CN106919183B - unified control's multi-functional unmanned aerial vehicle group - Google Patents
unified control's multi-functional unmanned aerial vehicle group Download PDFInfo
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- CN106919183B CN106919183B CN201611184488.3A CN201611184488A CN106919183B CN 106919183 B CN106919183 B CN 106919183B CN 201611184488 A CN201611184488 A CN 201611184488A CN 106919183 B CN106919183 B CN 106919183B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
the invention discloses a uniformly-controlled multifunctional unmanned aerial vehicle group, which is provided with a plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle is provided with different working devices, so that different unmanned aerial vehicles can be selected when different tasks are executed, the number of the carried working devices is small, the cost is low, even if the unmanned aerial vehicles are damaged by accidents, the economic loss is in a controllable range, and data information is transmitted through a ZigBee wireless module, wherein the ZigBee wireless modules form a network, so that a plurality of unmanned aerial vehicles can be controlled through a data transmission module by using single equipment, and the manpower and material cost brought by controlling the unmanned aerial vehicles is saved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a multifunctional unmanned aerial vehicle system with multiple functions, and particularly relates to a uniformly-controlled multifunctional unmanned aerial vehicle group.
background
with the development of sensors and intelligent hardware technology, the unmanned aerial vehicle control technology has developed rapidly in recent years, and the intelligent control method of the unmanned aerial vehicle is more and more diversified. At present, unmanned aerial vehicle controls the mode and mainly has three kinds: one is to realize the control of the unmanned aerial vehicle through a remote controller, the control mode needs stronger operation skill of an operator, meanwhile, the operation is more complicated, the operator is easy to be exhausted, the cost is higher, and the cost of the remote controller and the labor cost are more when the number of the unmanned aerial vehicles is more; the second is that the unmanned aerial vehicle is controlled by the ground station control software of the unmanned aerial vehicle installed by a computer, facilities such as a computer, a mouse and a keyboard are needed in the operation process, the unmanned aerial vehicle is large in size and inconvenient to move, and the performance requirement on a processor of the computer is correspondingly improved when the number of the unmanned aerial vehicles needing to be controlled is large; the third is a mode of controlling the unmanned aerial vehicle through the intelligent mobile terminal, but most of the modes need the support of the network and cannot be used in the area with poor network coverage.
to sum up, unmanned aerial vehicle control mode has among the prior art with high costs, maneuverability is poor and operating range is limited problem.
In addition, in actual work, cases of damage of the unmanned aerial vehicle due to reasons often occur, and particularly when the unmanned aerial vehicle works in an area with a severe environment, the safety of the unmanned aerial vehicle is generally difficult to guarantee; the tasks required to be performed by the drone are also various, and from the viewpoint of equipment cost, if the drone only carries a temperature sensor only for measuring temperature information of a certain area, the equipment cost is very low, even if the unmanned aerial vehicle is damaged or lost, the loss can be borne, if image information of a certain area needs to be obtained, the unmanned aerial vehicle with the camera device and higher cost is dispatched to execute a task, therefore, if a plurality of sensors are distributed on different unmanned aerial vehicles and are respectively controlled to execute different tasks, the cost can be greatly reduced, and reduce the economic loss when the unmanned aerial vehicle is damaged, but no relevant record exists in the prior art at present, the technical problems faced by the unmanned aerial vehicle control system mainly include that a plurality of unmanned aerial vehicles are difficult to operate and control, and the unmanned aerial vehicles cannot be controlled simultaneously according to the existing unmanned aerial vehicle control system and method.
because of the reasons, the inventor carries out deep research on the existing unmanned aerial vehicle and the unmanned aerial vehicle control system, and designs a uniformly-controlled multifunctional unmanned aerial vehicle group capable of solving the problems.
