A control system and method for a ground map in an unmanned aerial vehicle (UAV) command and control system.

Abstract

This invention belongs to the field of unmanned aerial vehicle (UAV) control technology, and relates to a control system and method for a ground map in a UAV command and control system. It includes hardware and software components. The hardware component includes a computer, a display, a switch, a joystick, and a power supply; the software component includes map software and control software. By designing a specific sequence of joystick operations, a UAV ground map control method is invented that allows the operator to control the ground map without taking their hands off the joystick, solving the problem of inconvenience caused by changes in posture when the operator must manually control the map. This invention has good economic efficiency, optimizing existing UAV map operation methods only through software modifications. Its design concept is simple, the changes are minimal, and it can meet the optimization and improvement needs of existing mature products.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) control technology, and relates to a control system and method for a ground map of an UAV command and control system. Background Technology

[0002] Command and control systems are a crucial component of unmanned aerial vehicle (UAV) systems. Unlike manned aircraft, UAVs cannot be directly observed by pilots. Ground map display software shows the UAV's planned route, position, attitude, and historical trajectory during missions, while also displaying information about the geographical, human, and hazardous environments along the route—essentially acting as the pilot's "eyes." Traditional ground map control methods are primarily based on two approaches: manual operation, where the pilot removes one or both hands from the joystick and uses specific buttons or a touchscreen to zoom and move the map; and automatic operation, where map movement and zoom are controlled by built-in system logic. During mission execution, when relevant conditions (such as position, altitude, and hazardous areas) meet the conditions defined by the system logic, the ground map automatically moves and zooms according to the predefined logic.

[0003] Typical ground-based command and control systems Figure 1 Generally, a combination of manual and automatic control methods is used. However, due to the complex combat scenarios of UAVs, automatic ground map operation methods usually cannot fully meet the control needs throughout the mission. Pilots may need to operate manually, in which case they need to remove their hands from the joystick and reach for the touch screen or use a mouse to operate the map software deployed on the control console (the control deployment logic of most UAVs). This is not convenient and also requires the pilot to adjust their posture, which is detrimental to the safety of UAV operation in some emergency scenarios. Summary of the Invention

[0004] Purpose of the invention

[0005] To address the aforementioned issues, this invention provides a control system and method for a ground map in a UAV command and control system. Based on traditional UAV ground map control methods, it adds a method for manual map control via a joystick, enabling pilots to control the map without adjusting their posture and by keeping their hands on the joystick in specific mission scenarios.

[0006] Technical solution

[0007] This invention introduces an operational linkage mechanism between the ground map and the joystick in the command and control system, allowing operators to change, move, and zoom the ground map using the joystick. This enables operators to control the map's general operations without taking their hands off the joystick.

[0008] A control system for a ground map of an unmanned aerial vehicle (UAV) command and control system includes hardware and software components. The hardware includes a computer, a monitor, a switch, a joystick, and a power supply. The computer serves as the platform for software execution and the display input source for the monitor. The monitor is the computer's display device. The switch is connected to the computer and acts as a data communication device for the computer software. The joystick has at least two single-click buttons and one four-way button, supporting up, down, left, and right movements. This joystick is connected to the computer and used to collect operator input. The power supply provides external power to the computer, monitor, switch, and joystick.

[0009] The software component includes map software and control software, installed on a computer. The map software is used to display map displays, route plans, and flight tracks used during UAV mission planning and flight. It has three control modes: automatic control, manual control, and joystick control. The map is in automatic mode by default. The functional definitions of automatic and manual control modes are similar to those of conventional map control methods. Joystick control mode is a special manual control mode indirectly implemented through a joystick. The map software receives control messages from the control software after judging the joystick operation response logic and responds accordingly. The control software establishes a message communication channel between the joystick operation and the map software to collect operator operations on the joystick, determine the operation to be responded to according to the control method agreement, and when the response operation logic is met, send the specified operation request to the map software through the network channel for response.

[0010] A method for controlling a ground map in an unmanned aerial vehicle (UAV) command and control system includes the following steps:

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

[0012] Step 2: Run the map software and control software on the computer. The two software programs run on two separate computers, and the screens are displayed on their respective independent monitors.

[0013] Step 3: After the control software starts, it begins to collect the operation messages of the joystick;

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

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

[0016] Step 6: When the map is in joystick control mode, when the operator operates the joystick buttons, the control software collects the actions and performs operation logic judgment, and converts the operations of the two single-click buttons and the four-way button into map operations, which are then sent to the map software for response.

[0017] Step 7: When the map software receives a control mode switching message or map operation message from the control software, the map software interface displays the control change to the map in the center of the map with a clear icon for 2 seconds, after which it shrinks or disappears, and performs the corresponding action on the map control mode or operation.

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

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

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

[0021] Furthermore, in step 6, in the joystick control mode, the operator issues operations on the map 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 performed an operation to exit the joystick control mode.

[0022] Furthermore, the operation specifically involves completing a series of left, right, left, and right movements of the four-way buttons within 3 seconds.

