Integrated unmanned aerial vehicle simulation device

Abstract

The invention discloses an integrated unmanned aerial vehicle simulation device. The integrated unmanned aerial vehicle simulation device comprises a shell, a flight controller, a simulation host and a simulation display screen, wherein the flight controller and the simulation host are arranged in the shell; the simulation display screen is arranged on the outer surface of the shell; the flight controller is linked with the simulation host; the flight controller obtains flight control information for the simulation unmanned aerial vehicle, the flight control information is provided for the simulation host, and the flight control information is control information used for controlling the flight path and the flight attitude of the simulation unmanned aerial vehicle in simulation software; in the unmanned aerial vehicle simulation test process, the unmanned aerial vehicle control application provides flight scene information related to the simulation test to the flight controller, and the flight controller adjusts a flight path and a flight attitude based on the flight scene information; the simulation display screen is used for displaying the motion posture and the motion track of the simulation unmanned aerial vehicle in the flight simulation scene.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle simulation, and in particular to an integrated unmanned aerial vehicle simulation device. Background Art

[0002] With the advancement of chips, artificial intelligence, and big data technologies, drones are becoming increasingly intelligent, terminal-based, and clustered. This has led to corresponding improvements in the performance requirements and internal software algorithms for their flight control systems. A flight control system is a control device used in unmanned systems like drones and can be considered the brain of the drone, controlling its flight, hovering, and attitude changes.

[0003] The simulation platforms currently used are all based on computers to implement drone simulation tests. Specifically, a remote control is required to control the flight or movement of unmanned equipment such as drones or unmanned vehicles, and the generated data is collected to a control ground station. The data is then transmitted to a computer through the control ground station. The simulation platform software on the computer then processes the above data to generate model data for viewing the simulation effect. The implementation environment of the entire set of operating equipment has great limitations and lacks flexibility and intelligence. Summary of the Invention

[0004] The present invention provides an integrated unmanned aerial vehicle (UAV) simulation device and a battery, so as to solve the problem that the implementation environment of the existing UAV simulation test process has great limitations and lacks flexibility and intelligence.

[0005] In order to solve the above technical problems, according to one aspect of the present invention, an integrated UAV simulation device is provided, comprising: a housing, a flight controller and a simulation host disposed in the housing, and a simulation display screen disposed on an outer surface of the housing;

[0006] The flight controller and the simulation host are linked to each other;

[0007] The flight controller obtains flight control information for the simulated UAV and provides the flight control information to the simulation host, wherein the flight control information is control information for controlling the flight trajectory and flight attitude of the simulated UAV in the simulation software;

[0008] After the simulation software deployed in the simulation host is pre-loaded with a simulation environment containing true state data of the simulated drone and simulation environment image data, a drone control application is imported and run. During the drone simulation test, the drone control application provides flight scene information related to the simulation test to the flight controller, and the flight controller adjusts the flight trajectory and flight attitude based on the flight scene information;

[0009] The simulation display screen is used to display the motion posture and motion trajectory of the simulated UAV in the flight simulation scene.

[0010] In one embodiment, there are multiple flight controllers.

[0011] In one embodiment, the housing is provided with an external display port for displaying the motion posture and motion trajectory of the simulated drone in a visual simulation environment through an external display.

[0012] In one embodiment, there are multiple external display ports.

[0013] In one embodiment, the integrated drone simulation device further includes: a screen switcher and a split-screen switch provided on the surface of the shell.

[0014] In one embodiment, the integrated UAV simulation device further includes a heat dissipation unit for dissipating heat from the flight controller and the onboard computer.

[0015] In one embodiment, the integrated UAV simulation device further includes: a flight controller external port.

[0016] In one embodiment, the integrated drone simulation device further includes: a simulation host external port.

[0017] In one embodiment, the integrated drone simulation device further includes: an external signal receiving device for enhancing network signal acquisition of the simulation host.

[0018] In one embodiment, the integrated UAV simulation device further includes: a flight controller control switch and a simulation host control switch.

