Unmanned aerial vehicle system capable of accurately guiding landing

Abstract

The invention relates to an unmanned aerial vehicle system capable of accurately guiding landing, which comprises an unmanned aerial vehicle, the unmanned aerial vehicle comprises a vehicle body and a foot stool assembly arranged below the vehicle body, the unmanned aerial vehicle further comprises an electromagnet capable of being arranged at a parking apron, and the foot stool assembly is further provided with a reed switch matched with the electromagnet; when the electromagnet is electrified and magnetized, the two reeds in the reed pipe are attracted and contacted, and a starting circuit of the unmanned aerial vehicle is connected; and when the electromagnet is powered off and demagnetized, the two reeds in the reed pipe are recovered and disconnected, and the starting circuit of the unmanned aerial vehicle is disconnected. The unmanned aerial vehicle can be turned on and turned off in a non-contact mode through cooperation of the reed switch and the electromagnet; on-off state detection can be carried out, external interference resistance is high, influences of strong sunlight, other illumination and electromagnetic radiation are avoided, and cost is low; the operation capability of processors of the unmanned aerial vehicle and the remote controller is greatly reduced, meanwhile, dependence on models of the unmanned aerial vehicle and the remote controller is relieved, adaptability is high, landing safety is better guaranteed, and precise landing can be achieved when light is insufficient at night.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a precise guided landing unmanned aerial vehicle system. Background Art

[0002] There are many types of drones on the market, and most of them are turned on and off manually by pressing physical buttons, and they are not designed or adapted for automated power on and off operations.

[0003] There are also a small number of drone products on the market that have been modified to automatically switch on and off in order to adapt to automated operations. Common modification methods can be divided into the following two categories. (1) Equipped with a complex external mechanical system to simulate the switch pressing operation by human hands. (2) Using contact method to control the switch. The contact switch is to design a corresponding mechanical structure on the drone to replace the hand to perform the switch operation. Common examples include spring pin structure control, which controls the switch by pressing the spring pin through the linear or rotational movement of the mechanism.

[0004] The above-mentioned various forms of switching on and off all have some problems: manual switching on and off cannot be unmanned, and the degree of automation is reduced; mechanical switching mechanisms and contact switching mechanisms have high precision requirements, the motion mechanism requires maintenance, the pressing spring pin is easy to be damaged and prone to oxidation and corrosion, and at the same time, it is impossible to detect whether the switching is successful.

[0005] In addition to the power on and off problem, the precise guidance and landing of UAVs in the industry often relies on RTK landing. However, during use, RTK is greatly affected by weather and electromagnetic interference. In situations with heavy electromagnetic interference (such as power inspection situations), it may be interfered and fail, leading to accidents. Or use the processor in the UAV or remote control to perform ground image recognition, and adjust the position and attitude for landing. This landing method also has some problems: first, it requires high computing power of the processor of the UAV and the remote control; second, it is heavily dependent on the model of the UAV and the remote control, and has low adaptability; third, it affects flight safety, because visual guidance is required during landing, and landing is the most dangerous time. Adding image recognition and control programs to the UAV and remote control processor, which already have a heavy computing load, will increase the landing risk; fourth, when the light is poor at night, it is difficult for the UAV to visually recognize the QR code or other guidance patterns on the apron, and it is impossible to achieve precise landing at night. Summary of the invention

[0006] The purpose of the present invention is to provide a UAV system for accurately guiding landing, which can at least solve some of the defects in the prior art.

[0007] To achieve the above-mentioned purpose, an embodiment of the present invention provides the following technical solution: an unmanned aerial vehicle, comprising a unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a body and a tripod assembly arranged below the body, and further comprises an electromagnet that can be arranged at a helipad, and a reed switch that cooperates with the electromagnet is also installed on the tripod assembly; when the electromagnet is energized and magnetized, two reed leaves in the reed switch attract and contact, and the unmanned aerial vehicle starting circuit is connected; when the electromagnet is powered off and loses magnetism, the two reed leaves in the reed switch are restored and disconnected, and the unmanned aerial vehicle starting circuit is disconnected.

