CN206532426U - A kind of aircraft DAS (Driver Assistant System) - Google Patents
A kind of aircraft DAS (Driver Assistant System) Download PDFInfo
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- CN206532426U CN206532426U CN201720190264.7U CN201720190264U CN206532426U CN 206532426 U CN206532426 U CN 206532426U CN 201720190264 U CN201720190264 U CN 201720190264U CN 206532426 U CN206532426 U CN 206532426U
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Abstract
The utility model is related to a kind of aircraft DAS (Driver Assistant System), including：Aircraft auxiliary driving device and monitoring device；Aircraft auxiliary driving device includes：Communication module, state acquisition module and state adjusting module；State acquisition module is used to gather the current state of flight information of aircraft；Wherein, state of flight information includes the current position coordinates of aircraft；Monitoring device is used for according to the position coordinates, the distance between calculating aircraft and no-fly region；State adjusting module is used for when distance is less than the first preset value, the heading of change of flight device.The technical scheme that the utility model embodiment is provided, by the state of flight for gathering aircraft, and by state adjusting module when the state of flight of aircraft occurs abnormal, the state of flight of aircraft is adjusted in time, driven so as to play a part of auxiliary, manual control aircraft flight is avoided, causes aircraft to fly into no-fly region and bring property loss and personal safety hidden danger.
Description
Technical field
The utility model is related to unmanned vehicle technical field, more particularly to a kind of aircraft DAS (Driver Assistant System).
Background technology
In recent years, country graduallyes relax control low altitude airspace to promote navigation industry development and meet public's demand
Control.Meanwhile, with scientific and technological progress, the fast development of national economy and the continuous improvement of living standards of the people, with using low
Aviation Flight Activities based on absolutely empty domain are more and more frequent, and with its distinctive advantage in agricultural, forestry, tourism, physical culture, doctor
The fields such as treatment, exploration, earthquake relief work are played emphatically with effect.
However, as the low-altitude unmanned vehicles such as model airplane, toy models, SUAV more and more enter
Enter low latitude field, the traffic of low altitude airspace becomes increasingly complex, due to managing inadequate specification, corresponding safety measure less than
Position, the hidden danger not only brought to the aerial management in city overhead, low-latitude flying accident also happens occasionally, and causes the serious person
Property loss.Therefore, in order to realize positioning or navigation that low flyer is safe and accurate, low-latitude flying order is maintained, is reduced low
The generation of empty accident, avoid jeopardizing important goal and aerial terrorist activity risk, implement the monitoring of low altitude airspace aircraft,
The inexorable trend developed as blank pipe.
However, the Aeronautical Service security system of China, primarily to ensureing civilian transport aviation and military aviation and building
Vertical.Low latitude field cannot but be paid attention to for a long time, and service assurance system such as communication, navigation, monitoring, develops stagnant necessary to it
Afterwards, scale is less than normal, poor universality, does not form perfect service assurance system.Meanwhile, it is movable in the range of low altitude airspace
Mainly some civil aircrafts, if monitoring cost is too high, these civil aircrafts possibly can not bear, and also influence whether prison
The popularization of viewing system.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of aircraft DAS (Driver Assistant System), to adjustment in time
The state of flight of aircraft.
For this purpose, the utility model proposes a kind of aircraft DAS (Driver Assistant System), including：
Aircraft auxiliary driving device and monitoring device；
The aircraft auxiliary driving device includes：The communication module communicated to connect with the monitoring device, in addition to
The state acquisition module and state adjusting module of the communication module connection；
The state acquisition module is used to gather the current state of flight information of aircraft, and by the state of flight information
Sent by the communication module to the monitoring device；Wherein, the state of flight information includes the current of the aircraft
Position coordinates；
The monitoring device is used for the current position coordinates for receiving the aircraft, and according to the position in the no-fly region prestored
Coordinate is put, the distance between the aircraft and described no-fly region is calculated；
The state adjusting module is used to, when the distance is less than the first preset value, change the flight side of the aircraft
To.
