Unmanned aerial vehicle multi-technology fusion intelligent control method and system

Abstract

The invention discloses an unmanned aerial vehicle multi-technology fusion intelligent control method. The method comprises the following steps: establishing serial port communication between an airborne terminal and an unmanned aerial vehicle; the airborne terminal acquires model information by receiving a heartbeat packet actively sent by the unmanned aerial vehicle, and switches to a corresponding control protocol according to the model information for controlling the unmanned aerial vehicle; and the airborne terminal is used for dynamically monitoring the signal quality of the communication link and adaptively switching the optimal communication link. According to the intelligent control system and method provided by the invention, intelligent switching can be performed according to indexes such as signal strength, delay and stability, and an early warning value is set to deal with a sudden communication loss problem, so that the communication continuity and the data transmission reliability of the unmanned aerial vehicle in a task execution process are ensured.

Description

Technical Field

[0001] This invention relates to intelligent autonomous technology for unmanned aerial vehicles (UAVs), and discloses a multi-technology integrated intelligent control method and system for UAVs. Background Technology

[0002] With the rapid development of drone technology, drones have been widely used in various fields such as military reconnaissance, environmental monitoring, logistics delivery, and agricultural spraying. However, existing drones are diverse, and their control systems often face problems such as unstable communication links and limited obstacle avoidance capabilities when performing tasks in heterogeneous scenarios. These problems seriously affect the autonomy and mission continuity of drones. To improve the autonomy and mission execution efficiency of drones, a drone control system that can adapt to complex environments and has efficient communication link switching is needed. Existing drone control systems typically use a single communication link, such as public 4G / 5G networks, dedicated data links, or satellite communication. These links may suffer from signal instability or insufficient coverage in certain environments. Therefore, there is an urgent need for a multi-technology integrated intelligent drone control system to improve the autonomy and mission continuity of drones in heterogeneous scenarios.

[0003] In existing patents, most airborne terminals use only one communication method and can only control one type of drone. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a multi-technology integrated intelligent control method and system for unmanned aerial vehicles (UAVs), capable of achieving compatible protocols and adaptive switching of communication links for heterogeneous UAVs. This provides a basis for achieving efficient and secure mission execution and significantly improving the mission continuity of UAVs. The specific technical solution is as follows:

[0005] A multi-technology fusion intelligent control method for unmanned aerial vehicles (UAVs), the method comprising:

[0006] Establish serial communication between the airborne terminal and the drone;

[0007] The airborne terminal obtains the drone model information by receiving heartbeat packets actively sent by the drone, and switches to the corresponding control protocol accordingly to control the drone.

[0008] The airborne terminal dynamically monitors the signal quality of the communication link and adaptively switches to the optimal communication link.

[0009] The wireless communication links include public 4G / 5G networks, dedicated data links, and satellite communication.

[0010] The conditions under which the wireless communication link signal quality can be used are:

[0011] The signal strength RSRP of the public network 4G / 5G link is ≥-90dBm;

[0012] Under the premise of 10Mbps speed and 20MHz bandwidth, the signal strength of the dedicated data link is ≥-95dBm;

[0013] The signal-to-noise ratio (SNR) of the satellite communication link is ≥150dB;

[0014] A connection can be established as long as any of the above wireless communication links are met.

[0015] The priority order for adaptive switching of the optimal communication link is public network 4G / 5G > dedicated data link > satellite communication.

[0016] The warning threshold for the public network 4G / 5G link is a signal strength RSRP-90dBm;

[0017] The warning threshold for the dedicated data link is a signal strength of -95dBm at a speed of 10Mbps and a bandwidth of 20MHz.

[0018] The warning threshold for the satellite communication link is a signal-to-noise ratio (SNR) of 150 dB.

[0019] A wireless communication link connection has been successfully established. The current link signal quality has not triggered the warning threshold. Continue to use the current link to perform the flight route mission until it ends.

[0020] The conditions for triggering the warning threshold are as follows: when the current wireless communication link signal strength is lower than the warning threshold, the link delay exceeds the preset threshold, the data packet loss rate exceeds the acceptable range, or electromagnetic interference is detected that causes communication quality degradation, the communication adaptive switching system will automatically trigger link switching.

