Remote control device for water rescue aircraft

Abstract

The remote control device comprises a main control chip and peripheral hardware connected with the main control chip, and the peripheral hardware comprises a LoRa wireless module, a GPS + BDS dual-mode navigation positioning module, a Bluetooth communication module, a man-machine interaction assembly, a power supply module and other peripheral circuits. According to the invention, a full-generation LoRa spread spectrum modulation technology is adopted, the communication distance is farther, the anti-interference capability is stronger, and the communication distance is increased and reaches more than 1500 meters; the remote control device is not limited to remote control of single equipment, functions of communication, positioning, monitoring, reporting and the like are integrated, the usability of the remote control device is improved, and meanwhile, the problem of control disorder caused by simultaneous control of a plurality of remote control devices can be solved through channel parameter setting; the design of magnetic type wired charging and wireless charging is adopted, meanwhile, the protection level of IP68 is guaranteed, and operability under complex working conditions is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of water area fire fighting equipment, and in particular to a remote control device for a water rescue vehicle. Background Art

[0002] A remote control device is a device used to remotely control equipment. Existing wireless remote control devices are divided into radio remote control, infrared remote control, ultrasonic remote control, etc. according to the carrier of the transmission control command signal. Among them, infrared remote control technology cannot have obstacles between the transmitter and the receiver, and the effective range is also greatly limited. The ultrasonic frequency band is narrow and easily affected by noise. Radio remote control technology can provide the best freedom of movement and a long control distance. It is used in areas that require long-distance penetration or non-directional control.

[0003] Traditional radio remote control devices have limited remote control distance due to miniaturized antennas and low power requirements, and are easily interfered with, resulting in malfunction or loss of control. Usually, the control distance can only reach a few hundred meters. Secondly, the development of remote control devices not only focuses on the realization of remote control functions, but also integrates communication, positioning, monitoring, reporting and other functions, which will greatly increase the performance of remote control devices. Finally, the operability of remote control devices under complex working conditions and protection requirements are also gradually increasing. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a remote control device for a water rescue vehicle to solve the problems of the prior art such as short control distance, single function and poor performance.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: a remote control device for a water rescue vehicle, comprising: a main control chip and peripheral hardware connected thereto, the peripheral hardware comprising a LoRa wireless module for wirelessly communicating with the vehicle through an antenna; a GPS+BDS dual-mode navigation and positioning module for locating the remote control device and receiving navigation information of the vehicle; a Bluetooth communication module for communicating with an intelligent terminal device; a human-computer interaction component for inputting control signals or sending instructions or displaying information; a power supply module and other peripheral circuits.

[0006] As an optimization, the power supply module includes a wireless charging module and a built-in power supply, which is used to power the main control chip and peripheral hardware.

[0007] As an optimization, the human-computer interaction component includes a control joystick for inputting control signals; a button module for sending instructions, and an LED display for displaying information.

[0008] As an optimization, the main control chip is an STM32 microcontroller.

[0009] As an optimization, the LoRa wireless module is E220-400T30D, and the radio transmission frequency band is 433MHz.

[0010] As an optimization, the Bluetooth communication module is E104-BT20.

[0011] As an optimization, the button module has multiple mode selection buttons, including manual control mode, system automatic control mode and one-key return mode, and is set with a priority. The priority of each mode is manual control mode > system automatic control mode > one-key return mode. When the manual control mode is selected, a control signal is sent to the aircraft through the control joystick. When the system automatic control mode is selected, the main control chip can send a control signal to the aircraft according to the control signal sent by the smart terminal device received by the Bluetooth communication module. When the one-key return mode is selected, the main control chip can send a control signal to the aircraft to return it to its initial position.