[0008] Furthermore, it also includes a detection unit for detecting the power on and off of the drone.

[0009] Furthermore, the detection unit includes an optical emission modulation module and an optical receiving demodulation module which can be arranged at the apron, the optical emission modulation module is arranged on the tripod assembly, and the optical receiving demodulation module is used in conjunction with the optical emission modulation module; when the start circuit is connected or disconnected, the optical emission modulation module emits an optical signal after high-frequency modulation and low-frequency modulation, and the optical receiving demodulation module receives the optical signal, and after high-frequency demodulation and low-frequency demodulation, detects whether the drone is turned on or off.

[0010] Furthermore, there are multiple reed switches, and each of the reed switches is arranged in parallel.

[0011] Furthermore, it also includes a drone remote control and a drone remote control seat for fixing the drone remote control, the drone remote control is provided with a reed switch, and the drone remote control seat is provided with an electromagnet that cooperates with the reed switch. When the electromagnet is energized and magnetized, two reeds in the reed switch attract and contact, and the drone remote control starting circuit is connected; when the electromagnet is powered off and loses magnetism, the two reeds in the reed switch are restored and disconnected, and the drone remote control starting circuit is disconnected.

[0012] Furthermore, there are multiple reed switches, and each of the reed switches is arranged in parallel.

[0013] Furthermore, it also includes a helipad, and the electromagnet is installed on the helipad.

[0014] Furthermore, it also includes a precise landing unit for the UAV to precisely land on the helipad.

[0015] Furthermore, the precision landing unit includes a drone subunit, a helipad subunit and a drone remote controller subunit.

[0016] The drone subunit is used for drone control.

[0017] The helipad subunit is used to set up auxiliary modules and assist the UAV in precise landing.

[0018] The drone remote controller subunit is used for controlling the drone remote controller.

[0019] Furthermore, the drone sub-unit includes a drone image transmitting module, a drone status transmitting module and a control command receiving module, the helipad sub-unit includes a ground camera module and a landing graphic recognition and control module, and the drone remote control sub-unit includes a drone image receiving module, a drone status receiving module and a control command transmitting module.

[0020] Compared with the prior art, the beneficial effects of the present invention are: contactless switching on and off of the drone can be achieved by adopting the cooperation of a reed switch and an electromagnet; the switching state detection can also be performed, the ability to resist external interference is strong, it is not affected by strong sunlight, other light and electromagnetic radiation, and the cost is low; in addition, when the drone lands, the landing pattern recognition and control are cleverly separated from the drone and placed in an auxiliary module, thereby greatly reducing the processor computing power of the drone and the remote control, while reducing the dependence on the models of the drone and the remote control, having strong adaptability, better ensuring landing safety, and achieving precise landing when there is insufficient light at night. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of a drone provided by an embodiment of the present invention on a helipad;

[0022] Figure 2 A schematic diagram of a reed switch and an electromagnet on a tripod assembly of a drone provided by an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of an optical transmission modulation module and an optical reception demodulation module on a tripod assembly of a drone provided by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of a drone remote control assembly provided by an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of a reed switch and an electromagnet of a drone remote control assembly provided in an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of an optical transmission modulation module and an optical reception demodulation module of a drone remote controller assembly provided in an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of the analog modulation and demodulation process of the drone and drone remote controller assembly provided in an embodiment of the present invention;

[0028] Figure 8 A schematic diagram of a control module of a drone and a drone remote controller assembly in the prior art;

[0029] Fig. 9 A schematic diagram of a control module of a precision landing unit provided in an embodiment of the present invention;

[0030] Fig.10 A schematic diagram of precise landing of a drone provided by an embodiment of the present invention;

[0031] In the figure numbers: 1-UAV; 10-tripod assembly; 11-reed switch; 12-electromagnet; 13-light emission modulation module; 14-light reception demodulation module; 2-UAV remote control assembly; 20-UAV remote control; 21-UAV remote control seat; 3-helipad; 4-camera. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of 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.

