CN103076810A - Portable miniature ground mobile workstation for unmanned aerial vehicle - Google Patents

Abstract

Translated fromChinese

本发明公开了一种便携式小型无人机地面移动工作站，旨在完成无人机的任务规划，在电子地图中实时显示无人机的位置以及飞行轨迹，完成无人机的飞行状态数据的实时传输、显示和处理等功能，保证无人机准确安全的飞行。该工作站由上箱体、显示屏、开关、触摸板、下箱体、弹簧卡、把手、数传电台、摇杆、键盘、蝶形铰链、电源模块和工业计算机组成。采用本发明，可以单人完成无人机遥测数据的实时接收、监控显示和遥控数据的发送。

The invention discloses a portable small unmanned aerial vehicle (UAV) ground mobile workstation, which aims to complete the task planning of the unmanned aerial vehicle, display the position and flight track of the unmanned aerial vehicle in real time on the electronic map, and complete the real-time monitoring of the flight state data of the unmanned aerial vehicle. Functions such as transmission, display and processing ensure the accurate and safe flight of drones. The workstation consists of an upper box, a display screen, a switch, a touch panel, a lower box, a spring clip, a handle, a digital radio, a rocker, a keyboard, a butterfly hinge, a power module and an industrial computer. By adopting the invention, a single person can complete the real-time reception of the remote measurement data of the drone, the monitoring display and the transmission of the remote control data.

Description

Translated fromChinese

一种便携式小型无人机地面移动工作站A portable small unmanned aerial vehicle ground mobile workstation

技术领域technical field

       本发明涉及一种工作站，特别是一种便携式小型无人机地面移动工作站。The present invention relates to a workstation, especially a portable small UAV ground mobile workstation.

背景技术Background technique

随着科学技术的发展，无人机在世界各国得到广泛研究和发展，在军事、民用和科研三方面都具有重要的应用价值。在军事上可用于侦查、监视、通信中继、电子对抗、火力制导、战果评估、骚扰、诱惑、对地（海）攻击、目标模拟和早期预警等；在民用上，可用于大地测量、城市环境检测、地球资源勘测和森林防火、农业勘测、交通、民用导航、环境保护、边境巡逻与控制、自然灾害的监视与救援等；在科研方面，可用于大气研究、气象观测、对核生化污染区的采样与监控、新技术新设备和新飞行器的试验验证等。地面工作站是小型无人机的核心和灵魂，其涉及无线传输、远程控制以及任务规划等多种技术，主要功能是监控无人机的飞行过程以及任务执行情况，它是一个实时采集并分析遥测数据、不定时发送遥控指令、显示飞行状态等功能结合于一体的综合地面监控系统。With the development of science and technology, unmanned aerial vehicles have been widely researched and developed in countries all over the world, and have important application value in military, civilian and scientific research. In the military, it can be used for reconnaissance, surveillance, communication relay, electronic countermeasures, fire guidance, battle result assessment, harassment, temptation, ground (sea) attack, target simulation and early warning, etc.; in civilian use, it can be used for geodesy, urban Environmental detection, earth resource survey and forest fire prevention, agricultural survey, transportation, civil navigation, environmental protection, border patrol and control, natural disaster monitoring and rescue, etc.; in scientific research, it can be used for atmospheric research, meteorological observation, nuclear, biological and chemical pollution Sampling and monitoring of the area, new technology and new equipment and test verification of new aircraft, etc. The ground workstation is the core and soul of the small UAV. It involves various technologies such as wireless transmission, remote control and mission planning. The main function is to monitor the flight process and mission execution of the UAV. It is a real-time collection and analysis of telemetry It is a comprehensive ground monitoring system that combines functions such as data, sending remote control commands from time to time, and displaying flight status.

目前已有相关便携式小型无人机的地面工作站，主要有以下几个问题和不足：At present, there are ground workstations for portable small unmanned aerial vehicles, which mainly have the following problems and deficiencies:

（1）采用分体式的设计，由数据通讯单元，处理计算机，显示计算机和无线遥控器等部分组成，体积较大，携带型较差，功耗大。(1) It adopts a split design, which is composed of a data communication unit, a processing computer, a display computer, and a wireless remote control. It is large in size, poor in portability, and high in power consumption.

（2）需要两位操作人员协调操作，一位操作工作站的处理计算机，用于接收无人机发送的遥测数据；另一位操作无线遥控器，发送部分遥控指令。对无人机进行飞行控制的无线遥控器的操作人员想要知道无人机的飞行状态只能通过处理计算机操作人员的转达，十分不便。(2) Two operators are required to coordinate the operation, one operates the processing computer of the workstation to receive the telemetry data sent by the drone; the other operates the wireless remote control to send some remote control commands. The operator of the wireless remote control that controls the flight of the drone wants to know the flight status of the drone only through the transmission of the computer operator, which is very inconvenient.