[0012] Compared with the prior art, the present invention has the following advantages: the present invention adopts a new generation of LoRa spread spectrum modulation technology, has a longer communication distance, stronger anti-interference ability, and an increased communication distance of more than 1,500 meters; it is not limited to realizing remote control of a single device, and integrates communication, positioning, monitoring, reporting and other functions to increase the usability of the remote control device. At the same time, the channel parameter setting can solve the problem of control confusion caused by simultaneous operation of multiple remote control devices; it adopts magnetic wired charging and wireless charging design, while ensuring the IP68 protection level, and improving operability under complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural block diagram of the present invention. DETAILED DESCRIPTION

[0014] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0015] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invention product is usually placed when used, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In addition, the terms "horizontal", "vertical", etc. do not mean that the components are absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0017] Example: See Figure 1 A remote control device for a water rescue vehicle includes: a main control chip and peripheral hardware connected thereto, wherein the peripheral hardware includes a LoRa wireless module for wireless communication with the vehicle through an antenna; a GPS+BDS dual-mode navigation and positioning module for positioning the remote control device and receiving navigation information from the vehicle; a Bluetooth communication module for communicating with a smart terminal device; a human-computer interaction component for inputting control signals or sending instructions or displaying information; a power supply module and other peripheral circuits. The power supply module includes a wireless charging module and a built-in power supply for powering the main control chip and peripheral hardware.

[0018] Specifically, the remote control device of the present invention adopts an STM32 single-chip microcomputer as the main control chip, and the peripheral hardware mainly includes a Bluetooth communication module, an antenna, an LCD display, a control joystick, a button module, a LoRa wireless module, a serial port circuit and other peripheral circuits. Wireless charging and magnetic charging are adopted, the display screen adopts an LCD display, and the built-in power supply can ensure that the remote control device has a battery life of more than 2 hours.

[0019] The remote control device and the aircraft use radio communication. The LoRa wireless module is E220-400T30D, and the radio transmission frequency band is 433MHz. The 433MHZ radio transmission frequency band has strong penetration, and the remote control distance can reach 1500 meters. Bluetooth communication is used between the remote control device and other smart terminal devices to achieve remote data transmission.

[0020] The remote control device communicates with the aircraft in real time through the fixed-point transmission mode of the wireless communication module, receives the aircraft's status, heading and position information in real time and displays it on the screen. Parameters can be set through the key module, and the aircraft's posture movement can be controlled through the joystick. The coordinate information of the target to be rescued sent by other intelligent display and control terminals can be received through Bluetooth, and the aircraft can be controlled to drive to the rescue location to rescue personnel. The remote control device has an interface display function, and its display content includes: the power of the remote control device, the connection status with the aircraft, and the control mode; the distance between the aircraft and the remote control device, the aircraft's power, heading, speed, coordinates and other information.

[0021] The button module has multiple mode selection buttons, including manual control mode, system automatic control mode and one-key return mode, so that the control state of the aircraft is divided into three modes: manual control, system automatic control and one-key return. Manual control means that the remote control device controls the aircraft state by operating the joystick. System automatic control means that after the intelligent display and control terminal communicating with it issues a rescue command, the system automatically transmits the command to control the navigation of the aircraft. One-key return means that the aircraft returns to the initial entry point. The control priority of the three modes defines manual control as the highest priority, system automatic control as the second priority, and one-key return as the lowest priority.

[0022] More specifically, in order to improve the protection performance of the remote control device, in this embodiment, the external hardware of the remote control device includes a joystick dust cover, buttons and button covers installed on the upper shell, the antenna is locked and fixed to the antenna hole of the upper shell and the back cover through a waterproof joint, the screen protector is installed on the stepped layer inside the upper shell by gluing to protect the screen from being scratched, the screen is glued to the display panel seat, and is fixed to the main control board by M3*10 hexagon socket screws, plastic columns and anti-loosening nuts. The main control board is installed on the back cover by M3*8 hexagon socket screws and plastic isolation columns, the power module and the wireless charging module are fixed to the back of the main control board, the sealing ring is clamped between the gap between the upper shell and the back cover, the nut insert is embedded in the mounting hole of the upper shell, and the M3*18 hexagon socket screws and nut inserts are matched to install and fix the back cover and the upper shell into a complete remote control device shell.