[0033] Embodiment 1:

[0034] See also Figure 1 , Figure 2 and Figure 3, an embodiment of the present invention provides a drone, comprising a body and a tripod assembly 10 arranged below the body and an electromagnet 12 that can be arranged at the apron 3, and a reed switch 11 that cooperates with the electromagnet 12 is also installed on the tripod assembly 10; when the electromagnet 12 is powered on and magnetized, the two reeds in the reed switch 11 attract and contact, and the startup circuit of the drone 1 is connected; when the electromagnet 12 is powered off and demagnetized, the two reeds in the reed switch 11 are restored and disconnected, and the startup circuit of the drone 1 is disconnected. In this embodiment, the drone 1 can be turned on and off without contact by using the cooperation of the reed switch 11 and the electromagnet 12. Specifically, the reed switch 11 can be arranged at the bottom of the tripod assembly 10, and the electromagnet 12 can be arranged at the corresponding position of the apron 3. The electromagnet 12 is powered on and magnetized, and is demagnetized when powered off. Preferably, the electromagnet 12 can be a cylindrical electromagnet 12 or a cubic electromagnet 12, so that the operation of the reed switch 11 can be adapted by designing the height of the electromagnet 12. In addition, the tripod assembly 10 is used to charge the machine body and support the machine body. The manual power on and off in the prior art cannot be unmanned, and the degree of automation is reduced; the contact-type switch has high structural precision requirements, the motion mechanism requires maintenance, the pressing spring pin is easily damaged, and is prone to oxidation and corrosion, and it is impossible to detect whether the switch is successful or not. Compared with manual or contact-type switches, this embodiment uses a reed switch 11 for control, and the non-contact type can be completely hidden in the device, with a beautiful appearance. It is not easily deformed, corroded, or oxidized by external influences, and the drone 1 can be conveniently taken out and used alone. At the same time, the reed switch 11 is passive and can work without power supply. Even if the drone 1 is in the off state and cannot provide power, it can still achieve power on and off control.

[0035] As an optimization solution of the embodiment of the present invention, please refer to Figure 2 There are multiple reed switches 11, and each reed switch 11 is arranged in parallel. In this embodiment, each reed switch 11 is connected in parallel to eliminate blind spots. The reed switches 11 are connected under the action of magnetic field lines. Using multiple reed switches 11 can avoid the possibility that one reed switch 11 just avoids the magnetic field lines, thereby ensuring reliability.

[0036] As an optimization solution of the embodiment of the present invention, please refer to Figure 1 , Figure 2 and Figure 3, the drone 1 also includes a detection unit for detecting the power on and off of the drone 1. The power on and off of the drone 1 can be detected by the detection unit. Preferably, the detection unit includes an optical emission modulation module 13 and an optical receiving demodulation module 14 that can be arranged at the apron 3, the optical emission modulation module 13 is arranged on the tripod assembly 10, and the optical receiving demodulation module 14 is used in conjunction with the optical emission modulation module 13; when the start circuit is connected or disconnected, the optical emission modulation module 13 emits an optical signal after high-frequency modulation and low-frequency modulation, and the optical receiving demodulation module receives the optical signal, and after high-frequency demodulation and low-frequency demodulation, detects whether the drone 1 is turned on or off. In this embodiment, the power on and off state can also be detected by optical communication. The use of optical communication for power on and off state detection has the advantages of simple principle, low cost, high reliability, etc. At the same time, modulation and demodulation are added in the signal transmission and processing process, and the anti-interference ability is strong, so that the characteristics of the transmission signal are unique to the drone 1 and the apron, or the remote control and the remote control base, and the anti-external interference ability is strong, and it is not affected by strong sunlight, other light and electromagnetic radiation. Specifically, Figure 3 As shown, the right rear bottom of the UAV 1 tripod assembly 10 is provided with a light emission modulation module 13, and the corresponding position under the apron is provided with a light receiving demodulation module 14. In the initial state, the two elastic reeds in the reed switch 11 are separated. When the electromagnet 12 is energized and magnetized, under the action of the magnetic field lines, the two reeds in the reed switch 11 are magnetized and attract each other to contact, and the reeds will be attracted together, so that the circuit connected to the node is connected. At this time, the right rear bottom light emission modulation module 13 of the UAV 1 tripod assembly 10 emits a light signal after high-frequency modulation and low-frequency modulation according to the power-on state, and the light receiving demodulation module 14 under the apron 3 receives the light signal, and after high-frequency demodulation and low-frequency demodulation, it is detected that the UAV 1 has been turned on. When the electromagnet 12 is powered off and demagnetized, the reed switch 11 in the tripod assembly 10 has no magnetic field effect, and the two reeds in the tube are separated due to their own elasticity, so that the circuit connected to the node is disconnected. At this time, the optical emission modulation module 13 at the right rear bottom of the UAV 1 tripod assembly 10 emits an optical signal after high-frequency modulation and low-frequency modulation according to the shutdown state, and the optical receiving demodulation module 14 under the apron receives the optical signal and detects that the UAV 1 has been shut down after high-frequency demodulation and low-frequency demodulation. The simulation process is as follows: Figure 8 As shown in the figure, the modulation and demodulation of the signal is a series of binary pulse codes. In order to prevent it from being interfered by other signals during wireless transmission, it is first modulated on a specific carrier frequency and then transmitted through the light-emitting diode. The receiving device will filter out other clutter and only receive the signal of the specific frequency and restore it to a binary pulse code.

