CN105468023A - Unmanned aerial vehicle control method, device and system - Google Patents
Unmanned aerial vehicle control method, device and system Download PDFInfo
- Publication number
- CN105468023A CN105468023A CN201610036856.3A CN201610036856A CN105468023A CN 105468023 A CN105468023 A CN 105468023A CN 201610036856 A CN201610036856 A CN 201610036856A CN 105468023 A CN105468023 A CN 105468023A
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- positional information
- task
- breakpoint
- battery allowance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 230000001143 conditioned effect Effects 0.000 claims description 17
- 230000004913 activation Effects 0.000 claims description 16
- 238000011897 real-time detection Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 241000931705 Cicada Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The invention discloses an unmanned aerial vehicle control method, device and system. The method comprises: obtaining the flight state parameters of a first unmanned aerial vehicle, obtaining the breakpoint task information of the first unmanned aerial vehicle at least including position information when the flight state parameters meeting a preset condition, and sending the control instruction including the position information to a second unmanned aerial vehicle, allowing the second unmanned aerial vehicle to navigate to the position corresponding to the position information to continue the task of the first unmanned aerial vehicle. In the technical scheme, when the flight state of one unmanned aerial vehicle is unstable, the other unmanned aerial vehicle can be timely indicated to replace the unstable unmanned aerial vehicle to continue a task, thereby improving breakpoint task completion efficiency and completion stability.
Description
Technical field
The application relates to unmanned vehicle technical field, particularly relates to a kind of control method of unmanned vehicle, equipment and system.
Background technology
At present, along with technical development, the cost reduction of little miniature unmanned vehicle, started have a large amount of main body to use little miniature unmanned vehicle to implement agricultural plant protection task, comprised the work such as pesticide spraying, insect pest tour, forest supervision.
Compared to traditional large-scale fixed-wing formula unmanned vehicle, the advantage of little miniature unmanned vehicle is that flight is flexible, landing is convenient, and especially many rotary aircraft, can also realize hovering.
But meanwhile, the inferior position of little miniature unmanned vehicle is just that flying power is nothing like large-scale fixed-wing formula unmanned vehicle.
For the task of needing to complete continuously, as: the work such as pesticide spraying, forest supervision, if the intensity of task is higher, the time is longer, current unmanned vehicle is just difficult to realize continuous print operation.The solution of current routine is the mode adopting breakpoint continuation of the journey, that is, unmanned vehicle be found to current flying power be not enough to whole aerial mission time, then record current progress (comprising the information such as time, place, task completion status) of finishing the work, then standby website is got back to, complete after energy supplement or other conditions supplement, the Task Progress place that continuing flies back records before, relay completes above-mentioned task.
But the working mechanism of above-mentioned breakpoint continuation of the journey, all considers based on a unmanned vehicle, completing efficiency and task with regard to breakpoint continuation of the journey task, to complete stability all poor.
Summary of the invention
Embodiments provide a kind of control method of unmanned vehicle, equipment and system, complete efficiency in order to solve unmanned vehicle breakpoint continuation of the journey task in prior art and complete all lower problem of stability.
Its concrete technical scheme is as follows:
A control method for unmanned vehicle, described method comprises:
Obtain the flight status parameter of the first unmanned vehicle;
When described flight status parameter meets pre-conditioned, obtain the breakpoint mission bit stream at least comprising positional information of described first unmanned vehicle;
The steering order comprising described positional information is sent to the second unmanned vehicle, to make described second unmanned vehicle navigation to the task of described first unmanned vehicle of described positional information correspondence position continuation execution.
Optionally, when described flight status parameter meets pre-conditioned, obtain the breakpoint mission bit stream at least comprising positional information of described first unmanned vehicle, comprising:
Obtain the battery allowance in described flight status parameter;
Judge whether described battery allowance is less than or equal to predetermined threshold value;
When described battery allowance is less than or equal to predetermined threshold value, obtain the breakpoint mission bit stream at least comprising positional information of described first unmanned vehicle.
Optionally, judge whether described battery allowance is less than or equal to predetermined threshold value, comprising:
Judge whether battery allowance is less than or equal to activation threshold value;
Activation threshold value is less than at described battery allowance, the positional information of the first unmanned vehicle described in Real-time Obtaining, and the described positional information of Real-time Obtaining is sent to described second unmanned vehicle, indicate described second unmanned vehicle to follow described first unmanned vehicle according to real-time positional information;
Whether the battery allowance of described first unmanned vehicle of real-time detection is less than or equal to predetermined threshold value.