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

[0024] Furthermore, the aforementioned 3-second time limit is synchronized with the 3-second entry logical time limit configuration in step 5.

[0025] Furthermore, when the map software switches control modes, the automatic control mode icon is... The manual control mode icon is displayed. The joystick control mode icon is The icon will shrink and appear in the lower left corner of the map software after 2 seconds, without disappearing. This action also applies to the control mode switching display described in step 7.

[0026] Furthermore, in step 7, when the map software is in joystick control mode and performing movement and zoom operations, the movement operation is displayed according to the direction of the four-way buttons. Zooming in is displayed as The zoom-out operation is displayed as The beneficial effects of this application are as follows:

[0027] This invention provides a hands-free method for controlling UAV ground maps by designing a specific sequence of joystick operations, solving the problem of inconvenience caused by operator posture changes when manual map control is required. This invention is economical, optimizing existing UAV map operation methods solely through software modifications. Its design concept is simple, requiring minimal changes, and can meet the optimization and improvement needs of existing mature products. The invention also exhibits strong compatibility; its system architecture is similar to existing UAV map control methods, allowing users to choose between traditional control methods or the invention's control method based on actual needs without special hardware modifications. The invention fully considers the real-time performance and security of the operation logic during design, improving operator convenience while adequately addressing potential misoperations, effectively protecting against operator errors and enhancing UAV operation safety. Finally, the invention demonstrates strong scalability, allowing for quick and easy porting to control systems with similar control requirements without large-scale modifications to the original system, demonstrating high adaptability. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the control system and methodology for ground maps in a drone command and control system.

[0029] Figure 2 This diagram illustrates the working mode conversion of the control system and methods for ground maps in the command and control system of unmanned aerial vehicles (UAVs). Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be described in more detail below. In the examples, the same or similar reference numerals denote the same or similar components or elements having the same or similar functions throughout. The described embodiments are some, but not all, of the embodiments of this invention. The embodiments described below with reference to reference are exemplary and intended to explain this invention, and should not be construed as limiting the invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention. The embodiments of this invention will be described in detail below.

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

[0032] Network communication channels are used as carriers for inter-software message communication;

[0033] The map software has three modes: automatic control, manual control, and joystick control. Joystick control is a special type of manual control. The functions of automatic and manual control modes are similar to those of conventional map control methods, and the default mode is automatic.

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

[0035] The control software collects the joystick's input actions, converts them into map control message data according to the protocol agreed upon in the control method, and sends them to the map software via a wired network.

[0036] Map software obtains map control message data sent by the control software from the wired network, and performs actions such as changing operation mode, moving, and zooming according to the protocol agreement;

[0037] The map software simultaneously displays schematic icons indicating changes in operation mode, movement, and zoom on the display interface to remind the operator. The schematic icons disappear automatically after 2 seconds.

[0038] The joystick is used for pilot input, and a cap and two buttons are used as the control input for this invention. The other parts of the joystick are used to control the drone.

[0039] Each operation of the Coolie Hat triggers only one message. Specific combinations of Coolie Hat operations are used to control changes in map control mode. If the ↑↑↓↓ operation is completed within a specified time (configurable by the software, default 3 seconds), the map control mode enters the joystick control mode; if the ←←→→ operation is completed within a specified time (configurable by the software, default 3 seconds), the map control mode exits the joystick control mode and enters the automatic control mode.

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

[0041] In joystick control mode, manually select automatic or manual mode via the map to exit to the corresponding operation mode;

[0042] When switching modes, the target control mode of the map will be flashed in the center of the map for 2 seconds, and then the display will shrink to the lower left corner of the map display area after the flashing ends.

[0043] In non-stick control mode, non-specific combinations of the cap and operation of the two buttons will not be responded to, to avoid accidental operation.

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

[0045] a) The logic of automatic and manual control of map software is similar to that of conventional control methods, and will not be elaborated further;

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

[0047] c) When the pilot operates the joystick, hat, and the two buttons defined in the invention, the control software collects the actions and performs operation logic judgment. If the logic is consistent, the control message is sent to the map software.

[0048] d) If the operator completes the ↑↑↓↓ operation within 3 seconds, the map needs to switch to the joystick control mode. The control software will send a message to the map software to switch the joystick control mode, and the map software will respond accordingly.

[0049] e) If the pilot completes the ←←→→ operation within 3 seconds, the map needs to exit the stick control mode. The control software will send an exit stick control message to the map software, which will then respond and restore the automatic control mode.

[0050] f) The map software is in a state of responding to the operational needs of the control software by taking corresponding actions;

[0051] g) When switching map working modes, the target map control mode will be flashed on the map interface for 2 seconds, after which the control mode icon will be animated and shrunk to the lower left corner of the map display area.

[0052] When the map software is in joystick control mode, the joystick's defined actions are as follows:

[0053] a) Pull up the four-way button to move the map software up, and the up icon will be displayed briefly on the interface.

[0054] b) Press the four-way button to move the map down in the map software. The interface will briefly display a map-down icon.