[0037] Embodiment 2:

[0038] See also Figure 4 , Figure 5and Figure 6 The embodiment of the present invention also provides a drone remote control assembly, including a drone remote control 20 and a drone remote control seat 21 for fixing the drone remote control 20. The drone remote control 20 is provided with a reed switch 11, and the drone remote control seat 21 is provided with an electromagnet 12 that cooperates with the reed switch 11. When the electromagnet 12 is energized and magnetized, the two reeds in the reed switch 11 attract and contact, and the startup circuit of the drone remote control 20 is connected; when the electromagnet 12 is powered off and loses magnetism, the two reeds in the reed switch 11 are restored and disconnected, and the startup circuit of the drone remote control 20 is disconnected. The drone remote control assembly 2 is used to control the drone 1 of the above-mentioned embodiment 1. It also uses the cooperation of the reed switch 11 and the electromagnet 12. For example, the drone 1 described above uses the reed switch 11 for control. The non-contact type can be completely hidden in the device, and the appearance is beautiful. It is not easy to be deformed, corroded, or oxidized by external influences, and the remote control can be conveniently taken out and used alone. At the same time, the reed switch 11 is passive and can work without power supply. Even if the remote control is in the off state and cannot provide power supply, it can also realize power on and off control. Specifically, the drone remote controller 20 is fixed on the drone remote controller seat 21 . Figure 5 for Figure 4 A partial view of Figure 5 As shown, a reed switch 11 is provided in the remote controller, and a cylindrical electromagnet 12 is provided at a corresponding position under the base of the remote controller. The electromagnet 12 is magnetic when powered on and demagnetized when powered off. Figure 6 As shown, a light emission modulation module 13 is provided at the bottom of the drone remote controller 20, and a light receiving demodulation module 14 is provided at the corresponding position under the remote controller seat. In the initial state, the two elastic reeds in the reed switch 11 in the remote controller are separated. When the electromagnet 12 is energized and magnetized, the two reeds in the tube are magnetized and attract each other under the action of the magnetic field lines, and the reeds are attracted together, so that the circuit connected to the node is connected. At this time, the light emission modulation module 13 at the bottom of the remote controller emits a light signal after high-frequency modulation and low-frequency modulation according to the power-on state of the remote controller, and the light receiving demodulation module 14 under the remote controller seat receives the light signal, and after high-frequency demodulation and low-frequency demodulation, it is detected that the remote controller has been turned on. When the electromagnet 12 is powered off and demagnetized, the reed switch 11 in the remote controller has no magnetic field effect, and the two reeds in the tube are separated due to their own elasticity, so that the circuit connected to the node is disconnected. At this time, the light emission modulation module 13 in the remote control emits a light signal after high-frequency modulation and low-frequency modulation according to the shutdown state, and the light receiving demodulation module 14 under the base of the remote control receives the light signal, and after high-frequency demodulation and low-frequency demodulation, it is detected that the remote control is turned off.