Optionally, the steering order comprising described positional information is sent to described second unmanned vehicle, comprises:
Resolve described breakpoint mission bit stream, determine the positional information of described first unmanned vehicle, execution status of task information and task execution time;
The breakpoint mission bit stream comprising described positional information, described execution status of task and described task execution time is sent to described second unmanned vehicle, indicate the described second unmanned vehicle navigation destination address that extremely described positional information is corresponding, and continue the task of performing described first unmanned vehicle according to described execution status of task and task execution time.
Optionally, after the steering order comprising described positional information is sent to the second unmanned vehicle, described method also comprises:
Detect described second unmanned vehicle and whether arrive destination address corresponding to described positional information;
If so, then send to described first unmanned vehicle instruction of making a return voyage;
If not, then described first unmanned vehicle is indicated to hover at described destination address.
An opertaing device for unmanned vehicle, comprising:
Acquisition module, for obtaining the flight status parameter of the first unmanned vehicle;
Acquisition module, for when described flight status parameter meets pre-conditioned, obtains the breakpoint mission bit stream at least comprising positional information of described first unmanned vehicle;
Sending module, for being sent to the second unmanned vehicle by the steering order comprising described positional information.
Optionally, described acquisition module, comprising:
Battery allowance detecting unit, for obtaining the battery allowance in described flight status parameter;
Battery allowance identifying unit, for judging whether described battery allowance is less than or equal to predetermined threshold value;
Mission bit stream collecting unit, for when described battery allowance is less than or equal to predetermined threshold value, obtains the breakpoint mission bit stream at least comprising positional information of described first unmanned vehicle.
Optionally, described battery allowance identifying unit, specifically for judging whether battery allowance is less than or equal to activation threshold value; Activation threshold value is less than at described battery allowance, the positional information of the first unmanned vehicle described in Real-time Obtaining, and the described positional information of Real-time Obtaining is sent to described second unmanned vehicle, indicate described second unmanned vehicle to follow described first unmanned vehicle according to real-time positional information; Whether the battery allowance of described first unmanned vehicle of real-time detection is less than or equal to predetermined threshold value.
Optionally, described sending module, specifically for resolving described breakpoint mission bit stream, determines the positional information of described first unmanned vehicle, execution status of task information and task execution time; The breakpoint mission bit stream comprising described positional information, described execution status of task and described task execution time is sent to described second unmanned vehicle, indicate the described second unmanned vehicle navigation destination address that extremely described positional information is corresponding, and continue the task of performing described first unmanned vehicle according to described execution status of task and task execution time.
Optionally, described equipment also comprises:
Whether detection module, arrive destination address corresponding to described positional information for detecting described second unmanned vehicle;
Processing module, for when described second unmanned vehicle arrives destination address, then sends to described first unmanned vehicle instruction of making a return voyage; When described second unmanned vehicle does not arrive destination address, the first unmanned vehicle is indicated to hover at destination address.
A control system for unmanned vehicle, comprising: the first unmanned vehicle, the second unmanned vehicle, controller, wherein,
Described first unmanned vehicle, gather the flight status parameter of self, when flight status parameter meets pre-conditioned, obtain the breakpoint mission bit stream containing positional information, execution status of task and task execution time, and breakpoint mission bit stream is sent to controller, wherein said flight status parameter at least contains battery allowance;
Described controller, obtains the breakpoint mission bit stream at least comprising positional information of the first unmanned vehicle, breakpoint mission bit stream is sent to described second unmanned vehicle;
Described second unmanned vehicle, receives the breakpoint mission bit stream that controller sends, and takes over the task of the second unmanned vehicle according to described breakpoint mission bit stream.
Embodiments provide a kind of control method of unmanned vehicle, the method comprises: the flight status parameter obtaining the first unmanned vehicle, when flight status parameter meets pre-conditioned, obtain the breakpoint mission bit stream at least comprising positional information of the first unmanned vehicle, then the steering order comprising positional information is sent to the second unmanned vehicle, with task of making the second unmanned vehicle navigation continue execution first unmanned vehicle to position corresponding to positional information.In technical solution of the present invention, when a unmanned vehicle state of flight is unstable, another unmanned vehicle can be indicated timely to continue to take over the task of unstable aircraft, thus improve completing efficiency and completing stability of breakpoint task.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the control method of a kind of unmanned vehicle in the embodiment of the present invention;
Fig. 2 is one of method flow schematic diagram judging unmanned vehicle state in the embodiment of the present invention;
Fig. 3 is the method flow schematic diagram two judging unmanned vehicle state in the embodiment of the present invention;
Fig. 4 is the structural representation of the opertaing device of a kind of unmanned vehicle in the embodiment of the present invention.