[0021] If the current wireless communication link signal quality is poor during flight, triggering the warning threshold of the wireless communication link, and based on the continuous detection of thread1 in the communication adaptive switching system, if thread1 has a usable wireless communication link, it selects the highest priority wireless communication link for connection:

[0022] If thread1 has no usable wireless communication link, the drone will immediately hover and attempt to rebuild the link indefinitely. If it fails to rebuild within 20 seconds, the return-to-home procedure will be activated.

[0023] The drones mentioned include the open-source quadcopter drone Mavlink, the hexacopter drone, and DJI's M350RTK, M3T, and M40T series.

[0024] The airborne terminal integrates a SoC central processing unit, RAM memory chip, wireless communication module, network port, high-speed interface, serial port, and 4G / 5G wireless communication module.

[0025] The airborne terminal integrates the data transmission module and the satellite communication module externally.

[0026] The airborne terminal adopts a highly integrated modular architecture, with SoC as the central processing core, which manages multiple communication methods in a unified manner.

[0027] The wireless communication module includes Wi-Fi and Bluetooth;

[0028] The 4G / 5G wireless communication module is used to support common public network communication, enabling airborne terminals to achieve remote data transmission and communication through mobile communication networks in areas without Wi-Fi coverage.

[0029] The high-speed interface includes a USB 2.0 high-speed interface and a USB 3.0 high-speed interface, wherein the USB 2.0 high-speed interface is connected to the data transmission module, and the USB 3.0 high-speed interface is connected to the satellite communication module.

[0030] The serial port is GPIO.

[0031] The intelligent control system includes an airborne terminal, which comprises a SoC central processing unit, a memory chip, a wireless communication module, a network port, an interface, and a serial port, wherein:

[0032] The SoC central processing unit is the core of the airborne terminal, responsible for information processing and the final execution of program operation;

[0033] The memory chip is used to store temporary information and data needed during program execution;

[0034] The wireless communication module is used to support common public network communication, enabling the recording terminal to achieve remote data transmission and communication through mobile communication networks in areas without Wi-Fi coverage.

[0035] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0036] (1) The UAV multi-technology integrated intelligent control method provided by the present invention adopts a pluggable modular design on the airborne terminal, which integrates data transmission module and satellite communication module. This design has high flexibility and scalability. Users can easily and quickly replace or upgrade the communication module according to different flight mission requirements and communication environment to realize the switching and backup of communication links.

[0037] (2) The airborne terminal switches to the corresponding control protocol by receiving the heartbeat packet actively sent by the UAV, achieving plug-and-play functionality and providing an integrated solution for future heterogeneous scenarios and multi-UAV collaborative operations.

[0038] (3) The UAV multi-technology fusion control system and method provided by the present invention integrates three communication modules: public network 4G / 5G, dedicated data link and satellite communication, and is equipped with a real-time communication quality monitoring mechanism. It can intelligently switch according to indicators such as signal strength, delay and stability, and set early warning values ​​to deal with sudden communication loss problems, thereby ensuring the communication continuity and data transmission reliability of the UAV during the execution of the mission.

[0039] (4) The highly integrated airborne terminal design of this invention makes it easier for UAVs to work collaboratively in heterogeneous scenarios and achieves a higher degree of task completion. Attached Figure Description

[0040] Figure 1 This invention provides a multi-technology fusion intelligent control method for unmanned aerial vehicles (UAVs);

[0041] Figure 2 This invention provides a schematic diagram of an airborne terminal hardware system structure.

[0042] Figure 3 This is a schematic diagram of a drone model identification and connection process provided by the present invention. Detailed Implementation

[0043] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0044] like Figure 1 As shown, a multi-technology fusion intelligent control method for unmanned aerial vehicles (UAVs) includes:

[0045] Power on the airborne terminal and establish serial communication between the airborne terminal and the drone.

[0046] The airborne terminal obtains the drone model information by receiving heartbeat packets actively sent by the drone, and switches to the corresponding control protocol accordingly to control the drone.

[0047] The airborne terminal dynamically monitors the signal quality of the communication link and adaptively switches to the optimal communication link.

[0048] The wireless communication links include public 4G / 5G networks, dedicated data links, and satellite communication.

