CN107943087A - A kind of unmanned plane cluster flight control method - Google Patents
A kind of unmanned plane cluster flight control method Download PDFInfo
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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
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Abstract
The present invention relates to a kind of unmanned plane cluster flight control method, the unmanned plane cluster includes N number of unmanned plane, and the first unmanned plane during flying of control is to apart from ground the first distance d1 and hovering；First unmanned plane carries out obstacle scanning to space, feeds back the diameter of Spherical Volume whether there are obstacles in the range of the pre-set radius of first unmanned plane；If it is present the position of adjustment first unmanned plane, if it is not, then performing next step；First unmanned plane launches different identification in a plurality of directions；2nd N number of unmanned plane proportionally distributes the different marks for identifying the first unmanned plane transmitting, and flies to corresponding mark direction.The efficiency when present invention is improved to a large amount of unmanned plane clustered controls, avoids the manpower of early period during clustered control from putting unmanned plane, reduces the cost of clustered control, save time.
Description
Technical field
The present invention relates to a kind of control method of unmanned plane, more particularly to a kind of unmanned plane cluster flight control method.
Background technology
UAV abbreviation unmanned plane, english abbreviation UAV, is to utilize radio robot and the program provided for oneself
The not manned aircraft that control device manipulates.It can be divided into from technical standpoint definition：Unmanned helicopter, unmanned fixed-wing aircraft, nobody
Multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
Unmanned plane is widely used in electric inspection process, crops monitoring, environmental monitoring, movies-making, streetscape shooting, express delivery throwing
Pass, Post disaster relief, remote sensing mapping etc. field.In the prior art, entirety is formed by the unmanned plane of enormous amount to show into row information
Show, advertisement putting is to gradually form trend.
The cooperation of unmanned plane cluster becomes current important development trend, there is the control range of bigger, interaction to supply, task
Share.Collaborative Control unmanned plane group system is able to carry out complex task, shortens and performs task time, improves efficiency of turning out for work.
The cooperative groups of unmanned plane cluster establish underaction, it is necessary to which a large amount of manpowers carry out the overhaul of the equipments of early period, especially in the prior art
It is before being flown, it is necessary to which by a large amount of unmanned planes overhauled, manually rule alignment is set, it is necessary to expend big on the ground
Measure manpower and time.Be badly in need of it is a kind of can automated cluster control voluntarily form into columns positioning the multiple unmanned planes of control concentrate it is aobvious
The control mode shown.
The content of the invention
To solve above-mentioned technical problem：The application proposes a kind of unmanned plane cluster flight control method, the unmanned plane collection
Group includes N number of unmanned plane,
The first unmanned plane during flying is controlled to apart from ground the first distance d1 and hovering；
First unmanned plane carries out obstacle scanning to space, feeds back the ball in the range of the pre-set radius of first unmanned plane
Shape space whether there are obstacles；If it is present the position of adjustment first unmanned plane, if it is not, then performing next step；
First unmanned plane launches different identification in a plurality of directions；
The 2-N unmanned plane proportionally distributes the different marks for identifying the first unmanned plane transmitting, and flies to corresponding
Identify direction.
A kind of unmanned plane cluster flight control method, the position of adjustment first unmanned plane are specifically wrapped
Include：
If a direction, there are barrier, first unmanned plane is towards the reverse flight certain distance of the barrier, weight
New detection, until barrier is not present in the diameter of Spherical Volume using first unmanned plane as the centre of sphere；If adjusted by n times, nothing
Method finds the point there is no barrier, then feeds back to centralized control center, reconfigure pre-set radius.
A kind of unmanned plane cluster flight control method, the 2-N unmanned plane, which proportionally distributes, finds institute
The different high frequency waves for stating the transmitting of the first unmanned plane specifically include：N-1 unmanned plane divided by the multiple direction, remainder are assigned to
On first direction, the first direction is horizontal direction.
