CN205265924U - Unmanned aerial vehicle - Google Patents

Unmanned aerial vehicle Download PDF

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Publication number
CN205265924U
CN205265924U CN201620008489.1U CN201620008489U CN205265924U CN 205265924 U CN205265924 U CN 205265924U CN 201620008489 U CN201620008489 U CN 201620008489U CN 205265924 U CN205265924 U CN 205265924U
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unmanned vehicle
control
data
network
communication
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CN201620008489.1U
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陈昊
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High domain (Beijing) Intelligent Technology Research Institute Co., Ltd.
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陈昊
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Abstract

The utility model provides an unmanned aerial vehicle, include: rack construction, rack construction include well accuse part and bracket parts, bracket parts contained use in the accuse part as many supports of the centre of symmetry, device control ware and power in the well accuse part, the rotor sets up the end of support, and a rotor setting is on a support to with the motor fixed connection on the support, the application processing ware is manageed unmanned aerial vehicle's task, the communications network controller is connected with the application processing ware, and the control channel that analytically communicates down confirms unmanned aerial vehicle's communications network. That is to say that detecting current network at unmanned aerial vehicle and receiving when disturbing, unmanned aerial vehicle will generate communications network handover request, accomplish the purpose that communications network switches through communicating with the control end, just so can avoid communications network to receive and disturb and lead to unmanned aerial vehicle problem out of control, and then promote unmanned aerial vehicle's control stability and security.

Description

A kind of unmanned vehicle
Technical field
The application relates to unmanned vehicle technical field, relates in particular to a kind of unmanned vehicle.
Background technology
Along with the particularly extensive use of many rotor unmanned aircrafts of unmanned vehicle, unmanned vehicle is with unmannedBetween aircraft control end, the communication of safety has become asking that unmanned vehicle exploitation producer and user be concerned aboutTopic. General point-to-point control, i.e. nothing of a ground control cabinet control of adopting of main flow unmanned vehicle at presentPeople's aircraft, and the control method of unmanned vehicle is limited in visual range substantially to limited controlScope processed is mainly limited by the remote range frequency of unmanned vehicle and the employing of unmanned vehicle control end communication frequencyRate,, all there is bottleneck for over the horizon control and image passback in its transmit power limited. On the other hand, nothingPeople's aircraft control frequency range adopts 2.4GHz frequency range more, and 2.4GHzISM is that the whole world discloses general useRadio band, WLAN, Bluetooth communication, micro-wave oven, wireless phone, wireless camera, outdoor micro-Ripple link, wireless game controller, Zigbee, WiMax etc. are all operated in this frequency range, therefore at 2.4GHzUnder frequency range, control unmanned vehicle and be easily subject to the interference with frequency or adjacent frequency equipment from other electronic equipment, leadCause unmanned vehicle uncontrollable, even the situation such as air crash or loss occurs.
Utility model content
The utility model embodiment provides a kind of unmanned vehicle, and this unmanned vehicle can be according to current logicalThe disturbed situation of communication network is carried out network switching, thereby has ensured between unmanned vehicle and control endCommunication stability.
Its concrete technical scheme is as follows:
A kind of unmanned vehicle, comprising:
Rack construction, described rack construction comprises middle control part and holder part, described holder part comprisesMany the supports taking described middle control part as symmetrical centre, in described middle control part, controller and electricity are setSource;
Rotor, arranges the end of described support, and a rotor is arranged on a support, and with describedMotor on frame is fixedly connected with;
Application processor, is arranged in described middle control part, and the task of unmanned vehicle is dispatched;
Communication network controller, is arranged in described middle control part, is connected with described application processor, analyzesUplink and downlink communication control channel, determines the communication network of described unmanned vehicle.
