FPV unmanned aerial vehicle launching system based on large unmanned aerial vehicle

Abstract

The invention provides an FPV unmanned aerial vehicle delivery system based on a large unmanned aerial vehicle, and the system comprises an air delivery platform which is used for carrying and transporting a plurality of FPV unmanned aerial vehicles; the visual perception module is carried on the aerial delivery platform and is used for acquiring image information; the ground station sends a control signal, controls the flight of the aerial delivery platform, and controls the release, flight and recovery of the FPV unmanned aerial vehicle; the communication module is carried on the aerial delivery platform and is used for receiving the control signal from the ground station and forwarding the control signal to the aerial delivery platform and the FPV unmanned aerial vehicle; meanwhile, image information from the visual perception module is sent to a ground station; and the signal relay module is carried on the aerial launching platform, receives the signal from the communication module and forwards the signal to the FPV unmanned aerial vehicle. According to the invention, the fast launching of the FPV unmanned aerial vehicle can be realized, the problems of low launching speed and low efficiency of the existing unmanned vehicle are solved, the casualty risk caused by the launching of the vehicle and the aircraft in the military field is reduced, and in addition, the launching range of the FPV unmanned aerial vehicle is greatly expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle applications, and in particular to an FPV unmanned aerial vehicle delivery system based on a large unmanned aerial vehicle. Background Art

[0002] FPV drones have been widely used in military and commercial fields. However, due to size limitations, the battery capacity of FPV drones is small, resulting in limited range. At the same time, the antenna power of FPV drones is low, which limits their communication distance. The short range and limited communication distance seriously restrict the application scope of FPV drones. In order to solve these problems, some FPV drone delivery systems have emerged, such as delivery through vehicles, aircraft, and drones. However, delivery through vehicles and aircraft has large targets and is prone to casualties. The delivery of unmanned vehicles is limited by the terrain and the delivery speed is slow. Summary of the invention

[0003] In view of the defects in the prior art, the purpose of the present invention is to provide an FPV drone delivery system based on a large drone.

[0004] According to one aspect of the present invention, there is provided an FPV drone delivery system based on a large drone, comprising:

[0005] The aerial delivery platform is used to carry and transport a number of FPV drones; after the aerial delivery platform arrives at the designated airspace, the FPV drones are released, and after the mission is completed, the FPV drones are recovered and returned;

[0006] A visual perception module, mounted on the aerial delivery platform, to collect real-time image information;

[0007] The ground station sends a control signal to control the flight of the aerial delivery platform and the release, flight and recovery of the FPV UAV;

[0008] A communication module, mounted on the aerial delivery platform, receives the control signal from the ground station and forwards it to the aerial delivery platform and the FPV UAV; and simultaneously sends the image information from the visual perception module to the ground station;

[0009] The signal relay module is mounted on the aerial delivery platform, receives the signal from the communication module, and forwards it to the FPV UAV.

[0010] Preferably, the aerial delivery platform comprises:

[0011] Aircraft, used as a means of transport to carry FPV drones;

[0012] The FPV UAV release and recovery device is installed under the aircraft and releases and recovers the FPV UAV according to the control signal received from the ground station.

[0013] Preferably, the FPV UAV release and recovery device comprises:

[0014] A column, at least one of which is fixed below the aircraft;

[0015] Cards, a plurality of said cards are connected in series on a single said column; said cards can be expanded and retracted;

[0016] The center of the FPV drone is provided with a through hole, and the through hole passes through the column, and the fixing and releasing are completed by the expansion and contraction action of the card.

[0017] Preferably, the FPV drone is equipped with a radio signal receiver to receive instructions from the signal relay module and complete the task action;

[0018] The FPV drone is equipped with an image transmission module and / or a bomb launcher;

[0019] The image transmission module is used to collect image data during the flight of the FPV UAV, and transmit it back to the ground station through the communication relay module and the communication module in sequence; the bomb launcher is used to release ammunition.

[0020] Preferably, the signal relay module includes:

[0021] A signal receiver receives a control signal from the communication module and directly acts on the aerial delivery platform to perform flight, release or recovery actions;

[0022] The antenna forwards the control signal received by the signal receiver to the FPV drone, and acts on the FPV drone to complete the flight, release or recovery action.