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

[0020] The integrated unmanned aerial vehicle simulation device provided by the present invention includes a shell, a flight controller and a simulation host arranged in the shell, and a simulation display screen arranged on the outer surface of the shell; the flight controller and the simulation host are linked to each other; the flight controller obtains flight control information for the simulated unmanned aerial vehicle and provides the flight control information to the simulation host, the flight control information is control information for controlling the flight trajectory and flight attitude of the simulated unmanned aerial vehicle in the simulation software; the simulation software deployed in the simulation host is pre-loaded with a simulation environment containing true value state data of the simulated unmanned aerial vehicle and simulation environment image data, and then imports a unmanned aerial vehicle control application and runs the application. During the simulation test process for the unmanned aerial vehicle control application, the unmanned aerial vehicle control application provides flight scene information related to the simulation test to the flight controller, and the flight controller adjusts the flight trajectory and flight attitude based on the flight scene information; the simulation display screen is used to display the motion attitude and motion trajectory of the simulated unmanned aerial vehicle in the flight simulation scene. Since the flight controller and the simulation host are integrated in the shell as a carrier of hardware-in-the-loop simulation, and the simulation display screen is arranged on the outer surface of the shell, the flight controller and the simulation host can be simulated in a linked manner, and a linked simulation environment of the flight controller and the simulation host can be constructed. For example, the visual image is transmitted to the simulation host through RflySim3D to link the Robot Operating System (ROS) with the visual algorithm, so that the integrated UAV simulation device can be a simulation device in itself, and can also publish the UAV control application to the UAV after determining that the UAV control application of the above test is qualified, so that the UAV loaded with the UAV control application can perform corresponding flight control through the UAV control application published by the integrated UAV simulation device.

[0021] Furthermore, the integrated drone simulation device is also provided with an external display port for connecting to an external display, and the external display can be used to display the motion posture and motion trajectory of the simulated drone to achieve a flexible layout of the simulation screen. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the structure of an integrated drone simulation device provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the bottom side of the integrated drone simulation device provided in an embodiment of the present application;

[0024] Figure 3 Schematic diagram of the interior of the housing of the integrated drone simulation device provided in an embodiment of the present application;

[0025] Description of the accompanying drawings:

[0026] 1 Upper housing, 2 Simulation display screen, 3 Housing, 4 Heat dissipation unit, 5 Flight controller external port, 6 External signal receiving device, 7 Antenna, 8 External display port, 9 Power plug, 10 Simulation host control switch, 11 Flight controller control switch, 12 Simulation host external port, 13 Switcher control switch, 14 Simulation host, 15 Dustproof net, 16 Flight controller, 17 Screen switcher, 18 Step-down module. DETAILED DESCRIPTION

[0027] The following description sets forth numerous specific details to facilitate a thorough understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific implementations disclosed below.

[0028] For drone swarm simulation scenarios, in order to ensure that the flight controller configuration method can meet the convenience and flexibility requirements of the drone swarm simulation process, this application provides an integrated drone simulation device and a drone swarm simulation system. The following provides examples to describe the above device and system in detail.

[0029] The first embodiment of the present application provides an integrated UAV simulation device. This integrated UAV simulation device serves as the main carrier of cluster simulation and can integrate multiple sets of hardware devices such as flight controllers. It is mainly used in semi-physical simulation platforms in the field of multi-machine cluster simulation of unmanned systems such as drones. The semi-physical simulation platform uses semi-physical simulation technology to add some hardware, such as nonlinear sensors or flight controllers, to the simulation system to build a simulation environment that is linked to the flight controller. It obtains real data and replaces part of the simulated data through connection with the hardware. It is based on a real physical model and introduces part of the simulated system into the simulation loop in a physical manner. It can reduce the error between the virtual system and the real device to improve the confidence of the system. Compared with full digital simulation technology, semi-physical simulation technology has higher fidelity and can more realistically simulate the status of device sensors. It can better verify the correctness and feasibility of the system solution, simulate failure modes, etc., and conduct closed-loop dynamic tests to verify each development stage.

