CN106406348A - Unmanned aerial vehicle formation control method and apparatus - Google Patents
Unmanned aerial vehicle formation control method and apparatus Download PDFInfo
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- CN106406348A CN106406348A CN201610967582.XA CN201610967582A CN106406348A CN 106406348 A CN106406348 A CN 106406348A CN 201610967582 A CN201610967582 A CN 201610967582A CN 106406348 A CN106406348 A CN 106406348A
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- 238000004891 communication Methods 0.000 claims abstract description 108
- 230000013632 homeostatic process Effects 0.000 claims description 10
- 230000005856 abnormality Effects 0.000 claims description 8
- 230000002159 abnormal effect Effects 0.000 claims description 6
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- 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
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Abstract
The present invention discloses an unmanned aerial vehicle formation control method and apparatus. The method includes the following steps of: establishing a first communication connection with a ground station, and communicating with the ground station based on the first communication connection so as to obtain the communication address information of adjacent unmanned aerial vehicles which have connection relations with the ground station; establishing a second communication connection with each adjacent unmanned aerial vehicle according to the communication address information of each adjacent unmanned aerial vehicle, and communicating with the corresponding adjacent unmanned aerial vehicles based on the second communication connections so as to obtain the location information of the adjacent unmanned aerial vehicles; and controlling the flight of the current unmanned aerial vehicle according to the location information of the adjacent unmanned aerial vehicles and the location information of the current unmanned aerial vehicle. With the unmanned aerial vehicle formation control method and apparatus provided by the embodiments of the invention adopted, collision in the formation of the unmanned aerial vehicles can be effectively avoided, and the accuracy and timeliness of the scheduling and control of the formation of the unmanned aerial vehicles can be improved.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly, to a kind of unmanned plane formation dispatch control method and equipment.
Background technology
UAV referred to as " unmanned plane ", is that one kind is manipulated by radio robot or itself presetting apparatus
Unmanned vehicle.With scientific and technological development, unmanned air vehicle technique reaches its maturity, unmanned plane is so that its speed is fast, flexible operation,
Of many uses, low cost and mobility are widely used the features such as good, not only have extremely important work in modern war
With more holding out broad prospects in civil area.
At present, unmanned plane execute aerial mission when, single rack unmanned plane may be limited by the quantity of sensor it is impossible to from
Multi-angle omnibearing target area is observed, such as faces during wide area search task it is impossible to effective covering is entirely searched
Rope region, impact task treatment effeciency is it is seen then that single rack unmanned plane executes the demand that task cannot meet user.For this reason, with
The form execution aerial mission that unmanned plane is formed into columns increasingly is favored by user.And existing unmanned plane formation scheduling mode,
Mostly need with high communication quality and high computing capability as cost to dispatch it is impossible to realizing unmanned plane accurately and in time and forming into columns.
Therefore, how to improve accuracy and the promptness of unmanned plane formation scheduling controlling, become those skilled in the art's mesh
The technical problem of front urgent need to resolve.
Content of the invention
In view of the above problems, the present invention proposes a kind of unmanned plane formation dispatch control method and equipment, can not only have
Prevent from unmanned plane from forming into columns to effect to collide, also improve accuracy and the promptness of unmanned plane formation scheduling controlling.
A kind of one aspect of the present invention, there is provided unmanned plane formation dispatch control method, methods described includes:
Set up the first communication connection with earth station, communicated with earth station based on the described first communication connection, to obtain
Take the communications address information of each adjacent unmanned plane with described earth station with annexation；
Communications address information according to each adjacent unmanned plane described sets up the second communication link with each adjacent unmanned plane
Connect, communicated with corresponding adjacent unmanned plane based on the second communication connection set up, to obtain the position of each adjacent unmanned plane
Confidence ceases；
The positional information of the positional information according to each adjacent unmanned plane described and current unmanned plane controls currently unmanned
The flight of machine.
Alternatively, methods described also includes：
Obtain the obstacle distance of the range sensor collection of at least two sides being preset in current unmanned plane；
Determine the minimum distance of obstacle in the obstacle distance of each range sensor collection；
The positional information of positional information, described minimum distance of obstacle and current unmanned plane according to described adjacent unmanned plane
Control the flight of described current unmanned plane.