Optionally, also comprise:
Mobile communication base band and radio frequency processing module, be connected with described application processing module, receives control end and send outThe control signal of the unmanned vehicle sending and command information, and the video data that unmanned vehicle is collected,Voice data, sensing data are sent to control end by mobile communications network;
2.4GHz communication module, is connected with described application processor, sets up 2.4GHz short distance with control endCommunication, and by 2.4GHz communication network receive control end send unmanned vehicle control signal and refer toMake information, and the video data that unmanned vehicle is collected, voice data, sensing data are by mobileCommunication network is sent to control end.
Optionally, also comprise:
Satellite communication controller, is connected with described application processor, sets up the satellite communication between control endConnect transmission of control signals and command information between communication network and control end via satellite.
Optionally, also comprise:
State of flight collector, is connected with described application processor, gathers and record the various of unmanned vehicleSensing data and satellite navigation data, and transfer to control end by the communication network of unmanned vehicle;
Satellite navigation module, is connected with described application processor and described state of flight collector, and collection is defendedStar navigation data, and satellite navigation data is transferred to state of flight collector.
Optionally, also comprise:
Gyroscope, is connected with described state of flight collector, gathers the azimuth information of unmanned vehicle, and willAzimuth information transfers to state of flight collector;
Acceleration sensor, is connected with described state of flight collector, gathers unmanned vehicle on traffic directionSpeed and acceleration, and the speed collecting and acceleration are transferred to state of flight collector;
Gravity sensor, is connected with described state of flight collector, gathers the poor of unmanned vehicle and horizontal planeDifferent value, and described difference value is sent to described state of flight collector.
Optionally, also comprise:
Flight controller, is connected with described application processor, receives the control instruction to unmanned vehicle, readsGet the flight status parameter in state of flight collector, carry out aerial mission according to planning course line;
Automatic obstacle-avoiding processor, is connected with described flight controller, sends to flight controller the barrier request that keeps away.
Optionally, also comprise:
Media Stream processor, is connected with described application processor, and video data or image data are pressedReduce the staff code and process, and the video data of compressed encoding processing and image data are transferred to by communication networkControl end;
Camera, is connected with described Media Stream processor, gathers video data or image data, and will lookAudio data or image data transfer to Media Stream processor.
Optionally, also comprise:
Memory and SD interface, be connected with described application processor, storage unmanned vehicle device data withAnd application data.
Optionally, also comprise:
Client identifies SIM module, is connected with described application processor, and user data is carried out to authentication.
Optionally, also comprise:
Timer, is connected with described application processor, and the control instruction that receives control end is carried out to timing.
In unmanned vehicle provided by the utility model, unmanned vehicle is analyzed by communication network controllerUplink and downlink communication control channel, determines the communication network of described unmanned vehicle. That is to say, fly at nobodyRow device detects when current network is interfered, and unmanned vehicle will generate communication network handover request, pass throughCommunicate with control end the object that communication network switches, so just can avoid communication network to be interferedAnd cause unmanned vehicle problem out of control, and then promote control stability and the security of unmanned vehicle.
In addition, in the utility model, the network handover request next life that control end can be based on unmanned vehicleBecome to switch to confirm instruction, and indicate unmanned vehicle to carry out network switching according to switching confirmation instruction, andSelf also will switch to map network, and having ensured like this to communicate by letter between unmanned vehicle and control end, it is different to occurWhen normal or unstable, by timely handover network, and also control unmanned vehicle and carry out network switching,Control stability and the reliability of unmanned vehicle are ensured like this.
Brief description of the drawings
Fig. 1 is the structural representation of the control section of unmanned vehicle in the utility model embodiment;
Fig. 2 is the structural representation of the control section of control end in the utility model embodiment.