Embodiment
Embodiments provide a kind of control method of unmanned vehicle, the method comprises: the flight status parameter obtaining the first unmanned vehicle, when flight status parameter meets pre-conditioned, obtain the breakpoint mission bit stream at least comprising positional information of the first unmanned vehicle, then the steering order comprising positional information is sent to the second unmanned vehicle, with task of making the second unmanned vehicle navigation continue execution first unmanned vehicle to position corresponding to positional information.In technical solution of the present invention, when a unmanned vehicle state of flight is unstable, another unmanned vehicle can be indicated timely to continue to take over the task of unstable aircraft, thus improve completing efficiency and completing stability of breakpoint task.
Below by accompanying drawing and specific embodiment, technical solution of the present invention is described in detail, be to be understood that, the explanation of concrete technical characteristic in the embodiment of the present invention and embodiment just to technical solution of the present invention, instead of limit, when not conflicting, the concrete technical characteristic in the embodiment of the present invention and embodiment can combine mutually.
Be illustrated in figure 1 the process flow diagram of the control method of a kind of unmanned vehicle in the embodiment of the present invention, the method comprises:
S101, obtains the flight status parameter of the first unmanned vehicle;
S102, when flight status parameter meets pre-conditioned, obtains the breakpoint mission bit stream at least comprising positional information of the first unmanned vehicle;
S103, is sent to the second unmanned vehicle by the steering order comprising positional information.
First, in embodiments of the present invention, the method can be applied in the first unmanned vehicle, also can be applied in cloud server.
In the process that the first unmanned vehicle is executed the task, the flight status parameter of Real-time Obtaining first unmanned vehicle, this flight status parameter can comprise the battery allowance, failure message etc. of the first unmanned vehicle, in embodiments of the present invention, battery allowance, failure message can be detected by corresponding sensor and obtain, and concrete used sensor does not just limit at this.
If manage unmanned vehicle by cloud server, then the flight status parameter collected by wireless network transmissions to cloud server, will process this flight status parameter by cloud server.
After the flight status parameter getting the first unmanned vehicle, the flight status parameter of first-selection to the first unmanned vehicle is judged, namely judge whether the flight status parameter of the first unmanned vehicle meets pre-conditioned.Judge that whether flight status parameter meets and pre-conditionedly can have two kinds of modes, specifically comprises in embodiments of the present invention:
Mode one:
Be illustrated in figure 2 in the embodiment of the present invention one of method flow schematic diagram judging unmanned vehicle state, the method comprises:
S201, obtains battery allowance in flight status parameter;
After getting flight status parameter, parse the battery allowance of the first unmanned vehicle in flight status parameter, battery allowance is here the real-time dump energy of the first unmanned vehicle.
S202, judges whether battery allowance is less than or equal to predetermined threshold value;
In embodiments of the present invention, this predetermined threshold value is specially the first unmanned vehicle and is back to electricity required for depot from current location, such as, the current dump energy of first unmanned vehicle is 40%, first unmanned vehicle is also 40% from the electricity be back to required for depot of current location, now the dump energy of the first unmanned vehicle just can be back to depot, and predetermined threshold value is just 40% of total electricity so herein.Certainly, this predetermined threshold value can adjust according to different unmanned vehicles and different application scenarioss, in embodiments of the present invention, does not limit concrete threshold value set-up mode.
After being provided with predetermined threshold value, judge whether the battery allowance that collects is less than or equal to predetermined threshold value, namely determine whether the current battery allowance of the first unmanned vehicle can return depot.
When battery allowance is less than or equal to predetermined threshold value, then perform S203, if when battery allowance is greater than predetermined threshold value, then perform S204.
S203, obtains the breakpoint mission bit stream at least comprising positional information of the first unmanned vehicle;
S204, continues to execute the task.
When the current battery allowance determining the first unmanned vehicle has been less than or equal to predetermined threshold value, then illustrate that the current distance to go of the first unmanned vehicle reaches to greatest extent, so need abort the mission.Now by the breakpoint mission bit stream of acquisition first unmanned vehicle current working site, execution status of task and task execution time.
Here current working site is exactly the first unmanned vehicle battery allowance position residing when reaching predetermined threshold value, execution status of task is exactly performance and the surplus of task performed by the first unmanned vehicle, and large task execution time is exactly time of using of the process of executing the task and current time.
Here it should be noted that, the current working site of the first unmanned vehicle can be taken over the second unmanned vehicle that the first unmanned vehicle continues to execute the task to the next one and provide accurate coordinate position.
Other information of certain task also will be transferred in the second unmanned vehicle, the second unmanned vehicle can be made like this to know the execution status of task of the first unmanned vehicle completely, thus ensure that the second unmanned vehicle more accurately and timely can take over the task of the first unmanned vehicle.