A kind of unmanned plane cluster flight control method, it is described fly to it is corresponding mark direction specifically include：
The 2-N unmanned plane is sequentially found corresponding mark, is found in identification procedure, with described according to the different identification of distribution
Centered on first unmanned plane, by range finder module measurement and the distance of the adjacent unmanned plane, exist according to pre-set flight distance
Corresponding mark direction sequential deployment, during expansion, measures the position for intending reaching by obstacle avoidance module and whether there is unmanned plane,
If it is present fly to the next position；
The 2-N unmanned plane circulates above-mentioned steps, until the whole of the 2-N unmanned plane according to the mark direction of distribution
According to the sequential deployment centered on the first unmanned plane.
A kind of unmanned plane cluster flight control method, the 2-N unmanned plane is on mark direction, with first
Unmanned plane is starting point, carries out stored count, using the concrete numerical value of counting as the numbering of itself, and is sent to centralized control center.
A kind of unmanned plane cluster flight control method, the stored count specifically include：Near first nobody
The distance of the first unmanned plane of unmanned plane detecting distance of machine, it is i to set itself numbering, by the numerical value simultaneous transmission to nearest nothing
Man-machine and centralized control center, the centralized control center combine the corresponding marks of numbering i, form the label that the numbering is i, and instead
For the unmanned plane of numbering of feeding i as the label for receiving instruction, the nearest unmanned plane, which will number, adds 1, numbering is changed into i+1,
And next nearest unmanned plane and centralized control center are transferred to, repeat the above process, until all unmanned planes are with corresponding
Label.
A kind of unmanned plane cluster flight control method, it is described to identify the high frequency waves for including different frequency, different face
The light of color.
A kind of unmanned plane cluster flight control method, the multiple direction include two or three sides of being mutually perpendicular to
To, described two directions include the two-dimensional coordinate system using the first unmanned plane as midpoint on surface parallel to the ground or vertical, or
Three-dimensional perpendicular coordinate system using the first unmanned plane as midpoint.
A kind of unmanned plane cluster flight control method, the information shown as needed, blocks the two dimension or three
The coordinate length of dimension coordinate system, beyond the part of length on the basis of coordinate length, using the unmanned plane in reference axis as alignment base
Quasi- flight is arranged to the plane space in coordinate system.
A kind of unmanned plane cluster flight control method, unmanned plane feed back to the position for arranging completion in collection control
The heart, the centralized control center show the label of corresponding unmanned plane over the display, and show that information generates each nothing as needed
Man-machine control instruction, control is specified and is sent on the unmanned plane of corresponding label.
The application sets the coordinate system in space by detecting the barrier in space, can be quickly by a large amount of unmanned planes in sky
Between in be unfolded according to setting program, it is necessary to which early period makes prolonged people on ground when avoiding a large amount of unmanned plane clustered controls
The time of work arrangement and cost consumption, establish space coordinate by clustered control and single unmanned plane, carry out the automatic of unmanned plane
Formation arrangement is carried out in space, and the test of unmanned plane can be carried out when formation is arranged, prevents unmanned plane in the task of execution,
Break down, when carrying out formation arrangement, the unmanned plane there will be destabilizing factor is removed rapidly, substantially increases clustered control
Efficiency.
Brief description of the drawings
Fig. 1 is the application unmanned plane cluster flight control method schematic diagram.
Fig. 2 is the application unmanned plane cluster flight control system schematic diagram.
Embodiment
The application is described in further detail below in conjunction with the accompanying drawings, it is necessary to it is indicated herein to be, implement in detail below
Mode is served only for that the application is further detailed, it is impossible to the limitation to the application protection domain is interpreted as, the field
Technical staff can make the application some nonessential modifications and adaptations according to above-mentioned application content.