Disclosure of Invention
In order to overcome the problems, the inventor of the present invention has made an intensive study, and designs a uniformly controlled multifunctional group of unmanned aerial vehicles, which has a plurality of unmanned aerial vehicles, each of which carries a different working device, so that different unmanned aerial vehicles can be selected when different tasks are performed, since there are fewer working devices to be carried, the cost is low, even if the unmanned aerial vehicles are damaged by accident, the economic loss is within a controllable range, and data information is transmitted through a ZigBee wireless module, wherein the plurality of ZigBee wireless modules form a network, so that a plurality of unmanned aerial vehicles can be controlled through a data transmission module by using a single device, and the cost of manpower and material resources brought when the plurality of unmanned aerial vehicles are controlled is saved, thereby completing the present invention.
Specifically, the present invention provides a group of unmanned aerial vehicles including a plurality of unmanned aerial vehicles each having a working device mounted thereon, and a control system 1 for collectively controlling the plurality of unmanned aerial vehicles, the plurality of unmanned aerial vehicles each having a different number from each other,
The control system 1 comprises an instruction input device 2, a micro-processing device 3 and a ground signal transceiver 5;
The instruction input device 2 is used for inputting task instructions to be executed into the control system 1,
unmanned aerial vehicle information is prestored in the micro-processing device 3, and the unmanned aerial vehicle information comprises the serial number of the unmanned aerial vehicle and the type of a working device carried on the unmanned aerial vehicle corresponding to each serial number; the micro-processing device 3 receives the task instruction information input by the instruction input device 2,
the micro-processing device 3 is used for generating a control instruction according to the received information;
The ground signal transceiver 5 is used for transmitting the control command generated by the microprocessor 3 to the unmanned aerial vehicle.
Wherein, the working device carried on each unmanned aerial vehicle is selected from one or more of an altimeter, a thermometer, a camera, a barometer and a GPS receiver.
The task instruction comprises task type information, task time information and task place information;
the task type is selected from one or more of air pressure measurement, height measurement, temperature measurement, aerial photography, detection, image data acquisition, geographic data acquisition and other tasks;
the task time comprises a time point for starting to execute the task and duration for executing the task;
the task location includes location information of the task location, i.e., longitude information, latitude information, and altitude information of the location.
wherein each unmanned aerial vehicle is provided with an airborne signal transceiver 6,
the plurality of airborne signal transceiver devices 6, the airborne signal transceiver devices 6 and the ground signal transceiver devices 5 are in signal communication with each other, and therefore networking is achieved.
The ground signal transceiver 5 comprises a ground ZigBee wireless module;
the onboard signal transceiver devices 6 all comprise onboard ZigBee radio modules,
A plurality of airborne ZigBee wireless modules on the unmanned aerial vehicle and ground ZigBee wireless modules on the ground station jointly form a ZigBee network, in the ZigBee network, each ZigBee wireless module is a node, and within a preset distance, real-time communication can be carried out between any two nodes.
wherein, the ground signal transceiver 5 communicates with the airborne signal transceiver 6 in real time,
the state information of the unmanned aerial vehicle is transmitted to the microprocessor 3 through the real-time communication between the ground signal transceiver 5 and the airborne signal transceiver 6;
the state information of the unmanned aerial vehicle comprises the current working state of the unmanned aerial vehicle, namely that the unmanned aerial vehicle is in a task execution state or a standby state or in an abnormal state incapable of working.
Wherein, the micro-processing device 3 selects the unmanned aerial vehicle loaded with the working device capable of executing the task to execute the task according to the received task type,
when a plurality of unmanned aerial vehicles can execute the task, the micro-processing device 3 selects the unmanned aerial vehicle executing the task according to the state information of the plurality of unmanned aerial vehicles.
Wherein the control instruction comprises instruction receiver information and instruction content, wherein the instruction receiver information comprises an unmanned aerial vehicle number for executing the instruction content,
When each airborne ZigBee wireless module receives the control instruction, whether the number of the unmanned aerial vehicle in the instruction receiver information of the control instruction is consistent with the number of the unmanned aerial vehicle where the airborne ZigBee wireless module is located is checked, and if the numbers are consistent, the unmanned aerial vehicle executes the control instruction; if the unmanned aerial vehicle does not execute the control instruction, the control instruction is sent to other airborne ZigBee wireless modules communicated with the airborne ZigBee wireless module in the networking through the airborne ZigBee wireless module.
