CN107918403A - A kind of implementation method of multiple no-manned plane flight path collaborative planning - Google Patents
A kind of implementation method of multiple no-manned plane flight path collaborative planning Download PDFInfo
- Publication number
- CN107918403A CN107918403A CN201711495375.XA CN201711495375A CN107918403A CN 107918403 A CN107918403 A CN 107918403A CN 201711495375 A CN201711495375 A CN 201711495375A CN 107918403 A CN107918403 A CN 107918403A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- plane
- flight
- flight path
- collaboration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000004891 communication Methods 0.000 claims description 13
- 238000012876 topography Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000005192 partition Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The object of the present invention is to provide a kind of implementation method of multiple no-manned plane flight path collaborative planning, including：The method to communicate between unmanned plane；The method for planning track of principal and subordinate's follow the mode collaboration flight；The method for planning track of region division pattern collaboration flight；Method for planning track of the hot spot around pattern collaboration flight；Flight path has unmanned plane collision avoidance method during intersection.The present invention can solve single unmanned plane and complete the limited limitation of task ability, and larger complex task is completed using multiple no-manned plane collaboration；Three kinds of collaboration offline mode, can solve various unmanned plane cotaskings, and collision avoids voluntarily being completed by the unmanned plane to fly in opposite directions, it is not necessary to the advantages that center control nodes are intervened.
Description
Technical field
The present invention relates to robot and wireless communication technology field, more particularly to a kind of multiple no-manned plane flight path collaboration rule
The implementation method drawn.
Background technology
As the reduction of the progress and cost of unmanned air vehicle technique, its application are more and more wider.When single unmanned plane is by its flight
Between and scope limitation, can completing for task is limited.Multiple no-manned plane cooperates, and can complete more complicated and huge flight
Task.But current technology progress for multiple no-manned plane cooperate with flight when, how its flight path, which is planned, still lacks scheme.For nothing
Collision during man-machine coordination flight avoids problem also without being related to., can be true by explicitly defining the communication mode between unmanned plane
The timely of information exchanges between protecting unmanned plane.By to three kinds of collaboration offline mode：Principal and subordinate follows, region division, hot spot are surround
It is defined and determines flight path scheme, multiple no-manned plane optimization can be made to complete different aerial missions.Collided by defining
The realization of avoiding method, can making multiple no-manned plane, there are do not have risk impinging one another during cross-coincidence in flight path.This hair
It is bright to be innovated for these aspects.
The content of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of realization side of multiple no-manned plane flight path collaborative planning
Method.
Technical solution is used by the present invention solves above-mentioned technical problem：A kind of multiple no-manned plane flight path collaborative planning
Implementation method, including communicate between unmanned plane method, principal and subordinate's follow the mode collaboration flight method for planning track, region draw
Method for planning track, the hot spot of merotype collaboration flight cooperate with the method for planning track of flight, flight path to have friendship around pattern
Unmanned plane collision avoidance method during fork.
Further, the method to communicate between the unmanned plane includes terrestrial repetition pattern and aerial direct-connected pattern, on ground
Multiple no-manned plane terrestrial repetition control node communication associated there, the message sent each other between them pass through in repeater mode
Ground center control nodes exchange, and in the air in direct-connected pattern, multiple no-manned plane forms a wireless ad hoc network in the air, each other
Unmanned plane in the range of wireless transmission distance directly sends message using wireless channel, and distance exceeds the nothing of radio transmission range
It is man-machine that wireless relay is carried out by other unmanned planes in ad hoc network, information is sent each other.
Further, the method for planning track of principal and subordinate's follow the mode collaboration flight is main unmanned plane during flying in higher height
Degree, taken photo by plane with zigzag scanning manner to ground, multiple UAVs serve as slave, fly in relatively low height, with main nothing
Man-machine same track is flown, and is taken photo by plane to ground, by unmanned plane cooperate at the same time obtain ground high-resolution (from
Unmanned plane obtains) and low-resolution image (main unmanned plane acquisition), there is incidence relation between image sequence；Each unmanned plane takes off
Before, flight path and master slave relation are coordinated by the terrestrial repetition pattern.