Further, in embodiments of the present invention, during for the task that the first unmanned vehicle execution requirement of real-time is higher, such as shooting animal migrates.Based on this scene, be provided with two threshold values, one is above-mentioned predetermined threshold value, and set-up mode and the function of this predetermined threshold value illustrate in the above-described embodiments.Another is then activation threshold value, and this activation threshold value is a threshold value of making a return voyage at triggering first unmanned vehicle, such as predetermined threshold value is 40% of total electricity, and so activation threshold value is just 60% of total electricity.
After the battery allowance getting the first unmanned vehicle, first judge whether the battery allowance of the first unmanned vehicle is less than activation threshold value, such as: whether battery allowance is less than 60%, when battery allowance is less than activation threshold value, then positional information real-time for the first unmanned vehicle is sent to the second unmanned vehicle, indicates the second unmanned vehicle to follow the first unmanned vehicle according to real-time positional information.
For example, unmanned vehicle a and unmanned vehicle b, when unmanned vehicle a performs captured in real-time task, real-time detection unmanned vehicle a battery allowance, if the battery allowance of unmanned vehicle a has been less than 60%, namely be less than activation threshold value, now the real-time position information of unmanned vehicle a will be sent to unmanned vehicle b, and the real-time position information based on unmanned vehicle a is followed unmanned vehicle a by unmanned vehicle b.Then the battery allowance of Real-Time Monitoring unmanned vehicle a is continued, if when the battery allowance of unmanned vehicle a is less than predetermined threshold value, then the breakpoint mission bit stream of unmanned vehicle a will be sent to unmanned vehicle b, thus unmanned vehicle b will directly take over the task of unmanned vehicle a.Thus ensure that the task that requirement of real-time is higher can effectively and accurately perform.
Mode two:
Be illustrated in figure 3 in the embodiment of the present invention method flow schematic diagram two judging unmanned vehicle state, the method comprises:
S301, whether real-time detection is existed failure message by the first unmanned vehicle;
This failure message can be the fault information of the first unmanned vehicle, or the communication failure information of the first unmanned vehicle motor fault information or the first unmanned vehicle.Not limiting the particular type of failure message in embodiments of the present invention, except above-mentioned illustrational failure message, can also be the failure message of other types.
The failure message of the first unmanned vehicle being detected, then perform S302; If when the first unmanned vehicle does not exist failure message, then perform S303.
S302, is sent to the second unmanned vehicle by the breakpoint mission bit stream comprising positional information, execution status of task and task execution time;
S303, continues to execute the task.
After the failure message the first unmanned vehicle being detected, the task of the first unmanned vehicle will be interrupted, so need another unmanned vehicle to take over the task of the first unmanned vehicle.Therefore the second unmanned vehicle is sent to first without everybody the breakpoint mission bit stream of aircraft, second unmanned vehicle is by based on the positional information in breakpoint mission bit stream, navigate by water to the position residing for the first unmanned vehicle, and according to the task that breakpoint mission bit stream continuation execution first unmanned vehicle received does not complete.
Certainly, if when there is not failure message in the first unmanned vehicle, first unmanned vehicle is executed the task continuing, in the process of executing the task or judging that the first unmanned vehicle is taken over the need of other unmanned vehicles according to the method for mode one executes the task.
Here it should be noted that, for the second unmanned vehicle take over the first unmanned vehicle execute the task time, two kinds of situations can be divided into:
A kind of situation is that the first unmanned vehicle first followed by the second unmanned vehicle, when the flight status parameter of the first unmanned vehicle meets pre-conditioned, the task of taking over the first unmanned vehicle continues to perform by the second unmanned vehicle, and this situation can be applied to the higher task of real-time; This kind of mode describes in detail in the above-described embodiment, just repeats no more herein.
Another kind of situation is then the flight status parameter of the first unmanned vehicle when meeting pre-conditioned, and the first unmanned vehicle hovers over current location, then detects the second unmanned vehicle and whether reaches destination address corresponding to positional information.If the second unmanned vehicle arrives destination address, then send to the first unmanned vehicle instruction of making a return voyage, thus instruction the first unmanned vehicle makes a return voyage; If when the second unmanned vehicle does not arrive destination address, then indicate the first unmanned vehicle to hover at destination address, be that the first unmanned vehicle flies under destination address floating state like this, wait for the second unmanned vehicle to take over task.Mode of taking over like this can ensure that task can not exist breakpoint, improves the integrality and accuracy of executing the task.
Further, in embodiments of the present invention, conflict in order to avoid the second unmanned vehicle exists navigation channel with the first unmanned vehicle, so after the first unmanned flight receives instruction of making a return voyage, first unmanned vehicle by the cruising height of adjustment self, such as is adjusted to the cruising height of high 10m from the cruising height of high 5m, can avoid course line conflict like this, two aircraft in height can be staggered, thus ensure the security of unmanned vehicle.
