CN113031637A - Multi-flying-robot integrated operation platform - Google Patents
Multi-flying-robot integrated operation platform Download PDFInfo
- Publication number
- CN113031637A CN113031637A CN202110245666.3A CN202110245666A CN113031637A CN 113031637 A CN113031637 A CN 113031637A CN 202110245666 A CN202110245666 A CN 202110245666A CN 113031637 A CN113031637 A CN 113031637A
- Authority
- CN
- China
- Prior art keywords
- module
- central control
- operation platform
- sub aircraft
- control module
- 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.)
- Granted
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000000354 decomposition reaction Methods 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000004891 communication Methods 0.000 abstract description 2
- 230000007123 defense Effects 0.000 abstract description 2
- 230000036544 posture Effects 0.000 description 13
- 239000013598 vector Substances 0.000 description 8
- 230000003993 interaction Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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)
- Manipulator (AREA)
Abstract
The invention relates to a collective operation platform of multiple flying robots, belonging to the technical field of control technology, guidance technology, sensing technology and wireless communication. The centralized operation platform comprises a central control module, sub aircraft modules and load modules, wherein the sub aircraft modules are uniformly distributed on two sides of the central control module, and the load modules are arranged on the central control module; the central control module is used for calculating attitude information required to be executed by each sub aircraft module and sending a driving instruction to the sub aircraft modules, the sub aircraft modules adjust the attitude according to the received driving instruction and feed the attitude information of the sub aircraft modules back to the central control module, and the purpose of executing tasks is achieved by adjusting and controlling the attitude of each sub aircraft module to adjust the attitude of the load module. The collective operation platform has a long-distance flexible accurate rescue function, a short-distance omnidirectional disposal function and flexible defense burst and intelligent fault tolerance functions, and can enable the flying robot to better execute complex tasks.
Description
Technical Field
The invention relates to a collective operation platform of multiple flying robots, belonging to the technical field of control technology, guidance technology, sensing technology and wireless communication.
Background
At present, according to the rescue needs after sudden explosion in cities, an aircraft is required to carry a fire extinguishing bomb launching device, a rescue rope projecting device and the like remotely for remote fire rescue, and demolition and evacuation operations of explosives, and the aircraft has good fault tolerance and flexibility. The multi-flight unmanned aerial vehicle cluster system is a good mode for realizing the functions, namely a plurality of aircrafts form a flight group, has good cooperativity, and has a wide application prospect in the field of urban fire rescue.
However, in the conventional cluster aircraft system, only information interaction is required among the member aircraft, and no connection on a mechanical structure is required, that is, the system is in distributed control of a plurality of single individuals, has the defects of limited performance of single aircraft and low adaptability, and cannot well execute complex tasks with high requirements on the performance of the cluster flight system.
Disclosure of Invention
In order to enable the flying robot to be capable of better adapting to complex environments of rescue scenes, the invention provides a multi-flying robot integrated operation platform, the flying robots are fixedly connected into a whole by a connecting device, and the member aircrafts have interaction between force and moment, so that the integrated union can flexibly change the structure, the integrated union is deformed by changing the postures of the sub aircrafts, and the postures of a fire extinguishing bomb launching device, a rescue rope projecting device and a manipulator are adjusted to achieve the purpose of executing tasks.
The purpose of the invention is realized by the following technical scheme.
A collective operation platform of a multi-flying robot comprises a central control module, sub aircraft modules and a load module;
the central control module is used for calculating attitude information (including attitude angles and tension) required to be executed by each sub aircraft module and sending a driving instruction to the sub aircraft modules;
the sub aircraft module adjusts the attitude according to the received driving instruction sent by the central control module and feeds the attitude information adjusted by the sub aircraft module back to the central control module so as to judge whether the driving instruction execution is normal or not;
the load module is a rescue tool required by executing a task;
the sub aircraft modules are uniformly distributed on two sides of the central control module, each sub aircraft module is fixedly connected with the central control module through a rod-shaped connecting structure, and the load module is arranged on the central control module;
when the integrated operation platform executes the task, the attitude of the load module is adjusted by regulating and controlling the attitude of each sub aircraft module under the relevant instruction of the central control module so as to achieve the purpose of executing the task.
Furthermore, the central control module is also communicated with a ground station system, so that the ground station system can remotely control and monitor the running state of the centralized operation platform.