Detailed description of the invention
Embodiment mono-:
The utility model embodiment provides a kind of unmanned vehicle, comprising: rack construction, rack construction bagDraw together middle control part and holder part, holder part has comprised many supports taking middle control part as symmetrical centre,In middle control part, controller and power supply are set; Rotor, arranges the end of support, and a rotor is arranged on oneOn individual support, and be fixedly connected with the motor on support; Application processor, is arranged in middle control part,Task to unmanned vehicle is dispatched; Communication network controller, is arranged in middle control part, with applicationProcessor connects, and analyzes uplink and downlink communication control channel, determines the communication network of unmanned vehicle. NamelySay, in the time that unmanned vehicle detects that current network is interfered, unmanned vehicle is cut generation communication networkChange request, by having communicated with control end the object that communication network switches, so just can avoid communicationNetwork is interfered and causes unmanned vehicle problem out of control, and then the control of lifting unmanned vehicle is stableProperty and security.
Below by accompanying drawing and specific embodiment, technical solutions of the utility model are described in detail, shouldUnderstand, the concrete technical characterictic in the utility model embodiment and embodiment is just to the utility model technologyThe explanation of scheme, instead of limit, in the situation that not conflicting, the utility model embodiment and embodimentIn concrete technical characterictic can mutually combine.
Be illustrated in figure 1 the structural representation of the control section in unmanned vehicle in the utility model embodiment,This control section comprises:
Application processor module 101, as the core processing module of unmanned vehicle, comprising: CPU, RAMInternal memory, operating system and application software. This module is responsible for multi-task scheduling, comprises access application module, nothingThe sensing data of line communication function, memory read/write and unmanned vehicle is processed etc.
Memory and SD interface 102, comprising: SDD hard disk that can fast reading and writing and can insert SD cardMobile read-write equipment, is mainly used in storing unmanned vehicle device data and types of applications data, for example: nothingPeople's aircraft devices code, hardware data, Default Value, video media stream, Flight Condition Data etc.
Mobile communication base band and radio frequency processing module 103, this mobile communication base band and radio frequency processing module 103 are mainTo be formed by 2G/3G/4G wireless communication chips group, be responsible for receiving ground control terminal by mobile communications network and send outThe flight control signal of the unmanned vehicle sending and types of applications layer instruction message gather unmanned plane simultaneouslyVideo, audio frequency, sensing data and other application software information exchanges are crossed mobile communications network and are sent to groundControl end. In the time using mobile communications network as data transmission network, whether control end can be selected real-timeVideo, voice data that passback unmanned plane gathers, and the volume sensing data of unmanned vehicle and control dataCan remain transmission state.
SIM module 104, comprising: SIM socket and data-reading unit, SIM or usim card areUser is sent by Mobile Network Operator after signing network service contract, and this SIM module 104 is readableGet user profile in SIM or usim card, comprising: user signing contract information, IMSI (international mobile subscriberMark) number, authentication triple or five-tuple data.
2.4GHz communication module 105, this 2.4GHz communication module 105 is set up by 2.4GHz communication frequencyShort haul connection, can preferred this 2.4GHz communication module 105 set up at outdoor environment indoor or that low speed movesCommunication connection between unmanned Fetion device and the control end on ground.
Satellite communication controller 106, utilize satellite communication channel set up unmanned vehicle and ground control end itBetween communication connection, be generally without other available wireless communication networks in the situation that, can use satellite communicationController 106, as emergency communication. Certain satellite communication controller 106 is here optional controller, andNot on unmanned vehicle, necessarily to need assembling.
Communication network controller 107, this communication network controller 107 is believed by the control of real-time analysis uplink communicationRoad, the signal strength signal intensity that different communication network monitors and bit error rate data, determine which kind of communication unmanned plane selectsNetwork carries out with ground control terminal that control instruction is communicated by letter and transfer of data, and generating network handover request sends to controlSystem end, or receive the switching confirmation request that control end sends, and make the switching of communications control mode.
State of flight collector 108, gathers and records various sensing datas and the GPS number of unmanned vehicleAccording to, the wireless communication module of selecting by communication network controller 107 is back to control end in real time.
Satellite navigation GPS module 109: by high sensitivity GPS receiver, capturing effective satelliteWhen signal, this module is for determining the current longitude and latitude position of unmanned plane.