Embodiment one：
As shown in Figure 1, proposing a kind of unmanned plane cluster flight control method for the application, the unmanned plane cluster includes N number of nothing
It is man-machine,
The first unmanned plane during flying is controlled to apart from ground the first distance d1 and hovering；
First unmanned plane carries out obstacle scanning to space, feeds back the ball in the range of the pre-set radius of first unmanned plane
Shape space whether there are obstacles；If it is present the position of adjustment first unmanned plane, if it is not, then performing next step；
First unmanned plane launches the high frequency waves of different frequency in a plurality of directions；
The 2-N unmanned plane proportionally distributes the high frequency waves for the different frequency for identifying the first unmanned plane transmitting, and flies to
The high frequency waves of corresponding different frequency.
A kind of unmanned plane cluster flight control method, the position of adjustment first unmanned plane are specifically wrapped
Include：
If a direction, there are barrier, first unmanned plane is towards the reverse flight certain distance of the barrier, weight
New detection, until barrier is not present in the diameter of Spherical Volume using first unmanned plane as the centre of sphere；If adjusted by n times, nothing
Method finds the point there is no barrier, then feeds back to centralized control center, reconfigure pre-set radius.
The pre-set radius is preferably more than d1/2.
A kind of unmanned plane cluster flight control method, the 2-N unmanned plane, which proportionally distributes, finds institute
The different high frequency waves for stating the transmitting of the first unmanned plane specifically include：N-1 unmanned plane divided by the multiple direction, remainder are assigned to
On first direction, the first direction is horizontal direction.
A kind of unmanned plane cluster flight control method, it is described to fly to the corresponding high frequency waves direction of the launch and specifically wrap
Include：
The 2-N unmanned plane sequentially finds the high frequency waves of corresponding different frequency, finds different frequencies according to the different identification of distribution
During the high frequency waves of rate, centered on first unmanned plane, pass through range finder module measurement and the adjacent unmanned plane
Distance, direction sequential deployment is identified according to pre-set flight distance corresponding, during expansion, is measured plan by obstacle avoidance module and is arrived
The position reached whether there is unmanned plane, if it is present flying to the next position；
The 2-N unmanned plane circulates above-mentioned steps according to the high frequency waves of the different frequency of distribution, until 2-N nobody
Machine all according to the sequential deployment centered on the first unmanned plane.
A kind of unmanned plane cluster flight control method, the 2-N unmanned plane is on mark direction, with first
Unmanned plane is starting point, carries out stored count, using the concrete numerical value of counting as the numbering of itself, and is sent to centralized control center.
A kind of unmanned plane cluster flight control method, the stored count specifically include：Near first nobody
The distance of the first unmanned plane of unmanned plane detecting distance of machine, it is i to set itself numbering, by the numerical value simultaneous transmission to nearest nothing
Man-machine and centralized control center, the centralized control center combine the corresponding marks of numbering i, form the label that the numbering is i, and instead
For the unmanned plane of numbering of feeding i as the label for receiving instruction, the nearest unmanned plane, which will number, adds 1, numbering is changed into i+1,
And next nearest unmanned plane and centralized control center are transferred to, repeat the above process, until all unmanned planes are with corresponding
Label.Test oneself after the completion of label.
Such as establish plane coordinate system with the high frequency waves of two different frequencies, the 2-N unmanned plane is assigned as two groups, two groups without
The man-machine high frequency waves for detecting different frequency respectively, the mode of line walking are carried out according to the high frequency waves of the different frequency distributed, successively
Fly in the rectilinear coordinates using the first unmanned plane as the frequency of the transmitting of starting point, make unmanned plane with first unmanned plane its starting point
Automatic-expanding on coordinate.Both direction is represented with the first high frequency waves C, the second high frequency waves D classification, then in the light A of the first color
Direction near the first unmanned plane marked as C-1, which is centralized control center according to the numeral for receiving unmanned plane transmission
After handled again, be set in when the label of the unmanned plane in subtask, and the label is sent to the unmanned plane, controlled in collection
Centrally through the operating status and positional information of the wireless signal transmission module real-time tracking unmanned plane.
And so on, the multiple unmanned planes of sequential deployment, and label and control can also be carried out on three directions successively.