Further, the method for planning track of the region division pattern collaboration flight is determined for multiple no-manned plane through consultation
The division of labor for a large area is taken photo by plane, and every frame unmanned plane is responsible for a sub-regions of the large area, to it is described compared with
In the case of the topography and geomorphology in big region does not have priori, each unmanned plane is carried out according to the area in the region, with reference to performing association
Unmanned plane quantity with aerial mission carries out equal area partition；If there is certain priori to know the topography and geomorphology of the large area
Know, then each unmanned plane carries out the region intelligent division, and the principle of division is topography and geomorphology complexity and flight subregion area
Combination, for the unmanned plane taken photo by plane compared with complicated landform landforms subregion of execution, the flight subregion area that it is distributed is relatively
Small, convenient its is flown using finer flight path.For performing the nothing that relatively simply shape landforms subregion is taken photo by plane
Man-machine, the flight subregion area that it is distributed is relatively large, and convenient its is flown using sparse flight path, without shadow
Ring the completion quality of aerial mission；Each unmanned plane coordinates flight path and region division before take-off, by the terrestrial repetition pattern
Relation.
Further, hot spot is to determine each unmanned plane for one through consultation around the method for planning track of pattern collaboration flight
The division of labor of a complex landform (massif, building etc.) is taken photo by plane, and every frame unmanned plane is responsible for a face of taking photo by plane of the landforms, wherein, a frame
The face of taking photo by plane of unmanned plane is parallel to the ground, is taken photo by plane with zigzag scanning manner to the landforms.Other unmanned planes select respectively
One coordinate plane takes photo by plane the landforms, its flight path can be broken line or other types, such as helix；Respectively
Unmanned plane coordinates flight path and master slave relation before take-off, by the terrestrial repetition pattern.
Further, flight path has unmanned plane collision avoidance method during intersection to be：During unmanned plane flight in the air, open
Aerial direct-connected pattern communicates with one another, and in direct-connected communication channel, each frame unmanned plane all periodically sends its flight path information, bag
Course, speed etc. are included, each unmanned plane combines oneself so as to learn the detailed flight path situation of its neighbouring unmanned plane
Flight path information is calculated, and judges whether the possibility of collision in advance, if it is determined that there are possibility, then it is to itself
Flying speed be adjusted, tune up or slow down a small increment size, then, it is new to broadcast oneself using direct-connected communication channel
Flight path information, all unmanned planes carry out new round prediction of collision calculating, if still deposited after new flight path information is exchanged
It is possible in collision, then new round adjustment is carried out, otherwise, flight is performed by the flight path after having adjusted, by adjusting speed
Non- course, unmanned plane can realize that collision avoids on the premise of flight locus does not change.
The advantage of the invention is that：
The present invention can solve single unmanned plane and complete the limited limitation of task ability, using multiple no-manned plane collaboration complete compared with
Big complex task；Three kinds of collaboration offline mode, can solve various unmanned plane cotaskings；Collision is avoided by opposite directions flying
Unmanned plane is voluntarily completed, it is not necessary to the advantages that center control nodes are intervened.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
Put, other attached drawings can also be obtained according to these attached drawings.
Fig. 1 is terrestrial repetition pattern diagram of the present invention.
Fig. 2 is the aerial direct-connected pattern diagram of the present invention.
Fig. 3 is unmanned plane cross track schematic diagram of the present invention.
Fig. 4 is collision avoidance method schematic diagram of the present invention.
Fig. 5 follows collaboration flight schematic diagram for principal and subordinate of the present invention.
Fig. 6 cooperates with flight schematic diagram for region division pattern of the present invention.
Fig. 7 is for multimachine of the present invention with target around collaboration flight schematic diagram.
Wherein：
1st, unmanned plane 2, relay control node
3rd, data link between center control nodes 4, ground control node
5th, the data link 6 between ground control node and unmanned plane, the wireless channel between unmanned plane
7th, main flying surface 8, from flying surface
9th, main unmanned plane 10, from unmanned plane 1
11st, from unmanned plane N 12, ground
13rd, flying surface 14, side flying surface are pushed up
15th, unmanned plane 1 16, unmanned plane N
Embodiment
Technical scheme is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, belong to the scope of protection of the invention.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Easy to describe the present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for description purpose, and it is not intended that instruction or hint relative importance.
A kind of implementation method of multiple no-manned plane flight path collaborative planning as shown in figs. 1-7, including lead between unmanned plane
The method of letter, the method for planning track of principal and subordinate's follow the mode collaboration flight, the trajectory planning side of region division pattern collaboration flight
Method, hot spot are around unmanned plane collision avoidance method when pattern cooperates with the method for planning track of flight, flight path has intersection.