Gyroscope 110: by sensor, real-time collecting unmanned vehicle azimuth information.
Accelerometer 111: by sensor, the conversion of the speed on real-time collecting unmanned vehicle traffic direction.
Gravity sensor 112: by sensor, the difference of real-time collecting unmanned vehicle and earth horizontal plane,It is flight attitude.
Flight controller 113, receives the control instruction of high in the clouds management server to unmanned plane, reads in real time flightState parameter, carries out aerial mission according to planning flight path, sends nearly barrier warning feelings in automatic obstacle-avoiding module 114Under condition, take to keep away barrier flare maneuver.
Automatic obstacle-avoiding processor 114, unmanned plane configures ultrasonic listening sensor in different directions, surveysUnmanned plane peripheral obstacle, while detecting barrier, controls mould to flight on the certain distance of headingPiece 113 sends the barrier request of keeping away of slowing down, in the time that distance is further dwindled, to flight control module send hovering orRise and ask.
Camera 115, Airborne Camera is responsible for gathering HD video and static graphic information.
Media Stream processor 116, carries out the processing of high efficiency of compression coding by video or picture, makes image or looksFrequently content is convenient in all kinds of cordless communication networks, transmit in real time, is back to control end.
Can expanded application device 117, the reserved exploitation as all kinds of unmanned planes application of this module, the user who increases income opensSending out interface and SDK (SDK) allows developer can call like a cork the application program of unmanned planeInterface, access camera, radio communication function, database and various kinds of sensors initial data.
First, according to the flight characteristic of unmanned vehicle, the control of unmanned vehicle and high speed data transfersNeed the support of wireless network, existing wireless network is mainly divided into: WLAN, mobile radio communicationNetwork, satellite communication network etc., according to the feature of wireless network, 2.4GHz Control on Communication frequency range and image transmittingFrequency range, this band transmissions speed is high, and transmission range is within the scope of 100-300m, is applicable to unmanned vehicle sighting distanceIn scope, control and image transmitting. So unmanned vehicle can preferentially be selected 2.4GHz frequency range.
Specifically, unmanned vehicle start, flies with nobody by 2.4GHz communication module 105 with control endRow device carries out 2.4GHz to code, sets up the Point-to-Point Data route of communicating by letter between control end, unmanned vehicleCarry out network authentication, network attachment with the mobile communication module of control end, set up the movement between control endCommunication network data communication route. For the horizon range of unmanned vehicle, preferentially select 2.4GHz frequency range.
If do not set up 2.4GHz point-to-point communication, point out network service connection failure. Certainly, if moveWhen moving communication network data communication Route establishment failure, also will point out network service connection failure, can give like thisUser reminds connection failure timely, so that user can reconnect timely.
After setting up above-mentioned network data communication route, unmanned vehicle will be first by 2.4GHz frequency range toControl end passback sensing data and view data.
In unmanned vehicle use procedure, the network parameter of real-time detection current network, the network hereParameter has at least comprised signal strength signal intensity and the bit error rate, and these two parameters can directly be reacted current network quiltThe degree of disturbing.
First application processor 101 compares the signal strength signal intensity in network parameter and signalc threshold, ifWhen signal strength signal intensity is less than first signal thresholding, illustrate that signal strength signal intensity meets pre-conditioned, namely 2.4GHzBeing interfered of communication network, transfer of data is unstable, and current 2.4GHz frequency range can not normally be used,2.4GHz communication network can not complete current transfer of data, and therefore just need to generate first network switching pleaseAsk. The first signal strength threshold here can be-85dbm.
