System and method for controlling ground map of command and control system of unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicle control, and relates to a control system and method for a ground map of an unmanned aerial vehicle command and control system. Comprising a hardware part and a software part. The hardware part comprises a computer, a display, a switch, an operating lever and a power supply; the software part comprises map software and control software, the unmanned aerial vehicle ground map control method without being separated from the rod is invented through the specific sequence operation design of the operation rod, and the problem that an operator is inconvenient to operate by changing the sitting posture under the condition that the operator must manually control the map is solved. The method has good economical efficiency, optimization of an existing unmanned aerial vehicle map operation mode can be achieved only through software change, the design thought is simple, the change amount is small, and optimization and improvement of existing mature products can be met.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle control, and relates to a control system and method for a ground map of an unmanned aerial vehicle command and control system. Background Art

[0002] The command and control system is an important part of the UAV system. The control methods of UAVs and manned aircraft are different. Pilots cannot directly view the location and surrounding environment of the UAV. The ground map display software displays the planned route, position, posture and historical trajectory of the UAV during the UAV mission. At the same time, it can display the geographical environment, cultural environment, dangerous areas and other information along the route. It can be said to act as the "eyes" of the pilot. The traditional ground map control method is mainly based on two types: one is manual operation. When the pilot needs to operate the map, one or both hands leave the joystick and touch the specific button or touch screen of the map to complete the zooming and moving of the map; the other is automatic operation. The movement and zooming of the ground map are built into the software according to certain system logic. During the execution of the UAV mission, when the relevant conditions (such as position, altitude, dangerous area, etc.) meet the conditions stipulated by the system logic, the ground map automatically moves and zooms the map according to the operation logic set by the conditions.

[0003] Command and control system typical ground Figure 1 Generally, a combination of manual and automatic control is used. However, due to the complexity of UAV combat scenarios, the automatic ground map operation method usually cannot fully meet the control needs of the entire mission process. Pilots need manual operation. At this time, the pilot's hand must leave the joystick and reach out to touch the screen or use the mouse to operate the map software deployed on the control seat (most UAV control deployment logic). The operation is not convenient enough and causes the pilot to adjust his sitting posture and other actions, which is not conducive to the safe control of the UAV in some emergency scenarios. Summary of the invention

[0004] Purpose of the Invention

[0005] In order to solve the above problems, the present invention provides a control system and method for the ground map of an unmanned aerial vehicle command and control system. On the basis of the traditional unmanned aerial vehicle ground map control method, a method of manually controlling the map through a joystick is added, so that the pilot can complete the operation and control of the map without adjusting the sitting posture in a specific mission scenario by keeping his hands on the joystick.

[0006] Technical Solution

[0007] The present invention introduces an operational linkage mechanism between the ground map of the command and control system and the joystick, allowing the operator to change the operating mode, move and zoom the ground map through the joystick, so that the operator can conveniently control the general operations of the map without taking his hands off the joystick.

[0008] A control system for a ground map of an unmanned aerial vehicle command and control system includes a hardware part and a software part. The hardware part includes a computer, a display, a switch, a joystick, and a power supply; the computer is used as a carrier for software operation and a display input source for the display; the display is a display device for the computer; the switch is connected to the computer and is a data communication device for computer software; the joystick has at least two single-click buttons and one four-way button, and the four-way button supports up, down, left, and right operations. The joystick is connected to the computer and is used to collect the operator's operations; the power supply is an external power supply for the computer, the display, the switch, and the joystick;

[0009] The software part includes map software and control software, which are installed in a computer; the map software is used to display the map display, route planning, and track display used in the UAV mission planning and flight process, and has three modes: automatic control, manual control, and hand-stick control. The map is in automatic mode by default. The function definitions of the automatic control mode and the manual control mode are similar to the conventional map control mode. The hand-stick control mode is a special manual control mode indirectly realized by a joystick. The map software receives the control message sent by the control software after the control software makes a logical judgment on the joystick operation response and responds with a corresponding action; the control software establishes a message communication channel between the joystick operation and the map software, which is used to collect the operator's operation of the joystick, and judges the operation that needs to be responded to according to the control method agreement. When it meets the response operation logic, the specified operation requirement is sent to the map software through the network channel for response.