The micro-processing device 3 is further configured to obtain a distance between the task location and the ground station according to the position information of the task location in the task location, and when the distance is greater than a predetermined distance value, the micro-processing device 3 controls the at least one unmanned aerial vehicle to stay between the task location and the ground station through the control instruction.
the control system 1 is further provided with a task machine selection module 7, the task machine selection module 7 is connected with the micro-processing device 3, the task machine selection module 7 is used for selecting the unmanned aerial vehicle, and can send a control instruction to the selected unmanned aerial vehicle through the micro-processing device 3 to control the unmanned aerial vehicle to execute a task.
The uniformly controlled multifunctional unmanned aerial vehicle group provided by the invention can classify and disperse valuable working devices in a plurality of unmanned aerial vehicles, the corresponding unmanned aerial vehicle carrying working device is selected to be executed according to the specific task requirement, so that the property loss in case of accidents is reduced, because the unmanned aerial vehicles are provided, a plurality of tasks can be processed and executed at the same time and are uniformly controlled by one control system, the labor cost is greatly saved, and because of the particularity of networking, the unmanned aerial vehicles can be controlled to move to the appointed place to be used as a transfer station for information transmission, thereby unmanned aerial vehicle's working radius has been prolonged for remote control is more economical, convenient, for the control mode of 4G network, can save a large amount of electric energy, and unmanned aerial vehicle needn't carry too big battery, thereby further reduce cost improves unmanned aerial vehicle's duration.
drawings
fig. 1 is a schematic diagram illustrating an overall structure of a group of uniformly controlled multifunctional drones according to a preferred embodiment of the present invention;
FIG. 2 is a circuit diagram of a DSP chip, model TMS320F2812, in a unified control multi-function drone swarm in accordance with a preferred embodiment of the present invention;
FIG. 3 is a circuit diagram of JTAG development interface circuitry in a unified controlled multi-function drone swarm in accordance with a preferred embodiment of the present invention;
FIG. 4 illustrates a circuit diagram of an external Flash memory in a unified control multi-function drone swarm in accordance with a preferred embodiment of the present invention;
FIG. 5 illustrates a power circuit diagram in a unified control multi-function drone swarm in accordance with a preferred embodiment of the present invention;
Fig. 6 shows a circuit diagram of a CC2520 chip in a unified control multi-function drone swarm in accordance with a preferred embodiment of the present invention.
The reference numbers illustrate:
1-control system
2-instruction input device
3-microprocessing device
4-display device
5-ground signal transceiver
6-airborne signal receiving and transmitting device
7-task machine selection module
Detailed Description
The invention is explained in more detail below with reference to the figures and examples. The features and advantages of the present invention will become more apparent from the description.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
According to the unified control multifunctional unmanned aerial vehicle group provided by the invention, as shown in fig. 1, the unmanned aerial vehicle group comprises a plurality of unmanned aerial vehicles and a control system for uniformly controlling the plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle is provided with a working device, the working device is selected from one or more of an altimeter, a thermometer, a camera, a barometer and a GPS receiver, the plurality of unmanned aerial vehicles have different numbers, and the unmanned aerial vehicles can be numbered by Arabic numerals in actual operation, and each unmanned aerial vehicle is endowed with a different name. The equipment that loads on every unmanned aerial vehicle can the diverse, also can have and carry on identical equipment on some unmanned aerial vehicles, and each kind of equipment has at least an unmanned aerial vehicle to carry on, promptly including each kind of equipment in the unmanned aerial vehicle group, specific quantity and distribution condition then can confirm according to the actual work demand.
The unmanned aerial vehicle comprises a flight power system, namely equipment capable of providing flight power for the unmanned aerial vehicle, such as a propeller and a matched driving motor in the unmanned helicopter, and a navigation control system, wherein the navigation control system can automatically plan a path according to the current position information and the target position information of the unmanned aerial vehicle, and controls the flight power system to enable the unmanned aerial vehicle to fly towards the target position.
