Multi-rocker portable control device applied to cluster system

Abstract

The invention provides a multi-rocker portable control device applied to a cluster system. From the perspective of actual requirements and large-scale application, a high-reliability control device with multi-rocker control, multiple man-machine interaction means and a multi-link multi-system communication mode is designed. According to the invention, not only can original products be compatible, but also various rockers such as a universal rod, a direction rod and a push rod can be provided, and a high-resolution high-brightness display screen, a multi-point touch screen and a man-machine interaction means with numeric keys, direction keys and other function keys can be provided; and multi-link multi-system communication modes such as a safe communication channel for networking with a plurality of unmanned aerial vehicles simultaneously, a navigation positioning function and a standard compatible backup communication means are provided. The limitation of the task capability of a single unmanned aerial vehicle (UAV) is broken through, system control over the multiple UAVs is achieved through the remote control device, and the large-scale cluster combat capability is achieved.

Description

Technical Field

[0001] The present invention relates to a highly reliable control device with multi-stick control, multiple human-machine interaction means, and multi-link multi-standard communication mode, which has a wide range of applications. The present invention relates to wireless remote control technology, collaborative control technology of cluster systems, reliability design technology of remote control devices, high-precision navigation and positioning technology, etc. Background Art

[0002] With the continuous evolution and upgrading of swarm technology, networked and intelligent aerial weapons and equipment will break through the limitations of single unmanned aerial vehicle (UAV) mission capabilities and form large-scale swarm combat capabilities, which will help to break through the combat effectiveness and limitations of UAVs in complex and diverse combat environments.

[0003] Portable control terminals with low-power embedded processors as core chips are widely used in all equipment. When researching and applying remote control of unmanned equipment, the impact of tactical indicators, environmental factors, human-computer interaction, etc. on the combat effectiveness of unmanned aerial vehicles must be fully considered in order to maximize the potential of equipment on the battlefield. The processors of this type of equipment need to have high computing performance, strong image processing capabilities, low power consumption, fast response speed, flexible and diverse control methods, stable and reliable operation, etc., and are suitable for various harsh environments such as plateaus and mountains, urban operations, and high temperature and humidity.

[0004] Figure 1 as well as Figure 2 The following diagram illustrates the current mainstream drone remote control scenarios and remote control implementation solutions. Figure 1 as well as Figure 2 The solution implemented by the remote controller in the use scenario shown in the figure shows that the remote controller and the drone are controlled and communicated one-to-one. When multiple pairs of remote controllers and drones coexist in the same scene, the wireless remote control signals may interfere with each other, affecting the communication quality, and in serious cases, there will be signs of loss of control. In addition, the remote controller has only two joysticks, generally one is used as a throttle and the other as a directional joystick control, which can only be used to control the pitch and roll angles of the drone.

[0005] This implementation method has been widely used in the current unmanned equipment field. Although it is simple and low-cost, it lacks large-scale cluster combat capabilities and collaborative innovation applications, has limited mission capabilities, and has a single communication link that is susceptible to interference, resulting in poor reliability. In addition, it lacks flexible and friendly human-computer interaction methods for complex and diverse application scenarios. Summary of the invention

[0006] The technical problem to be solved by the present invention is that: from the perspective of similar remote control devices used on existing weapons and equipment, a large number of single devices are often required to form a system with functions such as computing, communication, display and control, which has single functions, low integration and low reliability. In addition, the object of control is generally a single drone, and the control device usually has only one or two joysticks, with limited control means and lack of flexibility and maneuverability.

[0007] In order to solve the above technical problems, the technical solution of the present invention is to disclose a multi-joystick portable control device applied to a cluster system, which is characterized by comprising a mainboard, a networking module and a positioning module of a multi-standard communication mode, a multi-joystick control, an LCD display and touch module, a multi-function keyboard module and an intelligent battery pack, wherein:

[0008] The mainboard is connected to the networking module and positioning module of the multi-standard communication mode, forming a communication link between the control device and the UAV. The control device and the UAV simultaneously perform remote control monitoring functions including data communication and ranging, and improve anti-interference performance and anti-tracking and eavesdropping through adaptive modulation coding and random frequency hopping algorithms.