The method to communicate between unmanned plane as shown in Figure 1, 2 includes terrestrial repetition pattern and aerial direct-connected pattern, on ground
Multiple no-manned plane terrestrial repetition control node communication associated there, the message sent each other between them are led in the repeater mode of face
Ground center control nodes are crossed to exchange, in the air in direct-connected pattern, multiple no-manned plane forms a wireless ad hoc network in the air, that
This unmanned plane in the range of wireless transmission distance directly sends message using wireless channel, and distance is beyond radio transmission range
Unmanned plane carries out wireless relay by other unmanned planes in ad hoc network, sends information each other.
The method for planning track of principal and subordinate's follow the mode collaboration flight as shown in Figure 5 serves as host for a frame unmanned plane, with
Its flight track is main flight path, flies in higher height, is taken photo by plane with zigzag scanning manner to ground；Multiple UAVs are carried on a shoulder pole
Appoint slave, flight path is depended on main flight path, flies in relatively low height, flown with the track same with main unmanned plane, over the ground
Take photo by plane in face.In this way, we can be cooperated by unmanned plane obtains the high-resolution (being obtained from unmanned plane) on ground at the same time
With low-resolution image (main unmanned plane acquisition), and there is incidence relation between these image sequences；Each unmanned plane is taking off
Before, flight path and master slave relation are coordinated by terrestrial repetition pattern.
The method for planning track of region division pattern collaboration flight as shown in Figure 6 determine through consultation multiple no-manned plane for
The division of labor of one large area is taken photo by plane, and each unmanned plane is in peer-to-peer, and multiple UAVs are in sustained height plane, segmentation one
A larger flight range is more sub-regions, and every frame unmanned plane is responsible for a sub-regions of the large area, each unmanned plane
Flight path is simple broken line type, in the case of the topography and geomorphology to the large area does not have priori, each unmanned plane root
Carried out according to the area in the region, equal area partition is carried out with reference to the unmanned plane quantity for performing collaboration aerial mission；If to this compared with
The topography and geomorphology in big region has certain priori, then each unmanned plane carries out the region intelligent division, and the principle of division is
The combination of topography and geomorphology complexity and flight subregion area, for performing nobody that take photo by plane compared with complicated landform landforms subregion
Machine, the flight subregion area that it is distributed is relatively small, and convenient its is flown using finer flight path.For holding
The row unmanned plane that relatively simply shape landforms subregion is taken photo by plane, the flight subregion area that it is distributed is relatively large, its convenient use
Sparse flight path is flown, the completion quality without influencing aerial mission；Each unmanned plane before take-off, by described
Terrestrial repetition pattern coordinates flight path and region division relation.
The taking off of above-mentioned each unmanned plane, level point can be different, it corresponds to the situation of multiple unmanned aerial vehicle hangars.
Hot spot as shown in Figure 5 is to determine each unmanned plane pair through consultation around the method for planning track of pattern collaboration flight
Take photo by plane in the division of labor of a complex landform (massif, building etc.), each unmanned plane is in peer-to-peer, to same building thing or landform
Feature carries out comprehensive scanning, and every frame unmanned plane be responsible for the landforms one takes photo by plane, wherein, the face of taking photo by plane of a frame unmanned plane be with
Ground is parallel, is taken photo by plane with zigzag scanning manner to the landforms, in addition to top flying surface is parallel to the ground, other unmanned planes difference
One coordinate plane of selection takes photo by plane the landforms, can be in building or features of terrain side flying surface, its flight path can be folding
Line style or other types, such as helix；Each unmanned plane is coordinated to navigate before take-off, by the terrestrial repetition pattern
Mark and master slave relation.
Flight path as shown in Figure 3,4 has unmanned plane collision avoidance method during intersection to be：Unmanned plane flies in the air
When, its flight path might have intersection, and there are risk impinging one another, at this moment can open aerial direct-connected pattern and lead to each other
Letter, in direct-connected communication channel, each frame unmanned plane all periodically sends its flight path information, including course, speed etc., each nothing
It is man-machine so as to learn the detailed flight path situation of its neighbouring unmanned plane, and counted with reference to the flight path information of oneself
Calculate, judge whether the possibility of collision in advance, if it is determined that there are possibility, then its flying speed to itself is adjusted
It is whole, a small increment size is tuned up or slow down, then, oneself new flight path information, institute are broadcasted using direct-connected communication channel
There is unmanned plane after new flight path information is exchanged, carry out new round prediction of collision calculating, if still suffering from collision possibility, into
A row new round adjusts, and otherwise, performs flight by the flight path after having adjusted, by adjusting speed rather than course, unmanned plane can
Realize that collision avoids on the premise of not change in flight locus.