Preferably, the number of the unmanned aerial vehicles in the invention is 2-255 frames, more preferably 10-200 frames, and further preferably 15-30 frames.
In a preferred embodiment, the control system 1 is arranged in a ground station, and the control system 1 comprises an instruction input device 2, a micro-processing device 3, a display device 4 and a ground signal transceiving device 5;
the instruction input device is used for inputting task instructions to be executed into the control system 1, and the task instructions comprise task type information, task time information and task place information; the task type is selected from one or more of air pressure measurement, height measurement, temperature measurement, aerial photography, detection, image data acquisition, geographic data acquisition and other tasks; the task time comprises a time point for starting to execute the task and duration for executing the task; the task location includes position information of the task location, namely longitude information, latitude information and altitude information of the position, and also includes a route from the ground station to the task location and map information near the route.
preferably, when the air pressure data of a working place (such as a plateau zone) needs to be known, the unmanned aerial vehicle carrying the barometer works; an unmanned aerial vehicle with an altimeter works when the height of a certain object or the flying height needs to be known; drone with temperature sensor to measure temperature data of a certain place or area (e.g. underground or unmanned area); the unmanned aerial vehicle with the camera works when a picture of an object needs to be shot or peripheral conditions need to be observed; the application scenes are in a parallel relation, if various data are required to be obtained, the unmanned aerial vehicles with corresponding quantity can be carried to work, and the situation that any measurement data cannot be obtained when the full-function unmanned aerial vehicle breaks down is avoided; wherein, take photo by plane, survey, gather image data, gather geographic data and all need use the unmanned aerial vehicle work that carries the camera, and its difference lies in the working method and the operating frequency of camera on the unmanned aerial vehicle, need select the unmanned aerial vehicle that has camera and GPS receiver simultaneously to load when carrying out and gathering geographic data.
the input device is selected from one or more of a mouse, a keyboard and a touch pad, and preferably, the input device and the display device 4 work together to display alternative instructions in the display device, and the corresponding task item is selected by an input person; the display device includes a display screen.
Display device 4 still is used for showing unmanned aerial vehicle's state, especially includes unmanned aerial vehicle state information and unmanned aerial vehicle's positional information of current work etc..
Unmanned aerial vehicle information is prestored in the micro-processing device 3, and the unmanned aerial vehicle information comprises the serial number of the unmanned aerial vehicle and the type of a working device carried on the unmanned aerial vehicle corresponding to each serial number; the microprocessor 3 receives the task instruction information input by the instruction input device and generates a control instruction according to the received information.
The ground signal transceiver 5 is used for transmitting the control command generated by the microprocessor 3 to the unmanned aerial vehicle. Preferably, the ground signal transceiver 5 includes a ZigBee wireless module, and in order to avoid confusion, the ZigBee wireless module arranged in the ground signal transceiver 5 is called a ground ZigBee wireless module;
Each unmanned aerial vehicle is provided with an airborne signal transceiver 6, the airborne signal transceiver 6 is similar to the ground signal transceiver 5 and comprises a ZigBee wireless module, and in order to avoid confusion, the ZigBee wireless module arranged in the airborne signal transceiver 6 is called an airborne ZigBee wireless module; preferably, each unmanned aerial vehicle is provided with an airborne ZigBee wireless module, and the ground station is also provided with only one ground ZigBee wireless module.
The ZigBee wireless modules are communication equipment commonly used in the field of wireless communication, a plurality of airborne ZigBee wireless modules on the unmanned aerial vehicle and the ground ZigBee wireless modules on the ground station jointly form a ZigBee network, each ZigBee wireless module is a node in the ZigBee network, any two nodes can be mutually communicated within a preset distance, information can be mutually transmitted, and real-time communication is achieved. The predetermined distance is a distance within 350-500m, preferably within 400 m. Preferably, the networking is designed by adopting a star topology.