In the embodiment of the present invention, by obtaining the flight status parameter of the first unmanned vehicle, when flight status parameter meets pre-conditioned, obtain the breakpoint mission bit stream at least comprising positional information of the first unmanned vehicle, then the steering order comprising positional information is sent to the second unmanned vehicle, with task of making the second unmanned vehicle navigation continue execution first unmanned vehicle to position corresponding to positional information.So just achieve when a unmanned vehicle state of flight is unstable, another unmanned vehicle can be indicated timely to continue to take over the task of unstable aircraft, thus improve completing efficiency and completing stability of breakpoint task.
A kind of control method of unmanned vehicle in the corresponding embodiment of the present invention, a kind of opertaing device of unmanned vehicle is additionally provided in the embodiment of the present invention, be illustrated in figure 4 the structural representation of the opertaing device of a kind of unmanned vehicle in the embodiment of the present invention, this equipment comprises:
Acquisition module 401, for obtaining the flight status parameter of the first unmanned vehicle;
Acquisition module 402, for when described flight status parameter meets pre-conditioned, obtains the breakpoint mission bit stream at least comprising positional information of described first unmanned vehicle;
Sending module 403, for the steering order comprising described positional information is sent to the second unmanned vehicle, to make described second unmanned vehicle navigation to the task of described first unmanned vehicle of described positional information correspondence position continuation execution.
Further, in embodiments of the present invention, acquisition module 402, comprising:
Battery allowance detecting unit, for obtaining the battery allowance in described flight status parameter;
Battery allowance identifying unit, for judging whether described battery allowance is less than or equal to predetermined threshold value;
Mission bit stream collecting unit, for when described battery allowance is less than or equal to predetermined threshold value, obtains the breakpoint mission bit stream at least comprising positional information of described first unmanned vehicle.
Further, in embodiments of the present invention, described battery allowance identifying unit, specifically for judging whether battery allowance is less than or equal to activation threshold value; Activation threshold value is less than at described battery allowance, the positional information of the first unmanned vehicle described in Real-time Obtaining, and the described positional information of Real-time Obtaining is sent to described second unmanned vehicle, indicate described second unmanned vehicle to follow described first unmanned vehicle according to real-time positional information; Whether the battery allowance of described first unmanned vehicle of real-time detection is less than or equal to predetermined threshold value.
Further, in embodiments of the present invention, described sending module 403, specifically for resolving described breakpoint mission bit stream, determines the positional information of described first unmanned vehicle, execution status of task information and task execution time; The breakpoint mission bit stream comprising described positional information, described execution status of task and described task execution time is sent to described second unmanned vehicle, indicate the described second unmanned vehicle navigation destination address that extremely described positional information is corresponding, and continue the task of performing described first unmanned vehicle according to described execution status of task and task execution time.
Further, in embodiments of the present invention, also comprise:
Whether detection module, arrive destination address corresponding to described positional information for detecting described second unmanned vehicle;
Processing module, for when described second unmanned vehicle arrives destination address, then sends to described first unmanned vehicle instruction of making a return voyage; When described second unmanned vehicle does not arrive destination address, the first unmanned vehicle is indicated to hover at destination address.
Further, in embodiments of the present invention, additionally provide a kind of control system of unmanned vehicle, this system comprises: the first unmanned vehicle, controller and the second unmanned vehicle, wherein,
First unmanned vehicle, gather the flight status parameter of self, when flight status parameter meets pre-conditioned, obtain the breakpoint mission bit stream containing positional information, execution status of task and task execution time, and breakpoint mission bit stream is sent to controller, wherein said flight status parameter at least contains battery allowance;
Controller, obtains the breakpoint mission bit stream at least comprising positional information of the first unmanned vehicle, breakpoint mission bit stream is sent to described second unmanned vehicle;
Second unmanned vehicle, receives the breakpoint mission bit stream that controller sends, and takes over the task of the second unmanned vehicle according to described breakpoint mission bit stream.
Specifically, the cooperating process between the first unmanned vehicle and controller and the second unmanned vehicle describes in detail in the above-described embodiments, just repeats no more herein.
Although described the preferred embodiment of the application, one of ordinary skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the application's scope.
Obviously, those skilled in the art can carry out various change and modification to the application and not depart from the spirit and scope of the application.Like this, if these amendments of the application and modification belong within the scope of the application's claim and equivalent technologies thereof, then the application is also intended to comprise these change and modification.