If so, when this signal strength signal intensity is greater than first signal thresholding, now by further decision network parameterWhether the bit error rate is greater than the first error code thresholding, if the bit error rate is less than the first error code thresholding, current network is describedStable, can maintain 2.4GHz network service, so just ensure the stability of transfer of data. HereOne error code thresholding can be 10-3
If when the bit error rate is greater than the first error code thresholding, illustrate that network parameter meets pre-conditioned, namelyIllustrate that the error code of current network in data transmission procedure is more, if continue to use current network will cause numberAccording to makeing mistakes, so will generate first network handover request. This network switches please exactly for asking to switch communicationNetwork, such as switch to cordless communication network from current 2.4GHz communication network, or from current2.4GHz communication network switches to satellite communication network etc.
After generating network handover request, send this first network handover request to control end, and real-timeTo detect and whether receive the switching confirmation instruction that control end returns, in the utility model embodiment, in order carryingShow communication network switching efficiency, therefore, after having sent network handover request to control end, open timer,And in the Preset Time section of setting at timer, detect whether to receive to switch and confirm instruction.
Confirm instruction if receive to switch in Preset Time section, communication network controller 107 is according to cuttingChange and confirm that instruction communicates network and switches; Confirm instruction if do not receive to switch in Preset Time section,Directly carry out network switching, that is to say, confirm instruction if receive to switch in Preset Time section,Switch according to this instruction, confirm instruction if do not receive to switch in Preset Time section, directSwitch to the object network of limit priority, ensured like this to occur when abnormal in current network, can be timelyThe switching that communicates network, thereby promoted the communication stability between unmanned vehicle and control section.
Here need explanation, in the utility model embodiment, 2.4GHz communication network can be set to preferentiallyThe communication network that level is the highest, is secondly cordless communication network, such as 2G/3G/4G communication network, more secondlyCan be wireless MAN network, can be Stratosphere Communication network secondarily, then be secondly satellite communication networkNetwork. Certainly the priority of communication network can be adjusted according to different application scenarios.
By way of example, when 2.4GHz communication network occurs that when abnormal, the communication network of unmanned vehicle is by rootAccording to the sequencing of priority, first select to be switched to cordless communication network. Certainly, if do not receiveInstruction is confirmed in the switching of control end, also can first select to be switched to cordless communication network.
Further, after 2.4GHz communication network is switched to cordless communication network, unmanned at unmanned vehicleAircraft will remain under cordless communication network and communicate with control end. And real-time detection current networkWhether signal strength signal intensity and the bit error rate are recovered, if the signal strength signal intensity of current network and the bit error rate are recovered, give birth toBecome second network handover request, and second network handover request is sent to control end.
Specifically, unmanned vehicle is by signal strength signal intensity and the error code of real-time detection 2.4GHz communication networkRate, judges whether the signal strength signal intensity of 2.4GHz communication network is greater than secondary signal threshold value.
If when the signal strength signal intensity of 2.4GHz communication network is less than secondary signal thresholding, maintain wireless communication networksNetwork connects;
If when the signal strength signal intensity of 2.4GHz communication network is greater than secondary signal thresholding, further detectWhether the bit error rate of 2.4GHz communication network is lower than the second error code thresholding, if the bit error rate is higher than the second error code doorLimit, illustrates that current 2.4GHz communication network is unstable, connects so continue to maintain cordless communication network; IfBe the bit error rate lower than the second error code thresholding, illustrate that 2.4GHz communication network is stable, so unmanned vehicle willGenerate second network handover request, the second network handover request here switches to 2.4GHz communication for requestNetwork. The secondary signal thresholding here can be-78dbm that the second bit error rate thresholding can be 10-4
Second network handover request is sent to control end by unmanned vehicle, and open timer, then inspectionSurvey in Preset Time section, whether receive control end based on second network handover request return switch confirm refer toOrder, if receive this switching confirmation instruction in this Preset Time section time, current cordless communication networkSwitch back 2.4GHz communication network; If do not receive this switching confirmation instruction in Preset Time section time,Directly switch back 2.4GHz communication network from current cordless communication network, ensured that like this unmanned vehicle canTo carry out timely network switching.
Certainly,, in the time switching, whether successfully also need Sampling network to switch, if network handover successTime, use 2.4GHz communication network to carry out transfer of data and communication.