Furthermore, the central control module comprises a central processing unit, a flight control I and a control bus I, wherein the flight control I is used for acquiring the position and attitude information of the sub aircraft modules and transmitting the position and attitude information to the central processing unit, and the central processing unit calculates attitude angles and tension vectors required to be executed by the sub aircraft modules by running a flight control algorithm and sends driving instructions to the sub aircraft modules through the control bus I.
Furthermore, the sub aircraft module comprises a calculation processor, a flight control II and a control bus II, the calculation processor transmits the received driving instruction sent by the central control module to the flight control II, so that the sub aircraft module executes the attitude angle and the tension vector of the driving instruction, meanwhile, the flight control II acquires the attitude information after the sub aircraft module executes the driving instruction and feeds the acquired information back to the central control module through the calculation processor and the control bus II, and the central control module judges whether the driving instruction is normally executed.
Further, the load module can select rescue tools with different loads according to different execution tasks;
when long-distance (within 1 kilometer) flexible and accurate rescue is implemented, the load module can select a fire extinguishing bomb launching device, a rescue rope ejection device and the like, the load module can aim at a target by changing the attitude angle of the load module, and the force and the moment generated in the launching process by the integrated body are flexibly interacted by the interactive control means such as admittance control and the like, so that the integrated body is kept stable in the launching process;
when the treatment is carried out in a near distance (within 2 meters) in an omnidirectional way, the load module is a manipulator, the posture of the manipulator is controlled and adjusted by coordinating a plurality of aircraft modules, a certain posture track is tracked according to the operation requirement of the manipulator, the manipulator approaches to a target in a proper posture, and the position and the posture of the manipulator are adjusted simultaneously in the treatment process until the treatment task is completed.
The integrated operation platform has a flexible defense function, and the working principle is as follows: when the aircraft integrated body needs to penetrate through a heterogeneous space of a multi-obstacle or enter the interior of a building, the plurality of sub aircraft modules cooperatively rotate around the kinematic pair according to the size of the space, the complex environment which needs to pass through is adapted through deformation, and after the complex environment reaches an operation place, the plurality of sub aircraft modules can rotate around the kinematic pair again to be deformed into an operation state to be configured so as to carry out operation.
The integrated operation platform has an intelligent fault-tolerant function, and the working principle is as follows: when the sub aircraft module is in a fault state, the central control module can coordinate the cooperative motion of other sub aircraft modules to compensate the fault aircraft module, so that the whole collective operation platform still keeps certain motion capability and has fault tolerance in the task execution process. If the sub aircraft module connected with the load is in an abnormal state, the central control module can send related instructions to the sub aircraft module, the sub aircraft module without fault is separated in a decomposition mode, and other tasks are executed or the sub aircraft module is evacuated from the field; if the sub aircraft module without the connected load is in an abnormal state, the central control module can send related instructions to the sub aircraft module, the failed sub aircraft module is separated in a decomposition mode, and the integrated operation platform continues to execute the original task.
Has the advantages that:
(1) the collective-connection operating platform of the multi-flying robot is different from a traditional collective aircraft system, the collective-connection body of the multi-flying robot is an integral body formed by connecting devices of all sub aircraft, and all member aircraft have force and moment interaction, so that the collective-connection body can flexibly change the structure, and the collective-connection body is deformed by changing the postures of all the sub aircraft, so that the postures of a transmitting device or a manipulator can be adjusted to achieve the purpose of executing tasks; and the integrated operation platform adopts a centralized control mode, a central control module makes a decision and generates instructions to all the sub-aircrafts, and receives information fed back by the sub-aircrafts in real time, so that the integrated operation platform has high integration degree and high degree of synergy, has multiple functions of long-distance flexible accurate rescue, short-distance omnidirectional treatment, flexible sudden-defense, intelligent fault tolerance and the like, and can meet multiple requirements of urban explosion fire rescue.
(2) The integrated operation platform of the multi-flying robot can realize flexible penetration and intelligent fault-tolerant functions, and ensures that the flying robot has certain safety guarantee in the condition that the flying robot needs to pass through heterogeneous spaces of multiple obstacles or enters the interior of a building or a sub aircraft module fails; and the union operation platform has the advantages of high synergy, flexible deformation, high fault tolerance rate and the like, is convenient for prolonging the service life and the operation efficiency of the fire rescue flying robot, and enables the flying robot to better adapt to the complex environment of a rescue scene.
Drawings
Fig. 1 is a schematic diagram illustrating the collective operation platform passing through a narrow space in the embodiment.