Preferably, when the unmanned aerial vehicle group system starts, each node in the network automatically adjusts the frequency band, determines the suitable frequency band, in the process of selecting the frequency band, detects each channel in the network, abandons the channel if the channel has a signal, tries other channels, and selects the channel if the channel has no signal, and connects all nodes through the channel, thereby forming the network, wherein the channel is a channel for signal transmission or is called a signal frequency band.
the ground signal transceiver 5 communicates with the airborne signal transceiver 6 in real time; the airborne ZigBee wireless module on the unmanned aerial vehicle transmits the state information of the unmanned aerial vehicle to the ground ZigBee wireless module through the ZigBee networking, and then transmits the state information to the microprocessor 3, wherein the state information of the unmanned aerial vehicle comprises the current working state of the unmanned aerial vehicle, namely the unmanned aerial vehicle is in a task execution state or in a standby state or in an abnormal state incapable of working.
the micro-processing device 3 selects the unmanned aerial vehicle loaded with the working device capable of executing the task to execute the task according to the received task type, for example: for a task with a task type including air pressure measurement, selecting an unmanned aerial vehicle loaded with a barometer to execute the task, for the task with a task type including height measurement, selecting the unmanned aerial vehicle loaded with the altimeter to execute the task, for the task with a task type including temperature measurement, selecting the unmanned aerial vehicle loaded with a thermometer to execute the task, for the task with a task type including aerial photography, selecting the unmanned aerial vehicle loaded with a camera to execute the task, for the task with a task type including detection, selecting the unmanned aerial vehicle loaded with the camera to execute the task, for the task with a task type including image data acquisition, selecting the unmanned aerial vehicle loaded with the camera to execute the task, and for the task with a task type including geographic data acquisition, selecting the unmanned aerial vehicle loaded with the camera and a GPS receiver to execute the task;
when a plurality of unmanned aerial vehicles can execute the task, the micro-processing device 3 selects the unmanned aerial vehicle executing the task according to the state information of the plurality of unmanned aerial vehicles, for example, one of three unmanned aerial vehicles which can also execute a certain task is in a task executing state, one of the three unmanned aerial vehicles is in a standby state, and the other unmanned aerial vehicle is in an abnormal state which cannot work, the micro-processing device 3 selects the unmanned aerial vehicle in the standby state to execute the task, and when no unmanned aerial vehicle in the standby state exists, a prompt is sent through the display device to remind a user of the number of the unmanned aerial vehicle in the abnormal state which cannot work, and the number of the unmanned aerial vehicle in the task executing state and the time for the unmanned aerial vehicle to execute the task are reminded.
In a preferred embodiment, the airborne ZigBee wireless module and the ground ZigBee wireless module can both obtain the signal strength between the airborne ZigBee wireless module and the adjacent node in the network in real time, and transmit the signal strength information to the microprocessor 3, wherein the ground ZigBee wireless module is in signal communication with the airborne ZigBee wireless modules respectively to form a plurality of channels, the signal strength of each channel connected with the ground ZigBee wireless module is displayed on the ground ZigBee wireless module, and the strength of each channel corresponds to the signal strength of the nodes at both ends of the channel; when the micro-processing device selects the unmanned aerial vehicle for executing the task, when a plurality of unmanned aerial vehicles meet the requirements of task types and also meet the requirements of state information of the unmanned aerial vehicles, the unmanned aerial vehicle with the strongest signal strength is selected to execute the task, and the unmanned aerial vehicle with the strongest signal strength refers to the channel strength directly connected with the ground ZigBee wireless module.
in a preferred embodiment, the control instruction includes instruction receiver information and instruction content, where the instruction receiver information includes an unmanned aerial vehicle number for executing the instruction content, the control instruction is transmitted through a network, in the transmission process, transfer may be performed through a plurality of nodes, each node, that is, each airborne ZigBee wireless module, when receiving the control instruction, checks whether the unmanned aerial vehicle number in the instruction receiver information of the control instruction is consistent with the unmanned aerial vehicle number where the node is located, if so, the unmanned aerial vehicle executes the control instruction, and if not, the unmanned aerial vehicle does not execute the control instruction, but sends the control instruction to other airborne ZigBee wireless modules in the network, which are communicated with the airborne ZigBee wireless module, through the airborne ZigBee wireless module.