[0023] Preferably, the transmission mode of the communication module includes: radio communication mode, cable communication mode or optical fiber communication mode;

[0024] When radio communication is adopted, the communication module includes: a radio transceiver device at the ground station end and a radio transceiver device at the aircraft end; the communication between the ground station and the aircraft end is realized by radio;

[0025] When optical fiber communication is adopted, the communication module includes: a ground station end optical terminal, an aircraft end optical terminal, and an optical fiber; the ground station end optical terminal and the aircraft end optical terminal respectively convert the electrical signals of the ground station end and the aircraft end into optical signals, and then transmit the optical signals to realize communication between the two ends;

[0026] When cable communication is adopted, the communication module includes: ground station equipment, aircraft equipment and cables; the electrical signals of the ground station and the aircraft are transmitted through the cables to realize communication between the two ends.

[0027] Preferably, the ground station sends flight, delivery, and recovery control instructions, which are sent to the aerial delivery platform through the communication module; the ground station sends FPV UAV control instructions, which are forwarded to the FPV UAV through the communication module and the signal relay module.

[0028] Preferably, the ground station adopts a man-in-the-loop control mode, in which the FPV drone performs flight missions only according to control signals sent by the ground station.

[0029] Preferably, it also includes an intelligent control module;

[0030] The intelligent control module receives the image information sent by the visual perception module and performs target detection; if a target exists, its position information is obtained and forwarded to the signal relay module to send a flight instruction to the FPV drone to fly near the target.

[0031] Preferably, the ground station adopts an autonomous control mode; in this mode, the FPV drone is only controlled by the intelligent control module and is not subject to manual intervention by the ground station.

[0032] Compared with the prior art, the embodiments of the present invention have at least one of the following beneficial effects:

[0033] The FPV drone delivery system based on a large drone in the embodiment of the present invention adopts an aerial delivery platform to realize drone transportation, which can realize the rapid delivery of FPV drones, solve the problem of slow delivery speed and low efficiency of existing unmanned vehicles, and reduce the risk of casualties caused by vehicle and aircraft delivery in the military field. In addition, it also greatly increases the delivery range of FPV drones.

[0034] The FPV drone delivery system based on a large drone in the embodiment of the present invention adopts the communication relay technology, which can significantly increase the communication distance between the ground station and the FPV drone, and solve the problem of the short communication distance of the FPV drone.

[0035] The FPV UAV delivery system based on a large UAV in the embodiment of the present invention combines the technology of visual detection, can realize the autonomous combat function of the FPV UAV, and solve the problem that the UAV loses its combat capability after being suppressed by radio.

[0036] In summary, the FPV drone delivery system based on a large drone in the embodiment of the present invention can realize the rapid delivery of FPV drones, overcoming the problems of slow delivery speed, high delivery risk, and high cost in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0038] Figure 1 It is a schematic diagram of an FPV drone delivery system based on a large drone using a radio communication method in one embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of an FPV drone delivery system based on a large drone using optical fiber communication according to an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of a FPV drone release and recovery device according to an embodiment of the present invention;

[0041] Figure 4 is a schematic diagram of the structure of a card in an embodiment of the present invention;

[0042] Figure 5 The figure is a schematic diagram of the structure of an FPV drone according to an embodiment of the present invention.

[0043] In the figure: 1 is the aerial delivery platform, 11 is the aircraft, 12 is the FPV UAV release and recovery device, 2 is the visual perception module, 3 is the ground station, 4 is the communication module, 5 is the signal relay module, 6 is the intelligent control module, and 7 is the FPV UAV. DETAILED DESCRIPTION

[0044] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0045] In order to break the range and communication distance limitations of drones, an embodiment of the present invention provides an FPV drone delivery system based on a large drone, such as Figure 1As shown, it mainly includes an aerial delivery platform 1, a visual perception module 2, a ground station 3, a communication module 4 and a signal relay module 5. The aerial delivery platform 1 is used to carry and transport several FPV drones 7; after the aerial delivery platform 1 arrives at the designated airspace, the FPV drone is released, and after the mission is completed, the FPV drone is recovered and returned; the visual perception module 2 is mounted on the aerial delivery platform 1 to collect real-time image information; the ground station 3 sends a control signal to control the flight of the aerial delivery platform and control the release, flight and recovery of the FPV drone; the communication module 4 is mounted on the aerial delivery platform, receives the control signal from the ground station and forwards it to the aerial delivery platform and the FPV drone; at the same time, the image information from the visual perception module is sent to the ground station; the signal relay module 5 is mounted on the aerial delivery platform, receives the signal from the communication module, and forwards it to the FPV drone.