Optionally, the state acquisition module includes GPS module and auxiliary sensing module.
Optionally, the communication module is GPRS module；The GPRS module is used to gather the state acquisition module
State of flight information send to the monitoring device, and the aircraft is positioned when the GPS module fails.
Optionally, the auxiliary sensing module includes：Barometric pressure sensor, gyroscope, electronic compass and energy measurement
At least one of sensor；Wherein, the barometric pressure sensor is used for the flying height for measuring the aircraft in real time；Institute
State the acceleration that gyroscope is used to measure the aircraft in real time；The electronic compass is used to measure flying for the aircraft in real time
Line direction；The energy measurement sensor is used for the Energy Expenditure Levels for measuring the aircraft in real time.
Optionally, flying speed and heading of the state of flight information also including the aircraft.
Optionally, the aircraft auxiliary driving device also includes：Energy supply control module, the energy supply control module connection
The aircraft；The energy supply control module, for being more than the when the distance is less than the first preset value and the flying speed
During two preset values, the working power of the aircraft is closed.
Optionally, the state adjusting module is additionally operable to when the flying speed of the aircraft is more than three preset values,
Reduce the flying speed of the aircraft.
Optionally, the aircraft auxiliary driving device also includes：Power transfer module, the power transfer module connection
Other modules in the aircraft auxiliary driving device；The power transfer module is used to drive for aircraft auxiliary
Other modules sailed in device are powered.
Optionally, the aircraft auxiliary driving device also includes：Microprocessor, the microprocessor connects the flight
Modules in device auxiliary driving device；The power transfer module is that aircraft auxiliary is driven by the microprocessor
The modules sailed in device are powered.
Optionally, the microprocessor connects the communication module, state acquisition module and state adjusting module respectively；Institute
Microprocessor is stated to send the state of flight information that the state acquisition module is gathered to the monitoring by the communication module
Equipment；The monitoring device is calculated the obtained distance by the communication module and sent to the shape by the microprocessor
State adjusting module.
The aircraft DAS (Driver Assistant System) that the utility model embodiment is provided, aircraft is gathered by state acquisition module
State of flight, and by state adjusting module when the state of flight of aircraft occurs abnormal (as close to no-fly region), in time
Adjust the state of flight of aircraft, driven so as to play a part of auxiliary, it is to avoid manual control aircraft flight, due to and
When adjust aircraft state of flight, cause aircraft to fly into no-fly region and bring property loss and personal safety hidden danger.
Brief description of the drawings
Feature and advantage of the present utility model can be more clearly understood from by reference to accompanying drawing, accompanying drawing be it is schematical without
It is interpreted as carrying out any limitation to the utility model, in the accompanying drawings：
The block schematic illustration for the aircraft DAS (Driver Assistant System) that Fig. 1 provides for the utility model embodiment；
The workflow schematic diagram for the aircraft DAS (Driver Assistant System) that Fig. 2 provides for the utility model embodiment；
The block schematic illustration for the aircraft auxiliary driving device that Fig. 3 provides for another embodiment of the utility model；
Fig. 4 is the schematic flow sheet that the utility model embodiment GPS module and GPRS module positioning function switch.
Fig. 5 is the schematic flow sheet that the utility model embodiment handles the abnormal state of flight of aircraft.
Embodiment
Embodiment of the present utility model is described in detail below in conjunction with accompanying drawing.
As shown in figure 1, the utility model embodiment provides a kind of aircraft DAS (Driver Assistant System), including：
Aircraft auxiliary driving device 1 and monitoring device 2；
The aircraft auxiliary driving device 1 includes：The communication module 12 communicated to connect with the monitoring device 2, is also wrapped
Include the state acquisition module 11 being connected with the communication module 12 and state adjusting module 13；
The state acquisition module 11 is used to gather the current state of flight information of aircraft, and the state of flight is believed
Breath is sent to the monitoring device 2 by the communication module 12；Wherein, the state of flight information includes the aircraft
Current position coordinates；
The monitoring device 2 is used for the current position coordinates for receiving the aircraft, and according to the no-fly region prestored
Position coordinates, calculates the distance between the aircraft and described no-fly region；
The state adjusting module 13 is used to, when the distance is less than the first preset value, change the flight of the aircraft
Direction.