Alternatively, described the first communication connection set up with earth station, further includes：
Send data connection request to described earth station, in described data connection request, carry the equipment of current unmanned plane
Mark, so that described earth station is according to described device identification, is dynamically that described current unmanned plane distributes communications address information, and
Earth station locally records the corresponding relation between the device identification of current unmanned plane and communications address information.
Alternatively, before described foundation with the first communication connection of earth station, methods described also includes：
Obtain the state of flight information of current unmanned plane；
Judge according to described state of flight information whether the working condition of current unmanned plane is normal；
If the working condition of current unmanned plane is normal, execute the described step set up with the first communication connection of earth station
Suddenly.
Alternatively, methods described also includes：
If the working condition of current unmanned plane is abnormal, sends abnormality alarming, and restart current unmanned plane.
Alternatively, methods described also includes：
Judge the positional information of current unmanned plane whether with precalculated position Point matching, or judge whether current unmanned plane enters
Default homeostasis；
If the positional information of current unmanned plane is mismatched with precalculated position point, or current unmanned plane do not enter into default from
Steady state, then obtain the described latest position information of each adjacent unmanned plane and the latest position information of current unmanned plane, and
Control the flight of current unmanned plane according to the information getting.
A kind of another aspect of the present invention, there is provided unmanned plane formation scheduling controlling equipment, this equipment includes：
First acquisition module, for setting up the first communication connection with earth station, based on the described first communication connection and ground
Face station is communicated, to obtain the communications address information of each adjacent unmanned plane with described earth station with annexation；
Second acquisition module, sets up and each adjacent nothing for the communications address information according to each adjacent unmanned plane described
The second man-machine communication connection, is communicated with corresponding adjacent unmanned plane based on the second communication connection set up, each to obtain
The positional information of individual adjacent unmanned plane；
Control module, for the positional information of the positional information according to each adjacent unmanned plane described and current unmanned plane
Control the flight of current unmanned plane.
Alternatively, described equipment also includes：
3rd acquisition module, the range sensor for obtaining at least two sides being preset in current unmanned plane gathers
Obstacle distance；
Determining module, for determining the minimum distance of obstacle in the obstacle distance that each range sensor gathers；
Described control module, be additionally operable to positional information according to described adjacent unmanned plane, described minimum distance of obstacle and
The positional information of current unmanned plane controls the flight of described current unmanned plane.
Alternatively, described equipment also includes：
4th acquisition module, for, before described foundation with the first communication connection of earth station, obtaining current unmanned plane
State of flight information；
According to the working condition of the described state of flight information current unmanned plane of judgement just whether the first determination module, for
Often；
Described first acquisition module, specifically for the work being current unmanned plane when the result of determination of described first determination module
Make state normal when, the described operation set up with the first of earth station the communication connection of execution；
Alarm module, for the working condition exception being current unmanned plane when the result of determination of described first determination module
When, send abnormality alarming.
Alternatively, described equipment also includes：
Second determination module, for judge the positional information of current unmanned plane whether with precalculated position Point matching, or judge
Whether current unmanned plane enters default homeostasis；
Described control module, is additionally operable to the positional information being current unmanned plane when the result of determination of described second determination module
Mismatch with precalculated position point, or when current unmanned plane does not enter into default homeostasis, according to get each
The latest position information of the latest position information of adjacent unmanned plane and current unmanned plane controls the flight of current unmanned plane.
Unmanned plane formation dispatch control method provided in an embodiment of the present invention and equipment, need not be in terms of high communication quality and height
Calculation ability is cost, and each unmanned plane only passing through in forming into columns sets up communication connection with earth station respectively, based on earth station
Communication obtain the communications address information of each adjacent unmanned plane with earth station with annexation, and according to each adjacent nothing
Man-machine communications address information sets up the communication connection with each adjacent unmanned plane, is believed with the position obtaining each adjacent unmanned plane
Breath, finally the positional information current unmanned plane of control of the positional information according to each adjacent unmanned plane and current unmanned plane is winged
OK, prevent from unmanned plane from forming into columns to collide, in time, rapidly realize the accurate scheduling controlling that unmanned plane is formed into columns.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, and in order to allow the above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the specific embodiment of the present invention.
