Vehicle-mounted unmanned aerial vehicle ground station system

Abstract

The invention relates to a vehicle-mounted unmanned aerial vehicle ground station system, which comprises a vehicle-mounted platform, a power supply and distribution subsystem, a command and control subsystem, a measurement and control subsystem and a comprehensive guarantee subsystem, and is characterized in that the vehicle-mounted platform adopts a second-class chassis suitable for various unmanned aerial vehicle application scenes and is used for supporting a vehicle body; the power supply and distribution subsystem is used for supplying power to the whole vehicle-mounted unmanned aerial vehicle ground station system; the command and control subsystem is arranged in the vehicle body and is used for monitoring and controlling unmanned aerial vehicles of various models; the measurement and control subsystem is used for monitoring the environment around the vehicle body; and the comprehensive guarantee subsystem is arranged at the top of the vehicle body and is used for protecting the vehicle-mounted antenna. According to the invention, a mutual backup design is adopted, the control seat and the measurement and control seat of the command and control subsystem can be flexibly interchanged, the control host and the command and control link can be switched in real time, instant switching can be realized when one host fails, normal development of command and control work is ensured, and the safety of the system is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned command and control, and in particular relates to a vehicle-mounted unmanned aerial vehicle ground station system. Background Art

[0002] The UAV ground command vehicle is an important part of the UAV system. It provides a convenient and comfortable in-vehicle control environment for UAV ground operators, and realizes the command and control, system monitoring and other functions of the UAV. At present, there are four main forms of UAV ground stations: cabin ground stations, vehicle-mounted ground stations, portable ground stations and handheld terminals. Vehicle-mounted ground stations are suitable for ground command and control of large, medium and small UAVs. They have high integration, compatible models and types, strong mobility, and have the characteristics of rapid deployment and quick installation. They are widely used in the field of UAVs. However, the existing vehicle-mounted cabin ground stations follow the military product model, with the "fixed station + chassis" cabin separation method, mainly to realize functions but cannot be highly integrated, and cannot meet the comfort requirements of users in the civilian market. In addition, under the current model, the ground station mainly realizes one station and one model or one station and multiple machines (the same model) as the main system solution, and cannot realize the application of cluster scenarios such as one station and multiple models. Summary of the invention

[0003] In order to overcome the problems existing in the prior art, the present invention provides a vehicle-mounted UAV ground station system.

[0004] A vehicle-mounted UAV ground station system, the system comprising: a vehicle-mounted platform, a power supply and distribution electronic system, a command and control subsystem, a measurement and control subsystem, and a comprehensive support subsystem, wherein the vehicle-mounted platform adopts a second-class chassis suitable for various types of UAV application scenarios to support the vehicle body;

[0005] The power supply and distribution electronic system is used to provide power supply to the entire vehicle-mounted UAV ground station system;

[0006] The control subsystem is arranged inside the vehicle body and is used to monitor and control various types of drones;

[0007] The measurement and control subsystem is used to monitor the environment around the vehicle, establish a communication link, and realize communication between the ground and the UAV end;

[0008] The comprehensive support subsystem is arranged inside the vehicle body and is used to support the work of the command personnel in the cabin and the daily maintenance of the vehicle.

[0009] According to the aspects described above and any possible implementation method, an implementation method is further provided, wherein the command subsystem includes a command area arranged on the front side of the interior of the vehicle body, a living area and an extended work area on the rear side, and the command area includes two seats and at least 6 display screens, with a display screen arranged on the upper, middle and lower sides of each seat.

[0010] As described above and any possible implementation method, an implementation method is further provided, whereby two displays below the two seats display various parameters of the drone; the middle display of one seat displays the real-time video image taken by the drone's front-view camera; the middle display of another seat displays the real-time video image acquired by the sensor on the drone; and the two upper displays display the real-time map situation information of the drone.

[0011] According to the aspects described above and any possible implementation method, an implementation method is further provided, in which a control terminal is provided on each seat, a mounting rack is provided in the middle of the seat, and two seats are dual-connected and backed up with each other.

[0012] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the living area is provided with a water dispenser, a wash basin and a vehicle refrigerator.

[0013] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the extended workspace is provided with a large-size display.

[0014] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the monitoring subsystem includes cameras arranged around the vehicle body.