（3）处理计算机和显示计算机采用机械式硬盘，防震能力差，键盘和触摸板没有采用防水防尘处理，环境适应能力差。(3) The processing computer and display computer use mechanical hard disks, which have poor shock resistance. The keyboard and touchpad are not treated with waterproof and dustproof, and the environmental adaptability is poor.

（4）没有采用电子地图来显示无人机的飞行状态，不利于观测无人机的具体位置。(4) Electronic maps are not used to display the flight status of drones, which is not conducive to observing the specific location of drones.

发明内容Contents of the invention

为了解决上述问题，本发明提出一种便携式小型无人机地面移动工作站，该工作站仅需要一名操作人员就可以完成无人机的飞行控制、无人机遥测数据的接收检测，工作站携带型好、体积小、重量轻、数据接收显示实时性强，提高了小型无人机飞行控制便利性和实时性。In order to solve the above problems, the present invention proposes a portable small UAV ground mobile workstation, which only needs one operator to complete the flight control of the UAV and the reception and detection of UAV telemetry data, and the workstation is portable. , Small size, light weight, strong real-time data receiving and display, which improves the convenience and real-time performance of small UAV flight control.

为实现上述目的，本发明采用如下技术方案：To achieve the above object, the present invention adopts the following technical solutions:

一种便携式小型无人机地面移动工作站，由上箱体、显示屏、开关、触摸板、下箱体、弹簧卡、把手、数传电台、摇杆、键盘、蝶形铰链、电源模块和工业计算机组成；所述上箱体和下箱体后缘通过所述蝶形铰链链接，前缘通过所述弹簧卡相连；所述把手固联在所述下箱体上。A portable small unmanned aerial vehicle ground mobile workstation, which consists of an upper box, a display screen, a switch, a touch panel, a lower box, a spring clip, a handle, a digital radio station, a rocker, a keyboard, a butterfly hinge, a power module and an industrial The computer is composed; the rear edge of the upper box and the lower box are connected by the butterfly hinge, and the front edge is connected by the spring clip; the handle is fixedly connected to the lower box.

所述数传电台通过RS232数据线连接所述工业计算机，交换数据。The digital transmission station is connected to the industrial computer through the RS232 data line to exchange data.

所述摇杆通过USB接口连接工业计算机。The joystick is connected to an industrial computer through a USB interface.

所述显示屏采用四分屏显示：左上部区域为小型无人机飞行地图区；右上部区域为小型无人机飞行状态区；右下部区域为小型无人机飞行控制状态区；左下部区域为系统设置区。The display screen adopts four-screen display: the upper left area is the flight map area of the small UAV; the upper right area is the flight state area of the small UAV; the lower right area is the flight control state area of the small UAV; the lower left area Sets the zone for the system.

所述的工业计算机使用固态硬盘。The industrial computer uses a solid-state hard drive.

所述的触摸板、键盘和工业计算机均采用防水防尘设计。The touch panel, keyboard and industrial computer all adopt waterproof and dustproof design.

软件主体框架基于Labview编程环境，包括数据通信模块，状态监控模块，飞行控制模块和数据保存模块等四个模块。The main framework of the software is based on the Labview programming environment, including four modules: data communication module, status monitoring module, flight control module and data storage module.

采用电子地图实时显示无人机的位置以及飞行轨迹。The electronic map is used to display the position and flight trajectory of the drone in real time.

与现有技术相比，本发明具有如下突出的优点：Compared with the prior art, the present invention has the following prominent advantages:

（1）采用集成化的设计思想，大大减小了工作站的体积和重量，便携性能好。(1) Adopting the integrated design concept, the volume and weight of the workstation are greatly reduced, and the portability is good.

（2）只需一位操作人员就能操作整个移动工作站，节约了人力资源，同时简化了操作。(2) Only one operator can operate the entire mobile workstation, which saves human resources and simplifies operations.

（3）采用固态硬盘和防水防尘的键盘、触摸板，能更好适应野外作业的需求。(3) The use of solid-state hard drives, waterproof and dustproof keyboards, and touchpads can better meet the needs of field operations.

（4）采用电子地图，不仅能直观得到无人机所在区域的位置信息，还能得到无人机周边环境状况，提高了无人机飞行的可靠性。(4) With the electronic map, not only the position information of the area where the UAV is located can be intuitively obtained, but also the surrounding environmental conditions of the UAV can be obtained, which improves the reliability of UAV flight.

