CN109612435A - Ecological environment based on unmanned plane assists supervisory systems - Google Patents
Ecological environment based on unmanned plane assists supervisory systems Download PDFInfo
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- CN109612435A CN109612435A CN201910032662.XA CN201910032662A CN109612435A CN 109612435 A CN109612435 A CN 109612435A CN 201910032662 A CN201910032662 A CN 201910032662A CN 109612435 A CN109612435 A CN 109612435A
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- 230000004888 barrier function Effects 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims description 37
- 230000006698 induction Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 abstract description 8
- 238000012544 monitoring process Methods 0.000 abstract description 7
- 238000004364 calculation method Methods 0.000 abstract description 5
- 238000012937 correction Methods 0.000 abstract description 5
- 230000010354 integration Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
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Classifications
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of, and the ecological environment based on unmanned plane assists supervisory systems, the algorithm combined by inertial navigation and GPS, the feature that feature and GPS positioning range with high accuracy in inertial navigation short distance is big but fluctuating error is lower is blended, realize the effective position flown outside unmanned plane room, and the autonomous flight of unmanned plane is realized according to calculated optimal path, the range for expanding environment measuring avoids the monitoring dead angle during cruise；And can be by posture analytical Calculation, the integral of speed and other more data integrations, and pass through the correction of the first GPS module, unmanned plane is realized in outdoor accurate positionin, to provide the control basis of outdoor flight for unmanned plane inspection；Different classes of barrier can be detected simultaneously and with different detection modes by the realization of different sensors, avoid unmanned plane and aerial barrage object from colliding, guarantee unmanned plane and aerial object safety, reduce and lose.
Description
Technical field
The present invention relates to environmental monitoring technology field, more particularly to a kind of ecological environment based on unmanned plane is auxiliary
Help supervisory systems.
Background technique
Unmanned plane overcomes the supervision such as artificial, video, monitoring station to exist because it can fast and efficiently be monitored in real time
Data supporting it is insufficient the problems such as, be increasingly widely used in environment protection field monitor and prevent and treat, have broad application prospects.
But there are scope of investigation the problems such as dead angle, avoiding barrier ability is poor in current unmanned plane application.
Therefore, how a kind of ecology based on unmanned plane for improving avoiding barrier ability and expanding scope of investigation is provided
The problem of environment assists supervisory systems to be those skilled in the art's urgent need to resolve.
Summary of the invention
In view of this, the present invention provides a kind of, the ecological environment based on unmanned plane assists supervisory systems, can not only be quasi-
It determines position, and the optimal route of cruise can be calculated, expand the range of environment measuring, avoid the monitoring during cruise
Dead angle, while the present invention can flexibly control direction and the speed of unmanned plane cruise according to peripheral obstacle, improve working efficiency.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of ecological environment auxiliary supervisory systems based on unmanned plane, including the centre of location, unmanned plane control device, the end PC
Control device and wireless communication system, the centre of location telecommunications connects the end PC control device, and the unmanned plane manipulates
Device connects the end PC control device by the wireless communication system telecommunications；
Wherein, the unmanned plane control device includes video camera, intelligent barrier avoiding device and unmanned controller, and the camera shooting
Machine connects the unmanned controller with the equal telecommunications of intelligent barrier avoiding device, thus the unmanned controller can receive it is described
The ecological environment image of video camera shooting, to understand the ecological environment situation of unmanned plane position in time, meanwhile, the nothing
Man-machine remote controler receives obstacle information collected in the intelligent barrier avoiding device, and flexible according to the received obstacle information of institute
The direction and speed that unmanned plane advances are controlled, so as to effectively meet an urgent need, avoids unmanned plane and aerial barrage object from colliding, guarantees nothing
Man-machine and aerial object is safe, reduces loss, improves work efficiency simultaneously；
The end PC control device includes cruise locator and real-time tracking device, and the cruise locator includes that inertia is led
Boat system module, the first GPS module and strapdown inertial navigation system module, and the inertial navigation system module passes through the nothing
Line communication system telecommunications connects the unmanned controller, and the input terminal telecommunications of the strapdown inertial navigation system module connects institute
State inertial navigation system module, and the unmanned controller connected by the wireless communication system telecommunications, output end with
