TWI641935B - System and method for unmanned aerial vehicle mandatory flight guidance - Google Patents

Abstract

The invention provides a method for forcibly guiding a flight of an unmanned aerial vehicle, comprising the steps of: installing a forced control module on the unmanned aerial vehicle, and installing a management host on the control target to form a set distance by using the wireless signal; The control area enables the management host to activate the restricted flight mode when the unmanned aerial vehicle enters the control area; the mandatory control module obtains flight control rights for the unmanned aerial vehicle; within the control area, The management host is based on the distance between the unmanned aerial vehicle and the control target, so that the forced control module sends different degrees of offset signals to the unmanned aerial vehicle; and the unmanned aerial vehicle is offset from the original navigation channel, away from the control area; The method for forcibly guiding the unmanned aerial vehicle entering the control area to deviate from the navigation channel to form a flight safety management scope, preventing the unmanned aerial vehicle from entering the control area, thereby ensuring the safety of the controlled area, and also Ensure that the unmanned aerial vehicle is not damaged. The invention also provides a system for forcibly guiding flight of an unmanned aerial vehicle.

Description

System and method for unmanned aerial vehicle forced guided flight

The invention relates to a system and a method for forcibly guiding a flight of an unmanned aerial vehicle, which relates to a different degree of offset signal to an unmanned aerial vehicle according to the distance from the central position of the control area, forcing it to be offset from the navigation channel. System and method.

Unmanned Aerial Vehicle (UAV) or Unmanned Aircraft System (UAS), commonly known as drone, remotely piloted aircraft, bee-type aircraft, broadly requires no driver All kinds of remote control aircraft that can be driven by boarding can. With the maturity of electronic technology and the reduction of production costs, the unmanned aerial vehicles of remote-controlled drones and aircrafts are becoming more and more popular in the surrounding industries, such as express transportation, natural disaster rescue detection and agricultural and forestry information collection, etc., all creating new products. The field of application will also significantly affect everyone's life in the foreseeable future; however, the convenience of unmanned aerial vehicles has brought some negative effects to human beings, such as: national security issues (mysterious flying over nuclear plant, French alertness, aerial camera fall insurance砸The presidential team of 4 people brought back the investigation, the White House was again hit by the drone into three of the six months), social security issues (the remote control air plane crashed high-speed rail player law, the first air plane crash occurred at Songshan Airport, the drone provoked There is no legal mandatory norm for the existing unmanned aerial vehicles. The sporadic safety hazards and privacy issues will also arise from the rise of the unmanned aerial vehicle market.

The main object of the present invention is to solve the above problems, and to provide a system and method for unmanned aerial vehicle forced guided flight, the main technical purpose is: when an unmanned aerial vehicle is detected or observed, and the flight path is estimated When there is a potential threat to enter the control area, a mandatory control module is set in the flight control module of the unmanned aerial vehicle to control the unmanned aerial vehicle by controlling the wireless communication between the target object and the mandatory control module. When the area is within range, the mandatory control module forces the unmanned aerial vehicle to be deflected away from the control object, forcing navigation away from the control area to ensure safety or privacy.

According to the above object of the present invention, the present invention provides a system for forcibly guiding a flight of an unmanned aerial vehicle, comprising: a forced control module disposed on the unmanned aerial vehicle and a management host disposed on the control target; The control module is disposed between the flight control module of the unmanned aerial vehicle and the propulsion system, and includes: a control chip unit, a wireless transceiver circuit, and a circuit switching module; the control chip unit is respectively connected The wireless transceiver circuit, the circuit switching module and the propulsion system are respectively connected to the flight control module and the propulsion system; the control chip unit enables the wireless transceiver circuit to receive or transmit the wireless signal, and The control chip unit controls a contact of the circuit switching module switching circuit to connect or disconnect the flight control module with the propulsion system; the management host includes: a wireless transceiver module and a calculation module; the wireless The transceiver module is configured to receive or transmit a signal to the wireless transceiver circuit of the forced control module, and the management host is on the periphery of the control object Setting a distance to form a control area; the management host causes the calculation module to calculate the distance of the unmanned aerial vehicle and generate an offset signal according to the distance, and the management host causes the wireless transceiver module to transmit the offset signal to the The wireless transceiver circuit of the control module is configured to enable the control chip unit to transmit the offset signal to the propulsion system when the flight control module forms an open circuit with the propulsion system.