[0046] The above embodiment uses an aerial delivery platform to launch FPV drones, taking advantage of the long flight range and long communication distance of large drones that can be used by the aerial delivery platform itself, breaking the flight range and communication distance limitations of FPV drones. In addition, the unmanned advantage of the aerial delivery platform effectively reduces casualties caused by the FPV drone launch process during battlefield operations.

[0047] In order to better realize the remote delivery and recovery of drones, in a preferred embodiment of the present invention, the main body of the air delivery platform adopts a large drone, which is used to carry and transport FPV drones. After arriving at the designated airspace, the FPV drone is released. After the mission is completed, the FPV drone is recovered and returned.

[0048] Specifically, the aerial delivery platform can be divided into two submodules: an aircraft 11 and an FPV UAV release and recovery device 12 .

[0049] The aircraft is a large drone. As a means of transportation, it can take advantage of the long flight range and long communication distance of large drones, and carry FPV drones to break through the limitations of flight range and communication distance. The FPV drone release and recovery device is a device used to quickly release and recover drones. After receiving the release or recovery command sent by the ground station, the FPV drone can be quickly released or recovered.

[0050] In order to ensure the release and recovery effect, in a preferred embodiment, the FPV drone release and recovery device is composed of a column with multiple retractable cards installed. Specifically, multiple columns are fixed to the bottom of the aircraft, and the cards are connected in series to the columns. Figure 4As shown, the card includes a diamond structure composed of multiple elastic rods, which are movably connected in series on the column. In the unstressed state, under the action of its own elastic properties, it remains in a state of being folded close to the column. A telescopic screw is set in the column. When fixing the drone, the telescopic screw extends outward to expand the diamond structure outward. Of course, it is necessary to open a through hole in the FPV drone, which can pass through the column, such as Figure 5 shown.

[0051] In the unreleased state, the FPV drone passes through the column and is fixed by the fixing card, such as Figure 3 (a) shown.

[0052] When you need to release the drone, the card shrinks and the FPV drone automatically falls and flies out after there is no obstruction at the bottom. Figure 3 (b) When the drone returns, the card is released to prevent the drone from falling and fix the FPV drone. Figure 3 (c) as shown.

[0053] The aerial delivery platform needs to deliver FPV drones based on ground information. Therefore, in a preferred embodiment, a visual perception module is installed on the aerial delivery platform. In this embodiment, the visual perception module uses a high-definition camera to capture high-definition images of the ground. The image information is sent to the ground station through a communication module. The operator of the ground station can observe and find the target to be hit based on the image information. For example, after finding the target in the image, the operator can manipulate the platform to fly over the target.

[0054] The communication module mainly receives signals from the ground station and forwards them to the aerial delivery platform or the signal relay module, and at the same time sends the visual information sent by the visual perception module to the ground station. In order to ensure its communication effect, in a preferred embodiment of the present invention, it is realized by information transmission methods such as radio, cable, and optical fiber.

[0055] For radio communication, the modules include: ground station radio transceiver equipment and aircraft radio transceiver equipment. The principle is to achieve communication between the ground station and the aircraft through radio, such as Figure 1 As shown. Radio communication is suitable for situations where there is no electromagnetic suppression, the terrain is open, and the radio communication is stable and undisturbed. There is no need to drag cables, the load is light, and the hovering time is long.

[0056] For optical fiber communication, its modules include: ground station optical terminal, aircraft optical terminal, and optical fiber. Its principle is to convert the electrical signals at both ends (ground station and aircraft) into optical signals first, and then transmit them through optical signals to achieve communication between the two ends. Figure 2 Fiber optic communication is suitable for use in areas where radio is suppressed, such as electromagnetic blocking areas on the battlefield, mountainous areas and other areas where radio communication is poor.

[0057] When cable communication is adopted, the communication module includes: ground station equipment, aircraft equipment and cable. The process of cable communication is: first, the electrical signals of the ground station and the aircraft are transmitted through the cable to realize communication between the two ends. This method utilizes the conductive properties of the cable to achieve efficient information transmission within a short distance and is suitable for use in a stable environment. Cable communication has the advantages of simple structure and low cost. Before the signal is transmitted through the cable, it is first converted into a signal of a specific protocol (such as UART protocol, CAN protocol, I2C protocol, SPI protocol) through the ground station and aircraft equipment, and then decoded through the cable to the opposite end device.