[0023] The hardware part of the remote control device uses the STM32 microcontroller as the main control chip, and the peripheral hardware mainly includes GPS+BDS dual-mode navigation and positioning module, LoRa wireless module, Bluetooth communication module, wireless charging module, LCD display, antenna, button module, control joystick and other peripheral circuits. The remote control device adopts wireless charging and magnetic charging methods. The display screen uses a 2.2-inch four-wire SPI LCD display. The built-in 3000mAh lithium battery can ensure that the remote control device has a battery life of more than 2 hours. There is a joystick and 5 operation buttons. The joystick controls the direction of the aircraft. The operation buttons can realize one-key return, set the aircraft's DPI, output power, channel matching and other parameters, and turn on and off the machine.

[0024] The navigation and positioning module of the remote control device uses ATGM336H-5N-31, which is a low-power, high-precision GPS module, mainly composed of antenna, LNA, GPS chip, crystal oscillator, voltage-controlled device and power management. When the antenna receives the GPS signal transmitted by the satellite, it is amplified by LNA and RF filtered, and the amplified signal is processed by the internal processing chip. The processing program inside the chip determines the distance between itself and the satellite by calculating the time difference of the received satellite signal, and then calculates its own longitude, latitude, altitude and other information through triangulation. At the same time, the GPS module matches its own positioning information with the map through the built-in map database to realize the navigation function. It can provide a position refresh rate of up to 10Hz and is also equipped with a non-volatile memory to facilitate the management and maintenance of the device.

[0025] The remote control device and the aircraft use radio communication. The 433MHz radio transmission frequency band has strong penetration and the remote control distance can reach 1500 meters. The LoRa wireless module uses E220-400T30D, which uses a new generation of LoRa spread spectrum technology. The wireless serial port module (UART) designed based on the LCC68 chip solution works in the 410.125~493.125MHz frequency band, the default is 433.125MHz, and the TTL level output. LoRa spread spectrum modulation technology has a longer communication distance and stronger anti-interference ability. It is designed with a deep sleep mode. The power consumption of the whole machine is about 5uA, and the SMA antenna interface is used. The power supply voltage of the module is 3V~5.5V. This design uses a DC regulated power supply chip to power the module with a supply voltage of 5V. The module uses a metal shielding shell for reliable grounding design. When designing the PCB layout, high-frequency digital routing, high-frequency analog routing, and power routing are designed to avoid the bottom of the module. The top layer of the module contact part is paved with ground copper and well grounded to avoid affecting the module's stray and receiving sensitivity.

[0026] The Bluetooth communication protocol is used between the remote control device and the intelligent positioning alarm system to achieve remote data transmission. The Bluetooth serial communication module uses E104-BT20, which is a data transmission module based on the Bluetooth SpecificationV2.0 BR / EDR Bluetooth protocol. The operating frequency band is 2.4GHz ISM, and the modulation method is GFSK. The maximum transmission power of the module is 3dBm. It adopts stamp hole packaging and onboard PCB antenna, which can achieve a communication distance of 50 meters. The Bluetooth serial communication module integrates transparent transmission function, master-slave integration, supports AT commands, and supports point-to-point connection between master and slave modules.

[0027] The remote control device control program adopts the modular compilation principle. According to the software function requirements, the software modules should mainly include clock management module, data analysis module, PID modulation feedback module, data information display module, and serial communication module. Power on and run the initialization program to initialize the hardware interface and software interface. After the remote control device is turned on and successfully connected to the aircraft, the remote control device reads the aircraft's speed, longitude, latitude information and the battery power status of the aircraft received by the GPS and Beidou dual-mode positioning and navigation modules. The remote control device can set the aircraft's navigation mission, realize control solution, send command information, and receive and display status information. The aircraft has autonomous navigation mode and remote control navigation mode. After selecting the remote control navigation mode, the operator can send control commands for forward, backward, left turn, and right turn by controlling the joystick. The remote control will send the command to the aircraft through the wireless serial port. After the aircraft communication module receives the data and confirms that it is correct through the single-chip microcomputer analysis, it executes the command information of the control function to realize the remote control of the aircraft.

