CN106950984B - Unmanned aerial vehicle remote cooperative scouting and printing method - Google Patents
Unmanned aerial vehicle remote cooperative scouting and printing method Download PDFInfo
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Abstract
The invention relates to a remote cooperative scouting and hitting method for unmanned aerial vehicles, which comprises the steps of controlling a first unmanned aerial vehicle to fly to a preset area in a preset scouting direction, and controlling a second unmanned aerial vehicle and a third unmanned aerial vehicle to fly to a target area in the preset scouting direction; sending a reconnaissance instruction to a second unmanned aerial vehicle through the first unmanned aerial vehicle, and receiving image information of a target area acquired by the second unmanned aerial vehicle; and determining an attack target according to the image information, sending a positioning instruction to the second unmanned aerial vehicle through the second unmanned aerial vehicle, and sending an attack instruction to the third unmanned aerial vehicle. Compared with the prior art, the unmanned aerial vehicle remote cooperative scouting and printing method provided by the invention can realize remote target scouting and remote target attack, so that the laser indication platform or the individual soldier indication personnel can approach the attack target at a short distance, and the safety of the laser indication platform or the individual soldier indication personnel is improved.
Description
Technical Field
The invention relates to the technical field of automatic control of unmanned aerial vehicles, in particular to a remote cooperative investigation and printing method for an unmanned aerial vehicle.
Background
The semi-active laser guidance is a guidance control method with low cost and high precision, and specifically comprises the following steps: the laser receiver is arranged on the aircraft, the target is indicated and irradiated through the laser when the aircraft transmits, and the transmitted aircraft flies in laser beams. When the aircraft deviates from the axis of the laser beam, the laser receiver forms an error signal according to the deviation size and the deviation direction, and forms a control instruction according to a guidance rule to correct the flight direction of the aircraft.
However, the semi-active laser guidance method has the following drawbacks: the target illuminated by the laser pointing needs to be within the line of sight of the laser pointing platform. While maintaining the laser on-going illumination of the target during flight of the aircraft. Therefore, when the semi-active laser guidance method is adopted for target reconnaissance or target attack, the target cannot be closely approached to the reconnaissance target or the attack target, and the safety of the laser indication platform can be reduced,
disclosure of Invention
In order to solve the above problems in the prior art, that is, to solve the technical problem that the laser indication platform cannot perform remote laser irradiation control on a reconnaissance target or an attack target, the invention provides a remote cooperative reconnaissance and printing method for unmanned aerial vehicles, which cooperates with a plurality of unmanned aerial vehicles to realize remote target reconnaissance and remote target attack.
The technical scheme of the unmanned aerial vehicle remote cooperative scouting and printing method is as follows:
the method comprises the following steps:
controlling the first unmanned aerial vehicle to fly to a preset area in a preset reconnaissance direction, and controlling the second unmanned aerial vehicle and the third unmanned aerial vehicle to fly to a target area in the preset reconnaissance direction;
sending a reconnaissance instruction to the second unmanned aerial vehicle through the first unmanned aerial vehicle, and receiving image information of the target area acquired by the second unmanned aerial vehicle;
determining an attack target according to the image information, sending a positioning instruction to the second unmanned aerial vehicle through the second unmanned aerial vehicle, and sending an attack instruction to the third unmanned aerial vehicle; the first unmanned machine carries out laser irradiation on the attack target according to the positioning instruction; and the third unmanned aerial vehicle carries out guided flight according to the attack instruction and the laser reflected by the attack target to attack the attack target.
Further, a preferred technical solution provided by the present invention is:
the first drone includes one or more first drones;
the third drone includes one or more third drones.
Further, a preferred technical solution provided by the present invention is: the control of a plurality of first unmanned aerial vehicle flight to the preset region of presetting reconnaissance direction in specifically includes:
determining each preset area of the plurality of first unmanned machines along the preset reconnaissance direction;
controlling the plurality of first unmanned aerial vehicles to fly to respective preset areas, controlling adjacent first unmanned aerial vehicles in the plurality of first unmanned aerial vehicles to establish communication connection to form series communication, and controlling the first unmanned aerial vehicle closest to the target area to establish communication connection with the second unmanned aerial vehicle and the third unmanned aerial vehicle respectively;
the distance between two adjacent first unmanned machines is smaller than the communication distance between the two first unmanned machines; the farthest flying distance of the second unmanned aerial vehicle and the third unmanned aerial vehicle along the line in the preset reconnaissance direction is smaller than the communication distance of the first unmanned aerial vehicle.
Further, a preferred technical solution provided by the present invention is: and adjusting the position of the first unmanned aerial vehicle along the preset reconnaissance direction according to the position of the second unmanned aerial vehicle and/or the third unmanned aerial vehicle along the preset reconnaissance direction.
