技术领域technical field
本发明属于无人机管理领域，具体涉及工业无人机可达空域限制以及各行业空域管理。The invention belongs to the field of drone management, and in particular relates to the limitation of the reachable airspace of industrial drones and the management of airspace in various industries.
背景技术Background technique
随着科学技术的发展，近年来工业级无人机进入各行各业被广泛使用。跟消费级无人机相比，工业级无人机荷载大，留空时间长，飞行可达距离远，智能化控制水平高，它的进入与发展给各行业的工作带来快捷便利的同时，无人机事故及黑飞等不良事件多有发生，给国家与人民安全带来威胁，若违法分子恶意利用管理漏洞，会给国家及人民安全造成不可想象的破坏。With the development of science and technology, industrial-grade drones have been widely used in various industries in recent years. Compared with consumer-grade drones, industrial-grade drones have a large load, a long time to stay in the air, a long flight distance, and a high level of intelligent control. Its entry and development bring speed and convenience to the work of various industries. , UAV accidents and black flights and other adverse incidents often occur, which pose a threat to the security of the country and the people. If criminals maliciously use management loopholes, it will cause unimaginable damage to the security of the country and the people.
要真正要管好无人机，就需要从无人机的大脑——飞控系统下手，需要做好飞控系统标准化工作，使飞控系统起到主动管理的作用，也为各管理级划分清晰的权利与责任界限。仅仅靠个人自觉申报和空管部门全权审批是不现实的做法。目前，随着行业无人机市场发展，国家急需有一套责任权力分配清晰管理范围明确的管控系统，用于管理、监控无人机的安全使用及应急处突。To really manage drones well, we need to start from the brain of drones—the flight control system. Clear boundaries of rights and responsibilities. It is unrealistic to rely solely on individual voluntary declaration and the full authority of the air traffic control department for approval. At present, with the development of the drone market in the industry, the country urgently needs a management and control system with a clear distribution of responsibilities and powers and a clear management scope to manage and monitor the safe use of drones and emergency response.
发明内容Contents of the invention
本发明能解决无人机的管理问题，实现对各行业应用无人机的实时监测、控制、空域限制以及空域管理权划分。The invention can solve the management problem of the unmanned aerial vehicle, and realize the real-time monitoring, control, airspace limitation and division of airspace management rights of the applied unmanned aerial vehicles in various industries.
本发明提供一种行业无人机管控系统及方法，包括飞控盒、地面站、行业空管平台、国家空管平台和管控客户端。飞控盒用于操纵无人机飞行；地面站能够同时控制和监控多个飞控盒；行业和国家空管平台能够实时监控飞控盒，在紧急情况下能强制控制飞控盒。飞控盒是一个集成了微型处理器和多个功能模块的硬件平台；地面站可以是移动设备，如手提电脑、平板电脑和手机；行业和国家空管平台可以是移动设备或者台式电脑。管控客户端软件包含了各管理平台的管控功能以及跟用户的交互功能，可以在微软Windows、Linux、Android和苹果iOS等常用操作系统上运行，因此安装了该软件的手机、平板和电脑都能够充当地面站、行业空管平台或者国家空管平台。以上所有设备都能接入公网和北斗短报文通信网，其中飞控盒和上述的移动设备则会通过物联网模块来连接公网。而市售的手机、平板设备和电脑都没有集成完整的北斗系统功能(包括北斗定位和短报文通信)，本发明提供的管控系统支持外挂的北斗模块，能利用OTG技术连接到手机和平板设备，或者通过USB接口/蓝牙/WIFI连接到手提或者台式电脑。The invention provides an industrial UAV management and control system and method, including a flight control box, a ground station, an industrial air traffic management platform, a national air traffic management platform, and a management and control client. The flight control box is used to control the flight of the UAV; the ground station can control and monitor multiple flight control boxes at the same time; the industry and the national air traffic control platform can monitor the flight control box in real time, and can forcibly control the flight control box in an emergency. The flight control box is a hardware platform that integrates a microprocessor and multiple functional modules; the ground station can be a mobile device, such as a laptop, tablet and mobile phone; the industry and national air traffic control platform can be a mobile device or a desktop computer. The management and control client software includes the management and control functions of each management platform and the interaction function with users. It can run on commonly used operating systems such as Microsoft Windows, Linux, Android and Apple iOS. Therefore, mobile phones, tablets and computers installed with this software can all Serve as a ground station, an industry air traffic control platform or a national air traffic control platform. All the above devices can be connected to the public network and Beidou short message communication network, and the flight control box and the above mobile devices will be connected to the public network through the Internet of Things module. However, commercially available mobile phones, tablet devices and computers do not integrate complete Beidou system functions (including Beidou positioning and short message communication). The management and control system provided by the present invention supports external Beidou modules, and can be connected to mobile phones and tablets using OTG technology device, or connect to a laptop or desktop computer via USB interface/Bluetooth/WIFI.