[0015] According to the aspects and any possible implementations described above, an implementation is further provided, wherein the power supply and distribution subsystem includes power from the city power supply, power generated by a vehicle-mounted generator, and power provided by a UPS power supply.

[0016] According to the aspects described above and any possible implementation, there is further provided an implementation, wherein the integrated security subsystem includes an interlocking lifting platform and a roof opening and closing mechanism, and the vehicle-mounted antenna is disposed inside the opening and closing structure.

[0017] According to the aspects described above and any possible implementation method, an implementation method is further provided, wherein the system also includes a pan-tilt camera arranged on the roof and foldable guardrails arranged on both sides of the roof.

[0018] Beneficial Effects of the Invention

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) The UAV ground command and control vehicle connection adopts a mutual backup design. The control seat and the measurement and control seat can be flexibly interchanged, and the control host and the command and control link can be switched in real time. If one of the hosts fails, it can be switched immediately to ensure the normal operation of the command and control work and improve the system security.

[0021] (2) The UAV ground control vehicle uses three power modules: dual mains input, generator and UPS to achieve uninterruptible power management for the vehicle, and uses the vehicle's DC battery to achieve dual battery management of the vehicle and the mains, thereby improving backup redundancy and system stability;

[0022] (3) Compared with the traditional weather monitoring system, the ground control vehicle integrates the weather detection system with the independent display module inside the vehicle. The outdoor sensor senses the information and displays the sensed information in real time on the large information screen inside the vehicle. The staff can understand the real-time weather status more intuitively and improve the judgment basis for the UAV control decision;

[0023] (4) The UAV ground command vehicle can realize the automatic storage and deployment of the L-link equipment, install lifting and opening and closing devices, and realize the safe deployment and withdrawal of the link equipment through sensors set according to equipment requirements and additional safety settings. In addition, the human-machine comfort is fully considered, and the control system is integrated and designed to improve the operating comfort. The above scheme improves the safety protection of the UAV command equipment and improves the system safety. The L-link is an L-band antenna that can receive and transmit satellite signals to achieve long-distance wireless communication. It is used for beyond-line-of-sight remote control of UAVs and ensures smooth communication between UAVs and ground command systems.

[0024] (5) Considering the actual situation of the UAV ground command vehicle, antennas and other equipment need to be installed on the roof, and the safety of personnel climbing to the top cannot be ignored. The traditional solution generally adopts a roof anti-slip structure and personnel wearing safety belts, but the convenience of personnel working on the roof is very poor. Therefore, the ground command vehicle adopts a foldable guardrail structure. When personnel climb to the top, the roof guardrail opens to protect the personnel working on the roof. When the roof is moving, the roof guardrail is folded and fixed to the roof after being fixed, which does not affect the driving of the vehicle. The above measures further improve the safety of the system.

[0025] (6) The UAV ground command and control vehicle adopts a multi-link and multi-communication compatible design, and the control host configuration is compatible with multi-model command and control software, realizing the versatility of the ground command and control vehicle. According to the requirements of different models, the command and control software can be installed to perform UAV command and control operations, realizing a one-station multi-machine universal design. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is the plan layout diagram of the system of the present invention;

[0027] Figure 2 is a connection diagram of system components of the present invention;

[0028] Figure 3 It is a schematic diagram of the top sliding cover and the lifting platform control panel of the present invention;

[0029] Figure 4(a) and 4(b)It is a schematic diagram of the roof guardrail structure of the present invention. DETAILED DESCRIPTION

[0030] In order to better understand the technical solution of the present invention, the content of the present invention includes but is not limited to the specific implementation methods described below, and similar technologies and methods should be considered to be within the scope of protection of the present invention. In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0031] It should be clear that the embodiments described in the present invention are only part of the embodiments of the present invention, rather than all the embodiments. 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.

[0032] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0033] like Figure 1 , Figure 2 and Figure 3 As shown, the present invention provides a vehicle-mounted UAV ground station system, the system includes: a vehicle-mounted platform, an electronic power supply system, a command and control subsystem, a measurement and control subsystem and an integrated support subsystem, wherein the vehicle-mounted platform adopts a Class II chassis suitable for various types of UAV application scenarios to support the vehicle body, and the chassis uses the Iveco NJ2045 off-road vehicle chassis, the vehicle body length / width / height are 5900 / 2060 / 2330mm respectively, and the wheelbase is 3310mm. The chassis curb weight is not more than 4.3 tons, and reaches 4.5 tons when fully loaded. Equipped with front part-time four-wheel drive, two-wheel drive and four-wheel drive can be switched freely, and there are two front and rear differential locks. The above-selected four-wheel drive chassis increases the vehicle's passability and adaptability to various complex road surfaces, and enables the ground command and control system to quickly reach various mission sites;