Fig. 2 is an exploded schematic view of a sub aircraft module connected to a load in the collective operation platform according to the embodiment in the event of a failure.
Fig. 3 is an exploded schematic view of a sub aircraft module without a connection load in the collective operation platform according to the embodiment when a fault occurs.
Detailed Description
The present invention is further illustrated below with reference to specific embodiments, wherein the process is conventional unless otherwise specified.
Example 1
A collective operation platform of a multi-flying robot comprises a central control module, sub aircraft modules and a load module;
the central control module comprises a central processing unit, a flight control I and a control bus I, and the central processing unit can adopt various computer processing embedded development boards with operation functions and data storage functions such as TX2 and the like according to the realized functions and the size of data storage; the central processing unit can be connected with a flight control I through a USB, the flight control I is used for acquiring position and attitude information of the sub aircraft modules and transmitting the position and attitude information to the central processing unit, the central processing unit calculates attitude confidence such as attitude angles and tension vectors required to be executed by each sub aircraft module through a flight control algorithm and sends driving instructions to each sub aircraft module through a control bus I;
the mechanical structure of the sub aircraft module can select a four-rotor robot as required, the sub aircraft module comprises a calculation processor, a flight control II and a control bus II, the calculation processor transmits a received driving instruction sent by the central control module to the flight control II, so that the sub aircraft module executes an attitude angle and a tension vector of the driving instruction, meanwhile, the flight control II acquires attitude information after the sub aircraft module executes the driving instruction and transmits the acquired information to the calculation processor, and the calculation processor feeds the attitude information of the sub aircraft module back to the central control module through the control bus II, so that the central control module can judge whether the driving instruction is normally executed;
the load module is a rescue tool required by executing tasks, and rescue tools with different loads can be selected according to different executed tasks; when long-distance (within 1 kilometer) flexible and accurate rescue is implemented, the load module is a fire extinguishing bomb launching device, a rescue rope projecting device and the like; when the treatment is carried out in a short distance (within 2 meters) in an omnidirectional way, the load module is a manipulator;
the sub aircraft modules are uniformly distributed on two sides of the central control module, each sub aircraft module is fixedly connected with the central control module through a rod-shaped connecting structure, and the load module is arranged on the central control module; the central control module can also communicate with a ground station system through a local area network, so that the ground station system can remotely control and monitor the running state of the centralized operation platform;
the integrated operation platform has a long-distance flexible accurate rescue function, a short-distance omnidirectional disposal function and flexible sudden-prevention and intelligent fault-tolerant functions, and the principle is as follows:
the principle of the long-distance flexible and accurate rescue function is as follows: the integrated operation platform has full-drive and omnidirectional movement capabilities, the load module is fixedly connected to the integrated flying platform, and under the condition that the integrated body is kept hovering, the central control module sends instructions to the sub aircraft modules, so that the postures of the sub aircraft modules can be adjusted, the integrated body is deformed, and the posture angle of the load module is further changed. If the collective and conjunctive body composed of n sub aircraft modules exists, the pulling force of the n sub aircraft modules can point to different directions, the collective and conjunctive body can be kept hovering by adjusting the magnitude and the direction of the n pulling force vectors, the posture of the load module is adjusted, the load module aims at a target, and the force and the moment generated in the launching process by the collective and conjunctive body are flexibly interacted by the interactive control means such as admittance control, so that the collective and conjunctive body is kept stable in the launching process, the site can be evacuated after the task is completed, and the secondary use is facilitated.
Principle of short-range omnidirectional treatment function: in a combat area, if explosives need to be dismantled and removed, a plurality of sub aircraft modules are selected to construct a collective operation platform to dispose dangerous goods according to the size and the weight of a manipulator. In the process of moving away from the object, under the condition that the integrated body is kept hovering, the central control module sends an instruction to each sub aircraft module, the postures of the sub aircraft modules can be adjusted, and then the integrated body is deformed, so that the posture of the manipulator can be adjusted. And tracking a certain attitude track according to the operation requirement of a load module, namely a manipulator, so that the manipulator approaches to the target at a proper attitude, and simultaneously adjusting the position and the attitude of the manipulator in the process of approaching the target by the integrated operation platform until the treatment task is completed.