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

[0056] d) Press the four-way button to the right to move the map to the right in the map software. The right-moving icon will be displayed briefly on the interface.

[0057] e) Press button one to zoom in on the map using the map software; the zoom-in icon will be displayed briefly on the interface. Press button two to zoom out on the map using the map software; the zoom-out icon will be displayed briefly on the interface.

[0058] Furthermore, unless otherwise defined, the technical or scientific terms used in this application description shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "upper," "lower," "left," "right," "center," "vertical," "horizontal," "inner," and "outer," etc., used in this application description to indicate relative direction or positional relationship are used only to indicate relative orientation or positional relationship, and do not imply that the device or component must have a specific orientation, or 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, and therefore should not be construed as a limitation on this application. The terms "first," "second," "third," and similar terms used in this application description are used only for descriptive purposes to distinguish different components, and should not be construed as indicating or implying relative importance. The terms "a," "one," or "the," etc., used in this application description should not be construed as an absolute limitation on quantity, but should be construed as indicating the existence of at least one. The terms "including," "comprising," etc., used in this application description mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects.

[0059] Furthermore, it should be noted that, unless otherwise explicitly specified and limited, terms such as “installation,” “connection,” and “linkage” used in the description of this application should be interpreted broadly. For example, a 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 or an indirect connection through an intermediate medium; or it can be a connection within two components. Those skilled in the art can understand its specific meaning in this application according to the specific circumstances.

[0060] The above description is merely a specific embodiment of the present invention and is not intended to limit the present invention. Within the spirit and principles of the present invention, any person skilled in the art may use the above-disclosed technical content to make changes or modifications to equivalent embodiments and apply them to other fields. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention, as well as any modifications, equivalent substitutions, improvements, etc., should be included within the protection scope of the present invention.

Claims

1. A method for controlling a ground map in an unmanned aerial vehicle (UAV) command and control system, characterized in that, Includes the following steps: Step 1: Power on the computer, monitor, switch, and joystick to start the hardware. Step 2: Run the map software and control software on the computer. The two software programs run on two separate computers, and the screens are displayed on their respective independent monitors. Step 3: After the control software starts, it begins to collect the operation messages of the joystick; Step 4: The map software has three modes: automatic control, manual control, and joystick control. After the map software is started, it will work in automatic control mode by default. The automatic control mode icon will be displayed in the lower left corner of the map display area. Step 5: When the map software is in non-joystick 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 meets the requirement to switch to joystick control mode, the control software sends a joystick control mode switch message to the map software, and the map software responds. Step 6: When the map is in joystick control mode, when the operator operates the joystick buttons, the control software collects the actions and performs operation logic judgment, and converts the operations of the two single-click buttons and the four-way button into map operations, which are then sent to the map software for response. Step 7: When the map software receives a control mode switching message or map operation message from the control software, the map software interface displays the map control change in the center of the map with a clear icon for 2 seconds, after which it shrinks or disappears, and performs the corresponding action on the map control mode or operation.

2. The method as described in claim 1, characterized in that, The 3 seconds in step 5 can be configured in the software and can be customized according to user habits.

3. The method as described in claim 1, characterized in that, The two click operations in step 6 are converted into zooming in and zooming out operations on the map, respectively.

4. The method as described in claim 1, characterized in that, In step 6, the up, down, left, and right operations of the four-way buttons are respectively converted into up and down movement operations on the map.

5. The method as described in claim 1, characterized in that, In step 6, under the joystick control mode, the operator issues operations on the map 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 exited the joystick control mode.

6. The method as described in claim 1, characterized in that, The operation specifically involves completing a series of left, right, left, and right movements of the four-way buttons within 3 seconds.

7. The method as described in claim 1, characterized in that, When this condition is met, the control software notifies the map software to exit the joystick control mode and return to the automatic control mode.

8. A control system for a ground map of an unmanned aerial vehicle (UAV) command and control system employing the method described in any one of claims 1-7, characterized in that, It includes hardware and software components; the hardware components include a computer, a monitor, a switch, a joystick, and a power supply; the computer serves as the carrier for software execution and the display input source for the monitor; the monitor is the computer's display device; the switch is connected to the computer and is used for data communication with the computer software; the joystick has at least two single-click buttons and one four-way button, the four-way button supports up, down, left, and right operations, and is connected to the computer to collect operator input; the power supply provides external power to the computer, monitor, switch, and joystick. The software component includes map software and control software, installed on a computer. The map software is used to display map displays, route plans, and track displays used during UAV mission planning and flight. It has three control modes: automatic control, manual control, and joystick control. The map is in automatic mode by default. The functional definitions of automatic and manual control modes are similar to conventional map control methods. Joystick control mode is a manual control mode indirectly implemented through a joystick. The map software receives control messages from the control software after judging the joystick operation response logic and responds accordingly. The control software establishes a message communication channel between the joystick operation and the map software to collect operator operations on the joystick, determine the operation to be responded to according to the control method agreement, and when the response operation logic is met, send the specified operation request to the map software through the network channel for response.

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