飞控盒内包含中央处理器、惯性导航模块、气压测量模块、本地存储模块、北斗模块和物联网模块(NB-IoT)。在飞控盒出厂时刻，行业应用相关的基本信息(如飞行高度限制、速度限制、留空时长限制、行业部门编号等)以及唯一的设备串号会被写入中央处理器的单次写入存储单元中，使飞控盒具有身份可追朔性以及初步用途受控的优点。本地存储模块包含两个部分，一个存储了数字围墙数据，另一个部分用于储存飞行数据，如地理位置、高度、速度、姿态、电量等。The flight control box contains a central processing unit, an inertial navigation module, an air pressure measurement module, a local storage module, a Beidou module and an Internet of Things module (NB-IoT). When the flight control box leaves the factory, the basic information related to the industry application (such as flight height limit, speed limit, space time limit, industry department number, etc.) and the unique device serial number will be written into the CPU for a single write In the storage unit, the flight control box has the advantages of identity traceability and primary use control. The local storage module consists of two parts, one for storing digital fence data, and the other for storing flight data, such as geographic location, altitude, speed, attitude, power, etc.
数字围墙数据是根据国家空管平台审批通过的空域信息生成的，使飞控盒不需要依赖外部数据传输链路就能自动限制无人机的可达空域，即使北斗短报文功能与物联网功能失效，数字围墙也能正常运作。无人机在数字围墙范围内的飞行不需要向行业或者国家空管平台申报，方便了众多行业无人机的使用，减少了相关空域管理部门的工作负担。对于各行业的空域划分和管理责任划分，行业空管平台需要把作业空域地理信息向国家空管平台申报，通过申报审批的空域信息会被管控客户端转换成数字围墙数据，并通过物联网或者USB接口写入至相应飞控盒的存储模块。The digital fence data is generated based on the airspace information approved by the national air traffic control platform, so that the flight control box can automatically limit the reachable airspace of the drone without relying on external data transmission links, even if the Beidou short message function and the Internet of Things If the function fails, the digital fence can also work normally. The flight of drones within the digital fence does not need to be reported to the industry or the national air traffic control platform, which facilitates the use of drones in many industries and reduces the workload of relevant airspace management departments. For the division of airspace and the division of management responsibilities in various industries, the industry airspace management platform needs to report the geographical information of the operating airspace to the national airspace management platform. The USB interface writes to the storage module of the corresponding flight control box.
地面站可以利用物联网和北斗短报文控制多个飞控盒，能够为无人机设定航线并使其自主执行任务。地面站全程监控飞控盒的地理位置、高度、飞行速度等详细飞行信息。在无人机跨区作业需求的情况下，需要利用地面站向行业空管平台提出申报和数字围墙的解锁请求，若申报的空域地理位置过于敏感，行业空管平台需要把申报上传至国家空管平台，由更高级别的负责部门做审批决定。The ground station can use the Internet of Things and Beidou short messages to control multiple flight control boxes, and can set routes for drones and make them perform tasks autonomously. The ground station monitors the flight control box's geographic location, altitude, flight speed and other detailed flight information throughout the process. In the case of UAV cross-regional operation requirements, it is necessary to use the ground station to submit a request to the industry air traffic management platform for declaration and unlocking of the digital fence. If the declared airspace location is too sensitive, the industry air traffic management platform needs to upload the declaration to the national air traffic control platform The management platform shall be approved by a higher-level responsible department.
行业和国家空管平台能够实时监控属于各自部门的飞控盒的地理位置和高度，在紧急情况下能够强制获取飞控盒的控制权；国家空管平台拥有最高控制权。The industry and the national air traffic control platform can monitor the geographical location and altitude of the flight control boxes belonging to their respective departments in real time, and can forcibly obtain the control right of the flight control box in an emergency; the national air traffic control platform has the highest control right.