[0049] The conditions under which the wireless communication link signal quality can be used are:

[0050] The signal strength RSRP of the public network 4G / 5G link is ≥-90dBm;

[0051] Under the premise of 10Mbps speed and 20MHz bandwidth, the signal strength of the dedicated data link is ≥-95dBm;

[0052] The signal-to-noise ratio (SNR) of the satellite communication link is ≥150dB;

[0053] A connection can be established as long as any of the above wireless communication links are met.

[0054] The priority order for adaptive switching of the optimal communication link is public network 4G / 5G > dedicated data link > satellite communication.

[0055] The warning threshold for the public network 4G / 5G link is a signal strength RSRP-90dBm;

[0056] The warning threshold for the dedicated data link is a signal strength of -95dBm at a speed of 10Mbps and a bandwidth of 20MHz.

[0057] The warning threshold for the satellite communication link is a signal-to-noise ratio (SNR) of 150 dB.

[0058] A wireless communication link connection has been successfully established. The current link signal quality has not triggered the warning threshold. Continue to use the current link to perform the flight route mission until it ends.

[0059] The conditions for triggering the warning threshold are as follows: when the current wireless communication link signal strength is lower than the warning threshold, the link delay exceeds the preset threshold, the data packet loss rate exceeds the acceptable range, or electromagnetic interference is detected that causes communication quality degradation, the communication adaptive switching system will automatically trigger link switching.

[0060] If the current wireless communication link signal quality is poor during flight, triggering the warning threshold of the wireless communication link, and based on the continuous detection of thread1 in the communication adaptive switching system, if thread1 has a usable wireless communication link, it selects the highest priority wireless communication link for connection:

[0061] If thread1 has no usable wireless communication link, the drone will immediately hover and attempt to rebuild the link indefinitely. If it fails to rebuild within 20 seconds, the return-to-home procedure will be activated.

[0062] The drones mentioned include the open-source quadcopter drone Mavlink, the hexacopter drone, and DJI's M350RTK, M3T, and M40T series.

[0063] In this embodiment, the airborne terminal integrates a 1.5Hz SoC central processing unit, RAM memory chip, wireless communication modules (Wi-Fi, Bluetooth, Ethernet port, USB 2.0 high-speed interface, USB 3.0 high-speed interface, GPIO serial port, and 4G / 5G wireless communication module, such as... Figure 2 As shown;

[0064] The airborne terminal integrates the data transmission module and the satellite communication module externally.

[0065] The airborne terminal adopts a highly integrated modular architecture, with a 1.5Hz SoC as the central processing core, which manages multiple communication methods in a coordinated manner.

[0066] The 4G / 5G wireless communication module is used to support common public network communication, enabling airborne terminals to achieve remote data transmission and communication through mobile communication networks in areas without Wi-Fi coverage.

[0067] In this embodiment, the USB 2.0 high-speed interface is connected to the data transmission module, and the USB 3.0 high-speed interface is connected to the satellite communication module.

[0068] The intelligent control system includes an airborne terminal, which comprises a 1.5Hz SoC central processing unit, RAM memory chip, a 4G / 5G wireless communication module, a network port, an interface, and a GPIO serial port, wherein:

[0069] The 1.5Hz SoC central processing unit is the core of the airborne terminal, responsible for information processing and the final execution of program operation;

[0070] The RAM chip is used to store temporary information and data required during program execution.

[0071] like Figure 3 As shown, taking the DJI M350RTK as an example, the specific details of the multi-technology fusion intelligent control method for drones provided by this invention are as follows:

[0072] Power on the airborne terminal and establish serial communication between the airborne terminal and the drone.

[0073] The drone actively pushes a heartbeat packet. Based on the heartbeat packet's features, the onboard terminal extracts the current drone model as DJI M350RTK and the control protocol as PSDK release-3.13.0. The onboard terminal displays the drone model as DJI M350RTK, hardware version as UNC-1.0.0, firmware version as 14.0.09.06, software version as well as the control protocol as PSDK release-3.13.0, and the flight path type as waypoints2.0, indicating that the drone connection is successful. The drone reports information such as latitude and longitude, fused altitude, battery level, pitch, roll, yaw, and speed, thereby enabling drone control.