[0028] The remote control periodically sends status information with fixed frame header and frame tail through the wireless serial port module. The received status information is in the format of *STT,Hour,Minute,Second,Speed,RotateSpeed,RotateSpeedl,Direction,State,RlonD,RlonM,RLonS, RLatD,RLatM, RLatS,X^ Among them, Speed ​​is the navigation speed information; RotateSpeed, RotateSpeedl is the propeller speed information; Direction is the heading information; State is the aircraft current information; RlonD, RlonM, RLonS are accuracy information; RLatD, RLatM, RLatS are latitude information; When a complete frame of data is received, the parsing function will be called for data processing. The parsing function first determines whether the frame header conforms to the communication protocol frame header. If it conforms, it parses the parameters according to the communication protocol and displays the parsed data on the remote control display interface.

[0029] In summary, the present invention adopts a new generation of LoRa spread spectrum modulation technology, which has a longer communication distance, stronger anti-interference ability, and an increased communication distance of more than 1500 meters; it is not limited to realizing remote control of a single device, and integrates communication, positioning, monitoring, reporting and other functions to increase the usability of the remote control device. At the same time, it can solve the problem of control confusion caused by simultaneous operation of multiple remote control devices through channel parameter settings; it adopts magnetic wired charging and wireless charging design, while ensuring the IP68 protection level, and improving operability in complex working conditions.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the technical solution. Those skilled in the art should understand that those modifications or equivalent substitutions of the technical solution of the present invention that do not depart from the purpose and scope of the technical solution should be included in the scope of the claims of the present invention.

Claims

1. A remote control device for a water rescue vehicle, comprising: A main control chip and peripheral hardware connected thereto, wherein the peripheral hardware includes a LoRa wireless module for wirelessly communicating with the aircraft via an antenna; GPS+BDS dual-mode navigation and positioning module, used to locate the remote control device and receive navigation information of the aircraft; Bluetooth communication module, used to communicate with smart terminal devices; human-computer interaction component, used to input control signals or send instructions or display information; power supply module and other peripheral circuits.

2. The remote control device for a water rescue vehicle according to claim 1, characterized in that: The power supply module includes a wireless charging module and a built-in power supply, which is used to supply power to the main control chip and peripheral hardware.

3. The remote control device for water rescue vehicle according to claim 1, characterized in that: The human-computer interaction component includes a control joystick for inputting control signals, a button module for sending instructions, and an LED display screen for displaying information.

4. The remote control device for a water rescue vehicle according to claim 1, characterized in that: The main control chip is an STM32 single-chip microcomputer.

5. The remote control device for a water rescue vehicle according to claim 1, characterized in that: The LoRa wireless module is E220-400T30D, and the radio transmission frequency band is 433MHz.

6. The remote control device for a water rescue vehicle according to claim 1, characterized in that: The Bluetooth communication module is E104-BT20.

7. The remote control device for a water rescue vehicle according to claim 1, characterized in that: The button module has multiple mode selection buttons, including manual control mode, system automatic control mode and one-key return mode, and is set with a priority. The priority of each mode is manual control mode>system automatic control mode>one-key return mode. When the manual control mode is selected, a control signal is sent to the aircraft through the control joystick. When the system automatic control mode is selected, the main control chip can send a control signal to the aircraft according to the control signal sent by the smart terminal device received by the Bluetooth communication module. When the one-key return mode is selected, the main control chip can send a control signal to the aircraft to return it to its initial position.

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