本发明的有益效果是：The beneficial effects of the present invention are:
各飞控盒都拥有唯一的串号，使无人机设备具备身份可追溯性；飞控盒中央处理器在出厂之前都被写入行业应用信息，从根本上限制了飞行性能；飞控盒内存储着数字围墙数据，实现自主限制飞行空间，无需依赖外部数据链路，使空域限制功能的可靠性和执行效率大大提高，从根本上确保无人机不会被违规越界使用。各行业只需要向国家空管平台一次性申报空域，相应的作业无人机就能在通过审批的空域内免申报起飞，规范空域管理的同时方便了无人机的使用和降低了空域审批工作量，也为上下级的管理工作划分了清晰的责任区域。飞控盒包含的所有功能模块都集成在同一个硬件平台里，模块与模块间的数据交换都通过内部电路实现，保证了硬件平台数据交换的安全性。Each flight control box has a unique serial number, which makes the identity of the drone equipment traceable; the central processor of the flight control box is written into the industry application information before leaving the factory, which fundamentally limits the flight performance; the flight control box The data of the digital fence is stored inside to realize the autonomous restriction of the flight space without relying on external data links, which greatly improves the reliability and execution efficiency of the airspace restriction function, and fundamentally ensures that the UAV will not be used illegally and beyond the border. All industries only need to declare the airspace to the national air traffic control platform once, and the corresponding operational drones can take off in the approved airspace without declaration. While standardizing airspace management, it facilitates the use of drones and reduces the airspace approval work. It also provides a clear area of responsibility for the management of the upper and lower levels. All the functional modules contained in the flight control box are integrated in the same hardware platform, and the data exchange between modules is realized through internal circuits, which ensures the security of data exchange on the hardware platform.
附图说明Description of drawings
图1是本发明技术原理图示意图；Fig. 1 is a schematic diagram of a technical principle diagram of the present invention;
图2是本发明控制盒硬件系统示意图。Fig. 2 is a schematic diagram of the hardware system of the control box of the present invention.
具体实施方式detailed description
实施例1Example 1
本实施例提供一种行业无人机管控系统，包括飞控盒、地面站、行业空管平台、国家空管平台和管控客户端，如图1所示。飞控盒用于操纵无人机飞行；地面站能够同时控制和监控多个飞控盒，为无人机设定航线；正常飞行的状况数据都会通过飞控盒或地面站上传至行业主管单位及市县省国家部门备案储存，以便在发生问题时随时可以查阅与监管。行业和国家空管平台能够实时监控飞控盒的地理位置和其他基本飞行信息，在紧急情况下能强制控制飞控盒。行业和国家空管平台可以不通过地面站直接管控飞控盒，在突发事件发生时国家空管平台可以调度各省市县及行业飞机进行支援，在特殊情况下若需要清空某区域的无人机，行业或者国家空管平台可以通过集成在飞控盒里的物联网或者北斗链路来强制返航和禁止起飞。飞控盒是一个集成了微型处理器和多个功能模块的硬件平台；地面站可以是移动设备，如手提电脑、平板电脑和智能手机；行业和国家空管平台可以是移动设备或者台式电脑。管控客户端包含了各管理平台的管控功能以及跟用户的交互功能，可以在微软Windows、Linux、Android和苹果iOS等常用操作系统上运行，因此安装了管控客户端的手机、平板和电脑都能够充当地面站、行业空管平台或者国家空管平台。以上所有设备都能接入公网和北斗短报文通信网，采用双向通信连接方式，其中飞控盒和上述移动设备可以通过物联网模块或者移动网模块来连接公网，而市售的手机、平板设备和电脑由于没有集成完整的北斗系统功能(包括北斗定位和短报文通信)，本发明提供的管控系统支持外挂的北斗模块，能利用OTG技术连接到手机和平板设备，或者通过USB接口/蓝牙/WIFI连接到手提或者台式电脑。This embodiment provides an industrial UAV management and control system, including a flight control box, a ground station, an industrial air traffic management platform, a national air traffic management platform, and a management and control client, as shown in FIG. 1 . The flight control box is used to control the flight of the UAV; the ground station can control and monitor multiple flight control boxes at the same time, and set the route for the UAV; the status data of normal flight will be uploaded to the industry supervisory unit through the flight control box or the ground station And city, county, provincial and national departments for filing and storage, so that they can be consulted and supervised at any time when problems occur. The industry and the national air traffic control platform can monitor the geographic location of the flight control box and other basic flight information in real time, and can forcibly control the flight control box in an emergency. The industry and the national air traffic control platform can directly control the flight control box without using the ground station. When an emergency occurs, the national air traffic control platform can dispatch aircraft from various provinces, cities, counties and industries to provide support. Aircraft, industry or national air traffic control platforms can force return and prohibit takeoff through the Internet of Things or Beidou link integrated in the flight control box. The flight control box is a hardware platform that integrates a microprocessor and multiple functional modules; the ground station can be a mobile device, such as a laptop, tablet and smartphone; the industry and national air traffic control platform can be a mobile device or a desktop computer. The management and control client includes the management and control functions of each management platform and the interaction function with users. It can run on common operating systems such as Microsoft Windows, Linux, Android, and Apple iOS. Therefore, mobile phones, tablets and computers installed with the management and control client can act as Ground stations, industry air traffic control platforms or national air traffic control platforms. All the above devices can be connected to the public network and the Beidou short message communication network, and adopt a two-way communication connection mode. Among them, the flight control box and the above mobile devices can be connected to the public network through the Internet of Things module or the mobile network module, while commercially available mobile phones , Tablet devices and computers do not integrate complete Beidou system functions (including Beidou positioning and short message communication), the management and control system provided by the present invention supports external Beidou modules, which can be connected to mobile phones and tablet devices using OTG technology, or through USB Interface/Bluetooth/WIFI to connect to laptop or desktop computer.