In an embodiment of the system of the present invention, the management host further includes an authentication module, and the authentication module is configured to log in and verify the authenticated controller; the authentication module enters a screen for inputting an account and a password, waiting The controller enters user data verification.

In an embodiment of the system of the present invention, the system further includes a mobile communication device, the mobile communication device has a remote communication module, the remote communication module is used to connect to the management host, and the authentication module The mobile communication device is verified to be authenticated, and after being authenticated, the management host can be controlled to wake up the mandatory control module.

In an embodiment of the system of the present invention, the management host further includes an unmanned aerial vehicle database module, wherein the unmanned aerial vehicle database module is used to provide the type and model of the unmanned aerial vehicle, thereby determining the entry. The unmanned aerial vehicle information of the control area, the management host may, according to the information, cause the calculation module to calculate the distance of the unmanned aerial vehicle and generate the offset signal according to the distance.

In an embodiment of the system of the present invention, the wireless transceiver module of the management host transmits a wireless signal to the wireless transceiver circuit of the forced control module, and the calculation module calculates and determines the unmanned flight by using the connection calculation. The distance of the vehicle.

In an embodiment of the system of the present invention, wherein the closer the unmanned aerial vehicle is to the management host, the management host sends an offset signal with a longer duty cycle.

According to the above object of the present invention, the present invention further provides a method for forcibly guiding a flight of an unmanned aerial vehicle, comprising the steps of: a. installing a mandatory control module on the unmanned aerial vehicle, and installing the controlled object A management host uses the wireless signal to form a controlled area of the set distance, so that the management host activates the restricted flight mode when the unmanned aerial vehicle enters the control area; b. Forces the control module to the unmanned aerial vehicle Obtaining flight control rights; c. Within the control area, the management host is based on the distance between the unmanned aerial vehicle and the controlled subject matter, so that the mandatory control module sends different degrees of offset signals to the unmanned aerial vehicle; and d. The unmanned aerial vehicle is offset from the original channel and away from the controlled area.

In an embodiment of the method of the present invention, the management host can directly control by the ground personnel or control the management host by wireless communication using a mobile communication device.

In an embodiment of the method of the present invention, the management host sends an RF signal, so that the forced control module receives the signal, and calculates and determines the distance by connecting the wireless signal.

In an embodiment of the method of the present invention, wherein the closer the unmanned aerial vehicle is to the management host, the management host sends an offset signal with a longer duty cycle.

By the above, the unmanned aerial vehicle entering the control area is forcibly guided to deviate from the navigation channel to form a flight safety management scope, preventing the unmanned aerial vehicle from entering the control area, so as to ensure the safety of the control area, Can ensure that unmanned flying vehicles are not damaged.

In order to make the present invention more familiar with the present invention, a preferred embodiment will be described in conjunction with the drawings, as follows:

Referring to Figures 1 to 6, the present invention provides a system for unmanned aerial vehicle guided navigation, comprising: a forced control module 10 disposed on the unmanned aerial vehicle 100, and a control unit disposed on the control target The management host 20 of the object 200 and a mobile communication device 30; wherein the forced control module 10 is disposed between the flight control module 101 of the circuit board of the unmanned aerial vehicle 100 and the propulsion system 102, and includes: Control chip unit 11, a wireless transceiver circuit 12 and a circuit switching module 13; the control chip unit 11 is respectively connected to the wireless transceiver circuit 12, the circuit switching module 13 and the propulsion system 102, and the circuit switching module 13 respectively Connected to the flight control module 101 and the propulsion system 102; the control chip unit 11 allows the wireless transceiver circuit 12 to receive or transmit wireless signals, and the control chip unit 11 controls the circuit switching module 13 to switch the contacts of the circuit. The flight control module 101 is connected or disconnected from the propulsion system 102. The management host 20 includes: an authentication module 21, a wireless transceiver module 22, an unmanned aerial vehicle database module 23, and a The calculus module 24 is configured to log in and verify the authenticated controller or the mobile communication device 30. The wireless transceiver module 22 is configured to receive or transmit signals to the wireless transceiver circuit 12 of the forced control module 10. And the management host 20 forms a spherical area of the control area 201 at a set distance of the periphery of the control target 200; the unmanned aerial vehicle database module 23 is used to provide the type and model of the unmanned aerial vehicle, thereby determining the entry. The unmanned aerial vehicle 100 information of the control area 201, the management host 20 can calculate the distance of the unmanned aerial vehicle 100 and generate an offset signal according to the distance according to the information, and the management host 20 The wireless transceiver module 22 transmits the offset signal to the wireless transceiver circuit 12 of the forced control module 10, so that the control chip unit 11 can form an open circuit between the flight control module 101 and the propulsion system 102. Transmitting the offset signal to the propulsion system 102; the mobile communication device 30 has a remote communication module 31 for connecting to the management host 20 and controlling The management host 20 wakes up the forced control module 10; by the above system, the unmanned aerial vehicle 100 entering the control area 201 is forcibly guided to deviate from the navigation channel to form a flight safety management range, and the unmanned aerial vehicle 100 is prevented. Entering the control area 201, the security of the control area 201 can be secured, and the unmanned aerial vehicle 100 can be ensured without any damage.