For example, such as Fig. 3, the flying speed of three frame unmanned planes is respectively V1, V2, V3, occurs intersecting on flight track,
At this moment if avoiding handling without collision, will collide in the air；As shown in figure 4, three frame unmanned planes pass through direct-connected letter
After course and the speed of a ship or plane of other two framves unmanned plane are recognized in road, the speed of a ship or plane of oneself is adjusted to V1 ', V2 ', V3 ' respectively, wherein
V1 '=V1, V2 '<V2, V3 '>V3, three frame unmanned planes are respectively with 3., and 2., order 1. is and respective by the original point of impingement
Course does not change, you can realizes the collaboration flight that collision avoids.
Above-mentioned collision avoidance method carries out unmanned inter-machine communication without using terrestrial repetition pattern, and unmanned plane is winged
The adjustment of row track is independently determined by it, it is not necessary to the coordination of ground control node.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to
Can so modify to the technical solution described in foregoing embodiments, either to which part or all technical characteristic into
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (6)
1. a kind of implementation method of multiple no-manned plane flight path collaborative planning, it is characterised in that including what is communicated between unmanned plane
Method, the method for planning track of principal and subordinate's follow the mode collaboration flight, the method for planning track of region division pattern collaboration flight, heat
Unmanned plane collision avoidance method when point cooperates with the method for planning track of flight around pattern, flight path has intersection.
A kind of 2. implementation method of multiple no-manned plane flight path collaborative planning according to claim 1, it is characterised in that institute
Stating the method to communicate between unmanned plane includes terrestrial repetition pattern and aerial direct-connected pattern, the multiple no-manned plane in terrestrial repetition pattern
Terrestrial repetition control node communication associated there, the message sent each other between them are handed over by ground center control nodes
Change, in the air in direct-connected pattern, multiple no-manned plane forms a wireless ad hoc network in the air, each other in wireless transmission distance scope
Interior unmanned plane directly sends message using wireless channel, and distance passes through its in ad hoc network beyond the unmanned plane of radio transmission range
His unmanned plane carries out wireless relay, sends information each other.
A kind of 3. implementation method of multiple no-manned plane flight path collaborative planning according to claim 1, it is characterised in that institute
The method for planning track for stating the collaboration flight of principal and subordinate's follow the mode is main unmanned plane during flying in higher height, with zigzag scanning manner
Take photo by plane to ground, multiple UAVs serve as slave, fly in relatively low height, are carried out with the track same with main unmanned plane
Flight, takes photo by plane ground, is cooperated by unmanned plane and obtains the high-resolution (being obtained from unmanned plane) and low point on ground at the same time
Resolution image (main unmanned plane acquisition), has incidence relation between image sequence；Before each unmanned plane takes off, pass through the ground
Repeater mode coordinates flight path and master slave relation.
4. a kind of implementation method of multiple no-manned plane flight path collaborative planning according to claim 1, its feature
Be, the method for planning track of region division pattern collaboration flight determine through consultation each unmanned plane for one compared with
The division of labor in big region is taken photo by plane, and every frame unmanned plane is responsible for a sub-regions of the large area, on the ground to the large area
In the case of shape landforms do not have priori, each unmanned plane is according to the area in the region, with reference to the nothing for performing collaboration aerial mission
Man-machine quantity carries out equal area partition；If there are certain priori, each unmanned plane to the topography and geomorphology of the large area
Intelligent division is carried out to the region, the principle of division is the combination of topography and geomorphology complexity and flight subregion area, for holding
The unmanned plane that row is taken photo by plane compared with complicated landform landforms subregion, the flight subregion area that it is distributed is relatively small, and convenient its makes
Flown with finer flight path.For performing the unmanned plane that relatively simply shape landforms subregion is taken photo by plane, what it was distributed
Flight subregion area is relatively large, and convenient its is flown using sparse flight path, without influencing aerial mission
Complete quality；Each unmanned plane coordinates flight path and region division relation before take-off, by the terrestrial repetition pattern.
A kind of 5. implementation method of multiple no-manned plane flight path collaborative planning according to claim 1, it is characterised in that heat
Point around pattern collaboration flight method for planning track for determine through consultation each unmanned plane for a complex landform (massif,
Building etc.) the division of labor take photo by plane, every frame unmanned plane is responsible for a face of taking photo by plane of the landforms, wherein, the face of taking photo by plane of a frame unmanned plane is
It is parallel to the ground, taken photo by plane with zigzag scanning manner to the landforms.Other unmanned planes select a coordinate plane to this respectively
Landforms are taken photo by plane, its flight path can be broken line or other types, such as helix；Each unmanned plane before take-off, leads to
Cross the terrestrial repetition pattern and coordinate flight path and master slave relation.