飞控盒、地面站、行业和国家管理平台能通过移动网模块或者物联网模块连接公网，为了保证信息安全性，网络通信必须加密，其中的2G、3G和4G移动网通信分别对应使用GEA、MILENAGE、SEA加密方式。The flight control box, ground station, industry and national management platforms can connect to the public network through the mobile network module or the Internet of Things module. In order to ensure information security, the network communication must be encrypted, and the 2G, 3G and 4G mobile network communications use GEA respectively. , MILENAGE, SEA encryption methods.
北斗短报文通信仅仅依靠我国北斗系统，不涉及公网，再加上支持点对点加密，能够保证飞控盒与其他管控平台的通信安全。在紧急情况下，管控客户端能够启用安全模式，利用北斗短报文通信来维持管理系统的基本运作，防止设备通过物联网被劫持。Beidou short message communication only relies on my country's Beidou system, does not involve the public network, and supports point-to-point encryption, which can ensure the security of communication between the flight control box and other control platforms. In an emergency, the management and control client can enable the security mode, use Beidou short message communication to maintain the basic operation of the management system, and prevent devices from being hijacked through the Internet of Things.
飞控盒内包含中央处理器、惯性导航模块、气压高度测量模块、本地存储模块、北斗模块和物联网模块(NB-IoT)，如图2所示。在飞控盒出厂时刻，行业应用相关的基本信息(如飞行高度限制、速度限制、留空时长限制、行业部门编号等)以及唯一的设备串号会被写入中央处理器的单次写入存储单元中，使飞控盒具有身份可追朔性以及初步用途受控的优点。本地存储模块包含两个部分，一个存储了数字围墙数据，另一个部分用于储存飞行数据，如地理位置、高度、速度、姿态、电量等；储存模块可以通过物联网模块或者USB接口进行读写。The flight control box contains a central processing unit, an inertial navigation module, a barometric altitude measurement module, a local storage module, a Beidou module and an Internet of Things module (NB-IoT), as shown in Figure 2. When the flight control box leaves the factory, the basic information related to the industry application (such as flight height limit, speed limit, space time limit, industry department number, etc.) and the unique device serial number will be written into the CPU for a single write In the storage unit, the flight control box has the advantages of identity traceability and primary use control. The local storage module consists of two parts, one stores digital fence data, and the other part is used to store flight data, such as geographic location, altitude, speed, attitude, power, etc.; the storage module can be read and written through the Internet of Things module or USB interface .
根据各行业的空域划分和管理责任划分，行业空管平台需要把作业空域地理信息向国家空管平台申报，通过申报审批的空域信息会被管控客户端转换成数字围墙数据，该数据包括空域限制以及最大高度、最高速度、最长留空时间等详细飞行限制信息，并通过物联网或者USB接口写入至相应飞控盒的存储模块，从而使飞控盒不需要依赖外部数据传输链路就能自动限制无人机的可达空域，即使北斗短报文功能与物联网功能失效，数字围墙也能正常运作。无人机在数字围墙范围内的飞行不需要向行业或者国家空管平台申报，方便了众多行业无人机的使用，减少了相关空域管理部门的工作负担。在该管控客户端上还可显示所连接无人机的各种状态，包括无人机的飞行曲线、飞行参数、回放文件和GPS卫星状态。According to the division of airspace and management responsibilities of various industries, the industry air traffic control platform needs to report the geographic information of the operating air space to the national air traffic control platform, and the air space information that has passed the declaration and approval will be converted into digital fence data by the control client. And detailed flight restriction information such as maximum altitude, maximum speed, and longest time in the air, and write them into the storage module of the corresponding flight control box through the Internet of Things or USB interface, so that the flight control box does not need to rely on external data transmission links. It can automatically limit the reachable airspace of drones. Even if the Beidou short message function and the Internet of Things function fail, the digital fence can still operate normally. The flight of drones within the digital fence does not need to be reported to the industry or the national air traffic control platform, which facilitates the use of drones in many industries and reduces the workload of relevant airspace management departments. Various states of the connected drone can also be displayed on the control client, including the flight curve, flight parameters, playback files and GPS satellite status of the drone.