[0009] The multi-stick control is connected to the mainboard, and the joystick uses micro Hall sensor technology;

[0010] The LCD display and touch module are connected to the mainboard using optical bonding technology;

[0011] The multi-function keyboard module is connected to the mainboard, and is configured with numeric keys, steering wheel keys, and various shortcut function keys according to application requirements;

[0012] The intelligent battery pack is connected to the mainboard to provide the control device with long-lasting working ability in outdoor mobile environments. At the same time, the built-in battery meter and battery protection circuit provide reliable and predictable health management functions for battery use.

[0013] Preferably, the communication link includes a main data link communication link and a backup communication link, and the backup communication link promptly provides a backup communication solution when the main data link communication link shows signs of being out of control.

[0014] Preferably, the mainboard uses an embedded low-power, high-performance domestic processor for: processing and storage of communication data; calculation and control of networking equipment positioning data; processing and sending of joystick data; display output of control interface and collected images; keyboard input response and control; and battery management.

[0015] Preferably, different joysticks are configured to make the control functions more flexible, simple and complete.

[0016] Preferably, the LCD display and touch module can display in the wild sunlight by selecting a high-brightness high-resolution display screen, a capacitive touch screen and automatic dimming technology, and also has the function of multi-touch operation.

[0017] The present invention is designed from the perspective of actual needs and large-scale applications to have a highly reliable control device with multi-stick control, multiple human-computer interaction means, and multi-link multi-standard communication methods. The present invention is not only compatible with the original products, but also can provide a variety of rockers such as universal rods, direction rods and push rods, provide high-resolution high-brightness display screens, multi-touch screens, and human-computer interaction means with numeric keys, direction keys and other function keys, and provide multi-link multi-standard communication methods such as secure communication channels, navigation and positioning functions, and standard-compatible backup communication means for simultaneous networking with multiple drones. The present invention is mainly used for multi-link multi-standard communication methods such as secure communication channels, navigation and positioning functions, and standard-compatible backup communication means for simultaneous networking of multiple drones. The present invention breaks through the limitations of the mission capabilities of a single unmanned aerial vehicle (UAV), forms a system control of multiple drones through a remote control device, and realizes large-scale cluster combat capabilities.

[0018] The present invention is a multi-stick high-reliability remote control device applied to a cluster system. It adopts multi-stick control to make the control more flexible and applicable to more scenarios. It adopts a multi-link multi-standard communication method to make the network more robust and the control more reliable. It adopts cluster remote control in a self-organizing network manner to break through the mission capability limitations of a single unmanned equipment, thereby forming a large-scale cluster combat capability of group victory and synergy. Through the application of these technologies, the overall cost of such equipment throughout its life cycle can be reduced. The use of the technology of the present invention can well support the low-cost, large-scale, high-reliability, and multi-scenario use requirements of unmanned equipment and meet the development of future equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The one-to-one control of the drone remote control scenario is illustrated;

[0020] Figure 2 Functional block diagram for the remote control implementation solution;

[0021] Figure 3 It illustrates the application scenario of controlling multiple drones at the same time;

[0022] Figure 4 Provide a functional block diagram for implementing a multi-stick portable control device;

[0023] Figure 5 It is a block diagram of multi-standard communication mode;

[0024] Figure 6 This is a functional block diagram of a portable remote control terminal;

[0025] Figure 7 This is the functional block diagram of the mainboard module;

[0026] Figure 8 This is a schematic diagram of the application scenario of the remote monitoring terminal;

[0027] Fig. 9 The diagram shows the connection relationship for getting off the vehicle (left) and the connection relationship for being inside the vehicle (right);

[0028] Fig.10 This is the functional block diagram of the remote monitoring terminal. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the appended claims of the application equally.

[0030] The present invention uses the following abbreviations and key terms:

[0031] UAV: Unmanned Aerial Vehicle, generally refers to an aerial vehicle that is powered by power and does not carry an operator. It uses aerodynamics to provide the required lift for the aircraft, can fly autonomously or remotely, can be used once and can be recovered, and can carry lethal or non-lethal mission payloads, such as taking pictures, spreading medicines, playing sounds, etc.

[0032] MIMO: Multiple Input Multiple Output, is a technology that greatly increases channel capacity by using multiple antennas at both the transmitting and receiving ends to form a multi-channel antenna system between the transmitting and receiving ends.