It should be noted that monitoring device 2 is calculated and flown according to the position coordinates of aircraft and the position coordinates in no-fly region
The distance between row device and no-fly region can realize improvement of the present utility model be not intended to how to count using prior art
Calculate the distance between aircraft and no-fly region, for example, just can be according to seat between the two by common calculator
Mark calculates distance between the two, so monitoring device 2 is according to aircraft and the position coordinates in no-fly region, calculating aircraft
It can be realized with the distance between no-fly region using prior art, be not belonging to inventive point of the present utility model.
In a kind of the utility model embodiment, the workflow of the aircraft DAS (Driver Assistant System) is as shown in Fig. 2 flight
Device auxiliary driving device is initialized, and the state acquisition module 11 of aircraft auxiliary driving device side gathers the flight of aircraft currently
Status information, and the state of flight information of collection is sent to monitoring device 2 by communication module 12；Wherein, flight shape
State information includes the current position coordinates of aircraft, and the information such as the flying speed of aircraft can also be included as needed；Monitoring
Equipment 2 receives state of flight information, that is, receives the current position coordinates of aircraft, and monitoring device 2 is carried out to state of flight information
Storage and processing, i.e., according to the position coordinates in the no-fly region prestored in its memory, calculate aircraft and no-fly region
The distance between；Processing information is that the distance that calculating is obtained is sent to state adjustment mould by communication module 12 by monitoring device 2
Block 13；Normally whether state adjusting module 13, which is received, calculates obtained distance, judge the state of aircraft (such as whether close to no-fly
Region), when distance is less than the first preset value, the heading that state adjusting module 13 changes the aircraft (is carried out different
Often processing).Wherein it is possible to by existing comparison circuit, judge whether the distance between aircraft and no-fly region are less than
First preset value, when distance is less than the first preset value, represents that aircraft close to no-fly region, then needs the flight of change of flight device
Direction, such as makes a return voyage or air crash.The aircraft nobody can fly for low latitudes such as model airplane, toy models or SUAVs
Row device.
The aircraft DAS (Driver Assistant System) that the utility model embodiment is provided, aircraft is gathered by state acquisition module
State of flight, and by state adjusting module when the state of flight of aircraft occurs abnormal (as close to no-fly region), in time
Adjust the state of flight of aircraft, driven so as to play a part of auxiliary, it is to avoid manual control aircraft flight, due to and
When adjust aircraft state of flight, cause aircraft to fly into no-fly region and bring property loss and personal safety hidden danger.
On the basis of above-described embodiment, as shown in figure 3, the state acquisition module 11 includes GPS (Global
Positioning System, global positioning system) module 111 and auxiliary sensing module 112.Wherein, aircraft auxiliary drives
Device be may be mounted in aircraft, and GPS module 111 can be positioned to aircraft, in real time the three-dimensional position of collection aircraft
Put coordinate.It is preferred that, the auxiliary sensing module 112 includes：Barometric pressure sensor, gyroscope, electronic compass and it can measure
At least one of quantity sensor；Wherein, the barometric pressure sensor is used for the flying height for measuring the aircraft in real time；
The gyroscope is used to measure the acceleration of the aircraft in real time to adjust the flying speed of aircraft in time；The electronics
Compass is used for the heading for measuring the aircraft in real time, so as to the course of timely change of flight device；It is described to measure
Quantity sensor is used for the Energy Expenditure Levels for measuring the aircraft in real time, to carry out energy supplement in time.
It is preferred that, the state of flight information that the state acquisition module 11 is gathered also includes the flight of the aircraft
Speed and heading.