Preferably, when the onboard ZigBee wireless module on the unmanned aerial vehicle with a certain number receives a plurality of control instructions which need to be executed by the unmanned aerial vehicle, whether the instruction contents are consistent or not is checked, if so, only the task instruction received firstly is executed, and if not, the task instructions are executed in sequence according to the time sequence of the received control instructions.
in a preferred embodiment, the microprocessor 3 controls a plurality of drones to execute different tasks simultaneously, and when the drone is selected to execute a task, the microprocessor 3 also considers the position information of the task location in the task location to determine the distance between the task location and the ground station, and when the distance is greater than the predetermined distance, i.e. greater than 400 meters, the microprocessor 3 controls at least one drone to stay between the task location and the ground station through a control instruction, so that the onboard ZigBee wireless module on the drone is used as a transfer station for transferring information, and information on the drone with a longer distance can be transferred back to the ground station.
It is further preferred that when the distance between the mission site and the ground station is large and much larger than the predetermined distance, i.e. much larger than 400 meters, the plurality of drones are controlled to be aligned between the mission site and the ground station, and the distance between two adjacent drones is smaller than the predetermined distance, i.e. smaller than 400 meters.
in a preferred embodiment, a mission machine selection module 7 is further disposed in the control system, the mission machine selection module 7 is connected to the microprocessor 3, and the mission machine selection module is configured to select an unmanned aerial vehicle and can send a control instruction to the selected unmanned aerial vehicle through the microprocessor to control the unmanned aerial vehicle to execute a mission. Namely, the user can directly appoint the unmanned aerial vehicle of carrying out the task through the task machine selection module, and need not to change or adjust automatic selection's unmanned aerial vehicle according to actual conditions through 3 automatic selections of microprocessing device for this system reaches the degree of intellectuality and humanized combination to controlling of unmanned aerial vehicle.
In a preferred embodiment, in the networking of the unmanned aerial vehicle group, that is, in the ZigBee networking, the position of each node changes in real time along with the movement of the unmanned aerial vehicle, and is affected by the external environment, some connected nodes in the networking may be temporarily disconnected, but may still be connected to other nodes, so that the unmanned aerial vehicle represented by the node is still controllable, and can still transmit information back and forth through other nodes.
Example (b):
according to the uniformly controlled multifunctional unmanned aerial vehicle group provided by the invention, 20 unmanned aerial vehicles are provided, and are purchased from the whole machine of the unmanned aerial vehicle produced by Shenzhen Dajiang innovative technology and technology Limited or the parts of the unmanned aerial vehicle produced by the same and self-assembled, the unmanned aerial vehicles are respectively numbered by Arabic numerals and numbered from 1 to 20, wherein the working device carried on the unmanned aerial vehicle numbered from 1 to 4 is an altimeter, the working device carried on the unmanned aerial vehicle numbered from 5 to 8 is a thermometer, the working device carried on the unmanned aerial vehicle numbered from 9 to 12 is a camera, the working device carried on the unmanned aerial vehicle numbered from 13 to 16 is a barometer, and the working device carried on the unmanned aerial vehicle numbered from 17 to 20 is a GPS receiver;
The micro-processing device in the ground station of the unmanned aerial vehicle group selects a DSP chip with the model number of TMS320F2812, a JTAG development interface circuit matched with the DSP chip and an external Flash memory, the circuit diagram of the DSP chip with the model number of TMS320F2812 is shown in detail in FIG. 2, the circuit diagram of the JTAG development interface circuit is shown in detail in FIG. 3, the circuit diagram of the external Flash memory is shown in detail in FIG. 4, and the corresponding power supply circuit is shown in detail in FIG. 5;
A ZigBee wireless module in the signal transceiver selects a CC2520 chip, and a circuit diagram of the CC2520 chip is shown in detail in FIG. 6;
the task instructions to be executed and input through the input device are as follows: the task type is as follows: temperature measurement, task time: execution is started after 10 seconds, and the task location: east longitude 104 degrees, north latitude 39 degrees, altitude 1253 m; the task place is also a certain shooting range of Alaran area in China, and the experimental example is completed in the shooting range.