Claims (10)
1. a control method for unmanned vehicle, is characterized in that, described method comprises:
Obtain the flight status parameter of the first unmanned vehicle;
When described flight status parameter meets pre-conditioned, obtain the breakpoint mission bit stream at least comprising positional information of described first unmanned vehicle;
The steering order comprising described positional information is sent to the second unmanned vehicle, to make described second unmanned vehicle navigation to the task of described first unmanned vehicle of described positional information correspondence position continuation execution.
2. the method for claim 1, is characterized in that, when described flight status parameter meets pre-conditioned, obtains the breakpoint mission bit stream at least comprising positional information of described first unmanned vehicle, comprising:
Obtain the battery allowance in described flight status parameter;
Judge whether described battery allowance is less than or equal to predetermined threshold value;
When described battery allowance is less than or equal to predetermined threshold value, obtain the breakpoint mission bit stream at least comprising positional information of described first unmanned vehicle.
3. method as claimed in claim 2, is characterized in that, judge whether described battery allowance is less than or equal to predetermined threshold value, comprising:
Judge whether battery allowance is less than or equal to activation threshold value;
Activation threshold value is less than at described battery allowance, the positional information of the first unmanned vehicle described in Real-time Obtaining, and the described positional information of Real-time Obtaining is sent to described second unmanned vehicle, indicate described second unmanned vehicle to follow described first unmanned vehicle according to real-time positional information;
Whether the battery allowance of described first unmanned vehicle of real-time detection is less than or equal to predetermined threshold value.
4. the method for claim 1, is characterized in that, the steering order comprising described positional information is sent to described second unmanned vehicle, comprises:
Resolve described breakpoint mission bit stream, determine the positional information of described first unmanned vehicle, execution status of task information and task execution time;
The breakpoint mission bit stream comprising described positional information, described execution status of task and described task execution time is sent to described second unmanned vehicle, indicate the described second unmanned vehicle navigation destination address that extremely described positional information is corresponding, and continue the task of performing described first unmanned vehicle according to described execution status of task and task execution time.
5. the method for claim 1, is characterized in that, after the steering order comprising described positional information is sent to the second unmanned vehicle, described method also comprises:
Detect described second unmanned vehicle and whether arrive destination address corresponding to described positional information;
If so, then send to described first unmanned vehicle instruction of making a return voyage;
If not, then described first unmanned vehicle is indicated to hover at described destination address.
6. an opertaing device for unmanned vehicle, is characterized in that, comprising:
Acquisition module, for obtaining the flight status parameter of the first unmanned vehicle;
Acquisition module, for when described flight status parameter meets pre-conditioned, obtains the breakpoint mission bit stream at least comprising positional information of described first unmanned vehicle;
Sending module, for being sent to the second unmanned vehicle by the steering order comprising described positional information.
7. equipment as claimed in claim 6, it is characterized in that, described acquisition module, comprising:
Battery allowance detecting unit, for obtaining the battery allowance in described flight status parameter;
Battery allowance identifying unit, for judging whether described battery allowance is less than or equal to predetermined threshold value;
Mission bit stream collecting unit, for when described battery allowance is less than or equal to predetermined threshold value, obtains the breakpoint mission bit stream at least comprising positional information of described first unmanned vehicle.
8. equipment as claimed in claim 7, is characterized in that, described battery allowance identifying unit, specifically for judging whether battery allowance is less than or equal to activation threshold value; Activation threshold value is less than at described battery allowance, the positional information of the first unmanned vehicle described in Real-time Obtaining, and the described positional information of Real-time Obtaining is sent to described second unmanned vehicle, indicate described second unmanned vehicle to follow described first unmanned vehicle according to real-time positional information; Whether the battery allowance of described first unmanned vehicle of real-time detection is less than or equal to predetermined threshold value.
9. equipment as claimed in claim 6, it is characterized in that, described equipment also comprises:
Whether detection module, arrive destination address corresponding to described positional information for detecting described second unmanned vehicle;
Processing module, for when described second unmanned vehicle arrives destination address, then sends to described first unmanned vehicle instruction of making a return voyage; When described second unmanned vehicle does not arrive destination address, the first unmanned vehicle is indicated to hover at destination address.