6. the implementation method of a kind of multiple no-manned plane flight path collaborative planning according to claim 1, it is characterised in that fly
Row track has unmanned plane collision avoidance method during intersection to be：During unmanned plane flight in the air, aerial direct-connected pattern is opened each other
Communication, in direct-connected communication channel, each frame unmanned plane all periodically sends its flight path information, including course, speed etc., respectively
Unmanned plane combines the flight path information of oneself and carries out so as to learn the detailed flight path situation of its neighbouring unmanned plane
Calculate, judge whether the possibility of collision in advance, if it is determined that there are possibility, then its flying speed to itself is adjusted
It is whole, a small increment size is tuned up or slow down, then, oneself new flight path information, institute are broadcasted using direct-connected communication channel
There is unmanned plane after new flight path information is exchanged, carry out new round prediction of collision calculating, if still suffering from collision possibility, into
A row new round adjusts, and otherwise, performs flight by the flight path after having adjusted, by adjusting speed rather than course, unmanned plane can
Realize that collision avoids on the premise of not change in flight locus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711495375.XA CN107918403A (en) | 2017-12-31 | 2017-12-31 | A kind of implementation method of multiple no-manned plane flight path collaborative planning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711495375.XA CN107918403A (en) | 2017-12-31 | 2017-12-31 | A kind of implementation method of multiple no-manned plane flight path collaborative planning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107918403A true CN107918403A (en) | 2018-04-17 |
Family
ID=61894636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711495375.XA Pending CN107918403A (en) | 2017-12-31 | 2017-12-31 | A kind of implementation method of multiple no-manned plane flight path collaborative planning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107918403A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108668257A (en) * | 2018-04-28 | 2018-10-16 | 中国人民解放军陆军工程大学 | A kind of distribution unmanned plane postman relaying track optimizing method |
| CN108762300A (en) * | 2018-05-31 | 2018-11-06 | 智飞智能装备科技东台有限公司 | A kind of ground for the flight of unmanned unit controls programing system |
| CN108955694A (en) * | 2018-08-15 | 2018-12-07 | 北京理工大学 | A kind of more surface units collaboration paths planning method towards survival ability enhancing |
| CN109283938A (en) * | 2018-09-27 | 2019-01-29 | 深圳市道通智能航空技术有限公司 | A kind of UAV system and UAV system control method |
| WO2019206044A1 (en) * | 2018-04-27 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Information processing device, instruction method for providing notification information, program, and recording medium |
| CN111537956A (en) * | 2020-04-02 | 2020-08-14 | 北京电子工程总体研究所 | Single radar responsibility sector determination method and system based on real-time and spatial situations |
| CN111722639A (en) * | 2019-03-18 | 2020-09-29 | 北京京东尚科信息技术有限公司 | Takeoff control method, device and system of unmanned aerial vehicle cluster and readable medium |
| CN111880572A (en) * | 2020-08-20 | 2020-11-03 | 中国电子科技集团公司第五十四研究所 | Cooperative scheduling method for multiple unmanned aerial vehicles to safely pass through narrow entrance |
| CN111984033A (en) * | 2020-08-19 | 2020-11-24 | 天津(滨海)人工智能军民融合创新中心 | Multi-unmanned aerial vehicle coverage task path planning method and device |
| CN114371733A (en) * | 2022-01-06 | 2022-04-19 | 中国人民解放军海军航空大学 | Multi-unmanned aerial vehicle collaborative surrounding flight control method and system |
Citations (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202111870U (en) * | 2011-05-17 | 2012-01-11 | 山东电力研究院 | Wireless communication relay system for electric line patrol of unmanned plane |
| CN102393747A (en) * | 2011-08-17 | 2012-03-28 | 清华大学 | Collaborative interaction method for unmanned plane cluster and visual navigation system of unmanned plane |