[0033] RNSS: Radio Navigation Satellite Service, also known as passive positioning. Users receive satellite radio navigation signals, independently measure the distance of at least four satellites, and calculate the position, speed and time parameters.

[0034] RTK: Real Time Kinematic, real-time dynamic carrier phase difference technology, is a method of processing the difference of carrier phase observations of two measuring stations in real time. The carrier phase collected by the base station is sent to the user receiver to calculate the difference coordinates.

[0035] RTD: Real Time Different, real-time dynamic code phase differential technology. In real-time dynamic measurement, real-time dynamic code phase differential measurement is called conventional differential measurement. The accuracy of RTD can only reach sub-meter level (relatively stable within 1 to 5 meters), while RTK can reach centimeter level using dual frequency.

[0036] SBAS: Satellite-Based Augmentation System, an augmentation system that uses satellites to broadcast differential corrections, integrity information and other information to improve the accuracy and other performance of satellite navigation users over a large area.

[0037] SBS: Smart Battery System, a branch and important component of modern power technology. Smart batteries use internal electronic circuits to measure, calculate and store battery data, making the use and management of power more predictable.

[0038] SMBus: System Management Bus, was proposed by Intel in 1995 and is used for low-speed communication in mobile PC and desktop PC systems. It hopes to control the devices on the motherboard and collect corresponding information through a cheap and powerful bus (consisting of two lines).

[0039] Cluster: A group of independent computers connected via a high-speed network. They form a group and are managed as a single system. Cluster technology can achieve relatively high benefits in performance, reliability, and flexibility at a relatively low cost. Task scheduling is the core technology of cluster systems.

[0040] Ad hoc network: is a network that combines mobile communications and computer networks. The information exchange of the network adopts the packet exchange mechanism in computer networks. The user terminal is a portable terminal that can be moved. Each user terminal in the ad hoc network has both the functions of a router and a host. The purpose of the ad hoc network routing protocol is to be fast, accurate and efficient, to find accurate and available routing information in the shortest possible time, and to adapt to the rapid changes in network topology to meet the application environment of portable mobile terminals.

[0041] according to Figure 3 as well as Figure 4 As shown in the application scenario and the functional block diagram of the implementation, the present invention discloses a multi-joystick portable control device for application in a cluster system, including a mainboard, a networking module and a positioning module for multi-standard communication modes, a multi-joystick control, an LCD display and touch module, a multi-function keyboard module and an intelligent battery pack, etc.

[0042] The mainboard uses an embedded low-power, high-performance domestic processor, which is mainly responsible for: 1) processing and storage of communication data; 2) calculation and control of positioning data of networking equipment; 3) processing and sending of joystick data; 4) display output of control interface and collected images; 5) keyboard input response and control; 6) battery management, etc.

[0043] The multi-standard communication mode constitutes the communication link between the control device and the UAV. The control device and the UAV simultaneously carry out data communication, ranging and other remote control monitoring functions, and improve anti-interference performance and anti-tracking and eavesdropping through adaptive modulation coding and random frequency hopping algorithms. The backup communication link can provide a backup communication solution in time when the main data link communication link shows signs of being out of control, such as Figure 5 As shown, it provides reliable protection for the safety of drones.

[0044] The joystick adopts micro Hall sensor technology, which is light, long-life, and has an IP68 protection level, making it suitable for control in different harsh environments. By configuring different universal rods, push rods, direction rods and other joysticks, the control functions are more flexible, simple and complete.

[0045] The LCD display and touch module adopt optical binding technology, which has better electromagnetic compatibility and anti-vibration ability. By selecting high-brightness high-resolution display screen, capacitive touch screen and automatic dimming technology, it can display in the wild sunlight and also has the function of multi-touch operation.

[0046] The multi-function keyboard can be configured with numeric keys, steering wheel keys, and various shortcut function keys according to application requirements. It not only makes human-computer interaction more user-friendly, but also can replace the joystick function for control in emergency situations.

[0047] The smart battery pack can provide long-lasting working ability for the control device in a mobile environment in the wild. At the same time, the built-in battery meter and battery protection circuit provide reliable and predictable health management functions for battery use.