The composition and function of the above embodiments are described in detail as follows: As shown in FIGS. 1 to 4, the control area 201 is a spherical control area 201 that uses a wireless signal to form a set distance centering on a regulatory object 200. The set distance is the distance from any set point in the three-dimensional space to the management host 20, and the radius of the control area 201 can be 500 meters, 300 meters, etc., as required; in the unmanned aerial vehicle 100 When entering the control area 201, the forced control module 10 does not start, and the flight control module 101 signal of the unmanned aerial vehicle 100 can be normally sent to the propulsion system 102, and the propulsion system 102 includes a plurality of rotating motors. The rotating motor is separately controlled by the flight control module 101 to make the unmanned aerial vehicle 100 fly normally; the management host 20 can be continuously detected, or the local personnel can find the unmanned flying vehicle. When the 100 enters the control area 201, the controller of the ground personnel directly operates the management host 20, or wirelessly connects to the remote communication module 31 of the mobile communication device 30. The management host 20 can be connected by means of the Internet or the Bluetooth, but is not limited thereto. One embodiment of the present invention may be: when the controller starts the management host 20, the authentication module 21 will enter the input account and password screen, and wait for the controller to input the user data verification. If the remote communication module 31 of the mobile communication device 30 enters the management host 20, the authentication module 21 will also enter the input. The account and password screen, waiting for the controller to input the user data verification; or verifying whether the mobile communication device 30 has passed the authentication of the management host 20, the authentication method can be through the serial number and telephone number of the device itself. Etc., but not limited to this. The remote communication module 31 can download and install the program for the mobile communication device 30. If the controller and the mobile communication device 30 cannot pass the verification, the management host 20 cannot be accessed or controlled; otherwise, if the controller and the mobile communication device 30 pass the verification, the control panel of the management host 20 can be accessed. The wireless transceiver module 22 of 20 transmits a wireless signal to the wireless transceiver circuit 12 of the forced control module 10, and the calculus module 24 of the management host 20 calculates and determines the distance from the unmanned aerial vehicle 100. The calculation of the distance can be calculated by the wireless connection between the management host 20 and the forcible control module 10. In one embodiment of the present invention, the radio signal can use the radio frequency (Radio Frequency) as the wireless transmission medium, but Not limited to this. After the calculation, if the distance of the unmanned aerial vehicle 100 has entered the control area 201, the control chip unit 11 causes the circuit switching module 13 to cut off the flight control module 101 with the unmanned aerial vehicle 100. The propulsion system 102 is connected, and the control wafer unit 11 replaces the propulsion system 102 of the unmanned aerial vehicle 100, so that the flight path of the unmanned aerial vehicle 100 is no longer remotely operated by humans, so that the forced control is performed. The module 10 obtains flight control right for the unmanned aerial vehicle 100 to take over and control the flight direction of the unmanned aerial vehicle 100, and the forced control module 10 is controlled by the management host 20, so that the unmanned flight is carried. Preferably, the control chip unit 11 can adopt the "HT66F70A" group IC; at the same time, the calculation module 24 of the management host 20 can immediately calculate the management host 20 and The distance between the control module 10 and the type and model information of the unmanned aerial vehicle 100 is obtained according to the unmanned aerial vehicle database module 23, and the unmanned aerial vehicle 100 is further calculated by the calculation module 24 according to the unmanned aerial vehicle 100. After the information is calculated, the appropriate offset signal sent by the wireless transceiver module 22 is received by the wireless transceiver circuit 12, and then transmitted to the propulsion system 102 of the unmanned aerial vehicle 100 through the control chip unit 11, the offset signal. The rotation motor of the propulsion system 102 can be separately controlled to shift the unmanned aerial vehicle 100 in a direction; when the unmanned aerial vehicle 100 is closer to the management host 20, an offset signal with a longer duty cycle is sent; The offset signal causes the propulsion system 102 to generate an offset to the left or an offset to the right flight direction, and continuously sends the offset signal for 30 seconds; then the management host 20 determines the distance again, and repeats the action until the management host 20 is If the unmanned aerial vehicle 100 is not detected within the control area 201, the distance is detected and judged after waiting for one second, so that the unmanned aerial vehicle 100 can be moved away from the control area 201; finally, optionally The management host 20 is then turned off by the controller or by wireless connection using the mobile communication device 30.