[0034] The power supply and distribution electronic system is used to provide power supply to the entire vehicle-mounted UAV ground station system;

[0035] The control subsystem is arranged inside the vehicle body and is used to monitor and control various types of drones;

[0036] The measurement and control subsystem is used to monitor the environment around the vehicle body;

[0037] The comprehensive protection subsystem is arranged on the top of the vehicle body and is used to protect the vehicle-mounted antenna.

[0038] Carriage structure (upper part)

[0039] The carriage is made of welded squirrel cage structure aluminum profiles. The inner and outer skins of the carriage are made of 1.5mm laminated aluminum plates + insulation layers are filled with polyurethane panels + aluminum alloy frames + interior structure. The box has good thermal insulation performance and its fire resistance complies with relevant regulations.

[0040] The wallboard frame is made of aluminum alloy square tube cutting, processing and welding, and the wallboard thickness is about 40mm. The wallboard formed by high-pressure injection has a smooth and beautiful surface (the surface unevenness per square meter is no more than 2mm).

[0041] The cabin design meets the load-bearing performance requirements and ensures that the thermal conductivity coefficient of the cabin panels is no more than 1.5W / m2.℃.

[0042] The interior and exterior cladding and door structures of the cabin are made of aluminum profiles, and frames are designed for each opening and load-bearing location to meet the load-bearing and installation requirements of the cabin.

[0043] All wiring harnesses are pre-buried in the large panel of the car body and protected by insulating hoses. The car body panel structure has excellent performance in heat insulation, rainproof, fireproof, noise reduction, heat radiation protection and insect resistance.

[0044] Lightweight materials make the vehicle body weight as light as possible, improve the lightweight state of the entire vehicle, and improve the vehicle's passability.

[0045] The vehicle-mounted platform selects a Class II chassis suitable for various types of UAV application scenarios, and through overall design and vehicle modification, integrates the command and control computer, measurement and control computer, data link and other equipment into the vehicle. Taking into account the command and control characteristics of various types of aircraft and UAVs, the power supply and equipment connection of the vehicle are designed to achieve the command and control, monitoring, simulation and necessary life support of the UAV ground command and control vehicle.

[0046] The front part of the UAV ground control vehicle of the command and control subsystem is the command and control area. The command and control area uses two seats, namely the control seat and the measurement and control seat. It adopts a mutual backup design, and the control seat and the measurement and control seat can be flexibly interchanged, and the control host and the command and control link can be switched in real time. If one of the hosts fails, it can be switched immediately to ensure the normal operation of the command and control work and improve the safety of the command and control. There are at least 6 32-inch display screens. The platform of each seat consists of three display areas in the upper and lower sides, and each area is equipped with a display. The two displays below display various parameters of the UAV; the middle main display of the control seat displays the real-time video image of the UAV's front-view camera to control the UAV's flight attitude; the middle main display of the measurement and control seat displays the real-time video image obtained by the UAV's optoelectronic and infrared sensors for target search and control; the upper display displays the real-time map situation information of the UAV, flight trajectory, attitude, position, etc. The other display is an auxiliary display function, including route planning, etc.

[0047] The control seat and the measurement and control seat are equipped with control terminals (mouse and keyboard) on the desks. The equipment installation rack is located in the middle of the control seat. The equipment connection adopts a dual-connection and mutual backup design. The back side is an expandable work area with a 50-inch display. When the work needs to be expanded, the expanded work area can be used to carry out environmental monitoring work. The right hand side of the back entrance is equipped with a living area equipped with a water dispenser, a wash basin, a bed and a car refrigerator to meet the basic living needs of the staff.

[0048] The flight control computer of the control seat and the mission load computer of the measurement and control seat back up each other, which improves the reliability and safety of the equipment. The vehicle-mounted ground station integrates a data transmission radio, a picture transmission radio and a Beidou positioning device, which can realize data transmission and image transmission at the same time, and update the location information and route of the drone in real time. The Beidou positioning device is connected to the two seat hosts at the same time. When one host fails, the other host can continue to control and monitor the drone, which improves the safety and reliability of the drone command and control system.