10. a control system for unmanned vehicle, is characterized in that, comprising: the first unmanned vehicle, the second unmanned vehicle, controller, wherein,
Described first unmanned vehicle, gather the flight status parameter of self, when flight status parameter meets pre-conditioned, obtain the breakpoint mission bit stream containing positional information, execution status of task and task execution time, and breakpoint mission bit stream is sent to controller, wherein said flight status parameter at least comprises battery allowance;
Described controller, obtains the breakpoint mission bit stream at least comprising positional information of the first unmanned vehicle, breakpoint mission bit stream is sent to described second unmanned vehicle;
Described second unmanned vehicle, receives the breakpoint mission bit stream that controller sends, and takes over the task of the second unmanned vehicle according to described breakpoint mission bit stream.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610036856.3A CN105468023A (en) | 2016-01-20 | 2016-01-20 | Unmanned aerial vehicle control method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610036856.3A CN105468023A (en) | 2016-01-20 | 2016-01-20 | Unmanned aerial vehicle control method, device and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105468023A true CN105468023A (en) | 2016-04-06 |
Family
ID=55605828
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610036856.3A Pending CN105468023A (en) | 2016-01-20 | 2016-01-20 | Unmanned aerial vehicle control method, device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105468023A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020237A (en) * | 2016-08-03 | 2016-10-12 | 浙江空行飞行器技术有限公司 | Multi-vehicle working air line planning method and system of plant protection unmanned aerial vehicles and spraying working method and system of plant protection unmanned aerial vehicles |
| CN106020235A (en) * | 2016-08-02 | 2016-10-12 | 安徽朗巴智能科技有限公司 | Unmanned aerial vehicle cooperative system for forest protection |
| CN107230310A (en) * | 2017-06-26 | 2017-10-03 | 地壳机器人科技有限公司 | Relay-type monitoring method and pilotless automobile |
| CN107992077A (en) * | 2017-12-13 | 2018-05-04 | 北京小米移动软件有限公司 | Aircraft fault rescue method and device |
| CN108459621A (en) * | 2018-06-19 | 2018-08-28 | 北京天龙智控科技有限公司 | Dispenser system based on unmanned plane |
| CN108885470A (en) * | 2017-11-25 | 2018-11-23 | 深圳市大疆创新科技有限公司 | A kind of task executing method, mobile device, system and storage medium |
| CN109327683A (en) * | 2018-10-29 | 2019-02-12 | 重庆中科云丛科技有限公司 | A kind of method for tracing, system, unmanned plane and server |
| WO2019028906A1 (en) * | 2017-08-11 | 2019-02-14 | Lenovo (Beijing) Limited | Transmitting aerial vehicle position information |
| CN112764427A (en) * | 2020-12-14 | 2021-05-07 | 广东电网有限责任公司佛山供电局 | Relay unmanned aerial vehicle inspection system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102722973A (en) * | 2012-06-29 | 2012-10-10 | 深圳市赛格导航科技股份有限公司 | Intelligent agriculture operation system based on GPS (Global Position System) and operation method thereof |
| CN103576055A (en) * | 2013-11-14 | 2014-02-12 | 浙江大学 | High-voltage transmission line patrol detecting system and method based on multiple aircrafts |
| WO2014194345A1 (en) * | 2013-01-30 | 2014-12-11 | Newsouth Innovations Pty Limited | Real-time rotation, shift, scale and skew visual recognition system |
| CN104536024A (en) * | 2014-10-23 | 2015-04-22 | 深圳九星智能航空科技有限公司 | Self-rescue and signal positioning device for unmanned plane |
| CN104881041A (en) * | 2015-05-27 | 2015-09-02 | 深圳市高巨创新科技开发有限公司 | Unmanned aircraft electric quantity early warning method and device |
| CN105068551A (en) * | 2015-08-31 | 2015-11-18 | 深圳市飞研智能科技有限公司 | Double-UAV control system with improvement of cruising ability |
| CN105226836A (en) * | 2015-10-20 | 2016-01-06 | 杨珊珊 | A kind of can the unmanned plane of automatic charging, unmanned plane charging system and charging method |
-
2016
- 2016-01-20 CN CN201610036856.3A patent/CN105468023A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102722973A (en) * | 2012-06-29 | 2012-10-10 | 深圳市赛格导航科技股份有限公司 | Intelligent agriculture operation system based on GPS (Global Position System) and operation method thereof |
| WO2014194345A1 (en) * | 2013-01-30 | 2014-12-11 | Newsouth Innovations Pty Limited | Real-time rotation, shift, scale and skew visual recognition system |
| CN103576055A (en) * | 2013-11-14 | 2014-02-12 | 浙江大学 | High-voltage transmission line patrol detecting system and method based on multiple aircrafts |
| CN104536024A (en) * | 2014-10-23 | 2015-04-22 | 深圳九星智能航空科技有限公司 | Self-rescue and signal positioning device for unmanned plane |
| CN104881041A (en) * | 2015-05-27 | 2015-09-02 | 深圳市高巨创新科技开发有限公司 | Unmanned aircraft electric quantity early warning method and device |