If handoff failure, generates information, this information is for information, and this information canWith network handoff failure.
Can be current at a kind of communication control method that a kind of unmanned vehicle is provided of utility model embodimentNetwork service occurs that when unstable, the network generating is timely cut appears in abnormal or current network communicationChange request, and the switching of returning based on control end confirm instruction carry out network switching, can make like thisReal-time unimpeded of the maintenance of communicating by letter between unmanned vehicle and control end, thus ensure that unmanned vehicle makesWith stability.
Embodiment bis-:
A kind of control end is also provided in the utility model embodiment, and the structure of the control section of this control end is shownAs shown in Figure 2, this control end comprises intention:
Application processor 201, as the core processor of control end, comprising: CPU, memory ram, behaviourMake system and application software. This module is responsible for multi-task scheduling, comprises access application functions of modules, channel radioTelecommunication function, memory read/write function etc.
Memory and SD interface 202, comprising: SDD hard disk that can fast reading and writing and can insert SD cardMobile read-write equipment, is mainly used in storing flying quality and the types of applications data that unmanned vehicle returns.
Mobile communication base band and rf processor 203, be mainly made up of 2G/3G/4G wireless communication chips group,Be responsible for receiving by mobile communications network all kinds of flight sensor data and the picture number that unmanned vehicle sendsAccording to; The control instruction message of control end to unmanned vehicle will be sent simultaneously. Do when using mobile communications networkDuring for data transmission network, control end can select to return whether in real time video, the audio frequency that unmanned vehicle gathersData, and unmanned vehicle sensing data and control data can remain transmission state.
SIM module 204, comprising: SIM socket and data-reading unit, SIM or usim card areUser is sent by Mobile Network Operator after network service contract signing, this module can read SIM orUser profile in usim card, comprising: user signing contract information, and IMSI (IMSI International Mobile Subscriber Identity) number,Authentication triple or five-tuple data.
2.4GHz communication module 205, this module is set up horizon range communication by 2.4GHz communication frequency,Outdoor environment indoor or 0-500m visual range scope can preferred this module be set up unmanned vehicle and ground controlCommunication connection between system end.
Satellite communication controller 206, this module utilizes satellite communication channel to set up unmanned vehicle and ground is controlledCommunication connection between end, is generally without other available wireless communication networks in the situation that, can use satelliteCommunication module, as emergency communication. This satellite communication controller 206 is optional controller, at this control endIn can not comprise this controller.
Communication network controller 207, be responsible for analyze downlink communication channel, the signal strength signal intensity of different communication network andBit error rate data, process the communication pattern handover request that unmanned vehicle proposes, or generation communication pattern is cutChange request, and make the switching of communications control mode.
Man-machine interaction device 208, realizes the control instruction of unmanned vehicle is issued, and nobody flies to realize monitoring in real timeThe flight implementation of row device.
Media Stream processor 209, carries out compiling and separating in real time to the media stream data such as sound, image of unmanned plane passbackCode is processed.
Display screen 210, presents GIS cartographic information, presents every sensing data of unmanned vehicle, comprising:Position, direction, speed, attitude, highly, the information such as course continuation mileage. Select unmanned vehicle at control endWhen passback view data, can present realtime image data.
State of flight collector 211, every flight sensor data of Real-time Collection unmanned vehicle passback.
Flight circuit customizer 212, according to control end user's request, the geography providing based on GIS module 213Information, formulates aircraft autonomous flight route flight path, comprise aircraft landing point, hover point, level point,Track points, make a return voyage a little, the flying height on flight path, flying speed.
Specifically, control end and unmanned vehicle carry out 2.4GHz couple by 2.4GHz communication module 205Code, sets up the Point-to-Point Data route of communicating by letter between unmanned vehicle, the moving of control end and unmanned vehicleMoving communication module is carried out network authentication, network attachment, sets up the mobile communication network between control endCommunication route. For the horizon range of unmanned vehicle, preferentially select 2.4GHz frequency range.
