Water surface flight unmanned aerial vehicle driving navigation system

Abstract

The invention relates to a water surface flight unmanned aerial vehicle driving navigation system. The system is characterized by comprising a remote control host, an ARM controller, a nine-axis gyroscope, a camera, an ultrasonic range finder, an obstacle recognition module, a GPRS positioning instrument, an LORA module, an operation execution mechanism, a solar charging panel, a battery and a relay circuit; according to the invention, the ARM acquires an angle by externally connecting the nine-axis gyroscope, acquires accurate coordinates of a known point by externally connecting the GPRS, measures the distance to the point by externally connecting the ultrasonic distance meter, and controls the operation execution mechanism to execute and operate a stroke instruction issued by the remote host; through the processing mode, automatic navigation is realized, the used manpower is less, the cost is low, and the efficiency is high; by arranging the solar charging panel, the matched battery and the relay circuit, alternate charging and power supply of the battery are achieved, energy is saved, and manpower is saved.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicle navigation, and in particular to a driving navigation system for a surface flying unmanned aerial vehicle. Background Art

[0002] Unmanned aerial vehicles, also known as "drones", are unmanned aircraft that are controlled by radio remote control equipment and self-contained program control devices. Drones can be divided into military and civilian applications according to their application areas. In the military, drones are divided into reconnaissance aircraft and target aircraft. In the civilian application area, drones are currently used in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspections, disaster relief, film and television shooting, and other fields.

[0003] When a drone encounters obstacles on the water during flight, it is easy to collide. When the measurement mode of a common drone is used to avoid obstacles on the water, its measurement and navigation mode is cumbersome and the navigation detection is inaccurate. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a driving and navigation system for a surface flying UAV to solve the problem of excessive manpower input in the existing measurement mode.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a water surface flying UAV driving navigation system, the innovation of which is: including a remote control host, an ARM controller, a nine-axis gyroscope, a camera, an ultrasonic rangefinder, an obstacle recognition module, a GPRS locator, a LORA module, an operating actuator and a solar module;

[0006] The remote control host is used to build a model of the working area and manually plan the route; the ARM controller obtains the attitude of the drone through the nine-axis gyroscope and the ultrasonic rangefinder to obtain high-precision positioning information, and is used to receive instructions from the remote control host and return water surface information and fault image information; the ARM controller is connected to the operating actuator to control the action of the operating actuator;

[0007] The remote control host is also connected to a LORA module, and the LORA module is provided with a LORA wireless serial port, and the LORA module establishes a data connection between the remote control host and the ARM controller;

[0008] The ultrasonic rangefinder measures the distance with the known points measured by the GPRS locator, and combines the data of the nine-axis gyroscope to calculate the specific position of the operating actuator and transmit it back through the LORA module;

[0009] The ARM controller turns on the camera and transmits the real-time image back through the LORA module after the fault switching module switches to manual control;

[0010] The solar module includes a solar charging panel, a battery and a relay circuit; the solar charging panel performs real-time battery power detection and feedback through the control of the ARM controller and the relay circuit, and when one of the batteries is low in power, it switches to another battery for power supply and charges the low-power battery; the ARM controller performs D / A acquisition on the battery voltage and transmits the data back to the ARM controller, and then the ARM controller controls the relay circuit to achieve automatic alternating charging;

[0011] Furthermore, the LORA module is connected to a fault switching module for switching between manual and automatic control modes of the operating mechanism when a fault occurs.

[0012] Furthermore, the obstacle recognition module is a photographic recognition module.

[0013] The advantages of the present invention are:

[0014] 1) In the present invention, ARM obtains the angle by externally connecting the nine-axis gyroscope, obtains the accurate coordinates of the known point by externally connecting the GPRS, measures the distance to the point by externally connecting the ultrasonic ranging, and controls the operation actuator to execute the instruction through the travel instruction issued by the remote host; through the processing method, automatic navigation is realized, with less manpower, low cost and high efficiency; the present invention realizes alternating battery charging and power supply by setting a solar charging panel and a matching battery and a relay circuit, saving energy and manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0016] Figure 1 The present invention is a connection diagram of a water surface flying UAV driving and navigation system.

[0017] Figure 2 The present invention is a control relationship diagram of a water surface flying UAV driving and navigation system.

[0018] Figure 3 The figure is a charging and discharging schematic diagram of a water surface flying UAV driving and navigation system of the present invention.