Brief description
By reading the detailed description of hereafter preferred implementation, various other advantages and benefit are common for this area
Technical staff will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred implementation, and is not considered as to the present invention
Restriction.And in whole accompanying drawing, it is denoted by the same reference numerals identical part.In the accompanying drawings：
The flow chart that Fig. 1 shows a kind of unmanned plane formation dispatch control method of the embodiment of the present invention；
The flow chart that Fig. 2 shows another kind of unmanned plane formation dispatch control method of the embodiment of the present invention；
Fig. 3 shows a kind of structured flowchart of unmanned plane formation scheduling controlling equipment of the embodiment of the present invention；
Fig. 4 shows the structured flowchart of another kind of unmanned plane formation scheduling controlling equipment of the embodiment of the present invention.
Specific embodiment
It is more fully described the exemplary embodiment of the disclosure below with reference to accompanying drawings.Although showing the disclosure in accompanying drawing
Exemplary embodiment it being understood, however, that may be realized in various forms the disclosure and should not be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to be able to be best understood from the disclosure, and can be by the scope of the present disclosure
Complete conveys to those skilled in the art.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " " used herein, "
Individual ", " described " and " being somebody's turn to do " may also comprise plural form.It is to be further understood that arranging used in the description of the present invention
Diction " inclusion " refers to there is described feature, integer, step, operation, element and/or assembly, but it is not excluded that existing or adding
Other features one or more, integer, step, operation, element, assembly and/or their group.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, and all terms used herein (include technology art
Language and scientific terminology), there is the general understanding identical meaning with the those of ordinary skill in art of the present invention.Also should
Be understood by, those terms defined in such as general dictionary it should be understood that have with the context of prior art in
The consistent meaning of meaning, and unless by specific definitions, otherwise will not be explained with idealization or excessively formal implication.
The flow chart that Fig. 1 diagrammatically illustrates the unmanned plane formation dispatch control method of one embodiment of the invention.Reference
Fig. 1, the unmanned plane formation dispatch control method of the embodiment of the present invention specifically includes following steps：
S11, foundation and the first communication connection of earth station, are communicated with earth station based on the described first communication connection,
To obtain the communications address information of each adjacent unmanned plane with described earth station with annexation.
In the present embodiment, each unmanned plane in unmanned plane formation is all by the target ground in network and affiliated geographic area
Communication connection is set up at face station.Unmanned plane form into columns in each unmanned plane all can based between earth station communication link realize with
The communication at target floor station, to obtain in formation the communication of each adjacent unmanned plane that remaining has annexation with this earth station
Address information, to complete the communication between each unmanned plane during unmanned plane is formed into columns.
S12, set up according to the communications address information of each adjacent unmanned plane described logical with the second of each adjacent unmanned plane
Letter connects, and is communicated with corresponding adjacent unmanned plane based on the second communication connection set up, to obtain each adjacent unmanned plane
Positional information.
In the present embodiment, current unmanned plane, after getting the IP address of each adjacent unmanned plane in formation, can pass through
The IP address that gets sets up the communication connection with each adjacent unmanned plane, and based on the communication link set up with form into columns interior its
His UAV Communication, realizes the acquisition of the positional information of each unmanned plane.
The positional information of S13, the positional information according to each adjacent unmanned plane described and current unmanned plane controls current
The flight of unmanned plane.
In the present embodiment, current unmanned plane passes through the position according to other adjacent unmanned planes in own location information and formation
Confidence ceases, and judges the position that current unmanned plane is with respect to other unmanned planes, and then realizes the flight control to current unmanned plane.
Unmanned plane formation dispatch control method provided in an embodiment of the present invention, need not be with high communication quality and high computing capability
For cost, only the communication connection with earth station is set up respectively by each unmanned plane in forming into columns, based on the communication with earth station
Obtain the communications address information of each adjacent unmanned plane with earth station with annexation, and according to each adjacent unmanned plane
Communications address information sets up the communication connection with each adjacent unmanned plane, to obtain the positional information of each adjacent unmanned plane, finally
The positional information of the positional information according to each adjacent unmanned plane and current unmanned plane controls the flight of current unmanned plane, prevents
Unmanned plane is formed into columns and is collided, and in time, rapidly realizes the accurate scheduling controlling that unmanned plane is formed into columns.