If do not set up 2.4GHz point-to-point communication, point out network service connection failure. Certainly, if moveWhen moving communication network data communication Route establishment failure, also will point out network service connection failure, can give like thisUser reminds connection failure timely, so that user can reconnect timely.
After setting up above-mentioned network data communication route, first control end will pass through 2.4GHz frequency range to unmannedThe data of aircraft transmission control instruction and the transmission of reception unmanned vehicle.
After setting up above-mentioned network connection, whether the detection that control end can be real-time receives network switching pleaseAsk, it please be for switching communication network that this network switches.
If receive network handover request, whether application processor 201 detects control signal and loses, ifControl signal is lost, and the information of generating network connection failure can point out network to connect so timelyConnect failure, control signal cannot be transferred to unmanned vehicle.
If control signal is not lost, send to switch to unmanned vehicle and confirm instruction, this switching confirmation refers toOrder is used to indicate unmanned vehicle and switches to object network from current network. Such as from 2.4GHz communication networkSwitch to mobile communications network.
Certainly,, in order to ensure communicating by letter between control end and unmanned vehicle, will switch confirmation instruction transmissionTo unmanned vehicle, control end will switch to object from current network by communication network controller 207Network, namely switches to mobile communications network from 2.4GHz communication network.
In the time switching, whether control end meeting Sampling network switches successful, if handover success, by mobileCommunication network and unmanned vehicle communicate; If handoff failure, generates information, this prompting letterBreath is used for pointing out network connection failure.
Further, in the utility model embodiment, by switching confirm instruction be sent to unmanned vehicle itBefore, whether control end also closes detection the real-time retransmission function of image, returns in real time if need to close imageWhen function, notify unmanned vehicle to close the real-time retransmission function of image, can reduce like this network bandwidth and pressPower, makes to communicate by letter more reliable and stablely between unmanned vehicle and control end, has ensured unmanned vehicleHandling.
Further, in the utility model embodiment, control end from current network switch to object network itAfter, namely, after 2.4GHz communication network switches to mobile communications network, control end is by real-time inspectionSurvey whether receive unmanned vehicle from mobile communications network switch to 2.4GHz communication network network switch pleaseAsk.
If receive while switching to the network handover request of 2.4GHz communication network from mobile communications network,Whether detect control signal and lose, if control signal is lost, generate information, this information is used forThe connection failure of prompting network, if control signal is not lost, generates to switch and confirms instruction, and will switch reallyRecognize instruction and be sent to unmanned vehicle, so that unmanned vehicle switches to 2.4GHz communication from mobile communications networkNetwork.
After switching is confirmed to instruction is sent to unmanned vehicle, control end will switch to and work as from object networkFront network, namely switches to 2.4GHz communication network from mobile communications network.
In the process of switching, whether control end also will detect switching successful, if handover success uses2.4GHz communication network and unmanned vehicle communicate; If handoff failure, generates information, this is carriedShow that information is for pointing out network connection failure.
In embodiment bis-, provide a kind of communication control method of unmanned vehicle, control end in the methodCan the network handover request based on unmanned vehicle generate switching confirmation instruction, and confirm to refer to according to switchingOrder indicates unmanned vehicle to carry out network switching, and self also will switch to map network, ensures like thisBetween unmanned vehicle and control end, communicate by letter occur abnormal or when unstable, by timely handover network,And also control unmanned vehicle and carry out network switching, the control stability that has ensured like this unmanned vehicle withAnd reliability.
Although described the application's preferred embodiment, once one of ordinary skilled in the art learnsBasic creative concept, can make other change and amendment to these embodiment. So, appended powerProfit requires to be intended to be interpreted as comprising preferred embodiment and fall into all changes and the amendment of the application's scope.