[0058] The communication upper limit of the communication module provides the range and communication upper limit between the ground station and the aerial delivery platform. In order to further break through the range and communication limitations, a signal relay module is built on the aerial delivery platform. This module is mounted on a large drone, and after receiving the signal from the communication module, it can forward the signal to the FPV drone. Specifically, this module has two submodules: a signal receiver and an antenna. Among them, the signal receiver receives commands from the communication module and the intelligent strike module, and sends the signal to the FPV drone through the antenna. The antenna is used to send signals to the FPV drone, enhance the signal, and increase the communication distance.

[0059] The ground station is used for operators to control the flight of large drones and FPV drones, and to receive images from the visual perception module and the FPV drone. The FPV operator searches for targets, avoids obstacles, and controls the flight of the FPV drone based on the two types of feedback images.

[0060] The delivery and recovery instructions sent by it are sent to the aerial delivery platform through the communication module, and the FPV drone control instructions sent must also be forwarded to the FPV drone through the signal relay module. Under the joint cooperation of the aerial delivery platform, visual perception module, ground station, communication module and signal relay module, the ground station supports the man-in-the-loop mode, that is, when the system is in this mode, the FPV drone only performs flight missions according to the control signals sent by the ground station.

[0061] However, FPV drones are prone to losing combat capability after being subjected to radio suppression. Therefore, in a preferred embodiment of the present invention, an intelligent control module is designed in the air delivery platform. The intelligent control module can receive ground image information sent by the visual perception module and perform target detection on the image information. If there is a target, its position information is obtained, and according to its position, a flight instruction is sent to the FPV drone through the signal relay module to fly near the target.

[0062] Therefore, based on the above intelligent control module, the ground station can also adopt another control mode, namely autonomous control mode: when the system is in this mode, the FPV drone is controlled by the intelligent control module and its flight is not subject to human intervention. If the aircraft loses contact with the ground station, the system has autonomous combat capability and can still perform strike missions autonomously.

[0063] In order to understand the technical content of the embodiment of the present invention more clearly and in detail, a specific embodiment of the present invention provides the entire process of using the FPV drone delivery system based on a large drone in the above embodiment to perform a strike mission, which is as follows:

[0064] When the drone unit receives an airstrike mission, after research and judgment, it is found that the range and communication distance of the FPV drone cannot meet the airstrike requirements. The FPV drone is then mounted on the release and recovery device of the FPV drone delivery system based on a large drone in the above embodiment.

[0065] Generally, the human-in-the-loop control mode is adopted first. The ground station issues control instructions, which are transmitted to the large UAV through the communication module to execute the flight mission. That is, taking advantage of the long flight range and long communication distance of large UAVs, the PFV UAV fleet is transported to the vicinity of the air strike target area.

[0066] After arriving near the target, the ground station issues a release command, which is transmitted to the large drone through the communication module, controlling the release and recovery device to release the FPV drone;

[0067] The FPV drone operator sends control commands to the FPV drone through the ground station. The control commands are transmitted through the communication module and the signal relay module to the FPV drone. The FPV drone completes the operator's commands (such as flight control commands and bomb drop commands, etc.). The FPV image transmission signal is returned to the ground station via the signal relay module and the communication module.

[0068] During the above process, the large UAV remains in flight or hovering state, and its visual perception module continues to collect image information and transmits it back to the ground station via the communication module.

[0069] The ground station operator integrates the image information sent back by the visual perception module and the image information returned by the FPV drone image transmission module to continue searching for targets, avoiding obstacles, and controlling the flight of the FPV drone.

[0070] If there is a sudden signal anomaly, such as the radio signal between the ground station and the large UAV is suppressed, the optical fiber / cable is disconnected, and other special circumstances, the human-in-the-loop control mode cannot continue, and the system enters the autonomous control mode.

[0071] The visual perception module sends the image information to the intelligent control module. After the intelligent control module determines the target position through its target detection function, it sends control instructions through the signal relay module to autonomously control the FPV drone to fly towards the target for an air strike.