附图说明Description of drawings

图1是本发明的外观图。Fig. 1 is the external view of the present invention.

图2是本发明的后视图。Figure 2 is a rear view of the present invention.

图3是本发明的系统框架图。Fig. 3 is a system frame diagram of the present invention.

图4是本发明的工作流程图。Fig. 4 is a working flow chart of the present invention.

具体实施方式Detailed ways

为了便于本领域技术人员理解和实施本发明，下面结合附图及具体实施方式对本发明作进一步的详细描述。In order to facilitate those skilled in the art to understand and implement the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

如图1、图2和图3所示，一种便携式小型无人机地面移动工作站，由上箱体1、显示屏2、开关3、触摸板4、下箱体5、弹簧卡6、把手7、数传电台8、摇杆9、键盘10、蝶形铰链11、电源模块12和工业计算机13组成；所述上箱体1和下箱体5后缘通过所述蝶形铰链11链接，前缘通过所述弹簧卡6相连；所述把手7固联在所述下箱体5上。As shown in Figure 1, Figure 2 and Figure 3, a portable small UAV ground mobile workstation consists of anupper box 1, adisplay screen 2, aswitch 3, atouch panel 4, alower box 5, a spring clip 6, and ahandle 7. Composed of digital radio station 8,joystick 9,keyboard 10, butterfly hinge 11,power supply module 12 andindustrial computer 13; the rear edge of theupper box 1 and thelower box 5 is linked by the butterfly hinge 11, The front edges are connected through the spring clips 6; thehandle 7 is fixedly connected to thelower box body 5.

所述数传电台8，选用美国XStream公司的9XStream（900MHz）型数传电台，通过RS232数据线连接所述工业计算机13，交换数据。The digital transmission station 8 is a 9XStream (900MHz) digital transmission station of the American XStream Company, and is connected to theindustrial computer 13 through an RS232 data line to exchange data.

所述摇杆9通过USB接口连接工业计算机13。Thejoystick 9 is connected to anindustrial computer 13 through a USB interface.

显示屏选用10.1英寸IPS LCD LG硬屏，采用四分屏显示：左上部区域为小型无人机飞行地图区；右上部区域为小型无人机飞行状态区；右下部区域为小型无人机飞行控制状态区；左下部区域为系统设置区。The display screen adopts 10.1-inch IPS LCD LG hard screen, and adopts four-screen display: the upper left area is the flight map area of small UAVs; the upper right area is the flight status area of small UAVs; the lower right area is the flight status of small UAVs Control status area; the lower left area is the system setting area.

飞行地图区采用集网络技术、通信技术、GIS技术于一体的Google Earth电子地图，利用经度、纬度和高度信息确定小型无人机的具体位置，显示其预定的飞行轨迹和当前的飞行轨迹。通过点击飞行地图可以在线修改预定的飞行轨迹，修改后的航迹信息通过数据通信模块传送给小型无人机机载飞控系统。The flight map area adopts Google Earth electronic map integrating network technology, communication technology and GIS technology, and uses longitude, latitude and altitude information to determine the specific location of small UAVs and display their scheduled flight trajectory and current flight trajectory. By clicking on the flight map, the scheduled flight trajectory can be modified online, and the modified trajectory information is transmitted to the small UAV airborne flight control system through the data communication module.

飞行状态区采用专用的仪表界面控件设计虚拟仪表，显示小型无人机的飞行状态信息，包括飞行姿态（偏航角、俯仰角和滚转角），速度信息（空速、GPS地速），发动机转速，舵机位置，机载飞控系统电源电压，飞行时间和距离目标点距离等。The flight status area uses dedicated instrument interface controls to design virtual instruments to display flight status information of small UAVs, including flight attitude (yaw angle, pitch angle and roll angle), speed information (airspeed, GPS ground speed), engine Speed, steering gear position, airborne flight control system power supply voltage, flight time and distance from target point, etc.

飞行控制状态区显示偏航、俯仰、滚转三个控制通道的PWM值和小型无人机当前的舵面偏转信息。PWM值显示包括自控PWM和手控PWM，若PWM值超过正常范围，予以警报显示。The flight control status area displays the PWM values of the three control channels of yaw, pitch, and roll and the current rudder deflection information of the small UAV. PWM value display includes automatic control PWM and manual control PWM. If the PWM value exceeds the normal range, an alarm will be displayed.