[0010] A method for controlling a ground map of an unmanned aerial vehicle command and control system comprises the following steps:

[0011] Step 1: Power on the computer, monitor, switch, and joystick to start the hardware devices;

[0012] Step 2: Run the map software and control software in the computer. The two software run in two computers respectively, and the screen display uses their own independent monitors;

[0013] Step 3: After the control software is started, it starts to collect the operation information of the joystick;

[0014] Step 4: After the map software is started, it works in automatic control mode by default. The automatic control mode icon is displayed in the lower left corner of the map display area.

[0015] Step 5: When the map software is in non-hand-stick control mode, when the operator operates the joystick button, the control software collects the action and performs operation logic judgment to determine whether to switch the map control mode. When the operation logic meets the switching to the hand-stick control mode (the operator completes the continuous up and down operations of the four-way button within 3 seconds), the control software sends a hand-stick control mode switching message to the map software, and the map software responds;

[0016] Step 6: When the map is in the hand-stick control mode, when the operator operates the joystick button, the control software collects the action and makes operation logic judgment, and converts the operation of the two single-click buttons and the four-way button into the operation of the map, and sends it to the map software, which responds;

[0017] Step 7: When the map software receives a control mode switching message or a map operation message from the control software, the map software interface displays the control change of the map with an obvious icon in the center of the map for 2 seconds, then shrinks or disappears, and performs corresponding actions on the map control mode or operation;

[0018] Furthermore, the 3 seconds in step 5 can be configured by the software and can be customized according to user habits later;

[0019] Furthermore, the two single-click operations in step 6 are respectively converted into zoom-in and zoom-out operations on the map;

[0020] Furthermore, the up, down, left, and right operations of the four-way button in step 6 are respectively converted into up and down movement operations on the map;

[0021] Furthermore, in step 6, in the hand lever control mode, the operator's operation on the map is issued in real time, and the map software responds in real time; at the same time, the control software needs to determine whether the operator has made an operation to exit the hand lever control mode.

[0022] Furthermore, the operation is specifically to complete the continuous left-left-right-right movements of the four-way button within 3 seconds.

[0023] Furthermore, when this condition is met, the control software notifies the map software to exit the hand lever control mode and return to the automatic control mode.

[0024] Furthermore, the above 3-second time limit is configured synchronously with the 3-second entry logic time limit in step 5.

[0025] Furthermore, when the map software switches the control mode, the automatic control mode icon is The manual control mode icon is displayed The icon of the hand lever control mode is The icon will be displayed for 2 seconds and then reduced to the lower left corner of the map software without disappearing. This action also applies to the control mode switching display described in step 7.

[0026] Further, in step 7, when the map software is in the hand-stick control mode for moving and zooming operations, the moving operation is displayed as a corresponding The zoom operation is displayed as The zoom operation is displayed as The beneficial effects of this application are:

[0027] The present invention invents a method for controlling ground maps of unmanned aerial vehicles without taking hands off the lever by designing a specific sequence of operation of the operating lever, solving the problem of inconvenience of operators changing their sitting posture when they must manually control the map. The invention has good economic efficiency, and the optimization of the existing unmanned aerial vehicle map operation mode can be achieved only by software changes. Its design concept is simple and the amount of changes is small, which can meet the optimization and improvement of existing mature products; the invention has strong compatibility, and its system architecture is similar to the existing unmanned aerial vehicle map control method. Users can choose traditional control methods or the control method of the present invention according to actual needs without special hardware modification; the invention fully considers the real-time and safety of the operation logic in the design process, and fully considers misoperation while improving the convenience of operator operation, which can effectively protect the operator from misoperation and improve the safety of unmanned aerial vehicle operation; the invention has strong scalability, and can be quickly and conveniently transplanted to a control system with the same control working condition requirements, and there is no need to carry out large-scale transformation of the original system, and it has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the control system and method architecture for the ground map of the UAV command and control system.

[0029] Figure 2 The present invention is a schematic diagram of the working mode conversion of the control system and method of the ground map of the UAV command and control system. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the implementation of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail in combination with the embodiment of the present invention. In the example, the same or similar reference numerals throughout represent the same or similar originals or elements with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of them. The embodiments described below by reference are exemplary and intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present invention. The following is a detailed description in combination with the embodiments of the present invention.