As will be appreciated from the microprocessor processing, the drones numbered 5-8 can be used to perform the mission, wherein the drone numbered 5 is in the mission performing state, the drones numbered 6 and 7 are in the standby state, and the drone numbered 8 is in the abnormal state of being inoperable, so that the drones numbered 6 and 7 can be considered to be dispatched to perform work,
According to the signal intensity information that airborne zigBee wireless module and ground zigBee wireless module transmitted to microprocessor unit 3, the unmanned aerial vehicle signal that serial number is 6 is strongest, so make receiver information be No. 6 unmanned aerial vehicle in the control command that final microprocessor unit sent, the instruction content is 10 seconds after start go east longitude 104 degrees, north latitude 39 degrees, height above sea level 1253 meters, detect the temperature.
The position information of the ground station recorded by the microprocessor in the ground station is as follows: the east longitude 105 degrees, the north latitude 39 degrees, the altitude 1228m, it can be known through calculation that the distance between the place where the task is located and the ground station is 3000m, is greater than the predetermined distance, is greater than 400 meters, so the unmanned aerial vehicle continues to send out control commands, and controls at least 7 unmanned aerial vehicles in standby state to reach the area between the ground station and the task place.
No. 6 unmanned aerial vehicle starts in the scheduled time to fly to the mission site, and return to the journey after obtaining abundant information.
the present invention has been described above in connection with preferred embodiments, but these embodiments are merely exemplary and merely illustrative. On the basis of the above, the invention can be subjected to various substitutions and modifications, and the substitutions and the modifications are all within the protection scope of the invention.
Claims (8)
1. an unmanned aerial vehicle group, characterized in that the unmanned aerial vehicle group comprises a plurality of unmanned aerial vehicles and a control system (1) for uniformly controlling the plurality of unmanned aerial vehicles, wherein each unmanned aerial vehicle is provided with a working device, the plurality of unmanned aerial vehicles are provided with numbers different from each other,
the control system (1) comprises an instruction input device (2), a micro-processing device (3) and a ground signal transceiving device (5);
the instruction input device (2) is used for inputting task instructions to be executed into the control system (1),
Unmanned aerial vehicle information is stored in the micro-processing device (3), and the unmanned aerial vehicle information comprises the serial number of the unmanned aerial vehicle and the type of a working device carried on the unmanned aerial vehicle corresponding to each serial number; the micro-processing device (3) receives the task instruction information input by the instruction input device (2),
the micro-processing device (3) is used for generating a control instruction according to the received information;
The ground signal transceiver (5) is used for transmitting the control command generated by the microprocessor (3) to the unmanned aerial vehicle,
Each unmanned aerial vehicle is provided with an airborne signal transceiver (6),
The airborne signal transceiver devices (6) and the ground signal transceiver devices (5) are in signal communication with each other to form a network,
Each node in the networking automatically adjusts the frequency band, determines the proper frequency band,
the ground signal transceiver (5) comprises a ground ZigBee wireless module;
The airborne signal transceiver devices (6) comprise airborne ZigBee wireless modules,
a plurality of airborne ZigBee wireless modules on the unmanned aerial vehicle and ground ZigBee wireless modules on the ground station jointly form a ZigBee network, in the ZigBee network, each ZigBee wireless module is a node, and within a preset distance, real-time communication can be carried out between any two nodes.
2. the group of drones of claim 1,
The working device carried on each unmanned aerial vehicle is selected from one or more of an altimeter, a thermometer, a camera, a barometer and a GPS receiver.
3. The group of drones of claim 1,
The task instruction comprises task type information, task time information and task place information;
The task type is selected from one or more of air pressure measuring, height measuring, temperature measuring, aerial photography, detection, image data acquisition and geographic data acquisition tasks;
The task time comprises a time point for starting to execute the task and duration for executing the task;
the task location includes location information of the task location, i.e., longitude information, latitude information, and altitude information of the location.