Principle of flexible penetration function: when the collective operation platform needs to pass through a heterogeneous space of multiple obstacles or enter the interior of a building, according to the size of the space, the central control module calculates through a control algorithm to obtain a tension vector required by deformation caused by cooperative motion of the collective operation platform so as to rotate around a kinematic pair, and sends the tension vector to the sub aircraft module for corresponding deformation, so that the collective operation platform can pass through a window or a complex environment, as shown in fig. 1. For example, if the horizontal dimension of the window is insufficient, the attitude angles of the sub aircraft modules may be adjusted so that the sub aircraft modules pass in sequence in an inclined attitude.
Principle of intelligent fault-tolerant function: in the process of executing tasks by the integrated operation platform, when the central control module detects that the attitude angle and the tension vector fed back by the sub aircraft module are inconsistent with the driving instruction, the sub aircraft module is indicated to have a fault, if the sub aircraft module connected with the load is in an abnormal state, the central control module can send a related instruction to the sub aircraft module, the fault-free sub aircraft module is separated in a decomposition mode, and other tasks are executed or the site is evacuated, as shown in fig. 2; if the sub aircraft module without the connected load is in an abnormal state, the central control module can send a related instruction to the sub aircraft module, the failed sub aircraft module is separated in a decomposition mode, and the collective operation platform continues to execute the original task, as shown in fig. 3.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a collection of many flying robot allies oneself with operation platform which characterized in that: the integrated operation platform comprises a central control module, a sub aircraft module and a load module;
the central control module is used for calculating attitude information required to be executed by each sub aircraft module and sending a driving instruction to the sub aircraft modules;
the sub aircraft module adjusts the attitude according to the received driving instruction sent by the central control module and feeds the attitude information adjusted by the sub aircraft module back to the central control module so as to judge whether the driving instruction execution is normal or not;
the load module is a rescue tool required by executing a task;
the sub aircraft modules are uniformly distributed on two sides of the central control module, each sub aircraft module is fixedly connected with the central control module through a rod-shaped connecting structure, and the load module is arranged on the central control module;
when the integrated operation platform executes the task, the attitude of the load module is adjusted by regulating and controlling the attitude of each sub aircraft module under the relevant instruction of the central control module so as to achieve the purpose of executing the task.
2. The collective operation platform of multi-flying robot of claim 1, wherein: the central control module is also communicated with the ground station system, so that the ground station system can remotely control and monitor the running state of the centralized operation platform.
3. The collective operation platform of multi-flying robot of claim 1, wherein: the central control module comprises a central processing unit, a flight control I and a control bus I, wherein the flight control I is used for acquiring the position and attitude information of the sub aircraft modules and transmitting the position and attitude information to the central processing unit, and the central processing unit calculates the attitude information required to be executed by each sub aircraft module through a flight control algorithm and sends a driving instruction to each sub aircraft module through the control bus I.
4. The collective operation platform of multi-flying robot of claim 1, wherein: the sub aircraft module comprises a calculation processor, a flight control II and a control bus II, the calculation processor transmits a received driving instruction sent by the central control module to the flight control II, so that the sub aircraft module executes the attitude information of the driving instruction, and meanwhile, the flight control II acquires the attitude information after the sub aircraft module executes the driving instruction and feeds the acquired information back to the central control module through the calculation processor and the control bus II, so that the central control module can judge whether the driving instruction is normally executed.
5. The collective operation platform of multi-flying robot of claim 1, wherein: when the integrated operation platform carries out rescue within 1 kilometer, the load module is a fire extinguishing bomb launching device or a rescue rope ejecting device; when the integrated operation platform is used for omnidirectional treatment within 2 meters, the load module is a mechanical arm.
6. The collective operation platform of multi-flying robot of claim 1, wherein: when the integrated operation platform needs to pass through a heterogeneous space with multiple obstacles or enter the interior of a building in the task execution process, under the relevant instruction of the central control module, all the sub aircraft modules rotate around the kinematic pair in a coordinated mode to generate deformation so as to adapt to the complex environment needing to pass through, and after the integrated operation platform reaches an operation place, all the sub aircraft modules rotate around the kinematic pair again as required to deform into an operation state to form for operation.