In the embodiment of the present invention, setting up in step S11 communicates to connect with the first of earth station, specifically can be by with lower section
Formula is realized：
Send data connection request to described earth station, in described data connection request, carry the equipment of current unmanned plane
Mark, so that described earth station is according to described device identification, is dynamically that described current unmanned plane distributes communications address information, and
Earth station locally records the corresponding relation between the device identification of current unmanned plane and communications address information.
Wherein, device identification is device numbering, unique mark of dispatching from the factory etc.；Communications address information is IP address.
In a specific example, when unmanned plane starts, init state, by reading the configuration file being pre-configured with
Obtain the device identification of current unmanned plane, the data connection request carrying device identification is sent by ground station, for ground
DHCP (Dynamic Host Configuration Protocol, the DHCP) server at face station is dynamically
Described current unmanned plane distributes IP address, is not conflicted with the IP address guaranteeing each unmanned plane in unmanned plane formation.
The flow chart that Fig. 2 diagrammatically illustrates the unmanned plane formation dispatch control method of another embodiment of the present invention.Ginseng
According to Fig. 2, the unmanned plane formation dispatch control method of the embodiment of the present invention specifically includes following steps：
S21, foundation and the first communication connection of earth station, are communicated with earth station based on the described first communication connection,
To obtain the communications address information of each adjacent unmanned plane with described earth station with annexation.
S22, set up according to the communications address information of each adjacent unmanned plane described logical with the second of each adjacent unmanned plane
Letter connects, and is communicated with corresponding adjacent unmanned plane based on the second communication connection set up, to obtain each adjacent unmanned plane
Positional information.
Wherein, step S21～S22 is identical with the step S12～S12 of the embodiment shown in Fig. 1, will not be described here.
S23, acquisition are preset in the obstacle distance of the range sensor collection of at least two sides of current unmanned plane.
Preferably, can be arranged apart from radar by the side in 6 orientation of unmanned plane, to gather the barrier in 6 orientation
Distance.Specifically, barrier is probably unmanned plane it is also possible to other obstructing objects.
S24, the minimum distance of obstacle determining in the obstacle distance that each range sensor gathers.
S25, the position of the positional information according to described adjacent unmanned plane, described minimum distance of obstacle and current unmanned plane
Information controls the flight of described current unmanned plane.
Specifically, current unmanned plane finds that unmanned plane adjacent with each or the distance of barrier are less than default safe distance,
Then operate in the opposite direction, it is to avoid collision occurs.
Unmanned plane formation dispatch control method provided in an embodiment of the present invention, is carrying out unmanned plane formation scheduling controlling process
In, consider not only the positional information of current unmanned plane and the positional information of adjacent unmanned plane it is also contemplated that currently unmanned
Minimum distance of obstacle in the obstacle distance of each side for the machine, can be effectively prevented unmanned plane and form into columns and collide and ask
Topic, realizes the scheduling controlling of unmanned plane formation much sooner, exactly.
In the present embodiment, set up and the first step communicating to connect of earth station specifically can be real in the following manner
Existing：Send data connection request to described earth station, in described data connection request, carry the device identification of current unmanned plane,
So that described earth station is according to described device identification, it is dynamically that described current unmanned plane distributes communications address information, and on ground
Stand the corresponding relation locally recording between the device identification of current unmanned plane and communications address information.
In an alternate embodiment of the present invention where, before described foundation with the first communication connection of earth station, described
Method also includes：
Obtain the state of flight information of current unmanned plane；
Judge according to described state of flight information whether the working condition of current unmanned plane is normal；
If the working condition of current unmanned plane is normal, execute the described step set up with the first communication connection of earth station
Suddenly.
Further, methods described also includes：If the working condition of current unmanned plane is abnormal, send abnormality alarming, and
Restart current unmanned plane.
Specifically, abnormality alarming can be realized by LED and buzzer etc..The present embodiment is only illustrated to it,
And be not specifically limited, in addition also can realize abnormality alarming by other means.
State of flight information described in the present embodiment includes system running state and the current height of unmanned plane, appearance
The state of flights such as state, GPS location information.Specifically, state of flight by preset sensor acquisition and can upload.System operation shape
State can be monitored by preset script file.