[0031] The invention consists of four parts: map software, control software, joystick, and network communication channel;

[0032] The network communication channel is used as a carrier for message communication between software;

[0033] The map software has three modes: automatic control, manual control and lever control. The lever control mode is a special manual control mode. The function definitions of the automatic control mode and the manual control mode are similar to the conventional map control mode. The default mode is automatic.

[0034] The control software is used to establish a message communication channel between the joystick and the map software;

[0035] The control software collects the operation actions of the joystick, converts them into message data for controlling the map according to the protocol agreed upon by the control method, and sends them to the map software via a wired network;

[0036] The map software obtains the map control message data sent by the control software from the wired network, and performs operations such as operation mode change, movement, and scaling according to the agreement;

[0037] The map software will display the operation mode change, movement, and zoom icons on the display interface to remind the operator. The icons will automatically disappear after 2 seconds.

[0038] The joystick is used for pilot input, and the coolie hat and two buttons are used as the control input of this invention, and the rest of the joystick is used to control the drone;

[0039] Each operation of the coolie hat triggers only one message. The specific combination of operations of the coolie hat is used to control the change of the map control mode. If the ↑↑↓↓ operation is completed within the specified time (software configurable, 3 seconds by default), the map control mode will enter the hand control mode; if the ←←→→ operation is completed within the specified time (software configurable, 3 seconds by default), the map control mode will exit the hand control mode and enter the automatic control mode.

[0040] In the hand-stick control mode, the four-way operation of the coolie hat is used to control the movement of the map in four directions: up, down, left, and right. The two buttons are used to control the zoom in and out of the map.

[0041] In the hand lever control mode, manually select automatic or manual mode through the map to exit to the corresponding operation mode;

[0042] When the mode is switched, the target control mode of the map will flash in the center of the map for 2 seconds, and then shrink and display in the lower left corner of the map display area after the flashing is completed;

[0043] In non-handle control mode, the coolie hat's non-specific combination and 2-button operations will not respond to avoid misoperation.

[0044] The implementation method of a control system and method for a ground map of an unmanned aerial vehicle command and control system is as follows:

[0045] a) The logic of automatic and manual control of the map software is similar to the conventional control method and will not be described in detail;

[0046] b) After the system is started, the map software is in automatic control mode, and the automatic control mode icon is displayed in the lower left corner of the map display area (Automatically display Manual display Hand lever display );

[0047] c) When the pilot controls the joystick hat and the two buttons defined in the invention, the control software collects the actions and makes logical judgments on the operations, and sends control messages to the map software when they meet the specific logic;

[0048] d) If the operator completes the ↑↑↓↓ operation within 3 seconds, the map needs to switch to the hand lever control mode. The control software sends a hand lever control mode switching message to the map software, and the map software responds;

[0049] e) If the pilot completes the ←←→→ operation within 3 seconds, the map needs to exit the stick control mode, and the control software sends a stick control exit message to the map software, which responds and returns to the automatic control mode;

[0050] f) The map software responds to the operation requirements of the control software and makes corresponding actions;

[0051] g) When the map working mode is switched, the target map control mode will flash on the map interface for 2 seconds, and then the control mode icon will be animated and reduced to the lower left corner of the map display area.

[0052] When the map software is in the hand lever control mode, the actions defined by the joystick invention are as follows:

[0053] a) Press the four-way button upwards, the map software will move the map upwards, and the upward icon will be displayed briefly on the interface;

[0054] b) Press the four-way button downward, the map software will move the map downward, and the interface will briefly display the downward icon;

[0055] c) Press the four-way button to the left, the map software will move the map to the left, and the left-shift icon will be displayed briefly on the interface;

[0056] d) Press the four-way button to the right, the map software will move the map to the right, and the right move icon will be displayed briefly on the interface;

[0057] e) Press button 1, the map software operates the map to zoom in, and the interface briefly displays the zoom in icon; press button 2, the map software operates the map to zoom out, and the interface briefly displays the zoom out icon.