Obviously, those skilled in the art can carry out various changes and modification and not depart from this Shen the applicationSpirit and scope please. Like this, if the application these amendment and modification belong to the application's claim andWithin the scope of its equivalent technologies, the application be also intended to comprise these change and modification interior.

Claims (10)

1. a unmanned vehicle, is characterized in that, comprising:
Rack construction, described rack construction comprises middle control part and holder part, described holder part comprisesMany the supports taking described middle control part as symmetrical centre, in described middle control part, controller and electricity are setSource;
Rotor, arranges the end of described support, and a rotor is arranged on a support, and with describedMotor on frame is fixedly connected with;
Application processor, is arranged in described middle control part, and the task of unmanned vehicle is dispatched;
Communication network controller, is arranged in described middle control part, is connected with described application processor, analyzesUplink and downlink communication control channel, determines the communication network of described unmanned vehicle.
2. unmanned vehicle as claimed in claim 1, is characterized in that, also comprises:
Mobile communication base band and radio frequency processing module, be connected with described application processing module, receives control end and send outThe control signal of the unmanned vehicle sending and command information, and the video data that unmanned vehicle is collected,Voice data, sensing data are sent to control end by mobile communications network;
2.4GHz communication module, is connected with described application processor, sets up 2.4GHz short distance with control endCommunication, and by 2.4GHz communication network receive control end send unmanned vehicle control signal and refer toMake information, and the video data that unmanned vehicle is collected, voice data, sensing data are by mobileCommunication network is sent to control end.
3. unmanned vehicle as claimed in claim 1, is characterized in that, also comprises:
Satellite communication controller, is connected with described application processor, sets up the satellite communication between control endConnect transmission of control signals and command information between communication network and control end via satellite.
4. unmanned vehicle as claimed in claim 1, is characterized in that, also comprises:
State of flight collector, is connected with described application processor, gathers and record the various of unmanned vehicleSensing data and satellite navigation data, and transfer to control end by the communication network of unmanned vehicle;
Satellite navigation module, is connected with described application processor and described state of flight collector, and collection is defendedStar navigation data, and satellite navigation data is transferred to state of flight collector.
5. unmanned vehicle as claimed in claim 3, is characterized in that, also comprises:
Gyroscope, is connected with described state of flight collector, gathers the azimuth information of unmanned vehicle, and willAzimuth information transfers to state of flight collector;
Acceleration sensor, is connected with described state of flight collector, gathers unmanned vehicle on traffic directionSpeed and acceleration, and the speed collecting and acceleration are transferred to state of flight collector;
Gravity sensor, is connected with described state of flight collector, gathers the poor of unmanned vehicle and horizontal planeDifferent value, and described difference value is sent to described state of flight collector.
6. unmanned vehicle as claimed in claim 4, is characterized in that, also comprises:
Flight controller, is connected with described application processor, receives the control instruction to unmanned vehicle, readsGet the flight status parameter in state of flight collector, carry out aerial mission according to planning course line;
Automatic obstacle-avoiding processor, is connected with described flight controller, sends to flight controller the barrier request that keeps away.
7. unmanned vehicle as claimed in claim 1, is characterized in that, also comprises:
Media Stream processor, is connected with described application processor, and video data or image data are pressedReduce the staff code and process, and the video data of compressed encoding processing and image data are transferred to by communication networkControl end;
Camera, is connected with described Media Stream processor, gathers video data or image data, and will lookAudio data or image data transfer to Media Stream processor.
8. unmanned vehicle as claimed in claim 1, is characterized in that, also comprises:
Memory and SD interface, be connected with described application processor, storage unmanned vehicle device data withAnd application data.
9. unmanned vehicle as claimed in claim 1, is characterized in that, also comprises:
Client identifies SIM module, is connected with described application processor, and user data is carried out to authentication.
10. unmanned vehicle as claimed in claim 1, is characterized in that, also comprises:
Timer, is connected with described application processor, and the control instruction that receives control end is carried out to timing.
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