7. The collective operation platform of multi-flying robot of claim 1, wherein: when a fault occurs in the task execution process of the integrated operation platform, if the sub aircraft module connected with the load is in an abnormal state, the central control module sends a related instruction to the sub aircraft module, the sub aircraft module without the fault is separated in a decomposition mode, and other tasks are executed or the site is evacuated; and if the sub aircraft module without the connected load is in an abnormal state, the central control module sends a related instruction to the sub aircraft module, and the failed sub aircraft module is separated in a decomposition mode, so that the collective operation platform continues to execute the original task.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110245666.3A CN113031637B (en) | 2021-03-05 | 2021-03-05 | Multi-flying-robot integrated operation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110245666.3A CN113031637B (en) | 2021-03-05 | 2021-03-05 | Multi-flying-robot integrated operation platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113031637A true CN113031637A (en) | 2021-06-25 |
| CN113031637B CN113031637B (en) | 2023-03-10 |
Family
ID=76468054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110245666.3A Active CN113031637B (en) | 2021-03-05 | 2021-03-05 | Multi-flying-robot integrated operation platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113031637B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140249693A1 (en) * | 2013-02-15 | 2014-09-04 | Disney Enterprises, Inc. | Controlling unmanned aerial vehicles as a flock to synchronize flight in aerial displays |
| CN204310050U (en) * | 2014-12-05 | 2015-05-06 | 成都飞机设计研究所 | Many bodies can divide unmanned plane |
| CN204737032U (en) * | 2015-06-03 | 2015-11-04 | 江苏数字鹰科技发展有限公司 | From many rotor crafts of dismissal formula |
| CN105539833A (en) * | 2016-01-11 | 2016-05-04 | 成都学尚科技有限公司 | Fixed-wing multi-shaft aircraft |
| CN105644777A (en) * | 2016-03-17 | 2016-06-08 | 中国直升机设计研究所 | Assembly type multi-rotor aerocraft |
| CN105739524A (en) * | 2015-11-11 | 2016-07-06 | 刘晓阳 | Mooring unmanned rotor craft cluster platform system and liquid continuous sprinkling system |
| US20160378109A1 (en) * | 2015-06-25 | 2016-12-29 | Intel Corporation | Personal sensory drones |
| CN107450597A (en) * | 2017-08-18 | 2017-12-08 | 南方科技大学 | The communication system and method for rescue at sea equipment |
| US20180155021A1 (en) * | 2016-12-02 | 2018-06-07 | U.S.A. as represented by the Administrator of NASA | Modular Unmanned Aerial System with Multi-Mode Propulsion |
| CN110329489A (en) * | 2019-08-19 | 2019-10-15 | 中国科学院工程热物理研究所 | Parallel unmanned vehicle based on flexible connection technology |
| KR20200095416A (en) * | 2019-01-31 | 2020-08-10 | 태경전자주식회사 | Method for clustering flight of drone with searchlight |
| CN111824415A (en) * | 2020-07-08 | 2020-10-27 | 北京航空航天大学 | Bee colony unmanned aerial vehicle pneumatic layout capable of serially combined flying |
| CN211766290U (en) * | 2019-12-17 | 2020-10-27 | 北京航空航天大学 | Combined distributed unmanned aerial vehicle and combined structure thereof |
| CN112193415A (en) * | 2020-11-12 | 2021-01-08 | 重庆凯创荣智能科技有限公司 | Combined rescue unmanned aerial vehicle and using method thereof |
-
2021
- 2021-03-05 CN CN202110245666.3A patent/CN113031637B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140249693A1 (en) * | 2013-02-15 | 2014-09-04 | Disney Enterprises, Inc. | Controlling unmanned aerial vehicles as a flock to synchronize flight in aerial displays |
| CN204310050U (en) * | 2014-12-05 | 2015-05-06 | 成都飞机设计研究所 | Many bodies can divide unmanned plane |
| CN204737032U (en) * | 2015-06-03 | 2015-11-04 | 江苏数字鹰科技发展有限公司 | From many rotor crafts of dismissal formula |
| US20160378109A1 (en) * | 2015-06-25 | 2016-12-29 | Intel Corporation | Personal sensory drones |
| CN105739524A (en) * | 2015-11-11 | 2016-07-06 | 刘晓阳 | Mooring unmanned rotor craft cluster platform system and liquid continuous sprinkling system |
| CN105539833A (en) * | 2016-01-11 | 2016-05-04 | 成都学尚科技有限公司 | Fixed-wing multi-shaft aircraft |
| CN105644777A (en) * | 2016-03-17 | 2016-06-08 | 中国直升机设计研究所 | Assembly type multi-rotor aerocraft |
| US20180155021A1 (en) * | 2016-12-02 | 2018-06-07 | U.S.A. as represented by the Administrator of NASA | Modular Unmanned Aerial System with Multi-Mode Propulsion |