The first GPS module telecommunications connection, so that the present invention realizes the cruise locator and institute by the wireless communication system
State the communication interaction between the unmanned controller in unmanned plane control device, and the present invention by inertial navigation and
The algorithm that GPS is combined is big by feature and GPS positioning range with high accuracy in inertial navigation short distance but fluctuating error is lower
Feature blends, and realizes the effective position flown outside unmanned plane room, and realize oneself of unmanned plane according to calculated optimal path
Main flight expands the range of environment measuring, avoids the monitoring dead angle during cruise, while the present invention establishes strap down inertial navigation and leads
Navigate system module, so as to pass through posture analytical Calculation, the integral of speed and other more data integrations, and passes through first
The correction of GPS module realizes unmanned plane in outdoor accurate positionin, to provide the control base of outdoor flight for unmanned plane inspection
Plinth；
The real-time tracking device connects the unmanned controller by the wireless communication system telecommunications, and described real-time
Tracker telecommunications connect the centre of location, so that the present invention realizes the real-time tracking by the wireless communication system
The communication interaction between the unmanned controller in device and the unmanned plane control device, and the real-time tracking device with
Centre of location telecommunications connection still can be in institute so as to manually with unmanned plane in farther away situation
It states and is accurately positioned in the control device of the end PC, provided conveniently further to reconnoitre suspicious points.
Preferably, the intelligent barrier avoiding device includes that position sensor, velocity sensor, laser sensor and infrared obstacle avoidance pass
Sensor so that the present invention comprehensive can detect aerial barrier, and can be realized by different sensors with not
Different classes of barrier is detected with detection mode, improves the safety of unmanned plane during flying.
Preferably, the unmanned controller includes microprocessor and image storage unit device, the microprocessor difference
Telecommunications connects the position sensor, the velocity sensor, the laser sensor and the IR evading obstacle sensors, described
Microprocessor can receive the position sensor, the velocity sensor, the laser sensor respectively and described infrared keep away
Hinder the information of barrier detected by sensor, so that information of the microprocessor based on the received in each sensor is led in real time
Cross the servo motor of miniature Frequency Converter Control unmanned plane, and then the Serve Motor Control universal rotational axis, the universal rotational
Axis drives universal rotational wheel to move ahead and turn to, that is to say, that the microprocessor changes according to each sensor information received
The output frequency of the miniature frequency converter, thus change the frequency of servo motor input voltage by the miniature frequency converter, into
And control speed and the direction of unmanned plane advance；
Described image storage unit device telecommunications connects the video camera, thus the ecological environment image of video camera shooting
It is sent in the described image storage unit device in the microprocessor, understands unmanned plane position in time convenient for staff
Ecological environment situation.
Preferably, the microprocessor includes unmanned aerial vehicle (UAV) control module, induction information reception memory module and target flight
Region setup unit, and the unmanned aerial vehicle (UAV) control module and the induction information receive memory module and distinguish described in telecommunications connects
Position sensor, the velocity sensor, the laser sensor and the IR evading obstacle sensors, thus the position sensing
The transmission of obstacle information detected by device, the velocity sensor, the laser sensor and the IR evading obstacle sensors
To the unmanned aerial vehicle (UAV) control module of the micro process, the unmanned aerial vehicle (UAV) control module information in each sensor based on the received
The direction of real-time control unmanned plane during flying and speed (the i.e. described unmanned aerial vehicle (UAV) control module information in each sensor based on the received
In real time by the servo motor of miniature Frequency Converter Control unmanned plane, and then the Serve Motor Control universal rotational axis, described ten thousand
Universal rotational wheel is driven to move ahead and turn to rotation axis, that is to say, that the unmanned aerial vehicle (UAV) control module is according to each biography received
Sensor information changes the output frequency of the miniature frequency converter, to change servo motor input electricity by the miniature frequency converter
The frequency of pressure, and then control speed and direction that unmanned plane advances), while the induction information receives memory module and receives respectively
Barrier detected by the position sensor, the velocity sensor, the laser sensor and the IR evading obstacle sensors
Hinder object information and stored, determines unmanned plane pre-set flight starting point to unmanned plane by target flight region setup unit
Target flight region between default landing terminal, to provide the flight basis of outdoor flight for unmanned plane inspection.