On the basis of above-described embodiment, the communication module 12 in the aircraft auxiliary driving device that the utility model is provided
For GPRS (General Packet Radio Service, GPRS) module, the GPRS module is used for will
The state of flight information that the state acquisition module 11 is gathered is sent to the monitoring device 2, and is lost in the GPS module 111
The aircraft is positioned during effect.It should be noted that generally being obtained using GPS module 111 and auxiliary sensing module 112
The state of flight information of aircraft, state of flight information is sent to monitoring device 2, stored by monitoring device 2 by GPRS module
The state of flight information of aircraft is monitored, and user can check the state of flight information of aircraft by monitoring device 2.But
When gps signal is unstable, represents that GPS module 111 fails, automatically switch to and aircraft is positioned using GPRS module,
The state of flight information of aircraft is obtained by GPRS module and auxiliary sensing module 112.The judgement whether good to gps signal be
Depending on the effective number of satellite received with GPS module 111, it is generally the case that effective satellite number that GPS module 111 is received
When amount is more than 5, it is considered as realizing and is accurately positioned.Aircraft in flight course, if gps signal because by region or its
The influence of its factor such as mountain area, building or gps signal blind area, cause the useful signal satellite received by GPS module 111 to interrupt
Or jitter, aircraft auxiliary driving device will be automatically switched to obtains winged with GPRS module and auxiliary sensing module 112
The state of flight of row device, when effective satellite-signal received by GPS module 111 returns to normal condition, flight alarm dress
GPS module 111 will be automatically switched to and auxiliary sensing module 112 obtains the state of flight information of aircraft by putting, and handling process can
With as shown in Figure 4.
On the basis of above-described embodiment, as shown in figure 3, the row device auxiliary driving device that the utility model embodiment is provided
Also include：Energy supply control module 15, the energy supply control module 15 connects the aircraft；The energy supply control module 15, is used
In when the distance is less than the first preset value and the flying speed is more than the second preset value, the work of the aircraft is closed
Power supply.
It should be noted that the energy supply control module 15 connects aircraft, the working power for controlling aircraft.When winged
When the distance between row device and no-fly region are less than the first preset value, aircraft is represented close to no-fly region, and if now flown
Scanning frequency degree is more than the second preset value, then it represents that aircraft speed is too fast to be had little time to make a return voyage, it is necessary to do air crash in no-fly edges of regions
Processing, at this point it is possible to close the working power of aircraft by energy supply control module 15, makes aircraft lose energy and air crash,
Avoid swarming into no-fly region and having serious consequences.For example, energy supply control module 15 meet at the same time two conditions (1, away from
Be more than the second preset value from less than first default 2, flying speed) when, close aircraft working power, can using it is existing with
OR-NOT circuit is realized.
On the basis of above-described embodiment, the state adjusting module 13 is additionally operable to when the flying speed of the aircraft is big
When three preset values, the flying speed of the aircraft is reduced.It should be noted that when vehicle flight speeds are more than the 3rd
Preset value, represents that aircraft occurs in that hypervelocity phenomenon, then can carry out deceleration processing, the set speed until reaching.Wherein, may be used
By existing comparison circuit, to judge whether the flying speed of aircraft is more than the 3rd preset value.
For example, when the state of flight of aircraft occurs abnormal, it can be handled by handling process as shown in Figure 5
Anomalous event.Specifically, close to no-fly regional processing event and hypervelocity processing event, wherein, close to no-fly regional processing event
Priority be higher than hypervelocity processing event, once aircraft apart from no-fly region distance close to setting distance, it is necessary to it is vertical
Operation of making a return voyage is performed, such as because excessive velocities have little time to make a return voyage, it is necessary to do air crash processing in no-fly area edge and (disconnect aircraft
Working power), it is to avoid swarm into no-fly zone and bring serious consequence.Specifically workflow is：Into after anomalous event processing,
It is first determined whether close to no-fly region, if close to no-fly region, into processing event of making a return voyage, then judging whether to make a return voyage
Success, if it fails, cutting off the working power of aircraft by energy supply control module 15, aircraft is fallen because losing the energy
Machine processing, if making a return voyage success, just obtains the state of flight information of aircraft again；If aircraft is not close to no-fly zone
Domain, is put into hypervelocity processing event, carries out reduction of speed；During reduction of speed is carried out, judge whether close to no-fly region, if connecing
Closely, into processing event of making a return voyage；If speed reaches set speed, the state of flight information of aircraft is just obtained again, if
Speed is not reaching to set speed, hypervelocity processing is just again introduced into, until reaching set speed.