地面站可以利用物联网和北斗短报文控制多个飞控盒，能够为无人机设定航线并使其自主执行任务。地面站全程监控飞控盒的地理位置、高度、飞行速度等详细飞行信息。在无人机跨区作业需求的情况下，需要利用地面站向行业空管平台提出申报和数字围墙的解锁请求，若申报的空域地理位置过于敏感，行业空管平台需要把申报上传至国家空管平台，由更高级别的负责部门做审批决定。The ground station can use the Internet of Things and Beidou short messages to control multiple flight control boxes, and can set routes for drones and make them perform tasks autonomously. The ground station monitors the flight control box's geographic location, altitude, flight speed and other detailed flight information throughout the process. In the case of UAV cross-regional operation requirements, it is necessary to use the ground station to submit a request to the industry air traffic management platform for declaration and unlocking of the digital fence. If the declared airspace location is too sensitive, the industry air traffic management platform needs to upload the declaration to the national air traffic control platform The management platform shall be approved by a higher-level responsible department.
行业和国家空管平台能够实时监控属于各自部门的飞控盒的地理位置和高度，在紧急情况下能够强制获取飞控盒的控制权；国家空管平台相对于行业空管平台拥有更高的控制权。The industry and the national air traffic control platform can monitor the geographic location and altitude of the flight control boxes belonging to their respective departments in real time, and can forcibly obtain the control of the flight control box in an emergency; the national air traffic control platform has a higher Control.
由于飞控盒预留有外部备用接口，如USB、CAN、串口和以太网口等常用接口，飞控盒能够外挂功能设备。例如，用以太网口挂载摄像头，利用物联网实时传输拍摄画；用SBUS或者PPM连接遥控器的接收机，对无人机进行手动操控；用以太网口连接扬声器模块，通过地面站或者空管平台远程喊话；利用CAN或者SPI控制激光雷达，进行地图测绘。Since the flight control box has reserved external spare interfaces, such as common interfaces such as USB, CAN, serial port and Ethernet port, the flight control box can be plugged with functional devices. For example, use the Ethernet port to mount the camera, and use the Internet of Things to transmit pictures in real time; use SBUS or PPM to connect the receiver of the remote control to manually control the drone; Remotely call on the management platform; use CAN or SPI to control the lidar for map surveying and mapping.
以上实施例仅为说明本发明的技术思想，不能以此限定本发明的保护范围，凡是按照本发明提出的技术思想，在技术方案基础上所做的任何改动，均落入本发明保护范围之内。The above embodiments are only to illustrate the technical ideas of the present invention, and cannot limit the protection scope of the present invention with this. All technical ideas proposed according to the present invention, any changes made on the basis of technical solutions, all fall within the protection scope of the present invention. Inside.
| Application Number | Priority Date | Filing Date | Title |
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| CN201611272614.0ACN106710315A (en) | 2016-12-30 | 2016-12-30 | Industrial UAV management and control system and method |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611272614.0ACN106710315A (en) | 2016-12-30 | 2016-12-30 | Industrial UAV management and control system and method |
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| CN106710315Atrue CN106710315A (en) | 2017-05-24 |
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| CN201611272614.0APendingCN106710315A (en) | 2016-12-30 | 2016-12-30 | Industrial UAV management and control system and method |
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| CN109523837A (en)* | 2018-12-29 | 2019-03-26 | 湖南宇正智能科技有限公司 | A kind of low flyer security management and control system and method |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| DD01 | Delivery of document by public notice | Addressee:Guangzhou Jetsoon Intelligent Aviation Technology Co., Ltd. Document name:Notification of Passing Preliminary Examination of the Application for Invention | |
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20170524 |