[0072] After the mission is completed, if the signal between the ground station and the large UAV is restored, the human-in-the-loop control module is changed, and the ground station issues a recovery command, which is then sent to the surviving FPV UAV through the communication module and the relay communication module. The FPV UAV returns to release the recovery device, which is then recovered by the large UAV and returned to the base.

[0073] After the mission is completed, if it is still in autonomous control mode, the FPV drone will not be able to return and will not be recovered.

[0074] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. An FPV drone delivery system based on a large drone, characterized in that: include: An aerial delivery platform is used to carry and transport several FPV drones. After the aerial delivery platform arrives at a designated airspace, it releases the FPV drones and, after the mission is completed, recovers the FPV drones and returns. A visual perception module, mounted on the aerial delivery platform, collects real-time image information; The ground station sends control signals to control the flight of the aerial delivery platform and the release, flight and recovery of the FPV drone; a communication module, mounted on the aerial delivery platform, receiving the control signal from the ground station and forwarding it to the aerial delivery platform and the FPV UAV; and simultaneously sending the image information from the visual perception module to the ground station; The signal relay module is mounted on the aerial delivery platform, receives the signal from the communication module, and forwards it to the FPV UAV.

2. The FPV drone delivery system based on a large drone according to claim 1, characterized in that: The aerial delivery platform includes: Aircraft, used as a means of transport to carry FPV drones; The FPV drone release and recovery device is installed under the aircraft and releases and recovers the FPV drone according to the control signal received from the ground station.

3. The FPV drone delivery system based on a large drone according to claim 2, characterized in that: The FPV drone release and recovery device includes: A column, at least one of which is fixed below the aircraft; Cards, multiple cards are connected in series on a single column; the cards can be expanded and retracted; The center of the FPV drone has a through hole, which passes through the column, and the fixing and release are completed by the expansion and contraction of the card.

4. The FPV drone delivery system based on a large drone according to claim 1, characterized in that: The FPV drone is equipped with a radio signal receiver to receive instructions from the signal relay module and complete the task action; The FPV drone is equipped with an image transmission module and / or a bomb dropper; The image transmission module is used to collect image data during the flight of the FPV drone, and transmit it back to the ground station through the communication relay module and the communication module in sequence; the bomb dropper is used to drop ammunition.

5. The FPV drone delivery system based on a large drone according to claim 1, characterized in that: The signal relay module includes: A signal receiver receives control signals from the communication module and directly acts on the aerial delivery platform to perform flight, release or recovery operations; The antenna forwards the control signal received by the signal receiver to the FPV drone, acting on the FPV drone to complete the flight, release or recovery action.

6. The FPV drone delivery system based on a large drone according to claim 1, characterized in that: The transmission mode of the communication module includes: radio communication mode, cable communication mode or optical fiber communication mode; When radio communication is adopted, the communication module includes: a radio transceiver device at the ground station end and a radio transceiver device at the aircraft end; communication between the ground station and the aircraft end is achieved through radio; When optical fiber communication is adopted, the communication module includes: a ground station optical terminal, an aircraft optical terminal, and an optical fiber; the ground station optical terminal and the aircraft optical terminal respectively convert the electrical signals of the ground station and the aircraft into optical signals, and then transmit the optical signals to achieve communication between the two ends; When cable communication is adopted, the communication module includes: ground station equipment, aircraft equipment and cables; the electrical signals of the ground station and aircraft are transmitted through the cables to realize communication between the two ends.

7. The FPV drone delivery system based on a large drone according to claim 1, characterized in that: The ground station sends flight, delivery, and recovery control instructions, which are sent to the aerial delivery platform through the communication module; the ground station sends FPV drone control instructions which are forwarded to the FPV drone through the communication module and the signal relay module.

8. The FPV drone delivery system based on a large drone according to claim 6, characterized in that: The ground station adopts a man-in-the-loop control mode, in which the FPV UAV performs flight missions only according to control signals sent by the ground station.

9. The FPV drone delivery system based on a large drone according to claim 1, characterized in that: Also includes intelligent control module; The intelligent control module receives the image information sent by the visual perception module and performs target detection; if a target exists, it obtains its location information and forwards it to the signal relay module to send flight instructions to the FPV drone to fly near the target.

10. The FPV drone delivery system based on a large drone according to claim 9, characterized in that: The ground station adopts an autonomous control mode; in this mode, the FPV drone is only controlled by the intelligent control module and is not subject to manual intervention from the ground station.

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