| CN102768518A (en) * | 2012-07-11 | 2012-11-07 | 清华大学 | Multiple-unmanned plane platform cooperative control system |
| CN103369618A (en) * | 2012-03-16 | 2013-10-23 | 空中客车运营简化股份公司 | Method and system for transmitting data in a network of aircraft in flight |
| CN104216382A (en) * | 2014-09-19 | 2014-12-17 | 北京航天长征飞行器研究所 | Spatial small aircraft formation flying control system |
| CN104597910A (en) * | 2014-11-27 | 2015-05-06 | 中国人民解放军国防科学技术大学 | Instantaneous impact point based unmanned aerial vehicle non-collaborative real-time obstacle avoidance method |
| CN104714557A (en) * | 2015-03-26 | 2015-06-17 | 清华大学 | Method for controlling fixed point circular flying of unmanned plane |
| CN104732482A (en) * | 2015-03-30 | 2015-06-24 | 中国人民解放军63655部队 | Multi-resolution image stitching method based on control points |
| CN104754182A (en) * | 2015-03-19 | 2015-07-01 | 长安大学 | Stationary phase method for aerial video with high resolution based on self-adaption motion filtering |
| CN104991564A (en) * | 2015-05-27 | 2015-10-21 | 杨珊珊 | Flight control method and device for unmanned aerial vehicle |
| CN205029765U (en) * | 2015-06-09 | 2016-02-10 | 四川汇源光通信有限公司 | Unmanned aerial vehicle patrols real -time passback system of line high definition video based on relaying |
| CN105873171A (en) * | 2016-05-27 | 2016-08-17 | 合肥工业大学 | Re-optimizing method and system for unmanned-aerial-vehicle formation communication topology based on minimum arborescence |
| CN105973230A (en) * | 2016-06-30 | 2016-09-28 | 西安电子科技大学 | Collaborative sensing and planning method for double unmanned aerial vehicles |
| CN205679265U (en) * | 2016-06-06 | 2016-11-09 | 天津中翔腾航科技股份有限公司 | Farm environment unmanned plane information acquisition system |
| CN106200678A (en) * | 2016-09-18 | 2016-12-07 | 中国空气动力研究与发展中心高速空气动力研究所 | A kind of automatic fleet system of unmanned plane operation and method |
| CN206195779U (en) * | 2016-11-28 | 2017-05-24 | 宁夏冰核科技有限公司 | Relaying unmanned aerial vehicle is wireless from organizing communication system and flying type relay |
| CN106970645A (en) * | 2017-05-16 | 2017-07-21 | 合肥工业大学 | Multiple no-manned plane collaboration formation optimal information interaction Topology g eneration method and device |
| CN106997201A (en) * | 2016-01-25 | 2017-08-01 | 上海电气集团股份有限公司 | The paths planning method of multi-robot Cooperation |
| CN107017938A (en) * | 2017-03-21 | 2017-08-04 | 深圳大学 | A kind of mobile networking method and system of minimum interference |
| CN104035446B (en) * | 2014-05-30 | 2017-08-25 | 深圳市大疆创新科技有限公司 | The course generation method and system of unmanned plane |
| CN107092273A (en) * | 2017-05-08 | 2017-08-25 | 合肥工业大学 | Nobody has man-machine formation communication topology Heuristic Method and device |
| CN107248881A (en) * | 2017-06-15 | 2017-10-13 | 北京佰才邦技术有限公司 | The method and unmanned plane of a kind of information transfer |
| CN107274724A (en) * | 2017-07-25 | 2017-10-20 | 中国航空器拥有者及驾驶员协会 | A kind of monitoring unmanned system relayed based on ad-hoc network with gsm communication |
| CN107424443A (en) * | 2017-08-30 | 2017-12-01 | 北京航空航天大学 | A kind of aircraft cluster regulation and control method and device based on Vicsek models |
| CN107514993A (en) * | 2017-09-25 | 2017-12-26 | 同济大学 | The collecting method and system towards single building modeling based on unmanned plane |
| JP2018165869A (en) * | 2017-03-28 | 2018-10-25 | 株式会社アイ・ロボティクス | Control system and control method |
| CN106843269B (en) * | 2017-01-22 | 2019-05-31 | 北京航空航天大学 | A kind of unmanned plane formation method based on small birds cluster fly mechanics |
-
2017
- 2017-12-31 CN CN201711495375.XA patent/CN107918403A/en active Pending
Patent Citations (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202111870U (en) * | 2011-05-17 | 2012-01-11 | 山东电力研究院 | Wireless communication relay system for electric line patrol of unmanned plane |
| CN102393747A (en) * | 2011-08-17 | 2012-03-28 | 清华大学 | Collaborative interaction method for unmanned plane cluster and visual navigation system of unmanned plane |
| CN103369618A (en) * | 2012-03-16 | 2013-10-23 | 空中客车运营简化股份公司 | Method and system for transmitting data in a network of aircraft in flight |
| CN102768518A (en) * | 2012-07-11 | 2012-11-07 | 清华大学 | Multiple-unmanned plane platform cooperative control system |
| CN104035446B (en) * | 2014-05-30 | 2017-08-25 | 深圳市大疆创新科技有限公司 | The course generation method and system of unmanned plane |
| CN104216382A (en) * | 2014-09-19 | 2014-12-17 | 北京航天长征飞行器研究所 | Spatial small aircraft formation flying control system |
| CN104597910A (en) * | 2014-11-27 | 2015-05-06 | 中国人民解放军国防科学技术大学 | Instantaneous impact point based unmanned aerial vehicle non-collaborative real-time obstacle avoidance method |
| CN104754182A (en) * | 2015-03-19 | 2015-07-01 | 长安大学 | Stationary phase method for aerial video with high resolution based on self-adaption motion filtering |
| CN104714557A (en) * | 2015-03-26 | 2015-06-17 | 清华大学 | Method for controlling fixed point circular flying of unmanned plane |
| CN104732482A (en) * | 2015-03-30 | 2015-06-24 | 中国人民解放军63655部队 | Multi-resolution image stitching method based on control points |
| CN104991564A (en) * | 2015-05-27 | 2015-10-21 | 杨珊珊 | Flight control method and device for unmanned aerial vehicle |
| CN205029765U (en) * | 2015-06-09 | 2016-02-10 | 四川汇源光通信有限公司 | Unmanned aerial vehicle patrols real -time passback system of line high definition video based on relaying |
| CN106997201A (en) * | 2016-01-25 | 2017-08-01 | 上海电气集团股份有限公司 | The paths planning method of multi-robot Cooperation |
| CN105873171A (en) * | 2016-05-27 | 2016-08-17 | 合肥工业大学 | Re-optimizing method and system for unmanned-aerial-vehicle formation communication topology based on minimum arborescence |
| CN205679265U (en) * | 2016-06-06 | 2016-11-09 | 天津中翔腾航科技股份有限公司 | Farm environment unmanned plane information acquisition system |
| CN105973230A (en) * | 2016-06-30 | 2016-09-28 | 西安电子科技大学 | Collaborative sensing and planning method for double unmanned aerial vehicles |
| CN106200678A (en) * | 2016-09-18 | 2016-12-07 | 中国空气动力研究与发展中心高速空气动力研究所 | A kind of automatic fleet system of unmanned plane operation and method |
| CN206195779U (en) * | 2016-11-28 | 2017-05-24 | 宁夏冰核科技有限公司 | Relaying unmanned aerial vehicle is wireless from organizing communication system and flying type relay |
| CN106843269B (en) * | 2017-01-22 | 2019-05-31 | 北京航空航天大学 | A kind of unmanned plane formation method based on small birds cluster fly mechanics |
| CN107017938A (en) * | 2017-03-21 | 2017-08-04 | 深圳大学 | A kind of mobile networking method and system of minimum interference |
| JP2018165869A (en) * | 2017-03-28 | 2018-10-25 | 株式会社アイ・ロボティクス | Control system and control method |
| CN107092273A (en) * | 2017-05-08 | 2017-08-25 | 合肥工业大学 | Nobody has man-machine formation communication topology Heuristic Method and device |
| CN106970645A (en) * | 2017-05-16 | 2017-07-21 | 合肥工业大学 | Multiple no-manned plane collaboration formation optimal information interaction Topology g eneration method and device |
| CN107248881A (en) * | 2017-06-15 | 2017-10-13 | 北京佰才邦技术有限公司 | The method and unmanned plane of a kind of information transfer |
| CN107274724A (en) * | 2017-07-25 | 2017-10-20 | 中国航空器拥有者及驾驶员协会 | A kind of monitoring unmanned system relayed based on ad-hoc network with gsm communication |
| CN107424443A (en) * | 2017-08-30 | 2017-12-01 | 北京航空航天大学 | A kind of aircraft cluster regulation and control method and device based on Vicsek models |
| CN107514993A (en) * | 2017-09-25 | 2017-12-26 | 同济大学 | The collecting method and system towards single building modeling based on unmanned plane |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019206044A1 (en) * | 2018-04-27 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Information processing device, instruction method for providing notification information, program, and recording medium |
| CN108668257A (en) * | 2018-04-28 | 2018-10-16 | 中国人民解放军陆军工程大学 | A kind of distribution unmanned plane postman relaying track optimizing method |
| CN108762300A (en) * | 2018-05-31 | 2018-11-06 | 智飞智能装备科技东台有限公司 | A kind of ground for the flight of unmanned unit controls programing system |
| CN108955694A (en) * | 2018-08-15 | 2018-12-07 | 北京理工大学 | A kind of more surface units collaboration paths planning method towards survival ability enhancing |
| CN109283938A (en) * | 2018-09-27 | 2019-01-29 | 深圳市道通智能航空技术有限公司 | A kind of UAV system and UAV system control method |