4. The group of drones of claim 1,
The ground signal transceiver (5) is communicated with the airborne signal transceiver (6) in real time,
The state information of the unmanned aerial vehicle is transmitted to the micro-processing device (3) through the real-time communication between the ground signal transceiver device (5) and the airborne signal transceiver device (6);
the state information of the unmanned aerial vehicle comprises the current working state of the unmanned aerial vehicle, namely that the unmanned aerial vehicle is in a task execution state or a standby state or in an abnormal state incapable of working.
5. the group of drones of claim 1,
The micro-processing device (3) selects an unmanned aerial vehicle loaded with a working device capable of executing the task to execute the task according to the received task type,
When a plurality of unmanned aerial vehicles can execute the task, the micro-processing device (3) selects the unmanned aerial vehicle executing the task according to the state information of the plurality of unmanned aerial vehicles.
6. the group of drones of claim 1,
The control instruction comprises instruction receiver information and instruction content, wherein the instruction receiver information comprises a unmanned aerial vehicle number for executing the instruction content,
When each airborne ZigBee wireless module receives the control instruction, whether the number of the unmanned aerial vehicle in the instruction receiver information of the control instruction is consistent with the number of the unmanned aerial vehicle where the airborne ZigBee wireless module is located is checked, and if the numbers are consistent, the unmanned aerial vehicle executes the control instruction; if the unmanned aerial vehicle does not execute the control instruction, the control instruction is sent to other airborne ZigBee wireless modules communicated with the airborne ZigBee wireless module in the networking through the airborne ZigBee wireless module.
7. The group of drones of claim 1,
the micro-processing device 3 is further configured to obtain a distance between the task location and the ground station according to the position information of the task location in the task location, and when the distance is greater than a predetermined distance value, the micro-processing device 3 controls the at least one unmanned aerial vehicle to stay between the task location and the ground station through the control instruction.
8. The group of drones of claim 1,
Still be provided with task machine selection module (7) in control system (1), task machine selection module (7) link to each other with microprocessor unit (3), task machine selection module (7) are used for selecting unmanned aerial vehicle to can send control command for this unmanned aerial vehicle who selects through microprocessor unit (3), control this unmanned aerial vehicle and carry out the task.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611184488.3A CN106919183B (en) | 2016-12-20 | 2016-12-20 | unified control's multi-functional unmanned aerial vehicle group |
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| CN109412721B (en) | 2017-08-16 | 2022-05-27 | 菜鸟智能物流控股有限公司 | Distribution method, take-off method and remote control method of control channel of flight device |
| CN108363438A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | Method and device for being controlled unmanned plane |
| CN108363439A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | The method and device that aircraft is controlled based on type |
| CN108363440A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | Unmanned aerial vehicle (UAV) control method and device based on communication command vehicle |
| CN108363437A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | Control the method and device of unmanned plane in the target area based on communication command vehicle |
| CN108363436A (en) * | 2017-12-29 | 2018-08-03 | 易瓦特科技股份公司 | Unmanned aerial vehicle (UAV) control method and device based on earth station |
| CN108445909A (en) * | 2018-05-18 | 2018-08-24 | 天宇经纬（北京）科技有限公司 | A kind of unmanned aerial vehicle control system |
| CN109597428B (en) * | 2018-12-06 | 2021-11-12 | 中电工业互联网有限公司 | Unmanned aerial vehicle anti-collision method based on ZigBee network, unmanned aerial vehicle and server |
| CN109828604A (en) * | 2019-01-30 | 2019-05-31 | 东北农业大学 | Unmanned plane centre management control device |
| CN110456814B (en) * | 2019-07-02 | 2022-09-27 | 南方科技大学 | Triphibian unmanned aerial vehicle cluster control method and system and unmanned aerial vehicle |
| CN111506114B (en) * | 2020-05-25 | 2021-05-04 | 北京理工大学 | Aircraft formation control method |
| CN113968353A (en) * | 2020-07-22 | 2022-01-25 | 海鹰航空通用装备有限责任公司 | Unmanned aerial vehicle swarm launching control system and method |
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