A kind of unmanned plane cluster flight control method, the multiple direction include two or three sides of being mutually perpendicular to
To, described two directions include the two-dimensional coordinate system using the first unmanned plane as midpoint on surface parallel to the ground or vertical, or
Three-dimensional perpendicular coordinate system using the first unmanned plane as midpoint.
A kind of unmanned plane cluster flight control method, the information shown as needed, blocks the two dimension or three
The coordinate length of dimension coordinate system, beyond the part of length on the basis of coordinate length, using the unmanned plane in reference axis as alignment base
Quasi- flight is arranged to the plane space in coordinate system.
A kind of unmanned plane cluster flight control method, unmanned plane feed back to the position for arranging completion in collection control
The heart, the centralized control center show the label of corresponding unmanned plane over the display, and show that information generates each nothing as needed
Man-machine control instruction, control is specified and is sent on the unmanned plane of corresponding label.
As shown in Fig. 2, it is the application unmanned plane cluster flight control system schematic diagram.Including multiple unmanned planes, transmission letter
Number repeater, centralized control center；Signal transmission is carried out by wireless communication mode between the unmanned plane.
Embodiment two：
The unmanned plane cluster includes N number of unmanned plane,
The first unmanned plane during flying is controlled to apart from ground the first distance d1 and hovering；
First unmanned plane carries out obstacle scanning to space, feeds back the ball in the range of the pre-set radius of first unmanned plane
Shape space whether there are obstacles；If it is present the position of adjustment first unmanned plane, if it is not, then performing next step；
First unmanned plane launches the light of different colours in a plurality of directions；
The 2-N unmanned plane proportionally distributes the light for the different colours for identifying the first unmanned plane transmitting, and flies to correspondence
Different colours light.
A kind of unmanned plane cluster flight control method, the position of adjustment first unmanned plane are specifically wrapped
Include：
If a direction, there are barrier, first unmanned plane is towards the reverse flight certain distance of the barrier, weight
New detection, until barrier is not present in the diameter of Spherical Volume using first unmanned plane as the centre of sphere；If adjusted by n times, nothing
Method finds the point there is no barrier, then feeds back to centralized control center, reconfigure pre-set radius.
The pre-set radius is preferably more than d1/2.
A kind of unmanned plane cluster flight control method, the 2-N unmanned plane, which proportionally distributes, finds institute
The different high frequency waves for stating the transmitting of the first unmanned plane specifically include：N-1 unmanned plane divided by the multiple direction, remainder are assigned to
On first direction, the first direction is horizontal direction.
A kind of unmanned plane cluster flight control method, the light for flying to corresponding different colours specifically include：
The 2-N unmanned plane sequentially finds the light of corresponding different colours, finds different colours according to the different identification of distribution
In photoreduction process, centered on first unmanned plane, the distance with the adjacent unmanned plane is measured by range finder module, according to
Pre-set flight distance corresponding different colours light sequential deployment, during expansion, pass through obstacle avoidance module measurement intend reach
Position whether there is unmanned plane, if it is present flying to the next position；
The 2-N unmanned plane circulates above-mentioned steps, until the 2-N unmanned plane according to the light of the different colours of distribution
All according to the sequential deployment centered on the first unmanned plane.
A kind of unmanned plane cluster flight control method, light direction of the 2-N unmanned plane in different colours
On, using the first unmanned plane as starting point, stored count is carried out, using the concrete numerical value of counting as the numbering of itself, and is sent to collection
Control center.
A kind of unmanned plane cluster flight control method, the stored count specifically include：Near first nobody
The distance of the first unmanned plane of unmanned plane detecting distance of machine, it is i to set itself numbering, by the numerical value simultaneous transmission to nearest nothing
Man-machine and centralized control center, the centralized control center combine the corresponding marks of numbering i, form the label that the numbering is i, and instead
For the unmanned plane of numbering of feeding i as the label for receiving instruction, the nearest unmanned plane, which will number, adds 1, numbering is changed into i+1,
And next nearest unmanned plane and centralized control center are transferred to, repeat the above process, until all unmanned planes are with corresponding
Label.
