, the unmanned plane 30 of the present invention carries airborne positioning unit 31, to monitor described unmanned plane 30 in real time
Current positional information, and it is sent to by its airborne communication unit 32 described server 20.
Further, server 20 of the present invention can be that the disjunctive programming of unmanned plane 30 is preferred according to route grid
Air route, so that unmanned plane 30 determines self-position and according to Route reform according to airborne positioning unit 31；Unmanned plane 30 is in flight
When, the flight information such as the position of itself and speed, height is sent back into server 20 in real time, is easy to server 20 to monitor its fortune
OK.
As shown in figure 3, the meteorological data monitor 10 of the present invention includes anemobiagraph（It is not shown）, with level monitoring direction
And/or the wind-force and wind direction data and airstream data of vertical direction.
Further, the wind-force threshold that the unmanned plane 30 on course line can be born is preset in server 20 of the present invention
Value, wherein the wind-force information that the anemobiagraph received is transmitted is compared by described server 30 with described threshold value,
And order is sent to described unmanned plane 30 according to comparative result.
In the more excellent embodiment of the present invention, anemobiagraph of the invention can detect the wind-force of horizontal direction, wind
To.Further, moreover it is possible to detect the wind-force and wind direction data of vertical direction, for example, can detect the number of down draft and ascending air
According to.
In of the invention one preferably embodiment, multiple anemobiagraphs of the invention are deployed on air route easily by air-flow
The sensitive position of influence, and the wind-force parameter of position is sent back into server 20 in real time.Server 20 is sent out from each anemobiagraph
The data come, learn the wind-force information of meteorological sensitive position on current all air routes.
Further, server 20 judges position and the route of every frame unmanned plane current flight according to the wind-force information of acquisition
Wind-force whether the wind resistance threshold value prestored close to it, when the position that is judged as a certain position of unmanned plane 30 or will go to
The wind-force put exceed its wind resistance threshold value when, server by preferentially sent to the unmanned plane 30 change its course, make a return voyage or forced landing finger
Order.
The present invention a more excellent embodiment in, it is contemplated that wind shear and fierce down draft, for build compared with
Small unmanned plane has a great impact, when two adjacent anemobiagraphs of the deployed position of the present invention while detecting down draft,
And the information that server 20 is beamed back according to the unmanned plane received is learnt, the adjacent wind speed of down draft is detected described while
When there is the unmanned plane 30 of flight between instrument, server will send the instruction of urgent climb altitude to the unmanned plane 30, to avoid this
The interval possible down draft in air route causes unmanned plane 30 to fall.
In the other side of the present embodiment, two adjacent anemobiagraphs of deployed position of the invention detect strong side simultaneously
Wind, and the information that server 20 is beamed back according to the unmanned plane received is learnt, the adjacent wind of extreme crosswind is detected described while
When there is the unmanned plane 30 of flight between fast instrument, server will send the instruction in amendment course to the unmanned plane 30 in the case,
The building of surrounding is made it away from, to avoid extreme crosswind influence from causing to collide building.
According to the unmanned plane managing and control system with weather warning function of the present invention, described meteorological data monitor 10 is wrapped
Raininess instrument is included, to monitor the size of rainfall intensity, and described result is sent to described server.Described raininess instrument is used
In the rainfall intensity of measurement specified place.It is for instance possible to use applied to the sensing rain brush on automobile, it monitors one kind of raininess
Scheme is worked according to the refraction principle of light：There is a light emitting diode in optical sensor, it sends a branch of taper
Light, this Shu Guang passes through front windshield.It is almost all of when when there is no rainwater on windshield, in drying regime
Light can be all reflexed on an optical sensor；When Sometimes When It Rains, can there be rainwater on windshield, a part of light will
Deviate, this has resulted in the change that sensor receives the total amount of light, so as to detect the presence of rainwater.Optical sensor
The area that reflected light can be received is bigger, and obtained information is more detailed.Optical sensor is exactly accurate, it could even be possible to accurate
Really judge to grow the raindrop number on sensed region.
Further, the threshold for the rainfall intensity that the unmanned plane 30 on course line can be born is preset in described server 20
Value, wherein described server 20 is compared the rainfall intensity information that the raininess instrument received is transmitted with described threshold value
Compared with, and order is sent to described unmanned plane 30 according to comparative result.
According to the unmanned plane managing and control system with weather warning function of the present invention, the described mode changed its course includes described
Server 20 according to route grid be that unmanned plane 30 selects and plans preferred air route so that unmanned plane 30 is airborne fixed according to its
Bit location 31 determines self-position and according to preferred Route reform.
According to the unmanned plane managing and control system with weather warning function of the present invention, described server 20 is stored with different levels
Under wind friction velocity and different loads, each model unmanned plane 30 under described system management and control is under current meteorological data during flight
Power consumption condition, and according to the dump energy of unmanned plane 30 plan unmanned plane 30 optimal voyage.
With reference to shown in Fig. 2, present invention additionally comprises the management-control method of the unmanned plane managing and control system with weather warning function, its
Comprise the following steps：
In the suitable location that multiple meteorological data monitors 10 are arranged to unmanned plane air route 81,81 ...；
The data that the meteorological data monitor 10 is monitored persistently are sent to server 20；
The server 20 judges that the meteorologic parameter in each bar air route is flown if appropriate for unmanned plane 30 according to these data；And
The server 20 according to the judged results of S3 steps, to described unmanned plane 30 send continuation fly or change its course or
The order terminated the flight.
Further, in another embodiment of the management-control method of the present invention, described server 20 is according to each air route
Meteorological data and dump energy, are the air route that the disjunctive programming of unmanned plane 30 more saves electric power.
In a more excellent embodiment of the unmanned plane managing and control system of the present invention, the server 20 of the system is also stored with
Under wind friction velocities and different loads at different levels, each model unmanned plane 30 of the system management and control in this case with the wind, against the wind or with not
Power consumption condition during with angle wind-engaging flight.
Further, the server 20 of the system can according to the wind conditions in each air route, be the disjunctive programming of unmanned plane 30 compared with
To save the air route of electric energy.The step of this planing method is：
The wind data of point is sent to server 20 by S1, anemobiagraph in real time；
S2, server 20 are collected the wind data in air route where each anemobiagraph, and analyze each current flight of unmanned plane 30
The direction of route, and the wind data on the heading；
S3, further, when server 20 judging a certain specific unmanned plane 30 be in headwind flight when, server 20 be its retrieval
Whether with the presence or absence of the air route that other contrary wind situations are more slow, and it is inverse less than current to analyze the electric energy that the distance in the air route will consume
Wind air route；
S4, such as S3 steps are judged as YES, and server will send new route instructions to the unmanned plane 30, make it according to more saving
The new Route reform of electric energy.
In another aspect of this invention, due to the reason such as tropical island effect of building in city, in special time period, air route
Region can produce continual and steady ascending air, and gas is risen when the data display that server 20 is obtained from anemobiagraph exists to air route
During stream, server 20 will adjust the voyage of unmanned plane 30, to save electric energy in flight using ascending air.
It is readily apparent that with advances in technology, when manned aircraft can on the air route planned it is automatic or
During the automanual operation of person, system of the invention can equally provide weather warning and management and control function for it.
Above disclosed is only a kind of preferred embodiment of the present invention, can not limit this with this certainly
The scope of the claim of invention.It is any that anyone is made within the spirit and principle of the claim of the present invention
Equivalent variations and change, still belong to the scope that the present invention is covered.
Claims (10)
1. the unmanned plane managing and control system with weather warning function, it is characterised in that described system is included:
The unmanned plane of execution task, is flown on air route set in advance, and the flight information comprising current location information is sent out
It is sent to server；
Multiple meteorological data monitors, are located on air route set in advance, to monitor the meteorological data monitor current location
Meteorological data；And
Server, is communicated with described unmanned plane and multiple meteorological data monitors, and meteorological data described in real-time reception is monitored
The weather information of instrument transmission, to judge the unmanned plane based on the current positional information of the unmanned plane and described weather information
If appropriate for continuing executing with predetermined air route, and according to judged result to described unmanned plane send continuation fly or change its course or
The order terminated the flight.
2. the unmanned plane managing and control system according to claim 1 with weather warning function, it is characterised in that described gas
Image data monitor includes positioning unit, and the positional information that can be disposed place in the lump when sending meteorological data is sent to
Described server.
3. the unmanned plane managing and control system according to claim 1 with weather warning function, it is characterised in that described nothing
It is man-machine to carry airborne positioning unit, to monitor the current positional information of described unmanned plane in real time, and it is sent to described service
Device.
4. the unmanned plane managing and control system according to claim 1 with weather warning function, it is characterised in that described gas
Image data monitor includes anemobiagraph, with level monitoring direction and（Or）The wind-force and wind direction data of vertical direction.
5. the unmanned plane managing and control system according to claim 4 with weather warning function, it is characterised in that described clothes
The wind-force threshold value that can be born of unmanned plane on course line is preset in business device, wherein described in described server will receive
The wind-force information of anemobiagraph transmission is compared with described threshold value, and sends life to described unmanned plane according to comparative result
Order.
6. the unmanned plane managing and control system according to claim 1 with weather warning function, it is characterised in that described gas
Image data monitor includes raininess instrument, to monitor the size of rainfall intensity, and described result is sent to described server.
7. the unmanned plane managing and control system according to claim 6 with weather warning function, it is characterised in that described clothes
The threshold value of the rainfall intensity that can be born of unmanned plane on course line is preset in business device, wherein described server will be received
The rainfall intensity information of raininess instrument transmission be compared with described threshold value, and according to comparative result to described nobody
Machine sends order.
8. the unmanned plane managing and control system according to claim 1 with weather warning function, it is characterised in that described changes
The mode in road includes described server and is selected according to route grid for unmanned plane and plan preferred air route, so that unmanned plane root
Self-position is determined according to its airborne positioning unit and according to preferred Route reform.
9. the unmanned plane managing and control system according to claim 1 with weather warning function, it is characterised in that the execution
The dump energy information of itself under current flight state is sent to server by the unmanned plane of task, wherein described server
It is stored with wind friction velocities at different levels and different loads, each model unmanned plane under described system management and control is in current meteorological data
Power consumption condition during lower flight, and according to the flight optimization route of the dump energy of unmanned plane planning unmanned plane.
10. the management-control method of the unmanned plane managing and control system with weather warning function, it comprises the following steps：
S1, multiple meteorological data monitors are arranged in the suitable location in unmanned plane air route；
S2, the data for monitoring the meteorological data monitor are persistently sent to server；
S3, the server judge the meteorologic parameter in each bar air route if appropriate for unmanned plane during flying according to these data；And
S4, the server send continuation to described unmanned plane according to judged result and flown according to the judged result of S3 steps
Or the order changed its course or terminated the flight.
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| CN110443429A (en) * | 2019-08-13 | 2019-11-12 | 拉扎斯网络科技（上海）有限公司 | Determination method, apparatus, electronic equipment and the storage medium in rainfall region |
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