[0039] As an optimization solution of the embodiment of the present invention, please refer to Figure 4 , Figure 5 and Figure 6There are multiple reed switches 11, and each reed switch 11 is arranged in parallel. In this embodiment, like the reed switches 11 in the drone 1, multiple reed switches 11 are used to eliminate blind spots.

[0040] Embodiment three:

[0041] See also Figures 1 to 7 , Fig. 9 and Fig.10 The embodiment of the present invention provides a drone system, including a helipad 3 and a drone remote control assembly 2, and also includes the drone 1 mentioned above, wherein the electromagnet 12 is installed on the helipad 3, and the drone remote control assembly 2 is used to control the drone 1. The drone remote control assembly 2 may be the drone remote control assembly 2 in the second embodiment. In this embodiment, the drone 1 and the drone remote control assembly 2 are used in the drone system, so that the drone 1 can be turned on and off without contact; the on and off state detection can also be performed, and the drone 1 has strong anti-interference ability, is not affected by strong sunlight, other lighting and electromagnetic radiation, and has low cost.

[0042] As an optimization solution of the embodiment of the present invention, please refer to Figures 1 to 7 , Fig. 9 and Fig.10 , and also includes a precision landing unit for the drone 1 to accurately land on the helipad 3. The precision landing unit includes a drone 1 subunit, a helipad subunit and a drone remote controller 20 subunit. The drone 1 subunit is used to control the drone 1. The helipad subunit is used to set an auxiliary module and assist the drone 1 in precise landing. The drone remote controller 20 subunit is used to control the drone remote controller 20. The drone 1 subunit includes a drone 1 image transmitting module, a drone 1 state transmitting module and a control instruction receiving module. The helipad subunit includes a ground camera module and a landing graphic recognition and control module. The drone remote controller 20 subunit includes a drone 1 image receiving module, a drone 1 state receiving module and a control instruction transmitting module. In this embodiment, a ground camera 4 is added to the helipad to locate the drone 1 when landing. At the same time, the landing graphic recognition and control unit in the original drone 1 and the remote controller are extracted to the ground helipad system. No visual guidance is required during landing, which reduces the computing load on the drone 1 and the remote controller processor, reduces the landing risk, and can also achieve precise landing when there is insufficient light at night. Specifically, as Figure 8 As shown in the figure, it is an existing technology. Its method of guiding landing includes relying on RTK landing. RTK is greatly affected by weather and electromagnetic interference. In places with heavy electromagnetic interference (such as power inspection), it may be interfered and fail, resulting in accidents. There are also methods that use the processor in the drone 1 and the remote control to perform ground image recognition, adjust the position and attitude for landing. Figure 8As shown, the drone 1 part includes the transmission of drone 1 images, the transmission of drone 1 status, the reception of control instructions, and the graphic recognition and control during landing. The ground apron system includes the drone remote controller 20 and other ground components except the remote controller. The drone remote controller 20 part includes the reception of drone 1 images, the reception of drone 1 status, the transmission of control instructions, and the recognition and control of landing graphics. When the drone 1 lands, the visual module recognizes the QR code on the apron, and then transmits the position and attitude data to the remote controller graphic recognition and control unit through the drone 1. After the data is processed by the remote control processor, a control instruction is issued. After receiving the control instruction, the drone 1 makes corresponding attitude and position adjustments, and adjusts while descending, and finally lands on the ground apron. This method has high requirements on the processor computing power of the drone 1 and the remote controller, and is heavily dependent on the models of the drone 1 and the remote controller, and is not adaptable. Because visual guidance is required when landing, and landing is the most dangerous time, adding image recognition and control programs to the drone 1 and the remote controller processor, which already have a heavy computing load, will increase the landing risk and affect flight safety. Secondly, if night operations are required, the drone 1 will have difficulty recognizing the QR code on the apron due to insufficient light, and will not be able to land accurately at night. Fig. 9 As shown, this embodiment cleverly separates the landing pattern recognition and control from the drone 1, and places it in a component outside the remote control of the apron system. At this time, the drone 1 only needs to transmit images, transmit status, and receive control instructions, and the remote control only needs to receive images, receive status, and transmit control instructions to the drone 1. The ground apron system adds a ground camera and a landing pattern recognition and control unit, which will greatly reduce the processor computing power of the drone 1 and the remote control, while reducing the model dependence of the drone 1 and the remote control, with strong adaptability and better guarantee of landing safety. Fig.10 As shown, multiple upward-facing camera assemblies are arranged around the ground apron. During landing, each ground camera transmits the position and attitude data of the drone 1 to the graphic recognition and control unit in real time. After the data is processed by the processor, a control command is issued. After receiving the control command, the drone 1 makes corresponding attitude and position adjustments, and adjusts while descending. During the entire adjustment and descent process, the drone 1 vision can also recognize the QR code on the apron. The ground camera and the drone 1 vision module work together, and finally the drone 1 lands accurately on the ground apron. When landing at night, the visual guidance of the drone 1 fails due to insufficient light. At this time, the camera turns on the night vision function, locates the drone 1 by identifying the night navigation lights of the drone 1, and adjusts the attitude and position to achieve accurate landing.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A precision guided landing UAV system, comprising a UAV, wherein the UAV comprises a body and a tripod assembly disposed below the body, wherein: It also includes an electromagnet that can be installed at the apron, and a reed switch that cooperates with the electromagnet is also installed on the tripod assembly; when the electromagnet is energized and magnetized, the two reeds in the reed switch attract and contact, and the UAV starting circuit is connected; when the electromagnet is powered off and loses magnetism, the two reeds in the reed switch are restored and disconnected, and the UAV starting circuit is disconnected.