Preferably, target flight region setup unit connects the inertia by the wireless communication system telecommunications and leads
Navigate system module, flies so that the inertial navigation system module receives the target determined in the setup unit of the target flight region
Row region, and the optimal path between two o'clock is tentatively searched out under conditions of meeting flight constraints by A* algorithm, then pass through
Ant group algorithm, optimal path cost between the two o'clock tentatively searched out based on A* algorithm, is found out under more inspection target conditions, full
The final optimal flight path of sufficient unmanned plane during flying constraint, expands the range of environment measuring, avoids the prison during cruise
Surveying dead angle has good simulated effect through examining；And the unmanned aerial vehicle (UAV) control module passes through the wireless communication system telecommunications
The input terminal of the strapdown inertial navigation system module is connected, so that the strapdown inertial navigation system module can be according to described
The direction of the controlled unmanned plane during flying of unmanned aerial vehicle (UAV) control module and speed carry out posture analytical Calculation, the integral of speed and more
Other data integrations, and pass through the correction of the first GPS module, the outdoor positioning of unmanned plane is realized, to mention for unmanned plane inspection
For the control basis of outdoor flight.
Preferably, the real-time tracking device includes the second GPS module, ZigBee module, wireless ethernet module and GPRS
Module.
Preferably, the centre of location includes anchor node, wireless ethernet AP and remote server, and the anchor node without
Line connects the ZigBee module, the wireless ethernet AP is wirelessly connected the wireless ethernet module, the remote service
Device is wirelessly connected the GPRS module, so that the ZigBee module and the anchor node constitute ZigBee-network, it is described wireless
Ethernet AP and the wireless ethernet module composition wireless ethernet network, the remote server and the GPRS module form
GPRS network, thus by laying multiple network, it is ensured that unmanned plane and centre of location moment keep precise positioning.
Preferably, the ZigBee module includes CC243X series wireless communication chips.
Preferably, the wireless communication system includes including Wifi transmission unit, ZigBee transmission unit, wireless ethernet
One or more of unit and GPRS unit, convenient for keeping communication unimpeded in a variety of ground point moment.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides one kind to be based on unmanned plane
Ecological environment assist supervisory systems, following technical effect may be implemented:
1, the algorithm that the present invention is combined by inertial navigation and GPS, by feature with high accuracy in inertial navigation short distance
Big but lower fluctuating error feature blends with GPS positioning range, the effective position flown outside realization unmanned plane room, and according to
Calculated optimal path realizes the autonomous flight of unmanned plane, expands the range of environment measuring, avoids the prison during cruise
Survey dead angle；
2, the present invention establishes strapdown inertial navigation system module, so as to pass through posture analytical Calculation, the integral of speed
And other more data integrations, and pass through the correction of the first GPS module, unmanned plane is realized in outdoor accurate positionin, to be
Unmanned plane inspection provides the control basis of outdoor flight
3, the present invention comprehensive can detect aerial barrier by intelligent barrier avoiding device, and can be by different
Sensor realization detects different classes of barrier with different detection modes, avoids unmanned plane and aerial barrage object from colliding, protects
Unmanned plane and aerial object safety are demonstrate,proved, loss is reduced；
4, the present invention can be connect by real-time tracking device with centre of location telecommunications, so as to it is artificial and nobody
Machine still can be accurately positioned in farther away situation in the control device of the end PC, further to reconnoitre suspicious points provider
Just.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is the structure principle chart that a kind of ecological environment based on unmanned plane of the present invention assists supervisory systems.
Specific embodiment
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 description, 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 every other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of, and the ecological environment based on unmanned plane assists supervisory systems, can not only be accurately positioned, and
And the optimal route of cruise can be calculated, expand the range of environment measuring, avoids the monitoring dead angle during cruise, simultaneously
The present invention can flexibly control direction and the speed of unmanned plane cruise according to peripheral obstacle, improve working efficiency.