Referring to FIGS. 2, 3, and 4, when the unmanned aerial vehicle 100 does not enter the control area 201, the switch of the circuit switching module 13 stays at the original contact point A (as shown in FIG. 3). The flight control module 101 of the unmanned aerial vehicle 100 is normally connected to the propulsion system 102, so that the control signal of the flight control module 101 is normally sent to the propulsion system 102, and the unmanned aerial vehicle 100 can fly normally; When the unmanned aerial vehicle 100 enters the control area 201, the control chip unit 11 of the forced control module 10 causes the switch of the circuit switching module 13 to switch to the contact B (as shown in FIG. 3), so that the The control signal of the flight control module 101 is grounded, and then the control chip unit 11 transmits an offset signal to the propulsion system 102 for controlling the unmanned aerial vehicle 100 offset channel (as shown in FIG. 4).

Referring to FIG. 5 , it is an offset coefficient relationship diagram between the unmanned aerial vehicle and the control target. When the unmanned aerial vehicle 100 enters the control area 201 , the wireless transceiver module 22 of the management host 20 . The RF signal is sent, and the wireless transceiver circuit 12 of the forced control module 10 on the unmanned aerial vehicle 100 receives the signal. At this time, the management host 20 sends an appropriate offset signal according to the type and distance of the unmanned aerial vehicle 100. . When the unmanned aerial vehicle 100 is closer to the management host 20, the offset signal with a longer duty cycle is sent, so that the design has the advantage that different strengths can be given according to the type of the unmanned aerial vehicle 100 and the severity of the intrusion into the control area 201. Offset signal. The dotted line in the figure represents the size of the duty cycle of the offset signal sent. We call this relationship the "offset coefficient", which is "radius-distance=offset signal strength", that is, the distance and offset signal duty cycle. In inverse relationship, when the unmanned aerial vehicle is closer to the center of the control area 201 (ie, the subject matter 200 is controlled), the management host 20 sends a longer duty cycle (stronger) offset signal to the forced control module 10 To make the flight displacement of the unmanned aerial vehicle 100 larger.

Please refer to FIG. 6 , which is a relationship between the distance between the control area and the unmanned aerial vehicle and the offset signal duty cycle. When the unmanned aerial vehicle 100 is far from the center of the control area 201, the management host 20 sends out The shorter the offset signal duty cycle, the shorter the time for the unmanned aerial vehicle 100 to be offset; the closer the unmanned aerial vehicle 100 is to the center of the control area 201, the longer the duty cycle of the offset signal sent by the management host 20 is. It takes longer to offset the unmanned aerial vehicle.

