Development Of Semi-automatic Wireless Control System For Multi-rotor Unmanned Aerial And Surface Vehicle

China has a vast area of water,and the nearshore shallow water exploration has always been in great demand,which is of great significance to the development of water economy,shipping industry,disaster prevention and environmental protection.At present,there are limited methods for detecting shallow waters,especially in shallow waters with complex geographic locations.It is not very convenient for manual operation or the launching and recovery of Unmanned Aerial Vehicle.At the same time,other detection methods may also have certain limitations.In order to explore a detection tool that can be used in general shallow waters as well as in shallow waters with special geographical locations,we participated in the development of a multi-rotor Unmanned Aerial and Surface Vehicle(UASV)system that integrates vertical takeoff and landing and surface navigation.This paper focuses on the research of the semi-automatic wireless control system of the UASV,which has certain exploratory significance for promoting the development of nearshore shallow water detection technology.The main work and innovations of this paper are as follows:(1)In terms of wireless communication link: the wireless communication frequency of the system in this article is designed in the 433 MHz frequency band,and the signal modulation method uses long-range(LoRa)spread spectrum modulation technology.Different from the high frequency communication link schemes such as 2.4GHz or 5.8GHz commonly used by unmanned aerial vehicles,the 433 MHz band wireless signal has strong diffraction ability,which can make the UASV system better adapt to the more complex environment around shallow waters.It meets the wireless communication requirements of two application scenarios in the air and on the water,and has a relatively long communication distance.(2)Wireless control design: This article designs a communication protocol for the system based on the above technical solutions.On the one hand,this article designs an integer coding transmission method for the control parameters in the system.At the same time,a non-linear transfer function is proposed for the decoding of the control parameters in the system.The sensitivity coefficient and value range of the function can be set according to the proficiency of the operator or the application scenario,so as to realize the flexible and humanized control of the UASV.On the other hand,for the manual control of the UASV,the response mode and the non-response mode communication mode are designed,and the appropriate communication mode can be selected according to the application needs.(3)The realization of the control terminal: This article designs the control terminal of the UASV based on the touch screen.The control terminal is designed with a friendly user interface,which integrates functions such as diversified control of UASV,status monitoring,motion track display,and water depth data visualization,and has the characteristics of strong function expansion.Especially,this paper proposes a touch sliding and different sensitivity conversion to adjust the size of the control parameters of man-machine interaction method,which can be very convenient for the manual control of UASV.