The ecological environment auxiliary supervisory systems based on unmanned plane that the embodiment of the invention discloses a kind of, including the centre of location 1,
Unmanned plane control device 2, the end PC control device 3 and wireless communication system 4,1 telecommunications of the centre of location connect the end PC control device 3,
And 4 telecommunications of system connects the end PC control device 3 to unmanned plane control device 2 by wireless communication；
Wherein, unmanned plane control device 2 includes video camera 21, intelligent barrier avoiding device 22 and unmanned controller 23, and is imaged
Machine 21 connects unmanned controller 23 with the equal telecommunications of intelligent barrier avoiding device 22；
The end PC control device 3 includes cruise locator 31 and real-time tracking device 32, and the locator 31 that cruises is led including inertia
Boat system module 311, the first GPS module 312 and strapdown inertial navigation system module 313, and inertial navigation system module 311 is logical
Cross 4 telecommunications of wireless communication system connection unmanned controller 23, the input terminal telecommunications connection of strapdown inertial navigation system module 313
Inertial navigation system module 311, and 4 telecommunications of system connects unmanned controller 23, output end and first by wireless communication
The connection of 312 telecommunications of GPS module, 4 telecommunications of system connects unmanned controller 23 to real-time tracking device 32 by wireless communication, and in real time
32 telecommunications of tracker connect the centre of location 1.
In order to further optimize the above technical scheme, intelligent barrier avoiding device 22 includes position sensor 221, velocity sensor
222, laser sensor 223 and IR evading obstacle sensors 224.
In order to further optimize the above technical scheme, unmanned controller 23 includes microprocessor 24 and image storage unit
Device 25, microprocessor 24 telecommunications link position sensor 221, velocity sensor 222, laser sensor 223 and infrared are kept away respectively
Hinder sensor 224,25 telecommunications of image storage unit device connects video camera 21.
In order to further optimize the above technical scheme, microprocessor 24 connects including unmanned aerial vehicle (UAV) control module 241, induction information
Memory module 242 and target flight region setup unit 243 are received, and unmanned aerial vehicle (UAV) control module 241 and induction information receive storage
Module 242 distinguishes telecommunications link position sensor 221, velocity sensor 222, laser sensor 223 and infrared obstacle avoidance sensing
Device 224.
In order to further optimize the above technical scheme, which is characterized in that target flight region setup unit 243 passes through wireless
4 telecommunications of communication system connects inertial navigation system module 311, and 4 telecommunications of system connects unmanned aerial vehicle (UAV) control module 241 by wireless communication
Connect the input terminal of strapdown inertial navigation system module 313.
In order to further optimize the above technical scheme, real-time tracking device 32 includes the second GPS module 321, ZigBee module
322, wireless ethernet module 323 and GPRS module 324.
In order to further optimize the above technical scheme, the centre of location 1 includes anchor node 11, wireless ethernet AP12 and long-range
Server 13, and anchor node 11 is wirelessly connected ZigBee module 322, wireless ethernet AP12 is wirelessly connected wireless ethernet module
323, remote server 13 is wirelessly connected GPRS module 324.
In order to further optimize the above technical scheme, ZigBee module 322 includes CC24X series wireless communication chips.
In order to further optimize the above technical scheme, wireless communication system 4 includes passing including Wifi transmission unit, ZigBee
One or more of defeated unit, wireless ethernet unit and GPRS unit
Embodiment:
Working principle of the present invention is as follows:
The ecological environment auxiliary supervisory systems based on unmanned plane that the embodiment of the invention discloses a kind of, including the centre of location 1,
Unmanned plane control device 2, the end PC control device 3 and wireless communication system 4,1 telecommunications of the centre of location connect the end PC control device 3,
And 4 telecommunications of system connects the end PC control device 3 to unmanned plane control device 2 by wireless communication；
Wherein, unmanned plane control device 2 includes video camera 21, intelligent barrier avoiding device 22 and unmanned controller 23；Intelligence is kept away
Hindering device 22 includes position sensor 221, velocity sensor 222, laser sensor 223 and IR evading obstacle sensors 224；Unmanned plane