After the completion of label, all unmanned planes are tested for the property, the operation of all unmanned planes is monitored by centralized control center
Situation, the centralized control center sends control instruction and tests oneself to all unmanned planes, if unmanned plane can not be by testing oneself
Program, then control the unmanned plane to return, its positional information be sent to centralized control center before return, centralized control center believes the position
Breath is forwarded to another unmanned plane on ground, and another unmanned plane on ground flies to rapidly the position after receiving the positional information.
In flight course, first unmanned plane is scanned first, then using first unmanned plane as reference point, flies to corresponding position
Put.
Plane coordinate system is such as established with the light of two different colours, the 2-N unmanned plane is assigned as two groups, two groups of unmanned planes
The light of different colours is detected respectively, and the mode of line walking is carried out according to the light of the different colours distributed, is flown to successively with the first nothing
In the rectilinear coordinates of the light of the man-machine transmitting for starting point, unmanned plane is set to be opened up automatically on the coordinate of first unmanned plane its starting point
Open.Both direction is represented with the light B of the light A of the first color, the second color classification, then the first color light A direction most
Close to the first unmanned plane marked as A-1, which is centralized control center according to being carried out again after the numeral for receiving unmanned plane transmission
New processing, is set in when the label of the unmanned plane in subtask, and the label is sent to the unmanned plane, passes through in centralized control center
The operating status and positional information of the wireless signal transmission module real-time tracking unmanned plane.
And so on, the multiple unmanned planes of sequential deployment, and label and control can also be carried out on three directions successively.
A kind of unmanned plane cluster flight control method, it is described to identify the light for including different colours.
A kind of unmanned plane cluster flight control method, the multiple direction include two or three sides of being mutually perpendicular to
To, described two directions include the two-dimensional coordinate system using the first unmanned plane as midpoint on surface parallel to the ground or vertical, or
Three-dimensional perpendicular coordinate system using the first unmanned plane as midpoint.
A kind of unmanned plane cluster flight control method, the information shown as needed, blocks the two dimension or three
The coordinate length of dimension coordinate system, beyond the part of length on the basis of coordinate length, using the unmanned plane in reference axis as alignment base
Quasi- flight is arranged to the plane space in coordinate system.
A kind of unmanned plane cluster flight control method, unmanned plane feed back to the position for arranging completion in collection control
The heart, the centralized control center show the label of corresponding unmanned plane over the display, and show that information generates each nothing as needed
Man-machine control instruction, control is specified and is sent on the unmanned plane of corresponding label.
The application sets the coordinate system in space by detecting the barrier in space, can be quickly by a large amount of unmanned planes in sky
Between in be unfolded according to setting program, it is necessary to which early period makes prolonged people on ground when avoiding a large amount of unmanned plane clustered controls
The time of work arrangement and cost consumption, establish space coordinate by clustered control and single unmanned plane, carry out the automatic of unmanned plane
Formation arrangement is carried out in space, and the test of unmanned plane can be carried out when formation is arranged, prevents unmanned plane in the task of execution,
Break down, when carrying out formation arrangement, the unmanned plane there will be destabilizing factor is removed rapidly, substantially increases clustered control
Efficiency.
Claims (10)
1. a kind of unmanned plane cluster flight control method, the unmanned plane cluster includes N number of unmanned plane, it is characterised in that：
The first unmanned plane during flying is controlled to apart from ground the first distance d1 and hovering；
First unmanned plane carries out obstacle scanning to space, feeds back the ball in the range of the pre-set radius of first unmanned plane
Shape space whether there are obstacles；If it is present the position of adjustment first unmanned plane, if it is not, then performing next step；
First unmanned plane launches different identification in a plurality of directions；
The 2-N unmanned plane proportionally distributes the different marks for identifying the first unmanned plane transmitting, and flies to corresponding
Identify direction.