[0019] Figure 4 The present invention is an operation flow chart of a water surface flying unmanned aerial vehicle driving and navigation system. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0023] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0024] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0025] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] like Figures 1 to 4The shown system is a water surface flying UAV driving navigation system, comprising a remote control host 1, an ARM controller 2, a nine-axis gyroscope 3, a camera 4, an ultrasonic rangefinder 5, an obstacle recognition module 6, a GPRS locator 7, a LORA module 8, an operating actuator 9, a solar charging panel 10, a battery 11 and a relay circuit 12.

[0027] The remote control host 1 is used to establish a model of the working area and manually plan the route; the ARM controller 2 obtains the posture of the drone through the nine-axis gyroscope 3 and the ultrasonic rangefinder 5 to obtain high-precision positioning information, and is used to receive instructions from the remote control host 1 and return water surface information and fault image information; the ARM controller 2 is connected to the operating actuator 9 to control the action of the operating actuator 9.

[0028] The remote control host 1 is also connected to a LORA module 8 , and the LORA module 8 is provided with a LORA wireless serial port. The LORA module 8 establishes a data connection between the remote control host 1 and the ARM controller 2 .

[0029] The ultrasonic rangefinder 5 measures the distance with the known points measured by the GPRS locator 7 , and calculates the specific position of the operating actuator 9 in combination with the data of the nine-axis gyroscope 3 and transmits it back through the LORA module 8 .

[0030] The ARM controller 2 will turn on the camera 4 and transmit the real-time image back through the LORA module 8 after the fault switching module is switched to manual control.

[0031] The solar charging panel 10 performs real-time battery power detection and feedback through the control of the ARM controller 2 and the relay circuit 12. When the power of one of the batteries 11 is low, it switches to the other battery 11 for power supply and charges the battery 11 with low power. The ARM controller 2 performs D / A acquisition on the voltage of the battery 11 and feeds the data back to the ARM controller 2. Then the ARM controller 2 controls the relay circuit 12 to realize automatic alternating charging.

[0032] The LORA module 8 is connected with a fault switching module for switching between manual and automatic control modes of the operating mechanism when a fault occurs.

[0033] The obstacle recognition module 6 is a camera recognition module.

[0034] The working principle of the present invention is as follows: the solar charging panel is used to power the unmanned drone, the relay circuit is used to control the solar panel to charge two batteries alternately, the remote host is used to build a model of the working area and manually plan the route; the ARM controller obtains the attitude of the drone through the nine-axis gyroscope, combines with the ultrasonic rangefinder to obtain high-precision positioning information, and is used to receive instructions from the remote control host and return water surface information and fault image information. The present invention saves manpower investment under the premise of completing autonomous navigation on a fixed route.

[0035] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A water-surface flying UAV driving and navigation system, characterized by: Including remote control host, ARM controller, nine-axis gyroscope, camera, ultrasonic rangefinder, obstacle recognition module, GPRS locator, LORA module, operation actuator and solar module; The remote control host is used to build a model of the working area and manually plan the route; the ARM controller obtains the attitude of the drone through the nine-axis gyroscope and the ultrasonic rangefinder to obtain high-precision positioning information, and is used to receive instructions from the remote control host and return water surface information and fault image information; the ARM controller is connected to the operating actuator to control the action of the operating actuator; The remote control host is also connected to a LORA module, and the LORA module is provided with a LORA wireless serial port, and the LORA module establishes a data connection between the remote control host and the ARM controller; The ultrasonic rangefinder measures the distance with the known points measured by the GPRS locator, and combines the data of the nine-axis gyroscope to calculate the specific position of the operating actuator and transmit it back through the LORA module; The ARM controller turns on the camera and transmits the real-time image back through the LORA module after the fault switching module switches to manual control; The solar module includes a solar charging panel, a battery and a relay circuit; the solar charging panel performs real-time battery power detection and feedback through the control of the ARM controller and the relay circuit, and when the power of one battery is low, it switches to another battery for power supply and charges the battery with low power; the ARM controller performs D / A acquisition on the voltage of the battery and feeds the data back to the ARM controller, and then the ARM controller controls the relay circuit to realize automatic alternating charging.

2. The driving and navigation system for a surface-flying UAV according to claim 1, characterized in that: The LORA module is connected to a fault switching module for switching between manual and automatic control modes of the operating mechanism when a fault occurs.

3. The driving and navigation system for a surface-flying UAV according to claim 1, characterized in that: The obstacle recognition module is a photographic recognition module.

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