On the basis of above-described embodiment, as shown in figure 3, the aircraft auxiliary that the utility model embodiment is provided drives dress
Putting also includes：Power transfer module 16, the power transfer module 16 connects other in the aircraft auxiliary driving device
Modules；The power transfer module 16 is used to power for other modules in the aircraft auxiliary driving device.
Specifically, power transfer module 16 is connected with other each modules in aircraft auxiliary driving device, can be by externally fed electricity
Source is converted to different voltage class, for example, external power source is converted into 3.3V voltages for microprocessor 14, energy supply control module
15 and state adjusting module 13 power, external power source be converted into 5V voltages for GPS module 111, GPRS module and auxiliary pass
Sense module 112 is powered.
It is preferred that, as shown in figure 3, the aircraft auxiliary driving device also includes：Microprocessor 14, the microprocessor
Modules in the 14 connection aircraft auxiliary driving devices；The power transfer module 16 passes through the microprocessor 14
Powered for the modules in the aircraft auxiliary driving device, for example including：Communication module 12, state acquisition module 11,
State adjusting module 13, energy supply control module 15 etc..
Wherein, as shown in figure 3, the microprocessor 14 connects the communication module 12, the and of state acquisition module 11 respectively
State adjusting module 13；The flight that the microprocessor 14 is gathered the state acquisition module 11 by the communication module 12
Status information is sent to the monitoring device 2；The microprocessor 14 is counted the monitoring device 2 by the communication module 12
The obtained distance is sent to the state adjusting module 13.
It should be noted that if being related to computer program and corresponding method is in the utility model embodiment
The method for directly applying existing comparative maturity is realized, the improvement of the methods such as computer program is not related to, and such as this practicality is new
The methods such as the distance calculating that may relate in type embodiment can be realized by existing method.
Finally it should be noted that herein, such as first and second or the like relational terms are used merely to one
Individual entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operate it
Between there is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Cover including for nonexcludability, so that process, method, article or equipment including a series of key elements not only include those
Key element, but also other key elements including being not expressly set out, or also include for this process, method, article or set
Standby intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there is other identical element in the process including the key element, method, article or equipment.Term " on ", " under " etc.
The orientation or position relationship of instruction are, based on orientation shown in the drawings or position relationship, to be for only for ease of description the utility model
Described with simplifying, rather than indicate or imply that the device or element of meaning there must be specific orientation, with specific orientation structure
Make and operate, therefore it is not intended that to limitation of the present utility model.Unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, on can understanding as the case may be
State concrete meaning of the term in the utility model.
In specification of the present utility model, numerous specific details are set forth.Although it is understood that, it is of the present utility model
Embodiment can be put into practice in the case of these no details.In some instances, be not been shown in detail known method,
Structure and technology, so as not to obscure the understanding of this description.Similarly, it will be appreciated that disclosed to simplify the utility model
And help to understand one or more of each inventive aspect, in description above to exemplary embodiment of the present utility model
In, each feature of the present utility model is grouped together into single embodiment, figure or descriptions thereof sometimes.However, simultaneously
The method of the disclosure should not be explained and be intended in reflection is following：The utility model requirement i.e. claimed is than in each right
It is required that in the more features of feature that are expressly recited.More precisely, as the following claims reflect, inventive aspect
It is all features less than single embodiment disclosed above.Therefore, it then follows claims of embodiment are thus
The embodiment is expressly incorporated in, wherein each claim is in itself as separate embodiments of the present utility model.
Finally it should be noted that：Various embodiments above is only limited to illustrate the technical solution of the utility model, rather than to it
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, or to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type, it all should cover among claim of the present utility model and the scope of specification.