[0049] A 50-inch comprehensive information expansion screen is installed on the rear side of the ground command vehicle, which is connected to the command host of the control seat to achieve comprehensive information expansion and connection with external hosts to handle temporary tasks. The 50-inch large screen can be used as an expansion screen for the vehicle camera, which is convenient for people in the car to observe the surrounding conditions of the vehicle and to judge whether there is any dangerous intrusion in time to avoid affecting the command work of people in the car. In addition, the expansion screen is connected to the vehicle monitoring subsystem via HDMI. When the vehicle is parked, the cameras installed around the vehicle are used to monitor the surrounding environment of the ground command vehicle, so as to improve the judgment of the command vehicle personnel on the on-site environment and flight conditions. Through this setting, the use of special cameras is reduced, the integration of vehicle and machine is fully realized, and the expansion application of equipment is improved. Figure 2 As shown in the figure, the interior of the vehicle is equipped with switches 1-2, voice announcer, 840M, 900M radio stations, north-seeking terminal, left control panel 1-2, right control panel 1-2, rear control panel 1-2, external network port 1-2, lifting platform network port, wireless router, LED screen, left industrial computer, right industrial computer, indoor monitoring 1-2, top pan-tilt camera, and server network port.

[0050] In order to improve the real-time grasp of the surrounding environment by the drone command personnel, the present invention connects the wind speed and wind direction meter installed on the drone with the LED information display screen in the ground command vehicle through a communication protocol, and transmits the external environment information obtained by the wind speed and wind direction meter to the LED display screen through the protocol. After the LED display screen obtains the relevant information, it converts the signal into LED display information. The LED information display screen is located above the command screen, which is convenient for the command personnel to observe and understand the meteorological information in time, adjust the route and flight parameters in time according to environmental changes, and ensure the safety of drone operation. Each seat described above has three displays for comprehensive situation information display, which can more comprehensively display the drone status information, load images, three-dimensional situation information, etc., improve the visualization level of the ground station, and improve work and decision-making efficiency.

[0051] The power supply and distribution electronic system includes three power sources, namely, the mains power, the power generated by the vehicle-mounted ultra-quiet diesel generator, and the power provided by the UPS power supply. The mains power input adopts a dual power input mode. In order to ensure the control of the UAV and ensure the normal power consumption of the equipment, the mains power supply is divided into two inputs, one for high-power life equipment, and the other for the in-vehicle control and measurement and control equipment for commanding the UAV through the UPS; the mains power input is mainly used to power the in-vehicle control equipment through the UPS. In the event of a power outage, the normal operation of the control area equipment can be realized, ensuring uninterrupted monitoring and control between the ground control system and the UAV.

[0052] In the design of power supply, the principle of mains power priority is adopted. When the mains power is supplied, the mains power is connected to the in-vehicle distribution board through an external cable tray, and the system power equipment is powered by the distribution board, while providing power supplement to the DC power supply. In the absence of mains power, the on-board ultra-quiet diesel generator is started to power the entire system. In the absence of mains power and the diesel engine cannot be started, UPS (including battery pack) is used for inverter power supply. Various power supply modes are manually switched to ensure the normal use of the system under any circumstances.

[0053] Non-essential equipment on the drone ground command vehicle, such as household appliances, uses separate AC power input, and full consideration is given to some DC equipment on the vehicle. To ensure their working stability, the use of AC / DC converters is reduced, and the on-board DC battery is fully utilized as a power source to power some equipment. A value-added dual battery manager is added to realize real-time charging of the on-board battery to keep it fully charged.

[0054] The UAV ground command vehicle integrates image transmission radio, data transmission radio, L-band data link, and vehicle-mounted satellite communication equipment access port to realize the command and control of different UAVs and realize the universalization of ground command vehicles. Combined with the selection of links for UAV command and control, data link connection is carried out according to the matching UAV to realize the command and control of UAVs.

[0055] In order to meet the needs of UAV control, a link device antenna is installed in the vehicle. In order to achieve better signal reception when it is deployed, it can be located above the roof and stored in the vehicle when it is withdrawn to improve the protection of the equipment. The vehicle is equipped with an upgrade platform for installing the link antenna and a roof opening and closing mechanism according to functional requirements to achieve the deployment and storage of the link antenna. According to the deployment characteristics of the opening and closing mechanism and the lifting platform, and taking into account the protection of the link antenna during the execution of the mechanism, the opening and closing mechanism and the lifting platform adopt a functional interlocking setting and are equipped with position sensors to detect the position of the lifting mechanism and the opening and closing mechanism. According to the feedback signal of the sensor, the start, stop and steering of the motor are controlled to achieve the interlocking function.

[0056] In addition, the subsystem of the present invention is also provided with a safety device to ensure the safety performance of the system during operation, and is equipped with an emergency stop button to quickly stop all actions in an emergency. The safety device also includes a limit switch to ensure that the lifting mechanism and the opening and closing mechanism do not exceed their safe operating range.

[0057] The execution logic is as follows:

[0058] Tasks to be carried out: ①Open the top slide ②Open the top slide into place ③Lift the lifting platform ④Lift the top slide into place;

[0059] Mission withdrawal: ①The lifting platform descends ②The lifting platform descends to the right position ③The top slide is closed ④The top slide is closed to the right position;

[0060] The control panel takes into account the deployment of antennas, PTZ cameras and other equipment on the roof. To facilitate the maintenance of the roof equipment, the vehicle is equipped with a ladder at the rear and foldable guardrails on both sides of the roof. When personnel are working on the roof, the guardrails on both sides of the roof can be flipped upright to prevent personnel from falling from the roof and causing personal injury, thereby increasing the safety of the entire vehicle. When the vehicle is moving, the roof guardrail is turned over and laid flat on the roof and fixed with a fixed tripod. The structure of the roof guardrail is as follows: Figure 4(a) and 4(b) shown.

[0061] The above description shows and describes several preferred embodiments of the present invention, but as mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the application concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not depart from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. A vehicle-mounted UAV ground station system, characterized in that: The system includes: a vehicle-mounted platform, a power supply and distribution electronic system, a command and control subsystem, a measurement and control subsystem, and a comprehensive support subsystem, wherein the vehicle-mounted platform adopts a second-class chassis suitable for various types of UAV application scenarios to support the vehicle body; The power supply and distribution electronic system is used to provide power supply to the entire vehicle-mounted UAV ground station system; The control subsystem is arranged inside the vehicle body and is used to monitor and control various types of drones; The measurement and control subsystem is used to monitor the environment around the vehicle, establish a communication link, and realize communication between the ground and the UAV end; The comprehensive support subsystem is arranged inside the vehicle body and is used to support the work of the command personnel in the cabin and the daily maintenance of the vehicle.

2. The vehicle-mounted UAV ground station system according to claim 1, characterized in that: The control subsystem includes a control area at the front side of the vehicle body, a living area at the rear side and an extended work area. The control area includes two seats and at least 6 display screens, with a display screen arranged at the upper, middle and lower sides of each seat.

3. The vehicle-mounted UAV ground station system according to claim 2, characterized in that: The two displays below the two seats show various parameters of the drone; the middle display of one seat shows the real-time video image taken by the drone's front-facing camera; the middle display of the other seat shows the real-time video image obtained by the sensors on the drone; the two displays above show the real-time map situation information of the drone.

4. The vehicle-mounted UAV ground station system according to claim 2, characterized in that: Each seat is equipped with a control terminal, and there is an installation rack in the middle of the seat. The two seats are dual-connected and backed up each other.

5. The vehicle-mounted UAV ground station system according to claim 2, characterized in that: The living area is provided with a water dispenser, a wash basin and a vehicle refrigerator.

6. The vehicle-mounted UAV ground station system according to claim 2, characterized in that: The extended work area is provided with a large-size display.

7. The vehicle-mounted UAV ground station system according to claim 5, characterized in that: The monitoring subsystem includes cameras arranged around the vehicle body.

8. The vehicle-mounted UAV ground station system according to claim 5, characterized in that: The power supply and distribution electronic system includes power from the city electricity, power generated by a vehicle-mounted generator, and power provided by a UPS power supply.

9. The vehicle-mounted UAV ground station system according to claim 5, characterized in that: The comprehensive security subsystem includes an interlocking lifting platform and a roof opening and closing mechanism, and the vehicle-mounted antenna is arranged inside the opening and closing structure.

10. The vehicle-mounted UAV ground station system according to claim 5, characterized in that: The system also includes a pan / tilt camera arranged on the roof and foldable guardrails arranged on both sides of the roof.

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