系统设置区完成系统功能的设置。The system setting area completes the setting of system functions.

所述的工业计算机13采用的SSD固态硬盘，选用三星64G SATA3 2.5英寸SSD固态硬盘。The SSD solid state drive that describedindustrial computer 13 adopts selects Samsung 64G SATA3 2.5 inch SSD solid state drive for use.

所述的触摸板4、键盘10和工业计算机13均采用防水防尘设计。Describedtouch panel 4,keyboard 10 andindustrial computer 13 all adopt waterproof and dustproof design.

软件主体框架基于Labview编程环境，包括数据通信模块，状态监控模块，飞行控制模块和数据保存模块等四个模块。The main framework of the software is based on the Labview programming environment, including four modules: data communication module, status monitoring module, flight control module and data storage module.

如图4所示，遥测数据的接收和遥控数据的发送主要由以下几个步骤来实现：As shown in Figure 4, the reception of telemetry data and the transmission of remote control data are mainly realized by the following steps:

步骤一：开机，打开监控软件，对系统进行初始化，完成程序初始化和串口初始化。Step 1: Turn on the computer, open the monitoring software, initialize the system, and complete the program initialization and serial port initialization.

步骤二：通过数传电台，利用数据通信模块接收小型无人机下传的遥测数据，按照预定的数据格式对其进行解码。Step 2: Through the data transmission station, use the data communication module to receive the telemetry data downloaded from the small UAV, and decode it according to the predetermined data format.

步骤三：定时器计数，在数据存储模块中每隔20ms存储一次遥测数据，以EXCEL表格的形式进行保存。Step 3: Timer counting, storing telemetry data every 20ms in the data storage module, and saving it in the form of EXCEL form.

步骤四：每隔100ms，将数据通信模块接收到的遥测数据通过状态监控模块予以分屏显示。左上部区域为小型无人机飞行地图区；右上部区域为小型无人机飞行状态区；右下部区域为小型无人机飞行控制状态区；左下部区域为系统设置区。Step 4: Every 100ms, the telemetry data received by the data communication module is displayed on a split screen through the status monitoring module. The upper left area is the small UAV flight map area; the upper right area is the small UAV flight status area; the lower right area is the small UAV flight control status area; the lower left area is the system setting area.

步骤五：当遥测数据需要回放时，调用数据存储模块中的遥测数据，通过状态监控模块予以分屏显示。Step 5: When the telemetry data needs to be played back, call the telemetry data in the data storage module and display them in split screens through the status monitoring module.

步骤六：利用摇杆和指令盘，发送连续操纵指令、离散操纵指令给飞行控制模块，利用数据通信模块通过数传电台将遥控指令发送给小型无人机机载飞控系统。Step 6: Use the joystick and the command board to send continuous and discrete control commands to the flight control module, and use the data communication module to send remote control commands to the flight control system of the small UAV through the data transmission station.

步骤七：结束，关机。Step seven: end, shut down.

Claims (6)

1. portable small-sized unmanned aerial vehicle mobile workstation, it is characterized in that, formed by upper box (1), display screen (2), switch (3), touch pad (4), lower box (5), Spring Card (6), handle (7), data radio station (8), rocking bar (9), keyboard (10), butterfly hinge (11), power module (12) and industrial computer (13); Described upper box (1) and lower box (5) trailing edge are by described butterfly hinge (11) link, and leading edge links to each other by described Spring Card (6); Described handle (7) connects firmly on described lower box (5).

2. portable small-sized unmanned aerial vehicle mobile workstation according to claim 1 is characterized in that, described data radio station (8) connects described industrial computer (13), swap data by the RS232 data line.

3. portable small-sized unmanned aerial vehicle mobile workstation according to claim 1 is characterized in that, described rocking bar (9) connects industrial computer (13), swap data by USB interface.

4. portable small-sized unmanned aerial vehicle mobile workstation according to claim 1 is characterized in that, described display screen (2) adopts four split screens to show: the upper left quarter zone is SUAV (small unmanned aerial vehicle) flight map area; The upper right quarter zone is SUAV (small unmanned aerial vehicle) state of flight district; The right lower quadrant zone is SUAV (small unmanned aerial vehicle) flight state of a control district; The lower left quarter zone is the system setting area.

5. portable small-sized unmanned aerial vehicle mobile workstation according to claim 1 is characterized in that, described industrial computer (13) uses solid state hard disc.

6. portable small-sized unmanned aerial vehicle mobile workstation according to claim 1 is characterized in that, described touch pad (4), keyboard (10) and industrial computer (13) all adopt the water proof and dust proof design.

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