The present embodiment, by judging to the state of flight information of current unmanned plane, in the work shape of current unmanned plane
When state is normal, set up the communication connection with earth station and each adjacent unmanned plane, to realize according to each adjacent unmanned plane
The positional information of positional information and current unmanned plane controls the flight of current unmanned plane, prevents unmanned plane from forming into columns and collides,
In time, rapidly realize the accurate scheduling controlling of unmanned plane formation.And when the working condition of current unmanned plane is abnormal, send different
Often alert, and restart current unmanned plane, occurred with collision free.
In an alternate embodiment of the present invention where, methods described is further comprising the steps of：
Judge the positional information of current unmanned plane whether with precalculated position Point matching, or judge whether current unmanned plane enters
Default homeostasis；
If the positional information of current unmanned plane is mismatched with precalculated position point, or current unmanned plane do not enter into default from
Steady state, then obtain the described latest position information of each adjacent unmanned plane and the latest position information of current unmanned plane, and
Control the flight of current unmanned plane according to the information getting.
In the embodiment of the present invention, by judge the positional information of current unmanned plane whether with precalculated position Point matching, or logical
Cross and judge whether current unmanned plane enters default homeostasis, and determine the need for continuing to obtain other adjacent nothings in formation
Man-machine latest position information and the latest position information of current unmanned plane, realize the flight to current unmanned plane and control.
For embodiment of the method, in order to be briefly described, therefore it is all expressed as a series of combination of actions, but this area
Technical staff should know, the embodiment of the present invention is not limited by described sequence of movement, because implementing according to the present invention
Example, some steps can be carried out using other orders or simultaneously.Secondly, those skilled in the art also should know, description
Described in embodiment belong to preferred embodiment, necessary to the involved action not necessarily embodiment of the present invention.
Fig. 3 diagrammatically illustrates the structured flowchart of the unmanned plane formation scheduling controlling equipment of one embodiment of the invention.Ginseng
According to Fig. 3, unmanned plane formation scheduling controlling equipment provided in an embodiment of the present invention includes the first acquisition module 301, second and obtains mould
Block 302 and control module 303, wherein：
The first described acquisition module 301, for setting up the first communication connection with earth station, based on the described first communication
Connect and communicated with earth station, to obtain the mailing address of each adjacent unmanned plane with described earth station with annexation
Information.
In the present embodiment, described first acquisition module 301, specifically for sending data connection request to described earth station,
The device identification of current unmanned plane is carried in described data connection request, so that described earth station is according to described device identification,
Be dynamically that described current unmanned plane distributes communications address information, and earth station locally record the device identification of current unmanned plane with
Corresponding relation between communications address information.
The second described acquisition module 302, for according to the communications address information of each adjacent unmanned plane described set up with
Second communication connection of each adjacent unmanned plane, is led to corresponding adjacent unmanned plane based on the second communication connection set up
Letter, to obtain the positional information of each adjacent unmanned plane.
Described control module 303, for the positional information according to each adjacent unmanned plane described and current unmanned plane
Positional information control current unmanned plane flight.
Unmanned plane formation scheduling controlling equipment provided in an embodiment of the present invention, is built respectively by each unmanned plane in forming into columns
The vertical communication connection with earth station, based on the communication of earth station obtain with earth station have annexation each adjacent nobody
The communications address information of machine, and the communication link with each adjacent unmanned plane is set up according to the communications address information of each adjacent unmanned plane
Connect, to obtain the positional information of each adjacent unmanned plane, finally the positional information according to each adjacent unmanned plane and currently without
Man-machine positional information controls the flight of current unmanned plane, prevents unmanned plane from forming into columns and collides, and in time, rapidly realizes unmanned
The accurate scheduling controlling that machine is formed into columns.
Fig. 4 diagrammatically illustrates the structured flowchart of the unmanned plane formation scheduling controlling equipment of another embodiment of the present invention.
With reference to Fig. 4, unmanned plane formation scheduling controlling equipment provided in an embodiment of the present invention includes the first acquisition module 401, second and obtains
Module 402, the 3rd acquisition module 403, determining module 404 and control module 405, wherein：
The first described acquisition module 401, for setting up the first communication connection with earth station, based on the described first communication
Connect and communicated with earth station, to obtain the mailing address of each adjacent unmanned plane with described earth station with annexation
Information.
The second described acquisition module 402, for according to the communications address information of each adjacent unmanned plane described set up with
Second communication connection of each adjacent unmanned plane, is led to corresponding adjacent unmanned plane based on the second communication connection set up
Letter, to obtain the positional information of each adjacent unmanned plane.