[0030] Figure 1 This is a schematic diagram of the structure of the integrated UAV simulation device provided in this embodiment. Figure 2 This is a schematic diagram of the bottom side of the integrated drone simulation device provided in this embodiment. Figure 3 FIG. 1 is a schematic diagram of the interior of the housing of the integrated UAV simulation device provided in this embodiment. Figure 1-Figure 3As shown, the integrated UAV simulation device includes: an upper shell 1, a simulation display screen 2 provided on the outer surface of the upper shell 1, a shell 3, a flight controller 16 and a simulation host 14 provided in the shell, the flight controller 16 and the simulation host 14 are interconnected, the flight controller is used to obtain flight control information for the simulated UAV, and provide the flight control information to the simulation host, the flight control information is control information for controlling the flight trajectory and flight attitude of the simulated UAV in the simulation software; the simulation software deployed in the simulation host is pre-loaded with a simulation environment containing true value state data of the simulated UAV and simulation environment image data, and then imports a UAV control application and runs the application. During the UAV simulation test, the UAV control application provides flight scene information related to the simulation test to the flight controller, and the flight controller adjusts the flight trajectory and flight attitude based on the flight scene information; the simulation display screen is used to display the motion attitude and motion trajectory of the simulated UAV in the flight simulation scene.

[0031] In this embodiment, the shell is also provided with a flight controller external port 5 for transmitting data or debugging the flight controller, a flight controller control switch 11, a simulation host external port 12 for transmitting data or debugging the simulation host, a simulation host control switch 10 for controlling the simulation host, and an external signal receiving device 6 for enhancing the network signal acquisition of the simulation host 14.

[0032] In this embodiment, a heat dissipation unit 4 for dissipating heat from the simulation host 14 and the flight controller 16 is further provided in the shell 3. That is, since the flight controller and the simulation host are centrally arranged in the shell 3, a single heat dissipation unit 4 can be used to centrally dissipate heat for all flight controllers and simulation hosts in the startup state, so as to avoid the overheating problem caused by the centralized setting and synchronous startup and operation of the flight controller and the simulation host.

[0033] In this embodiment, an antenna 7 for receiving signals, a power plug 9, a dustproof net 15, a voltage reduction module 18, etc. are further provided outside the housing.

[0034] In this embodiment, the housing is provided with an external display port 8 for displaying the motion posture and motion trajectory of the simulated drone in the visual simulation environment via an external display. That is, in addition to using the simulation display screen provided on the outer surface of the housing to display the motion posture and motion trajectory of the simulated drone in the visual simulation environment, an external display can also be connected via the external display port 8. The number of external display ports 8 can be multiple, and the motion posture and motion trajectory of the simulated drone can be displayed using the external display to achieve a flexible layout of the simulation screen. For example, the drone simulation screen can be displayed in a distributed manner based on actual needs. In this case, a screen switch 17 can also be provided within the housing 3 for selecting the display screen for displaying the drone simulation scene. A switch control switch 13 for controlling the screen switch 17 can also be provided on the outer surface of the housing.

[0035] In this embodiment, there can be multiple flight controllers 16, each flight controller can control the simulated drone separately, and multiple flight controllers 16 can be arranged in layers within the shell 3 to reduce the use area of ​​the integrated drone simulation device. That is, compared with the same-layer setting, the layered arrangement occupies a smaller arrangement area, making the arrangement structure of multiple flight controllers 16 more compact.

[0036] In another embodiment, multiple flight controllers 16 can also be arranged symmetrically in the same layer in the shell 3 to avoid all flight controllers being arranged in the same layer and causing the length to be too long.