A kind of 2. unmanned plane cluster flight control method as claimed in claim 1, it is characterised in that the adjustment described first
The position of unmanned plane specifically includes：
If a direction, there are barrier, first unmanned plane is towards the reverse flight certain distance of the barrier, weight
New detection, until barrier is not present in the diameter of Spherical Volume using first unmanned plane as the centre of sphere；If adjusted by n times, nothing
Method finds the point there is no barrier, then feeds back to centralized control center, reconfigure pre-set radius.
A kind of 3. unmanned plane cluster flight control method as claimed in claim 1, it is characterised in that the 2-N nobody
The different high frequency waves that machine proportionally distributes searching the first unmanned plane transmitting specifically include：N-1 unmanned plane divided by institute
Multiple directions are stated, remainder is assigned on first direction, and the first direction is horizontal direction.
4. a kind of unmanned plane cluster flight control method as claimed in claim 1, it is characterised in that described to fly to corresponding mark
Know direction to specifically include：
The 2-N unmanned plane is sequentially found corresponding mark, is found in identification procedure, with described according to the different identification of distribution
Centered on first unmanned plane, by range finder module measurement and the distance of the adjacent unmanned plane, exist according to pre-set flight distance
Corresponding mark direction sequential deployment, during expansion, measures the position for intending reaching by obstacle avoidance module and whether there is unmanned plane,
If it is present fly to the next position；
The 2-N unmanned plane circulates above-mentioned steps, until the whole of the 2-N unmanned plane according to the mark direction of distribution
According to the sequential deployment centered on the first unmanned plane.
A kind of 5. unmanned plane cluster flight control method as claimed in claim 4, it is characterised in that the 2-N nobody
Machine is on mark direction, using the first unmanned plane as starting point, stored count is carried out, using the concrete numerical value of counting as the volume of itself
Number, and it is sent to centralized control center.
6. a kind of unmanned plane cluster flight control method as claimed in claim 5, it is characterised in that the stored count is specific
Including：Near the distance of the first unmanned plane of unmanned plane detecting distance of the first unmanned plane, it is i to set itself numbering, this is counted
It is worth simultaneous transmission to combine the corresponding marks of numbering i to nearest unmanned plane and centralized control center, the centralized control center, formed
The label that the numbering is i, and the unmanned plane for feeding back to numbering i will be compiled as the label for receiving instruction, the nearest unmanned plane
Number plus 1, numbering is changed into i+1, and be transferred to next nearest unmanned plane and centralized control center, repeat the above process, until
All unmanned planes have corresponding label.
7. a kind of unmanned plane cluster flight control method as claimed in claim 5, it is characterised in that the mark includes difference
The high frequency waves of frequency, the light of different colours.
8. a kind of unmanned plane cluster flight control method as claimed in claim 5, it is characterised in that the multiple direction includes
Two or three mutually perpendicular directions, described two directions include surface parallel to the ground or vertical using the first unmanned plane as
The two-dimensional coordinate system at midpoint, or the three-dimensional perpendicular coordinate system using the first unmanned plane as midpoint.
A kind of 9. unmanned plane cluster flight control method as claimed in claim 8, it is characterised in that the letter shown as needed
Breath, blocks the two dimension or the coordinate length of three-dimensional system of coordinate, beyond the part of length on the basis of coordinate length, with reference axis
On unmanned plane for alignment reference flight to coordinate system in plane space arranged.
10. a kind of unmanned plane cluster flight control method as claimed in claim 9, it is characterised in that unmanned plane will arrange
Into position feed back to centralized control center, the centralized control center shows the label of corresponding unmanned plane over the display, and according to need
Show that information generates the control instruction of each unmanned plane, control is specified and is sent on the unmanned plane of corresponding label.
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| CN112947540A (en) * | 2021-01-13 | 2021-06-11 | 施长锋 | Data analysis type flight regulation system |
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