The invention further provides a method for forcibly guiding flight of an unmanned aerial vehicle, comprising the following steps: a. installing a mandatory control module on the unmanned aerial vehicle, and installing a management host on the control object to form a wireless signal. A spherical control area with a set distance enables the management host to activate the restricted flight mode when the unmanned aerial vehicle enters the control area; b. The forced control module obtains flight control rights for the unmanned aerial vehicle ; c. Within the control area, the management host is based on the distance between the unmanned aerial vehicle and the controlled subject matter, so that the mandatory control module sends different degrees of offset signals to the unmanned aerial vehicle; and d. Move the original channel away from the control area; by the above method, the unmanned aerial vehicle entering the control area is forcibly guided to deviate from the navigation channel to form a flight safety management scope to prevent the unmanned aerial vehicle from entering the control area. The safety of the controlled area can be guaranteed and the unmanned aerial vehicle can be protected from any damage.

The above method is further described as follows: the control area is centered on a control object (for example, a building, an air traffic control area, etc.), and the area detected by the management host sends a wireless signal. The radius of the control area can be 500 meters, 300 meters, etc., which is set according to requirements. The control area is the distance from any set point in the three-dimensional space to the management host 20; the unmanned aerial vehicle is not in control. In the regional scope, the forced control module will not start, the unmanned aerial vehicle can fly normally; when the unmanned aerial vehicle enters the control area, the forced control module is awakened to start, so that the unmanned flying vehicle Entering the start-up restricted flight mode; one of the mechanisms of the start-up mechanism may be that the management host is continuously turned on, or directly controlled by the ground personnel, or otherwise utilizes the mobile communication device (the device may be: Mobile phones, tablets, smart watches...) control the management host by wireless communication to send RF signals, and the mandatory control module on the unmanned aerial vehicle will Receiving the signal, by the wireless connection, the management host calculates and judges the distance from the unmanned aerial vehicle, and the calculation of the distance can be used by the management host to transmit radio waves to the forced control module, and the management is calculated The distance between the host and the unmanned aerial vehicle (the distance between the radio wave feedback signals has been scientifically verified, and is not described here). In one embodiment of the present invention, the radio wave can be wirelessly transmitted by using Radio Frequency (Radio Frequency). Media, but not limited to this. After the calculation, if the distance of the unmanned aerial vehicle has entered the control area, the forced control module cuts off the flight control of the original unmanned aerial vehicle, and the forced control module replaces the control of the unmanned aerial vehicle. The flight direction is such that the flight path of the unmanned aerial vehicle is no longer controlled by the artificial remote control, and the forced control module obtains flight control right for the unmanned aerial vehicle, and the forced control module is controlled by the management host Then, the management host sends an appropriate offset signal to the unmanned aerial vehicle through the forced control module according to the calculated distance, and the offset signal can respectively control the propulsion system of the unmanned aerial vehicle, and the propulsion system is a multi-axis rotary motor, the offset signal separately controlling the rotary motor to shift the unmanned aerial vehicle direction; and the closer the unmanned aerial vehicle is to the management host, the longer the offset signal is sent Such a design can give different intensity offset signals according to the unmanned aerial vehicle; the offset signal makes the unmanned flying vehicle propulsion system so that no one flies The flight direction offset to the left or right shift, not the normal flight into the control area.

In view of the current popularity of unmanned aerial vehicles, it is necessary to have a safety management mechanism for managing unmanned aerial vehicles. Therefore, we have developed this low-cost and highly practical unmanned aerial vehicle safety system and method. The goal is to hope that the system will be used in airports or defense military sites in the future, enabling it to prevent unintentional vehicles from inadvertently or deliberately entering the area.

The above-mentioned embodiments are merely preferred embodiments for the purpose of fully illustrating the present invention, and are not intended to limit the features of the present invention, and the present invention is still invented by the technical means and the inventive principle. The equivalent structure of the creative category.

100‧‧‧Unmanned aerial vehicle

101‧‧‧Air control module

102‧‧‧Promoting system

200‧‧‧Control of subject matter

201‧‧‧Control area

10‧‧‧Forced control module

11‧‧‧Control wafer unit

12‧‧‧Wireless transceiver circuit

13‧‧‧Circuit Switching Module

20‧‧‧Management host

21‧‧‧Certificate Module

22‧‧‧Wireless transceiver module

23‧‧‧Unmanned aerial vehicle database module

24‧‧‧ calculus module

30‧‧‧Mobile communication devices

31‧‧‧Remote communication module

1 is a block diagram of a system architecture diagram of the present invention. FIG. 3 is a block diagram showing a state in which the flight control module and the propulsion system of the present invention are in a connected state. The flight control module and the propulsion system of the present invention are in an open state. FIG. 4 is a schematic diagram of the offset path of the unmanned aerial vehicle of the present invention. FIG. 6 is a diagram showing the offset coefficient relationship between the unmanned aerial vehicle and the control target of the present invention, which is the control area of the present invention. Relationship between the distance of the unmanned aerial vehicle and the duty cycle of the offset signal