[0037] The integrated UAV simulation device provided in this embodiment includes a shell, a flight controller and a simulation host arranged in the shell, and a simulation display screen arranged on the outer surface of the shell; the flight controller and the simulation host are linked to each other; the flight controller obtains flight control information of the simulated UAV and provides the flight control information to the simulation host, and the flight control information is control information used to control the flight trajectory and flight attitude of the simulated UAV in the simulation software; the simulation software deployed in the simulation host is pre-loaded with a simulation environment containing true state data of the simulated UAV and simulation environment image data, and then imports a UAV control application and runs the application. During the simulation test of the UAV control application, the UAV control application provides flight scene information related to the simulation test to the flight controller, and the flight controller adjusts the flight trajectory and flight attitude based on the flight scene information; the simulation display screen is used to display the motion attitude and motion trajectory of the simulated UAV in the flight simulation scene. Since the flight controller and the simulation host are integrated in the shell as a carrier of hardware-in-the-loop simulation, and the simulation display screen is arranged on the outer surface of the shell, the flight controller and the simulation host can be simulated in a linked manner, and a linked simulation environment of the flight controller and the simulation host can be constructed. For example, the visual image is transmitted to the simulation host through RflySim3D to link the Robot Operating System (ROS) with the visual algorithm, so that the integrated UAV simulation device can be a simulation device in itself, and can also publish the UAV control application to the UAV after determining that the UAV control application of the above test is qualified, so that the UAV loaded with the UAV control application can perform corresponding flight control through the UAV control application published by the integrated UAV simulation device.

[0038] Furthermore, the integrated drone simulation device is also provided with an external display port for connecting to an external display, and the external display can be used to display the motion posture and motion trajectory of the simulated drone to achieve a flexible layout of the simulation screen.

[0039] It should be noted that although the present invention is disclosed above in terms of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined by the claims of the present invention.

Claims

1. An integrated drone simulation device, characterized in that: The integrated unmanned aerial vehicle simulation device comprises: a housing, a flight controller and a simulation host arranged in the housing, and a simulation display screen arranged on the outer surface of the housing; The flight controller and the simulation host are linked to each other; The flight controller obtains flight control information for the simulated UAV and provides the flight control information to the simulation host, wherein the flight control information is control information for controlling the flight trajectory and flight attitude of the simulated UAV in the simulation software; After the simulation software deployed in the simulation host is pre-loaded with a simulation environment including true value state data of the simulated UAV and simulation environment image data, the UAV control application is imported and the application is run. During the UAV simulation test, the UAV control application provides flight scene information related to the simulation test to the flight controller, and the flight controller adjusts the flight trajectory and flight attitude based on the flight scene information; The simulation display screen is used to display the motion posture and motion trajectory of the simulated UAV in the flight simulation scene.

2. The integrated unmanned aerial vehicle simulation device according to claim 1, characterized in that: There are multiple flight controllers.

3. The integrated unmanned aerial vehicle simulation device according to claim 1, characterized in that: The shell is provided with an external display port for displaying the motion posture and motion trajectory of the simulated UAV in a visual simulation environment through an external display.

4. The integrated unmanned aerial vehicle simulation device according to claim 3, characterized in that: The number of the external display ports is multiple.

5. The integrated unmanned aerial vehicle simulation device according to claim 3 or 4, characterized in that: The integrated unmanned aerial vehicle simulation device further comprises: a screen switcher and a switcher control switch arranged on the surface of the shell.

6. The integrated unmanned aerial vehicle simulation device according to claim 1, characterized in that: The integrated unmanned aerial vehicle simulation device further includes a heat dissipation unit for dissipating heat from the flight controller and the onboard computer.

7. The integrated unmanned aerial vehicle simulation device according to claim 1, characterized in that: The integrated unmanned aerial vehicle simulation device also includes: a flight controller external connection port.

8. The integrated unmanned aerial vehicle simulation device according to claim 1, characterized in that: The integrated unmanned aerial vehicle simulation device also includes: a simulation host external connection port.

9. The integrated unmanned aerial vehicle simulation device according to claim 1, characterized in that: The integrated unmanned aerial vehicle simulation device also includes: an external signal receiving device for enhancing the network signal collection of the simulation host.

10. The integrated unmanned aerial vehicle simulation device according to claim 1, characterized in that: The integrated unmanned aerial vehicle simulation device also includes: a flight controller control switch and a simulation host control switch.

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