[0048] Example 1 - Portable remote control terminal

[0049] The portable remote control terminal can independently complete various tasks such as processing, storage, communication and display, and can work normally in various harsh environments. It is mainly used as a portable terminal device in the control and support subsystem of a certain cluster project. The equipment is required to have multiple joysticks such as a universal joystick, a steering rod and a push rod, and built-in data link modules, Beidou modules and other wireless communication positioning function modules. It can control more than 10 drones at the same time, and can ensure that personnel can be flexibly configured and combined according to the scale of the task, and ensure that the area traversal cycle within a certain range is not more than 5 minutes. In this way, it can break through the limitations of the mission capabilities of a single drone and form a large-scale cluster combat capability with low cost, group victory, and synergy. The functional block diagram of the portable remote control terminal solution is as follows Figure 6 shown.

[0050] 1) Domestic motherboard

[0051] The mainboard hardware system diagram is as follows Figure 7 The mainboard module takes the RK3588 processor as the core platform, and is composed of power circuit, core processing circuit, memory, storage, interface circuit, display conversion circuit and other parts. It can provide external mSATA, Ethernet interface, USB interface, serial port interface, DP, HDMI and other display interfaces.

[0052] 2) Data link networking module / WIFI module

[0053] The data link networking module and the WIFI module constitute the main and standby communication modules of the multi-standard communication mode between the remote control terminal and the UAV end. According to the characteristics of the dynamic channel of UAV communication, they automatically select the channel conditions, adjust the coding efficiency and bandwidth, and make a trade-off between anti-interference ability and data transmission efficiency.

[0054] The data link networking module adopts MIMO technology and frequency hopping anti-interference technology, and adopts 2T2R enhanced antenna to achieve 40Mbps broadband low-latency image transmission capability. It can support chain, star, and tree network topologies, and can support 32 nodes (decentralized, supporting nodes to dynamically leave and join the network) and self-organizing network capabilities up to 100km. The communication module is more in line with the standard protocol, and supports frequency band customization, data encryption and decryption and other security measures.

[0055] The WIFI module adopts a low-cost solution that complies with the IEEE802.11b / g / n standard. As a backup for the communication link of the data link networking module, it can automatically adjust the transmission speed and has a data verification function. It can select a variety of information modulation methods as needed, which well ensures the reliability of data transmission.

[0056] 3) Beidou module

[0057] The BeiDou module is designed based on the integrated baseband chip for BeiDou-3 J, and has BeiDou-3 RNSS function, RTK function, and orientation function. It is a high-performance BeiDou-3 receiver board. It can support BeiDou-3 B1C, B1A, B3A, B3AE frequency points, smoothly transition B1I, B3I, B3Q frequency points, and is compatible with GPS_L1 frequency point C / A code, GLONASS_L1, Galileo_E1 and other multi-standard multi-frequency points.

[0058] The module supports the reception and positioning of BeiDou 3 signals, BeiDou SBAS satellite-based augmentation signal reception and positioning, pseudo-range differential positioning and carrier phase differential positioning; BeiDou dual-antenna orientation; and reception of external differential information for RTK and RTD solutions.

[0059] The Beidou module can be used to perform positioning and distance measurement operations between drones for the operator, which can provide decision reference information for the adaptive multi-standard communication mode and provide reliable distance calibration information for the operator.

[0060] 4) Joystick

[0061] The joystick uses a micro joystick and adopts contactless Hall sensor sensing technology. It has a long service life and can have multiple linear outputs. Single or dual sensor outputs are optional. The main indicators such as operating force, movement angle, and load are optimized according to the ergonomic control requirements. The spring automatically pulls back to its position after each operation, and the service life is more than 1 million times. It has IP68 protection level and wide temperature requirements to meet the control needs in harsh environments.

[0062] The present invention adopts a total of 1 universal rod, 2 direction rods and 1 push rod. Through flexible configuration, it can coordinately control the cluster combat of multiple drones, can quickly switch operations between control interfaces, and can make more complex and difficult flight load selections.

[0063] 5) Display module

[0064] The LCD module mainly includes an LCD screen, a touch screen and shielding glass, and adopts an optical binding solution. The LCD screen uses an industrial-grade 10.1-inch LCD screen with a wide temperature and voltage. The screen uses LED tubes as the backlight, which has the characteristics of low power consumption and light weight. The touch screen uses a capacitive touch screen that supports multi-touch. After independently detecting the touch status of each area, multi-touch can be achieved after being processed by the control circuit. The shielding layer uses a regular silk screen, and the shielding effectiveness meets the relevant index requirements of GJB.