Further, a preferred technical solution provided by the present invention is:
the first drone machine comprises a communication repeater; the communication repeater is used for transmitting interactive information between the unmanned aerial vehicle cluster control platform and the second unmanned aerial vehicle and between the unmanned aerial vehicle cluster control platform and the third unmanned aerial vehicle.
Further, a preferred technical solution provided by the present invention is:
the second unmanned aerial vehicle comprises a photoelectric sensor and a laser pointer;
the photoelectric sensor is used for acquiring image information of the target area;
the laser indicator is used for irradiating the attack target in the target area with laser.
Further, a preferred technical solution provided by the present invention is:
the second unmanned aerial vehicle further comprises a two-degree-of-freedom stable platform; the two-degree-of-freedom stable platform comprises a base frame, a pitching frame, a rolling frame, a pitching rotating shaft and a rolling rotating shaft;
the rolling frame, the pitching frame and the base frame are sequentially distributed from inside to outside, and the rotation axes of the rolling frame and the pitching frame are orthogonal to one point;
the rolling frame is arranged on the pitching frame through the rolling rotating shaft to realize rotation of 0-Nx 360 degrees, and N is more than 0; the pitching frame is arranged on the base frame through the pitching rotating shaft to realize the rotation of-90 degrees to +90 degrees;
and the photoelectric sensor and the laser pointer of the second unmanned aerial vehicle are installed on the rolling frame.
Further, a preferred technical solution provided by the present invention is: the third unmanned aerial vehicle comprises a laser receiver and a warhead;
the laser receiver is used for receiving the laser signal reflected by the attack target;
the warhead is used for attacking the attack target.
Further, a preferred technical solution provided by the present invention is: the first unmanned aerial vehicle, the second unmanned aerial vehicle and the third unmanned aerial vehicle are vertical take-off and landing fixed-wing unmanned aerial vehicles; the vertical take-off and landing fixed-wing unmanned aerial vehicle comprises a fixed-wing unmanned aerial vehicle and a quad-rotor unmanned aerial vehicle;
the wings of the fixed-wing unmanned aerial vehicle are vertically connected with the longitudinal main shaft of the fixed-wing unmanned aerial vehicle, and the wing connecting rods of the four-rotor unmanned aerial vehicle are vertically connected with the longitudinal main shaft of the four-rotor unmanned aerial vehicle;
the vertical main shaft of four rotor unmanned aerial vehicle fixes fixed wing unmanned aerial vehicle's vertical main shaft top, just the space contained angle of two vertical main shafts is 0.
Compared with the prior art, the technical scheme at least has the following beneficial effects
According to the unmanned aerial vehicle remote cooperative scouting and printing method provided by the invention, the second unmanned aerial vehicle and the third unmanned aerial vehicle are controlled to fly to the target area in the preset scouting direction, the second unmanned aerial vehicle can be controlled to acquire image information of the target area, and the third unmanned aerial vehicle can be controlled to attack an attack target in the target area; the first unmanned aerial vehicle is controlled to fly to a preset region of a preset reconnaissance direction, remote transmission of control signals of the second unmanned aerial vehicle and the third unmanned aerial vehicle can be achieved, the laser indication platform or a single soldier indicator can approach an attack target in a close range, and safety of the unmanned aerial vehicle control platform and unmanned aerial vehicle operators is improved.
Drawings
Fig. 1 is a flowchart of an implementation of a remote cooperative scouting and printing method for an unmanned aerial vehicle in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a VTOL fixed wing drone in an embodiment of the invention;
fig. 3 is a schematic structural diagram of a remote cooperative surveying and printing system of an unmanned aerial vehicle in an embodiment of the present invention;
fig. 4 is a schematic diagram of the distribution of drones along a preset reconnaissance direction in the embodiment of the present invention;
fig. 5 is a schematic diagram of the cooperative operation of the second drone and the third drone in the embodiment of the present invention;
wherein, 1: a fixed wing drone; 10: a longitudinal main shaft of the fixed-wing unmanned aerial vehicle; 2: a quad-rotor unmanned aerial vehicle; 20: a longitudinal main shaft of the quad-rotor unmanned aerial vehicle; 201: a wing connecting rod; 202: a wing connecting rod; 3: a vertical take-off and landing fixed wing drone; 311: a first unmanned machine; 312: a first unmanned machine; 32: a second drone; 3201: a laser signal; 3202: a two-degree-of-freedom stabilized platform; 3203: a photosensor; 3204: a laser pointer; 33: a third drone; 3301: a laser signal; 3302: a laser receiver; 3303: a warhead; 4: an attack target; 5: unmanned aerial vehicle cluster control platform; 61: presetting a scout direction; 62: the scout direction is preset.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The semi-active laser guidance method can only carry out laser irradiation on a target object within a sight distance, and meanwhile, the target object needs to be continuously irradiated in the flight process of the aircraft. In order to overcome the technical defects of the semi-active laser guidance method, the invention provides a remote cooperative scouting and attacking method based on an unmanned aerial vehicle, which utilizes the characteristics of remote flight and stable loading of the unmanned aerial vehicle to realize remote scouting and remote attack on a target object.