Remote controler 23 includes microprocessor 24 and image storage unit device 25；Microprocessor 24 includes unmanned aerial vehicle (UAV) control module 241, induction
Information receives memory module 242 and target flight region setup unit 243；
The end PC control device 3 includes cruise locator 31 and real-time tracking device 32；And cruise locator 31 is led including inertia
Boat system module 311, the first GPS module 312 and strapdown inertial navigation system module 313；Real-time tracking device 32 includes the 2nd GPS
Module 321, ZigBee module 322, wireless ethernet module 323 and GPRS module 324；
The centre of location 1 includes anchor node 11, wireless ethernet AP12 and remote server 13, and anchor node 11 is wirelessly connected
ZigBee module 322, wireless ethernet AP12 are wirelessly connected wireless ethernet module 323, and remote server 13 is wirelessly connected
GPRS module 324；
Wherein, image storage unit device 25 is connect with 21 telecommunications of video camera, and video camera 21 is by the ecological environment image of shooting
It is sent to the storage of image storage unit device 25, understands the ecological environment situation of unmanned plane position in time convenient for staff；
Unmanned aerial vehicle (UAV) control module 241 and induction information receive memory module 242 and distinguish telecommunications link position sensor
221, velocity sensor 222, laser sensor 223 and IR evading obstacle sensors 224, position sensor 221, velocity sensor
222, obstacle information detected by laser sensor 223 and IR evading obstacle sensors 224 is sent to nobody of micro process 24
Machine control module 241, the information real-time control unmanned plane during flying in each sensor based on the received of unmanned aerial vehicle (UAV) control module 241
(i.e. information of the unmanned aerial vehicle (UAV) control module 241 based on the received in each sensor passes through miniature frequency converter control in real time for direction and speed
The servo motor of unmanned plane processed, and then Serve Motor Control universal rotational axis, universal rotational axis drive universal rotational wheel move ahead and
It turns to, that is to say, that unmanned aerial vehicle (UAV) control module 241 changes the defeated of the miniature frequency converter according to each sensor information received
Frequency out to change the frequency of servo motor input voltage by miniature frequency converter, and then controls the speed that unmanned plane advances
And direction)；
Meanwhile induction information receive memory module 242 distinguish telecommunications link position sensor 221, velocity sensor 222,
Laser sensor 223 and IR evading obstacle sensors 224, so that induction information receives memory module 242 receives position sensing respectively
Obstacle information detected by device 221, velocity sensor 222, laser sensor 223 and IR evading obstacle sensors 224 is gone forward side by side
Row storage；
4 telecommunications of system connects inertial navigation system module 311 to target flight region setup unit 243 by wireless communication,
The input terminal telecommunications of strapdown inertial navigation system module 313 connects inertial navigation system module 311, and is by wireless communication
4 telecommunications of uniting connect unmanned aerial vehicle (UAV) control module 241, and output end is connect with 312 telecommunications of the first GPS module, to pass through target flight
Region setup unit 243 determines that unmanned plane pre-set flight starting point to unmanned plane presets the target flight region between landing terminal,
And inertial navigation system module 311 receives the target flight region determined in target flight region setup unit 243, and passes through
A* algorithm tentatively searches out the optimal path between two o'clock under conditions of meeting flight constraints, then by ant group algorithm, is based on
Optimal path cost between the two o'clock that A* algorithm tentatively searches out finds out under more inspection target conditions, meets unmanned plane during flying
The final optimal flight path of constraint, expands the range of environment measuring, avoids the monitoring dead angle during cruise, and nothing
Human-machine Control module 241 by wireless communication 4 telecommunications of system connection strapdown inertial navigation system module 313 input terminal, thus
Strapdown inertial navigation system module 313 can control direction and the speed of unmanned plane during flying according to unmanned aerial vehicle (UAV) control module 241, into
Row posture analytical Calculation, the integral of speed and other more data integrations, and pass through the correction of the first GPS module 312, realize nothing
Man-machine outdoor positioning, to provide the control basis of outdoor flight for unmanned plane inspection.