| WO2020063450A1 (en) * | 2018-09-27 | 2020-04-02 | 深圳市道通智能航空技术有限公司 | Unmanned aerial vehicle system and unmanned aerial vehicle system controlling method |
| CN111722639A (en) * | 2019-03-18 | 2020-09-29 | 北京京东尚科信息技术有限公司 | Takeoff control method, device and system of unmanned aerial vehicle cluster and readable medium |
| CN111537956A (en) * | 2020-04-02 | 2020-08-14 | 北京电子工程总体研究所 | Single radar responsibility sector determination method and system based on real-time and spatial situations |
| CN111984033A (en) * | 2020-08-19 | 2020-11-24 | 天津(滨海)人工智能军民融合创新中心 | Multi-unmanned aerial vehicle coverage task path planning method and device |
| CN111880572A (en) * | 2020-08-20 | 2020-11-03 | 中国电子科技集团公司第五十四研究所 | Cooperative scheduling method for multiple unmanned aerial vehicles to safely pass through narrow entrance |
| CN111880572B (en) * | 2020-08-20 | 2024-03-15 | 中国电子科技集团公司第五十四研究所 | Cooperative scheduling method for multi-unmanned aerial vehicle safe passage narrow entrance and exit |
| CN114371733A (en) * | 2022-01-06 | 2022-04-19 | 中国人民解放军海军航空大学 | Multi-unmanned aerial vehicle collaborative surrounding flight control method and system |
| CN114371733B (en) * | 2022-01-06 | 2023-11-28 | 中国人民解放军海军航空大学 | Multi-unmanned aerial vehicle cooperative surrounding flight control method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107918403A (en) | A kind of implementation method of multiple no-manned plane flight path collaborative planning | |
| CN104407619B (en) | Multiple no-manned plane under uncertain environment reaches multiple goal approachs simultaneously | |
| CN106020189B (en) | Vacant lot heterogeneous robot system paths planning method based on neighborhood constraint | |
| CN107491086B (en) | Unmanned aerial vehicle formation obstacle avoidance method and system under time-varying network topology | |
| CN107632614A (en) | A kind of multiple no-manned plane formation self-organizing cooperative control method theoretical based on rigidity figure | |
| CN105841702A (en) | Method for planning routes of multi-unmanned aerial vehicles based on particle swarm optimization algorithm | |
| CN107807665B (en) | Unmanned aerial vehicle formation detection task cooperative allocation method and device | |
| CN109213200A (en) | Multiple no-manned plane cooperates with formation flight management system and method | |
| CN104536454B (en) | A kind of space-time synchronous matching process collaborative for double unmanned planes | |
| CN110428111A (en) | Multi-Tasking method for planning track when UAV/UGV collaboration is long | |
| CN102749847A (en) | Cooperative landing method for multiple unmanned aerial vehicles | |
| CN106327024A (en) | Unmanned aerial vehicle pesticide spray path planning system and unmanned aerial vehicle pesticide spray path planning method | |
| CN106054920A (en) | Unmanned aerial vehicle flight path planning method and device | |
| CN104216382B (en) | Spatial small aircraft formation flying control system | |
| CN106197426A (en) | A kind of unmanned plane emergency communication paths planning method and system | |
| CN109426273A (en) | A kind of flying vehicles control method and device | |
| CN109358638A (en) | Unmanned plane vision barrier-avoiding method based on distributed maps | |
| CN108073185A (en) | Multiple no-manned plane reaches cooperative control method simultaneously | |
| CN105045274B (en) | A kind of intelligent shaft tower connected graph construction method for unmanned plane inspection trajectory planning | |
| CN109557939A (en) | A kind of quick approach to formation control based on pseudo- distributed unmanned plane cluster | |
| CN109357685A (en) | Airway net generation method, device and storage medium | |
| CN108718454B (en) | Cooperative autonomous layout method for communication relay platforms of multiple unmanned aerial vehicles | |
| WO2022077817A1 (en) | Multiple unmanned aerial vehicle cooperative control method and system based on vision and performance constraints | |
| CN106774429A (en) | A kind of data transmission method and system | |
| CN106991681A (en) | A kind of fire boundary vector information extract real-time and method for visualizing and system |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180417 |
|
| RJ01 | Rejection of invention patent application after publication |