2. The UAV system for precise landing guidance according to claim 1, characterized in that: It also includes a detection unit for detecting the switching on and off of the drone.

3. The UAV system for precise landing guidance according to claim 2, characterized in that: The detection unit includes an optical emission modulation module and an optical receiving demodulation module which can be arranged at the apron. The optical emission modulation module is arranged on the tripod assembly, and the optical receiving demodulation module is used in conjunction with the optical emission modulation module. When the start circuit is connected or disconnected, the optical emission modulation module emits an optical signal after high-frequency modulation and low-frequency modulation. The optical receiving demodulation module receives the optical signal, and after high-frequency demodulation and low-frequency demodulation, detects whether the drone is turned on or off.

4. The UAV system for precise landing guidance according to claim 1, characterized in that: There are multiple reed switches, and each of the reed switches is arranged in parallel.

5. The UAV system for precise landing guidance according to claim 1, characterized in that: It also includes a drone remote control and a drone remote control seat for fixing the drone remote control. The drone remote control is provided with a reed switch, and the drone remote control seat is provided with an electromagnet that cooperates with the reed switch. When the electromagnet is energized and magnetized, two reeds in the reed switch attract and contact, and the drone remote control startup circuit is connected; when the electromagnet is powered off and loses magnetism, the two reeds in the reed switch are restored and disconnected, and the drone remote control startup circuit is disconnected.

6. The UAV system for precise landing guidance according to claim 5, characterized in that: There are multiple reed switches, and each of the reed switches is arranged in parallel.

7. The UAV system for precise landing guidance according to claim 1, characterized in that: It also includes a landing pad, and the electromagnet is installed on the landing pad.

8. The UAV system for precise landing guidance according to claim 7, characterized in that: It also includes a precision landing unit for the UAV to accurately land on the apron.

9. The UAV system for precise landing guidance according to claim 8, characterized in that: The precision landing unit includes a drone sub-unit, a helipad sub-unit and a drone remote controller sub-unit. The drone subunit is used for drone control. The helipad subunit is used to set up auxiliary modules and assist the UAV in precise landing. The drone remote controller subunit is used for controlling the drone remote controller.

10. The UAV system for precise landing guidance according to claim 9, characterized in that: The drone subunit includes a drone image transmitting module, a drone status transmitting module and a control instruction receiving module, the helipad subunit includes a ground camera module and a landing pattern recognition and control module, and the drone remote control subunit includes a drone image receiving module, a drone status receiving module and a control instruction transmitting module.

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