Anchor node 11 is wirelessly connected ZigBee module 322, wireless ethernet AP12 is wirelessly connected wireless ethernet module
323, remote server 13 is wirelessly connected GPRS module 324, thus by laying between the centre of location 1 and real-time tracking device 32
Multiple network, it is ensured that unmanned plane and 1 moment of the centre of location keep precise positioning, so as to manually with unmanned plane apart from farther out
In the case where, it still can be accurately positioned in the end PC control device 3, be provided conveniently further to reconnoitre suspicious points.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (9)
1. a kind of ecological environment based on unmanned plane assists supervisory systems, which is characterized in that including the centre of location (1), unmanned plane
Control device (2), the end PC control device (3) and wireless communication system (4), the centre of location (1) telecommunications connect the end PC
Control device (3), and the unmanned plane control device (2) connects the end PC by the wireless communication system (4) telecommunications and grasps
It controls device (3)；
Wherein, the unmanned plane control device (2) includes video camera (21), intelligent barrier avoiding device (22) and unmanned controller
(23), and the video camera (21) and the intelligent barrier avoiding device (22) telecommunications connect the unmanned controller (23)；
The end PC control device (3) includes cruise locator (31) and real-time tracking device (32), and the cruise locator
It (31) include inertial navigation system module (311), the first GPS module (312) and strapdown inertial navigation system module (313), and
The inertial navigation system module (311) connects the unmanned controller (23) by the wireless communication system (4) telecommunications,
The input terminal telecommunications of the strapdown inertial navigation system module (313) connects the inertial navigation system module (311), and leads to
It crosses the wireless communication system (4) telecommunications and connects the unmanned controller (23), output end and first GPS module
(312) telecommunications connects, and the real-time tracking device (32) connects the no-manned machine distant control by the wireless communication system (4) telecommunications
Device (23), and real-time tracking device (32) telecommunications connect the centre of location (1).
2. a kind of ecological environment based on unmanned plane according to claim 1 assists supervisory systems, which is characterized in that described
Intelligent barrier avoiding device (22) includes that position sensor (221), velocity sensor (222), laser sensor (223) and infrared obstacle avoidance pass
Sensor (224).
3. a kind of ecological environment based on unmanned plane according to claim 2 assists supervisory systems, which is characterized in that described
Unmanned controller (23) includes microprocessor (24) and image storage unit device (25), microprocessor (24) the difference telecommunications
Connect the position sensor (221), the velocity sensor (222), the laser sensor (223) and the infrared obstacle avoidance
Sensor (224), described image storage unit device (25) telecommunications connect the video camera (21).
4. a kind of ecological environment based on unmanned plane according to claim 3 assists supervisory systems, which is characterized in that described
Microprocessor (24) includes unmanned aerial vehicle (UAV) control module (241), induction information receives memory module (242) and target flight region is set
Order member (243), and the unmanned aerial vehicle (UAV) control module (241) and the induction information receive memory module (242) and distinguish electricity
Letter connects the position sensor (221), the velocity sensor (222), the laser sensor (223) and described infrared keeps away
Hinder sensor (224).
5. a kind of ecological environment based on unmanned plane according to claim 4 assists supervisory systems, which is characterized in that described
Unmanned aerial vehicle (UAV) control module (241) connects the inertial navigation system module (311) by the wireless communication system (4) telecommunications,
The induction information receives memory module (242) and connects the strap-down inertial by the wireless communication system (4) telecommunications
The input terminal of system module (313).
6. a kind of ecological environment based on unmanned plane according to claim 1 assists supervisory systems, which is characterized in that described
Real-time tracking device (32) includes the second GPS module (321), ZigBee module (322), wireless ethernet module (323) and GPRS
Module (324).
7. a kind of ecological environment based on unmanned plane according to claim 6 assists supervisory systems, which is characterized in that described
The centre of location (1) includes anchor node (11), wireless ethernet AP (12) and remote server (13), and the anchor node (11) nothing
Line connects the ZigBee module (322), the wireless ethernet AP (12) is wirelessly connected the wireless ethernet module
(323), the remote server (13) is wirelessly connected the GPRS module (324).
8. a kind of ecological environment based on unmanned plane according to claim 6 assists supervisory systems, which is characterized in that described
ZigBee module (322) includes CC24X series wireless communication chips.
9. a kind of ecological environment based on unmanned plane according to claim 1 assists supervisory systems, which is characterized in that described
Wireless communication system (4) includes including in Wifi transmission unit, ZigBee transmission unit, wireless ethernet unit and GPRS unit
One or more.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN113168776A (en) * | 2019-10-09 | 2021-07-23 | 乐天集团股份有限公司 | Processing system, unmanned aerial vehicle and flight path determination method |
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