| CN107450597A (en) * | 2017-08-18 | 2017-12-08 | 南方科技大学 | The communication system and method for rescue at sea equipment |
| KR20200095416A (en) * | 2019-01-31 | 2020-08-10 | 태경전자주식회사 | Method for clustering flight of drone with searchlight |
| CN110329489A (en) * | 2019-08-19 | 2019-10-15 | 中国科学院工程热物理研究所 | Parallel unmanned vehicle based on flexible connection technology |
| CN211766290U (en) * | 2019-12-17 | 2020-10-27 | 北京航空航天大学 | Combined distributed unmanned aerial vehicle and combined structure thereof |
| CN111824415A (en) * | 2020-07-08 | 2020-10-27 | 北京航空航天大学 | Bee colony unmanned aerial vehicle pneumatic layout capable of serially combined flying |
| CN112193415A (en) * | 2020-11-12 | 2021-01-08 | 重庆凯创荣智能科技有限公司 | Combined rescue unmanned aerial vehicle and using method thereof |
Non-Patent Citations (7)
| Title |
|---|
| AUDROW J. NASH，等: ""Establishing and maintaining formations of mini quadrotors"", 《IEEE SOUTHEASTCON 2014》 * |
| HAIDER A. F. ALMURIB，等: ""Control and path planning of quadrotor aerial vehicles for search and rescue"", 《SICE ANNUAL CONFERENCE 2011》 * |
| HAI-NGUYEN NGUYEN，等: ""A Novel Robotic Platform for Aerial Manipulation Using Quadrotors as Rotating Thrust Generators"", 《IEEE TRANSACTIONS ON ROBOTICS》 * |
| XILUN DING，等: ""Dynamic analysis, optimal planning and composite control for aerial arm-operating with a multi-propeller multifunction aerial robot"", 《2012 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION》 * |
| 李铭扬，等: ""面向集联操作的多飞行器通信程序设计与实现"", 《2020中国自动化大会(CAC2020)论文集》 * |
| 杜健睿，等: ""用于数据驱动控制的多飞行器集联操作机器人的仿真软件开发"", 《2020中国自动化大会(CAC2020)论文集》 * |
| 段海滨，等: ""无人机自主集群技术研究展望"", 《科技导报》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113031637B (en) | 2023-03-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11919149B2 (en) | Autonomous ground vehicle for solar module installation | |
| Smith et al. | Astrobee: A new platform for free-flying robotics on the international space station | |
| JP5580450B2 (en) | Closed loop feedback control using motion capture system | |
| CN105045286B (en) | A method of based on the monitoring unmanned plane of autopilot and genetic algorithm hovering range | |
| CN105314102A (en) | Unmanned aerial vehicle provided with mechanical arm | |
| CN101956564B (en) | Autonomous intelligent detection multi-robot system for mine | |
| CN105652884A (en) | Unmanned aerial vehicle flying method and unmanned aerial vehicle flying system | |
| CN204527375U (en) | A kind of crawler type detection multi-robot system | |
| CN116301051A (en) | Unmanned aerial vehicle cluster control and obstacle avoidance method and device | |
| CN113031637B (en) | Multi-flying-robot integrated operation platform | |
| CN205545621U (en) | A engineer work vehicle remote control system | |
| CN112148000B (en) | In-cabin simulation platform for simulating operation scene of space maintenance robot and implementation method | |
| US11932402B2 (en) | State information and telemetry for suspended load control equipment apparatus, system, and method | |
| CN105035323A (en) | Remote-control flight-type dry powder extinguishing lifesaving device | |
| CN113359866B (en) | Cooperative control framework of distributed multi-dwelling spherical unmanned system | |
| CN111913482A (en) | Pigeon swarm robot motion control method based on multiple agents | |
| CN112527013A (en) | Unmanned aerial vehicle group safety flight control system | |
| CN113110197A (en) | Unmanned aerial vehicle autonomous control and manual remote control safety switching system and control method | |
| CN214846395U (en) | Four rotor unmanned aerial vehicle flight control systems | |
| CN112306072A (en) | Unmanned helicopter and ground control system | |
| CN116048121A (en) | Unmanned aerial vehicle and unmanned sub-aerial vehicle combined exploration system and method | |
| US11992444B1 (en) | Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable | |
| CN218226624U (en) | Novel air-ground integrated emergency conveying and disaster relief robot | |
| US11945697B2 (en) | Multiple remote control for suspended load control equipment apparatus, system, and method | |
| US20240217660A1 (en) | State information and telemetry for suspended load control equipment apparatus, system, and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |