CN108735001A - A kind of unmanned plane based on Beidou navigation is anti-to hit prior-warning device - Google Patents
A kind of unmanned plane based on Beidou navigation is anti-to hit prior-warning device Download PDFInfo
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- CN108735001A CN108735001A CN201810555748.6A CN201810555748A CN108735001A CN 108735001 A CN108735001 A CN 108735001A CN 201810555748 A CN201810555748 A CN 201810555748A CN 108735001 A CN108735001 A CN 108735001A
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- module
- unmanned plane
- beidou navigation
- flight control
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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]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of unmanned planes based on Beidou navigation to prevent hitting prior-warning device, including ground control centre, unmanned plane terminal, Beidou navigation module, wireless communication module and detection module, it is integrated with flight control modules in unmanned plane terminal, photographing module, photographing module is electrically connected with flight control modules, Beidou navigation module and wireless communication module each by serial ports with flight control modules are two-way is electrically connected, flight control modules in unmanned plane terminal by radio communication module and ground control centre into data transmission, detection module includes receiving unit, verification unit and comparing unit.The present invention can real-time control unmanned plane at a distance from barrier, stop moving towards barrier side when controlling unmanned plane apart from barrier safe distance, excessive adjustment need not be carried out to UAV Flight Control System, also it need not increase the hardware devices such as additional junior range device, it only needs image information to demarcate distance, solves the problems, such as unmanned plane collision obstacle.
Description
Technical field
The present invention relates to air vehicle technique field, specially a kind of unmanned plane based on Beidou navigation is anti-to hit early warning dress
It sets.
Background technology
With the development of unmanned air vehicle technique, application of the unmanned plane in every profession and trade field at present is more and more extensive.Unmanned plane exists
Situations such as with flying under more complex environments, just being easy to collide, range-measurement system on traditional unmanned plane is only fixed to be surveyed
Some specific direction is measured, and the range determination of the multiple directions such as front and back and ground can not be taken into account simultaneously.And existing unmanned plane
Collision prevention device, most of is all to acquire in-flight unmanned plane operating status by unmanned plane integrated sensor, obtains barrier
Information simultaneously analyses whether in the presence of the possibility collided that, although high sensor can obtain precision data, it acquires distance
Limited, range of observation is also smaller.
Invention content
The purpose of the present invention is to provide a kind of unmanned planes based on Beidou navigation to prevent hitting prior-warning device, above-mentioned to solve
The problem of being proposed in background technology.
In order to solve the above technical problem, the present invention provides following technical solutions：A kind of unmanned plane based on Beidou navigation
It is anti-to hit prior-warning device, including ground control centre, unmanned plane terminal, Beidou navigation module, wireless communication module and detection mould
Block is integrated with flight control modules, photographing module, the photographing module and flight control modules electricity in the unmanned plane terminal
Connection, the Beidou navigation module and wireless communication module each by serial ports with flight control modules are two-way is electrically connected, it is described
Beidou navigation module is electrically connected with RF circuit module, two-way between the Beidou navigation module and flight control modules to be electrically connected
The serial ports connect is level-one serial ports, and the wireless communication module is two level serial ports with the two-way serial ports being electrically connected of flight control modules,
And the level-one serial ports priority is higher than two level serial ports, the flight control modules in the unmanned plane terminal are by radio communication
Module and ground control centre are into data transmission；
The photographing module acquires all directions image in real time during unmanned plane during flying, and is transmitted to detection module, described
Photographing module includes at least four camera modules；
The detection module includes receiving unit, verification unit and comparing unit, and the receiving unit receives photographing module
The image of transmission, the characteristic information of the verification unit extraction image, is projected by geometrical relationship, in conjunction with camera calibration side
Method, according to camera module inner parameter and external parameter calculate camera module to barrier the shortest distance, further according to nobody
The fixed relationship of machine and camera module, the shortest distance of calculating unmanned plane to barrier, the comparing unit comparison unmanned plane arrive
The shortest distance of barrier and the size of default safe distance, if the shortest distance of unmanned plane to barrier is less than default safety
Distance is then issued warning signal to the control module of unmanned plane.
Further, further include control circuit, the control circuit is used to receive detection mould in unmanned aerial vehicle (UAV) control module
After the pre-warning signal that block is sent out, the instruction for forbidding moving to the direction is sent out to unmanned plane during flying drive module, locks unmanned plane
It is moved to the direction.
Further, the wireless communication module is gsm module or LTE module or the networks WIFI module.
Further, the photographing module is CCD camera.
Further, the unmanned plane terminal is also integrated with detection of obstacles module, low battery alarm module, storage mould
Block, the detection of obstacles module, low battery alarm module, memory module are electrically connected with flight control modules respectively.
Further, further include Cloud Server module, the Cloud Server module is connect with wireless communication module.
Further, after unmanned aerial vehicle (UAV) control module receives pre-warning signal, sent out to unmanned plane during flying drive module forbid to
The instruction of direction movement locks unmanned plane and is moved to the direction, when unmanned plane is moved to the either direction in addition to the direction
Afterwards, then unmanned plane is unlocked to move to the direction.
Compared with prior art, the advantageous effect of the invention reached is：
1), module sends flight directive to unmanned plane terminal by radio communication for ground control centre in the present invention, wherein
Flight directive includes the information such as flight path, flight starting point, final, after unmanned plane terminal receives flight directive, nobody
Machine obtains real time position by Beidou navigation module, while by the location information of flight path, compared with current location information,
Without departing from circuit during the automatic patrol of guarantee unmanned plane, and shoot its picture on the way by photographing module in flight course
Face, and earthward control centre is sent in the photo captured by patrol circuit to module by radio communication；Simultaneously because being provided with
Level-one serial ports and two level serial ports, and the level-one serial ports priority is higher than two level serial ports, in default situations Beidou navigation module
It is preferentially then to be automatically switched to using channel radio using Big Dipper signal when Beidou navigation module can not receive Big Dipper signal
Letter module receives the location information for moving about communication base station, and returns to flight control modules, when Beidou navigation module can be received
When to Big Dipper signal, then it is switched to Beidou navigation station-keeping mode, smoothly completes pattern switching, to realize non-blind zone.
2), the present invention can real-time control unmanned plane at a distance from barrier, control unmanned plane apart from barrier safety away from
From when stop towards barrier side move, excessive adjustment need not be carried out to UAV Flight Control System, is not also needed
Increase the hardware devices such as additional junior range device, it is only necessary to which image information demarcates distance, solves unmanned plane and knocks down
Object problem.Effectively save cost and easy to be easy-to-use.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural schematic diagram of unmanned plane terminal in the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Referring to Fig. 1, the present invention provides a kind of technical solution：A kind of unmanned plane based on Beidou navigation is anti-to hit early warning dress
Set, including ground control centre, unmanned plane terminal, Beidou navigation module, wireless communication module and detection module, it is described nobody
Flight control modules, photographing module are integrated in machine terminal, the photographing module is electrically connected with flight control modules, the north
Bucket navigation module and wireless communication module each by serial ports with flight control modules are two-way is electrically connected, the Beidou navigation mould
Block is electrically connected with RF circuit module, and the two-way serial ports being electrically connected is between the Beidou navigation module and flight control modules
Level-one serial ports, the wireless communication module and the two-way serial ports being electrically connected of flight control modules are two level serial ports, and the level-one
Serial ports priority is higher than two level serial ports, the flight control modules in the unmanned plane terminal module and ground by radio communication
Control centre is into data transmission；The photographing module acquires all directions image in real time during unmanned plane during flying, and is transmitted to inspection
Module is surveyed, the photographing module includes at least four camera modules；The detection module include receiving unit, verification unit and
Comparing unit, the receiving unit receive the image of photographing module transmission, and the verification unit extracts the characteristic information of image,
It is projected by geometrical relationship, in conjunction with camera marking method, camera shooting is calculated according to camera module inner parameter and external parameter
The shortest distance of module to barrier calculates unmanned plane to barrier further according to the fixed relationship of unmanned plane and camera module
The shortest distance, the comparing unit compare unmanned plane to the shortest distance of barrier and the size of default safe distance, if nobody
The shortest distance of machine to barrier is less than default safe distance, then is issued warning signal to the control module of unmanned plane.
Further include control circuit in the present embodiment, the control circuit is used to receive detection in unmanned aerial vehicle (UAV) control module
After the pre-warning signal that module is sent out, the instruction for forbidding moving to the direction is sent out to unmanned plane during flying drive module, locks nobody
Machine is moved to the direction.
In the present embodiment, the wireless communication module is gsm module or LTE module or the networks WIFI module.
In the present embodiment, the photographing module is CCD camera.
In the present embodiment, the unmanned plane terminal is also integrated with detection of obstacles module, low battery alarm module, storage
Module, the detection of obstacles module, low battery alarm module, memory module are electrically connected with flight control modules respectively.
Further include Cloud Server module in the present embodiment, the Cloud Server module is connect with wireless communication module.
In the present embodiment, photographing module acquires the image information of all directions in real time, and is transferred to detection module；Detection module
Image information is received, and extracts image feature information；It according to the image information of extraction, is projected by geometrical relationship, in conjunction with camera shooting
Machine scaling method, according to camera module inner parameter and external parameter calculate camera module to barrier the shortest distance；Root
According to the fixed relationship of unmanned plane and camera module, the shortest distance of calculating unmanned plane to barrier；Judge unmanned plane to barrier
The shortest distance and default safe distance size, if unmanned plane to barrier the shortest distance be less than default safe distance,
It is issued warning signal to the control module of unmanned plane.
In the present embodiment, after unmanned aerial vehicle (UAV) control module receives pre-warning signal, sends out and forbid to unmanned plane during flying drive module
The instruction moved to the direction locks unmanned plane and is moved to the direction, when unmanned plane is moved to the either direction in addition to the direction
After dynamic, then unlock unmanned plane and moved to the direction.
During unmanned plane during flying, control module exported when receiving flight control instruction flight control signal to fly
Row drive module, flight drive module drive unmanned plane during flying according to flight control signal；Unmanned aerial vehicle (UAV) control module is receiving
After pre-warning signal, output continues the movement towards the direction and forbids instruction to flight drive module, and control unmanned plane is no longer to hair
Go out the movement of early warning direction, locks direction control circuit；At this point, unmanned aerial vehicle (UAV) control module is to before the continuation for sending out early warning direction
It is prohibited into operational order, but does not influence the execution of negative direction or the operational order in other directions.
As stated above, it is an advantage of the present invention that
1), module sends flight directive to unmanned plane terminal by radio communication for ground control centre in the present invention, wherein
Flight directive includes the information such as flight path, flight starting point, final, after unmanned plane terminal receives flight directive, nobody
Machine obtains real time position by Beidou navigation module, while by the location information of flight path, compared with current location information,
Without departing from circuit during the automatic patrol of guarantee unmanned plane, and shoot its picture on the way by photographing module in flight course
Face, and earthward control centre is sent in the photo captured by patrol circuit to module by radio communication；Simultaneously because being provided with
Level-one serial ports and two level serial ports, and the level-one serial ports priority is higher than two level serial ports, in default situations Beidou navigation module
It is preferentially then to be automatically switched to using channel radio using Big Dipper signal when Beidou navigation module can not receive Big Dipper signal
Letter module receives the location information for moving about communication base station, and returns to flight control modules, when Beidou navigation module can be received
When to Big Dipper signal, then it is switched to Beidou navigation station-keeping mode, smoothly completes pattern switching, to realize non-blind zone.
2), the present invention can real-time control unmanned plane at a distance from barrier, control unmanned plane apart from barrier safety away from
From when stop towards barrier side move, excessive adjustment need not be carried out to UAV Flight Control System, is not also needed
Increase the hardware devices such as additional junior range device, it is only necessary to which image information demarcates distance, solves unmanned plane and knocks down
Object problem.Effectively save cost and easy to be easy-to-use.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (7)
1. a kind of unmanned plane based on Beidou navigation is anti-to hit prior-warning device, it is characterised in that：Including ground control centre, nobody
Machine terminal, Beidou navigation module, wireless communication module and detection module are integrated with flight control mould in the unmanned plane terminal
Block, photographing module, the photographing module are electrically connected with flight control modules, and the Beidou navigation module and wireless communication module are each
From by serial ports with flight control modules are two-way is electrically connected, the Beidou navigation module is electrically connected with RF circuit module, described
Between Beidou navigation module and flight control modules the two-way serial ports being electrically connected be level-one serial ports, the wireless communication module with fly
The serial ports of the two-way electrical connection of row control module is two level serial ports, and the level-one serial ports priority is higher than two level serial ports, the nothing
Flight control modules in man-machine terminal by radio communication module and ground control centre into data transmission；
The photographing module acquires all directions image in real time during unmanned plane during flying, and is transmitted to detection module, the camera shooting
Module includes at least four camera modules；
The detection module includes receiving unit, verification unit and comparing unit, and the receiving unit receives photographing module transmission
Image, the characteristic information of verification unit extraction image projected by geometrical relationship, in conjunction with camera marking method, root
Camera module is calculated to the shortest distance of barrier according to camera module inner parameter and external parameter, further according to unmanned plane and is taken the photograph
As the fixed relationship of module, unmanned plane is calculated to the shortest distance of barrier, the comparing unit comparison unmanned plane to barrier
The shortest distance and default safe distance size, if unmanned plane to barrier the shortest distance be less than default safe distance,
It is issued warning signal to the control module of unmanned plane.
2. a kind of unmanned plane based on Beidou navigation according to claim 1 is anti-to hit prior-warning device, it is characterised in that：Also
Including control circuit, the control circuit is used for after the pre-warning signal that unmanned aerial vehicle (UAV) control module receives that detection module is sent out,
The instruction for forbidding moving to the direction is sent out to unmanned plane during flying drive module, is locked unmanned plane and is moved to the direction.
3. a kind of unmanned plane based on Beidou navigation according to claim 1 is anti-to hit prior-warning device, it is characterised in that：Institute
It is gsm module or LTE module or the networks WIFI module to state wireless communication module.
4. a kind of unmanned plane based on Beidou navigation according to claim 1 is anti-to hit prior-warning device, it is characterised in that：Institute
It is CCD camera to state photographing module.
5. a kind of unmanned plane based on Beidou navigation according to claim 1 is anti-to hit prior-warning device, it is characterised in that：Institute
It states unmanned plane terminal and is also integrated with detection of obstacles module, low battery alarm module, memory module, the detection of obstacles mould
Block, low battery alarm module, memory module are electrically connected with flight control modules respectively.
6. a kind of unmanned plane based on Beidou navigation according to claim 1 is anti-to hit prior-warning device, it is characterised in that：Also
Including Cloud Server module, the Cloud Server module is connect with wireless communication module.
7. a kind of unmanned plane based on Beidou navigation according to claim 1 is anti-to hit prior-warning device, it is characterised in that：Nothing
After Human-machine Control module receives pre-warning signal, the instruction for forbidding moving to the direction is sent out to unmanned plane during flying drive module, is locked
Dead unmanned plane is moved to the direction, after unmanned plane is moved to the either direction in addition to the direction, then unlock unmanned plane to this
It moves in direction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810555748.6A CN108735001A (en) | 2018-05-31 | 2018-05-31 | A kind of unmanned plane based on Beidou navigation is anti-to hit prior-warning device |
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| CN201810555748.6A CN108735001A (en) | 2018-05-31 | 2018-05-31 | A kind of unmanned plane based on Beidou navigation is anti-to hit prior-warning device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111572790A (en) * | 2020-05-07 | 2020-08-25 | 重庆交通大学 | Scalable comprehensive protection control system and method for unmanned aerial vehicle |
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