Claims (10)
1. a kind of aircraft DAS (Driver Assistant System), it is characterised in that including：
Aircraft auxiliary driving device and monitoring device；
The aircraft auxiliary driving device includes：With the monitoring device communicate to connect communication module, in addition to it is described
The state acquisition module and state adjusting module of communication module connection；
The state acquisition module is used to gather the current state of flight information of aircraft, and the state of flight information is passed through
The communication module is sent to the monitoring device；Wherein, the state of flight information includes the current location of the aircraft
Coordinate；
The monitoring device is used for the current position coordinates for receiving the aircraft, and is sat according to the position in the no-fly region prestored
Mark, calculates the distance between the aircraft and described no-fly region；
The state adjusting module is used to, when the distance is less than the first preset value, change the heading of the aircraft.
2. system according to claim 1, it is characterised in that the state acquisition module includes GPS module and auxiliary is passed
Feel module.
3. system according to claim 2, it is characterised in that the communication module is GPRS module；The GPRS module
State of flight information for the state acquisition module to be gathered is sent to the monitoring device, and is lost in the GPS module
The aircraft is positioned during effect.
4. system according to claim 2, it is characterised in that the auxiliary sensing module includes：Barometric pressure sensor,
At least one of gyroscope, electronic compass and energy measurement sensor；Wherein, the barometric pressure sensor is used to survey in real time
Measure the flying height of the aircraft；The gyroscope is used for the acceleration for measuring the aircraft in real time；The electronic compass
Heading for measuring the aircraft in real time；The energy measurement sensor is used for the energy for measuring the aircraft in real time
Measure Expenditure Levels.
5. system according to claim 1, it is characterised in that the state of flight information flying also including the aircraft
Scanning frequency degree and heading.
6. system according to claim 5, it is characterised in that the aircraft auxiliary driving device also includes：Power supply control
Molding block, the energy supply control module connects the aircraft；The energy supply control module, for being less than first when the distance
When preset value and the flying speed are more than the second preset value, the working power of the aircraft is closed.
7. system according to claim 5, it is characterised in that
The state adjusting module is additionally operable to, when the flying speed of the aircraft is more than three preset values, reduce the flight
The flying speed of device.
8. system according to claim 1, it is characterised in that the aircraft auxiliary driving device also includes：Power supply turns
Block is changed the mold, the power transfer module connects other modules in the aircraft auxiliary driving device；The power supply turns
Mold changing block is used to power for other modules in the aircraft auxiliary driving device.
9. system according to claim 8, it is characterised in that the aircraft auxiliary driving device also includes：Microprocessor
Device, the microprocessor connects the modules in the aircraft auxiliary driving device；The power transfer module passes through institute
Microprocessor is stated to power for the modules in the aircraft auxiliary driving device.
10. system according to claim 9, it is characterised in that the microprocessor connects the communication module, shape respectively
State acquisition module and state adjusting module；The microprocessor is gathered the state acquisition module by the communication module
State of flight information is sent to the monitoring device；The microprocessor is calculated the monitoring device by the communication module
The obtained distance is sent to the state adjusting module.
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| CN201720190264.7U CN206532426U (en) | 2017-02-28 | 2017-02-28 | A kind of aircraft DAS (Driver Assistant System) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113112873A (en) * | 2021-03-29 | 2021-07-13 | 中琪华安(北京)科技有限公司 | Airspace alarm method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113112873A (en) * | 2021-03-29 | 2021-07-13 | 中琪华安(北京)科技有限公司 | Airspace alarm method and device |
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Effective date of registration: 20220126 Address after: 1107, block a, Nongke building, No. 11, Shuguang garden middle road, Haidian District, Beijing, 100097 Patentee after: Intelligent equipment technology research center of Beijing Academy of agricultural and Forestry Sciences Patentee after: Nongxin Technology (Beijing) Co., Ltd Address before: 100097 318b, block a, agricultural science building, 11 Shuguang Huayuan Middle Road, Haidian District, Beijing Patentee before: NONGXIN TECHNOLOGY (BEIJING) CO.,LTD. |