Claims (9)

A system for forcibly guiding a flight of an unmanned aerial vehicle includes: a forced control module disposed on the unmanned aerial vehicle and a management host disposed on the control target; wherein the forced control module is disposed at the unmanned The flight control module and the propulsion system of the flight carrier include: a control chip unit, a wireless transceiver circuit and a circuit switching module; the control chip unit is respectively connected to the wireless transceiver circuit, the circuit switching module and In the propulsion system, the circuit switching module is respectively connected to the flight control module and the propulsion system; the control chip unit enables the wireless transceiver circuit to receive or transmit a wireless signal, and the control chip unit controls the circuit switching module Switching the contact of the circuit to connect or disconnect the flight control module to the propulsion system; the management host includes: a wireless transceiver module and a calculation module; the wireless transceiver module is configured to receive or transmit signals to The wireless transceiver circuit of the forced control module, and the management host forms a control area at a set distance of the periphery of the control object; the management The calculus module calculates the distance of the unmanned aerial vehicle and generates an offset signal according to the distance, and the management host further causes the wireless transceiver module to transmit the offset signal to the wireless transceiver circuit of the forced control module. The control chip unit can transmit the offset signal to the propulsion system when the flight control module forms an open circuit with the propulsion system. The unmanned aerial vehicle of claim 1 is a system for forcibly guiding a flight, wherein the management host further comprises an authentication module, wherein the authentication module is used to log in and verify the authenticated controller; the authentication module enters Enter the account and password screen and wait for the controller to enter user data verification. The unmanned aerial vehicle of claim 2, wherein the system further comprises a mobile communication device, the mobile communication device having a remote communication module, wherein the remote communication module is configured to connect to the system The management host, and the authentication module checks whether the mobile communication device is authenticated, and after the authentication, the management host can be controlled to wake up the mandatory control module. The unmanned aerial vehicle forcibly guiding the flight system of claim 1, wherein the management host further comprises an unmanned aerial vehicle database module, wherein the unmanned aerial vehicle database module is used to provide an unmanned aerial vehicle The type and model can further determine the unmanned aerial vehicle information entering the control area, and the management host can calculate the distance of the unmanned aerial vehicle and generate the offset signal according to the distance according to the information. The unmanned aerial vehicle of claim 1 is forcibly guiding the flight system, wherein the wireless transceiver module of the management host transmits a wireless signal to the wireless transceiver circuit of the forced control module, and the calculation module is Connect and calculate the distance of the unmanned aerial vehicle. The unmanned aerial vehicle of claim 1 is forcibly guiding the flight system, wherein the closer the unmanned aerial vehicle is to the management host, the management host sends an offset signal with a longer duty cycle. A method for forcibly guiding a flight by an unmanned aerial vehicle includes the following steps: a. installing a mandatory control module on the unmanned aerial vehicle, and installing a management host on the control target to form a set distance by using the wireless signal The control area enables the management host to activate the restricted flight mode when the unmanned aerial vehicle enters the control area; b. the forced control module obtains flight control rights for the unmanned aerial vehicle; c. Within the scope, the management host is based on the distance between the unmanned aerial vehicle and the control target, so that the forced control module sends different degrees of offset signals to the unmanned aerial vehicle, and the closer the unmanned aerial vehicle is to the management host, the closer The management host will send the offset signal with longer duty cycle; and d. The unmanned aerial vehicle will be offset from the original channel and away from the control area. The method for forcibly guiding a flight by the unmanned aerial vehicle of claim 7, wherein the management host can directly control by the ground personnel or control the management host by wireless communication using a mobile communication device. The method for forcibly guiding a flight by the unmanned aerial vehicle of claim 7, wherein the management host sends an RF signal, so that the forced control module receives the signal, and calculates and determines the distance by connecting the wireless signal.