| CN105068551A (en) * | 2015-08-31 | 2015-11-18 | 深圳市飞研智能科技有限公司 | Double-UAV control system with improvement of cruising ability |
| CN105226836A (en) * | 2015-10-20 | 2016-01-06 | 杨珊珊 | A kind of can the unmanned plane of automatic charging, unmanned plane charging system and charging method |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020235A (en) * | 2016-08-02 | 2016-10-12 | 安徽朗巴智能科技有限公司 | Unmanned aerial vehicle cooperative system for forest protection |
| CN106020237A (en) * | 2016-08-03 | 2016-10-12 | 浙江空行飞行器技术有限公司 | Multi-vehicle working air line planning method and system of plant protection unmanned aerial vehicles and spraying working method and system of plant protection unmanned aerial vehicles |
| CN106020237B (en) * | 2016-08-03 | 2019-03-22 | 浙江空行飞行器技术有限公司 | The multimachine operation flight course planning and its spraying operation method and system of plant protection drone |
| CN107230310A (en) * | 2017-06-26 | 2017-10-03 | 地壳机器人科技有限公司 | Relay-type monitoring method and pilotless automobile |
| WO2019028906A1 (en) * | 2017-08-11 | 2019-02-14 | Lenovo (Beijing) Limited | Transmitting aerial vehicle position information |
| CN108885470A (en) * | 2017-11-25 | 2018-11-23 | 深圳市大疆创新科技有限公司 | A kind of task executing method, mobile device, system and storage medium |
| CN107992077A (en) * | 2017-12-13 | 2018-05-04 | 北京小米移动软件有限公司 | Aircraft fault rescue method and device |
| CN108459621A (en) * | 2018-06-19 | 2018-08-28 | 北京天龙智控科技有限公司 | Dispenser system based on unmanned plane |
| CN109327683A (en) * | 2018-10-29 | 2019-02-12 | 重庆中科云丛科技有限公司 | A kind of method for tracing, system, unmanned plane and server |
| CN112764427A (en) * | 2020-12-14 | 2021-05-07 | 广东电网有限责任公司佛山供电局 | Relay unmanned aerial vehicle inspection system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105468023A (en) | Unmanned aerial vehicle control method, device and system | |
| CN104808682B (en) | Small-sized rotor wing unmanned aerial vehicle automatic obstacle avoiding flight control method | |
| CN107817814B (en) | Unmanned aerial vehicle group, switching method and device of unmanned aerial vehicle group | |
| CN106325298A (en) | Unmanned plane range extension control system and unmanned plane range extension control method | |
| CN108646780B (en) | Unmanned aerial vehicle and off-line state automatic control system and method thereof and storage medium | |
| CN103499973B (en) | A kind of master-slave machine work compound agricultural machinery intelligent guidance system | |
| WO2019100353A1 (en) | Task execution method, mobile device, system, and storage medium | |
| CN110888456A (en) | Autonomous cooperative reconnaissance control method for unmanned aerial vehicle and unmanned vehicle | |
| CN105717946A (en) | Multi-base-station unmanned aerial vehicle continuous tracking system and method | |
| CN110244769B (en) | Offline operation method and device | |
| CN105739531A (en) | Unmanned plane control system based on unmanned plane air management platform | |
| CN115146882B (en) | Air-ground cooperative inspection method and system | |
| CN105676873A (en) | Automatic landing method and control system of unmanned aerial vehicle | |
| CN112684791A (en) | Unmanned logistics vehicle based on 5G | |
| CN106325300A (en) | Remote condition monitoring and controlling system of unmanned aerial vehicle based on GSM-4G communication | |
| CN105867420A (en) | Quick mode switching system and method applied to unmanned aerial vehicle | |
| CN107291096A (en) | A kind of unmanned plane multimachine hybrid task cluster system | |
| CN105867411A (en) | Landing method and landing system of unmanned aerial vehicle | |
| CN107031808A (en) | System and method based near space stratospheric airship electromagnetic launch unmanned plane | |
| CN108459613A (en) | A kind of patrol unmanned machine system of high-tension line | |
| de Vargas et al. | Patrolling strategy for multiple UAVs with recharging stations in unknown environments | |
| CN105657157B (en) | A kind of switching method and device of mobile terminal mode | |
| CN114248661B (en) | Charging control method, device, electronic equipment and readable storage medium | |
| US20200363823A1 (en) | Unmanned vehicles | |
| CN110780318A (en) | Rescue method and control method for flight device after GPS (global positioning system) signal is lost |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190422 Address after: 100020 Building 2, No. 12, West Da Wang Road, Chaoyang District, Beijing (No. 25978, national advertising Industrial Park incubator) Applicant after: High domain (Beijing) Intelligent Technology Research Institute Co., Ltd. Address before: 100000 Shunyi District, Beijing, after the Sha Yu Township, Tian Bei Road, lemon Lake Villa 2123 Applicant before: Tan Yuanyuan |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160406 |