[0065] 6) Intelligent battery pack

[0066] The management of smart battery packs is based on the SBS (Smart Battery Specification) V1.1 specification. Through the SMBus signal bus, the battery pack provides the embedded controller or smart charger with the battery pack's maximum charging voltage, current, remaining power, battery temperature and other parameters, and predicts the remaining working time and other information. In dangerous situations such as overcharging and over-discharging, the battery pack can also automatically take corresponding protection measures.

[0067] Example 2 - Remote Monitoring Terminal

[0068] The remote monitoring terminal is mainly used in temporary command bunker environments in the field. After the personnel evacuate the WQ equipment and get off the vehicle, it ensures that the soldiers are aware of the WQ system process and test process information in the first place. At the same time, the device can receive control commands or voice messages issued by superiors, and terminate the process in time to ensure the safety of personnel and equipment. Usually, the terminal can be fixedly installed in the cab for map navigation during mobile driving.

[0069] Compared with the traditional one-to-one monitoring terminal, the present invention not only has multi-link high-reliability communication, but also has the advantages of global cluster management and situation monitoring, and a multi-joystick control configuration that meets monitoring and navigation. Figure 8 shown.

[0070] The remote monitoring terminal realizes Ethernet information transmission with the unmanned vehicle (remote monitoring module) through optical fiber or wireless, and the link priority is Ethernet ≥ optical fiber ≥ wireless. The remote monitoring terminal is used in two situations: remote control monitoring in the shelter after getting off the vehicle and navigation in the vehicle. Fig. 9 shown.

[0071] According to application requirements, in remote situations, Ethernet information transmission between the remote monitoring terminal and the remote monitoring module can be achieved through optical fiber or wireless methods; it can communicate with the voice equipment in the car through optical fiber or wireless methods; through positioning information, it is applied to map navigation during maneuvering.

[0072] According to the device connection relationship, the network connection diagram of each module in the device is as follows Fig.10 As shown, the remote monitoring terminal device is internally connected to the computing processing module and the voice function module through a switching chip, and is extended with one Ethernet electrical port, two redundant Gigabit Ethernet optical ports and one wireless communication interface for external connection.

Claims

1. A multi-stick portable control device for a cluster system, characterized in that: It includes a mainboard, a networking module and a positioning module with multi-standard communication modes, a multi-joystick control, an LCD display and touch module, a multi-function keyboard module and an intelligent battery pack, including: The mainboard is connected to the networking module and positioning module of the multi-standard communication mode, forming a communication link between the control device and the UAV. The control device and the UAV simultaneously perform remote control monitoring functions including data communication and ranging, and improve anti-interference performance and anti-tracking and eavesdropping through adaptive modulation coding and random frequency hopping algorithms. The multi-stick control is connected to the mainboard, and the joystick uses micro Hall sensor technology; The LCD display and touch module are connected to the mainboard using optical bonding technology; The multi-function keyboard module is connected to the mainboard, and is configured with numeric keys, steering wheel keys, and various shortcut function keys according to application requirements; The intelligent battery pack is connected to the mainboard to provide the control device with long-lasting working ability in outdoor mobile environments. At the same time, the built-in battery meter and battery protection circuit provide reliable and predictable health management functions for battery use.

2. A multi-joystick portable control device for a cluster system as claimed in claim 1, characterized in that: The communication link includes a main data link communication link and a backup communication link. The backup communication link provides a backup communication solution in a timely manner when the main data link communication link shows signs of being out of control.

3. A multi-joystick portable control device for a cluster system as claimed in claim 1, characterized in that: The motherboard uses an embedded low-power, high-performance domestic processor for: processing and storage of communication data; Calculation and control of positioning data of networking equipment; processing and sending of joystick data; display and output of control interface and collected images; keyboard input response and control; battery management.

4. The multi-joystick portable control device for cluster system as claimed in claim 1, characterized in that: By configuring different joysticks, the control functions are made more flexible, simple and complete.

5. The multi-joystick portable control device for cluster system as claimed in claim 1, characterized in that: The LCD display and touch module uses a high-brightness high-resolution display screen, a capacitive touch screen and automatic dimming technology, so it can display in the wild sunlight and also has the function of multi-touch operation.

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