[0074] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A multi-technology integrated intelligent control method for unmanned aerial vehicles (UAVs), characterized in that, The method includes: Establish serial communication between the airborne terminal and the drone; The airborne terminal obtains the drone model information by receiving heartbeat packets actively sent by the drone, and switches to the corresponding control protocol accordingly to control the drone. The airborne terminal dynamically monitors the signal quality of the communication link and adaptively switches to the optimal communication link.

2. The UAV multi-technology fusion intelligent control method according to claim 1, characterized in that, The wireless communication links include public 4G / 5G networks, dedicated data links, and satellite communication.

3. The UAV multi-technology fusion intelligent control method according to claim 1, characterized in that, The conditions under which the wireless communication link signal quality can be used are: The signal strength RSRP of the public network 4G / 5G link is ≥-90dBm; Under the premise of 10Mbps speed and 20MHz bandwidth, the signal strength of the dedicated data link is ≥-95dBm; The signal-to-noise ratio (SNR) of the satellite communication link is ≥150dB; A connection can be established as long as any of the above wireless communication links are met.

4. The UAV multi-technology fusion intelligent control method according to claim 1, characterized in that, The priority order for adaptive switching of the optimal communication link is public network 4G / 5G > dedicated data link > satellite communication.

5. The UAV multi-technology fusion intelligent control method according to claim 2 or 3, characterized in that, The warning threshold for the public network 4G / 5G link is a signal strength RSRP of -90dBm; The warning threshold for the dedicated data link is a signal strength of -95dBm at a speed of 10Mbps and a bandwidth of 20MHz. The warning threshold for the satellite communication link is a signal-to-noise ratio (SNR) of 150 dB. A wireless communication link connection has been successfully established. The current link signal quality has not triggered the warning threshold. Continue to use the current link to perform the flight route mission until it ends.

6. The UAV multi-technology fusion intelligent control method according to claim 5, characterized in that, The conditions for triggering the warning threshold are as follows: when the current wireless communication link signal strength is lower than the warning threshold, the link delay exceeds the preset threshold, the data packet loss rate exceeds the acceptable range, or electromagnetic interference is detected that causes communication quality degradation, the communication adaptive switching system will automatically trigger link switching. If the current wireless communication link signal quality is poor during flight, triggering the warning threshold of the wireless communication link, and based on the continuous detection of thread1 in the communication adaptive switching system, if thread1 has a usable wireless communication link, it selects the highest priority wireless communication link for connection: If thread1 has no usable wireless communication link, the drone will immediately hover and attempt to rebuild the link indefinitely. If it fails to rebuild within 20 seconds, the return-to-home procedure will be activated.

7. The UAV multi-technology fusion intelligent control method according to claim 1, characterized in that, The airborne terminal integrates a SoC central processing unit, RAM memory chip, wireless communication module, network port, high-speed interface, serial port, and 4G / 5G wireless communication module. The airborne terminal integrates a data transmission module and a satellite communication module externally. The airborne terminal adopts a highly integrated modular architecture, with SoC as the central processing core, which manages multiple communication methods in a unified manner. The wireless communication module includes Wi-Fi and Bluetooth; The 4G / 5G wireless communication module is used to support common public network communication, enabling airborne terminals to achieve remote data transmission and communication through mobile communication networks in areas without Wi-Fi coverage.

8. The UAV multi-technology fusion intelligent control method according to claim 7, characterized in that, The high-speed interface includes a USB 2.0 high-speed interface and a USB 3.0 high-speed interface, wherein the USB 2.0 high-speed interface is connected to the data transmission module, and the USB 3.0 high-speed interface is connected to the satellite communication module.

9. The intelligent control method for unmanned aerial vehicles (UAVs) integrating multiple technologies according to claim 7, characterized in that, The serial port is GPIO.

10. A multi-technology integrated intelligent control system for unmanned aerial vehicles (UAVs), characterized in that: The intelligent control system includes an airborne terminal, which comprises a SoC central processing unit, a memory chip, a wireless communication module, a network port, an interface, and a serial port, wherein: The SoC central processing unit is the core of the airborne terminal, responsible for information processing and the final execution of program operation; The memory chip is used to store temporary information and data needed during program execution; The wireless communication module is used to support common public network communication, enabling the recording terminal to achieve remote data transmission and communication through mobile communication networks in areas without Wi-Fi coverage.

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