The 3rd described acquisition module 403, the distance for obtaining at least two sides being preset in current unmanned plane passes
The obstacle distance of sensor collection；
Described determining module 404, for determining the minimum obstacle in the obstacle distance that each range sensor gathers
Distance；
Described control module 405, is additionally operable to positional information according to described adjacent unmanned plane, described minimum distance of obstacle
And the positional information of current unmanned plane controls the flight of described current unmanned plane.
In an alternate embodiment of the present invention where, described equipment also include the 4th acquisition module not shown in accompanying drawing,
First determination module and alarm module, wherein：
The 4th described acquisition module, for, before described foundation with the first communication connection of earth station, obtaining current
The state of flight information of unmanned plane；
The first described determination module, for according to the working condition of the described state of flight information current unmanned plane of judgement being
No normal；
Further, described first acquisition module, specifically for being current when the result of determination of described first determination module
When the working condition of unmanned plane is normal, the described operation set up with the first communication connection of earth station of execution；
Described alarm module, for the working condition being current unmanned plane when the result of determination of described first determination module
When abnormal, send abnormality alarming.
In an alternate embodiment of the present invention where, described equipment also includes the second determination module not shown in accompanying drawing,
Described second determination module, for judge the positional information of current unmanned plane whether with precalculated position Point matching, or judge current
Whether unmanned plane enters default homeostasis；
Further, described control module, being additionally operable to when the result of determination of described second determination module is current unmanned plane
Positional information mismatch with precalculated position point, or when current unmanned plane does not enter into default homeostasis, according to getting
The latest position information of each adjacent unmanned plane described and current unmanned plane latest position information control current unmanned plane
Flight.
For device embodiment, due to itself and embodiment of the method basic simlarity, so description is fairly simple, related
Part illustrates referring to the part of embodiment of the method.
Unmanned plane formation dispatch control method provided in an embodiment of the present invention and equipment, need not be in terms of high communication quality and height
Calculation ability is cost, and each unmanned plane only passing through in forming into columns sets up communication connection with earth station respectively, based on earth station
Communication obtain the communications address information of each adjacent unmanned plane with earth station with annexation, and according to each adjacent nothing
Man-machine communications address information sets up the communication connection with each adjacent unmanned plane, is believed with the position obtaining each adjacent unmanned plane
Breath, finally the positional information current unmanned plane of control of the positional information according to each adjacent unmanned plane and current unmanned plane is winged
OK, prevent from unmanned plane from forming into columns to collide, in time, rapidly realize the accurate scheduling controlling that unmanned plane is formed into columns.
Device embodiment described above is only that schematically the wherein said unit illustrating as separating component can
To be or to may not be physically separate, as the part that unit shows can be or may not be physics list
Unit, you can with positioned at a place, or can also be distributed on multiple NEs.Can be selected it according to the actual needs
In the purpose to realize this embodiment scheme for some or all of module.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and to implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Mode by software plus necessary general hardware platform to be realized naturally it is also possible to pass through hardware.Based on such understanding, on
That states that technical scheme substantially contributes to prior art in other words partly can be embodied in the form of software product, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD etc., including some fingers
Order is with so that a computer equipment (can be personal computer, server, or network equipment etc.) executes each enforcement
Example or some partly described methods of embodiment.
Although additionally, it will be appreciated by those of skill in the art that some embodiments in this include institute in other embodiments
Including some features rather than further feature, but the combination of the feature of different embodiment means to be in the scope of the present invention
Within and form different embodiments.For example, in the following claims, embodiment required for protection any it
One can in any combination mode using.
Finally it should be noted that：Above example only in order to technical scheme to be described, is not intended to limit；Although
With reference to the foregoing embodiments the present invention is described in detail, it will be understood by those within the art that：It still may be used
To modify to the technical scheme described in foregoing embodiments, or equivalent is carried out to wherein some technical characteristics；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (10)
1. a kind of unmanned plane formation dispatch control method is it is characterised in that methods described includes:
Set up and the first of earth station the communication connection, communicated with earth station based on the described first communication connection, obtaining and
Described earth station has the communications address information of each adjacent unmanned plane of annexation；
Communications address information according to each adjacent unmanned plane described sets up the second communication connection with each adjacent unmanned plane, base
Communicated with corresponding adjacent unmanned plane in the second communication connection set up, believed with the position obtaining each adjacent unmanned plane
Breath；
The positional information of the positional information according to each adjacent unmanned plane described and current unmanned plane controls current unmanned plane
Flight.