[0058] In addition, unless otherwise defined, the technical terms or scientific terms used in the description of this application shall be the common meanings understood by the general technicians in the field to which this application belongs. The words "upper", "lower", "left", "right", "center", "vertical", "horizontal", "inside", "outside" and other words indicating orientation used in the description of this application are only used to indicate the relative direction or positional relationship, and do not imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. When the absolute position of the described object changes, its relative positional relationship may also change accordingly, so it cannot be understood as a limitation on this application. The "first", "second", "third" and similar terms used in the description of this application are only used for descriptive purposes to distinguish different components, and cannot be understood as indicating or implying relative importance. The similar words "one", "one" or "the" used in the description of this application should not be understood as an absolute limitation on quantity, but should be understood as the existence of at least one. The similar words "including" or "comprising" used in the description of this application mean that the elements or objects appearing in front of the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0059] In addition, it should be noted that, unless otherwise clearly specified and limited, the words "installed", "connected", "connected" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection 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, an indirect connection through an intermediate medium, or the internal connection of two components. Technical personnel in the field can understand their specific meanings in this application according to the specific circumstances.

[0060] The above description is only a specific implementation mode of the present invention and is not intended to limit the present invention. Within the spirit and principle of the present invention, any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the technical solution content of the present invention, any modification, equivalent replacement, improvement, etc. made should be included in the protection scope of the present invention.

Claims

1. A control system for a ground map of an unmanned aerial vehicle command and control system, characterized in that: It includes hardware and software parts; the hardware part includes a computer, a display, a switch, a joystick, and a power supply; the computer is used as a carrier for software operation and a display input source for the display; the display is a display device for the computer; the switch is connected to the computer and is a data communication device for computer software; the joystick has at least two single-click buttons and one four-way button, and the four-way button supports up, down, left, and right operations. The joystick is connected to the computer and is used to collect the operator's operations; the power supply is an external power supply for the computer, the display, the switch, and the joystick; The software part includes map software and control software, which are installed in the computer; the map software is used to display the map display, route planning, and track display used in the UAV mission planning and flight process, and has three modes: automatic control, manual control, and hand-stick control. The map is in automatic mode by default. The functional definitions of the automatic control mode and the manual control mode are similar to the conventional map control method. The hand-stick control mode is a manual control mode indirectly realized by a joystick. The map software receives the control message sent by the control software after the control software makes a logical judgment on the joystick operation response and responds with a corresponding action; the control software establishes a message communication channel between the joystick operation and the map software, which is used to collect the operator's operation of the joystick, and judges the operation that needs to be responded to according to the control method agreement. When it meets the response operation logic, the specified operation requirement is sent to the map software through the network channel for response.

2. The method for controlling the system according to claim 1, characterized in that: The steps include: Step 1: Power on the computer, monitor, switch, and joystick to start the hardware devices; Step 2: Run the map software and control software in the computer. The two software run in two computers respectively, and the screen display uses their own independent monitors; Step 3: After the control software is started, it starts to collect the operation information of the joystick; Step 4: After the map software is started, it works in automatic control mode by default, and the automatic control mode icon is displayed in the lower left corner of the map display area; Step 5: When the map software is in non-handle control mode, when the joystick button is operated, the control software collects the action and performs operation logic judgment to determine whether to switch the map control mode. When the operation logic is in line with switching to the handle control mode, the control software sends a handle control mode switching message to the map software, and the map software responds; Step 6: When the map is in the hand-stick control mode, when the operator operates the joystick button, the control software collects the action and makes operation logic judgment, and converts the operation of the two single-click buttons and the four-way button into the operation of the map, and sends it to the map software, which responds; Step 7: When the map software receives a control mode switching message or a map operation message from the operating software, the map software interface displays the control changes of the map with an obvious icon in the center of the map. The display time is 2 seconds, then it shrinks or disappears, and the corresponding action is taken for the map control mode or operation.

3. The method according to claim 2, characterized in that The 3 seconds in step 5 can be configured by the software and can be customized later according to user usage habits.

4. The method according to claim 2, characterized in that The two single-click operations in step 6 are converted into zoom-in and zoom-out operations on the map respectively.

5. The method according to claim 2, characterized in that The up, down, left, and right operations of the four-way button in step 6 are converted into up and down movement operations on the map respectively.

6. The method according to claim 2, characterized in that In step 6, in the hand lever control mode, the operator's operation on the map is issued in real time, and the map software responds in real time; at the same time, the control software needs to determine whether the operator has made an operation to exit the hand lever control mode.

7. The method according to claim 2, characterized in that The operation is specifically to complete the continuous left-left-right-right movements of the four-way button within 3 seconds.

8. The method according to claim 2, characterized in that When this condition is met, the control software notifies the map software to exit the hand lever control mode and return to the automatic control mode.

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