2. method according to claim 1 is it is characterised in that methods described also includes：
Obtain the obstacle distance of the range sensor collection of at least two sides being preset in current unmanned plane；
Determine the minimum distance of obstacle in the obstacle distance of each range sensor collection；
The positional information of positional information, described minimum distance of obstacle and current unmanned plane according to described adjacent unmanned plane controls
The flight of described current unmanned plane.
3. method according to claim 1 and 2, it is characterised in that described foundation and the first communication connection of earth station, is entered
One step includes：
Send data connection request to described earth station, in described data connection request, carry the equipment mark of current unmanned plane
Know, so that described earth station is according to described device identification, be dynamically that described current unmanned plane distributes communications address information, and on ground
Face station locally records the corresponding relation between the device identification of current unmanned plane and communications address information.
4. method according to claim 1 is it is characterised in that set up and the first communication connection of earth station described
Before, methods described also includes：
Obtain the state of flight information of current unmanned plane；
Judge according to described state of flight information whether the working condition of current unmanned plane is normal；
If the working condition of current unmanned plane is normal, execute the described step set up with the first communication connection of earth station.
5. method according to claim 4 is it is characterised in that methods described also includes：
If the working condition of current unmanned plane is abnormal, sends abnormality alarming, and restart current unmanned plane.
6. method according to claim 1 is it is characterised in that methods described also includes：
Judge the positional information of current unmanned plane whether with precalculated position Point matching, or it is default to judge whether current unmanned plane enters
Homeostasis；
If the positional information of current unmanned plane is mismatched with precalculated position point, or current unmanned plane do not enter into default from steady shape
State, then obtain the described latest position information of each adjacent unmanned plane and the latest position information of current unmanned plane, and according to
The information getting controls the flight of current unmanned plane.
7. a kind of unmanned plane formation scheduling controlling equipment is it is characterised in that described equipment includes：
First acquisition module, for setting up the first communication connection with earth station, based on the described first communication connection and earth station
Communicated, to obtain the communications address information of each adjacent unmanned plane with described earth station with annexation；
Second acquisition module, sets up and each adjacent unmanned plane for the communications address information according to each adjacent unmanned plane described
Second communication connection, based on set up second communication connection communicated with corresponding adjacent unmanned plane, to obtain each phase
The positional information of adjacent unmanned plane；
Control module, the positional information for the positional information according to each adjacent unmanned plane described and current unmanned plane controls
The flight of current unmanned plane.
8. equipment according to claim 7 is it is characterised in that described equipment also includes：
3rd acquisition module, for obtaining the obstacle of the range sensor collection of at least two sides being preset in current unmanned plane
Thing distance；
Determining module, for determining the minimum distance of obstacle in the obstacle distance that each range sensor gathers；
Described control module, is additionally operable to positional information according to described adjacent unmanned plane, described minimum distance of obstacle and current
The positional information of unmanned plane controls the flight of described current unmanned plane.
9. the equipment according to claim 7 or 8 is it is characterised in that described equipment also includes：
4th acquisition module, for, before described foundation with the first communication connection of earth station, obtaining flying of current unmanned plane
Row status information；
First determination module, for judging according to described state of flight information whether the working condition of current unmanned plane is normal；
Described first acquisition module, specifically for the work shape being current unmanned plane when the result of determination of described first determination module
When state is normal, the described operation set up with the first communication connection of earth station of execution；
Alarm module, for when the working condition that the result of determination of described first determination module is current unmanned plane is abnormal, sending out
Go out abnormality alarming.
10. equipment according to claim 7 is it is characterised in that described equipment also includes：
Second determination module, for judge the positional information of current unmanned plane whether with precalculated position Point matching, or judge current
Whether unmanned plane enters default homeostasis；
Described control module, be additionally operable to when the result of determination of described second determination module be current unmanned plane positional information with pre-
Determine location point to mismatch, or when current unmanned plane does not enter into default homeostasis, each is adjacent according to get
The latest position information of the latest position information of unmanned plane and current unmanned plane controls the flight of current unmanned plane.
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