The unmanned aerial vehicle remote cooperative investigation and printing method provided by the invention is specifically described below with reference to the accompanying drawings.
Fig. 1 exemplarily shows an implementation flow of a remote cooperative scouting and printing method for an unmanned aerial vehicle in this embodiment, as shown in the drawing, the remote cooperative scouting and printing method for an unmanned aerial vehicle in this embodiment may be performed according to the following steps, which specifically include:
step S101: and controlling the first unmanned aerial vehicle to fly to a preset region of a preset reconnaissance direction, and controlling the second unmanned aerial vehicle and the third unmanned aerial vehicle to fly to a target region of the preset reconnaissance direction.
In this embodiment, the preset area refers to an area where the first unmanned aerial vehicle stays along the preset reconnaissance direction, and the target area refers to an area where the attack target reconnaissance is performed along the preset reconnaissance direction. The first unmanned aerial vehicle can be used for transmitting interaction information between the unmanned aerial vehicle cluster control platform and the second unmanned aerial vehicle and between the control center and the third unmanned aerial vehicle. The unmanned aerial vehicle cluster control platform can be a control center of a first unmanned aerial vehicle, a second unmanned aerial vehicle and a third unmanned aerial vehicle.
In this embodiment, through controlling first unmanned aerial vehicle to stop in the predetermined region of predetermineeing the reconnaissance direction, can realize that unmanned aerial vehicle cluster control platform respectively with second unmanned aerial vehicle and the information interaction between the third unmanned aerial vehicle, and then can realize carrying out remote control to second unmanned aerial vehicle and third unmanned aerial vehicle.
Step S102: the method comprises the steps of sending a reconnaissance instruction to a second unmanned aerial vehicle through the first unmanned aerial vehicle, and receiving image information of a target area acquired by the second unmanned aerial vehicle.
In this embodiment, as can be seen from the foregoing step S101, the first drone may be configured to transmit interaction information between the drone cluster control platform and the second drone and between the drone cluster control platform and the third drone, so that a reconnaissance instruction issued by the drone cluster control platform to the second drone may be forwarded to the second drone, an attack instruction issued to the third drone may be forwarded to the third drone, and meanwhile, image information acquired by the second drone may also be forwarded to the control center.
In this embodiment, the second unmanned aerial vehicle may perform image scanning on the target area to acquire image information of the target area after receiving the reconnaissance instruction, and finally transmit the image information to the unmanned aerial vehicle cluster control platform through the first unmanned aerial vehicle.
Step S103: and determining an attack target according to the image information, sending a positioning instruction to the second unmanned aerial vehicle through the first unmanned aerial vehicle, and sending an attack instruction to the third unmanned aerial vehicle.
In this embodiment, the attack target may be determined according to the image information acquired by the second unmanned aerial vehicle, and the position coordinate of the attack target may be acquired according to the image information. After the attack target is determined, a positioning instruction can be sent to the second unmanned aerial vehicle through the first unmanned aerial vehicle, and meanwhile, an attack instruction can also be sent to the third unmanned aerial vehicle through the first unmanned aerial vehicle. The positioning instruction and the attack instruction can both contain the position coordinates of the attack target.
In this embodiment, the second unmanned aerial vehicle can perform laser irradiation on the attack target according to the positioning instruction, and the third unmanned aerial vehicle can perform guided flight according to the attack instruction and the laser reflected by the attack target to strike the attack target.
In this embodiment, after the second unmanned aerial vehicle and the third unmanned aerial vehicle are controlled to fly to the target area in the preset reconnaissance direction, the second unmanned aerial vehicle may be controlled to acquire image information of the target area, and the third unmanned aerial vehicle may be controlled to attack an attack target in the target area; the first unmanned aerial vehicle is controlled to fly to a preset region of a preset reconnaissance direction, remote transmission of control signals of the second unmanned aerial vehicle and the third unmanned aerial vehicle can be achieved, the laser indication platform or a single soldier indicator can approach an attack target in a close range, and safety of the unmanned aerial vehicle control platform and unmanned aerial vehicle operators is improved.
Further, step S101 of this embodiment may further include the following steps:
in this embodiment, the first drone may include one or more first drones, and when a plurality of first drones are used, the flight distances of the second drone and the third drone may be further extended, that is, the distance of the target area in the preset reconnaissance direction may be extended.
In this embodiment, the following steps may be performed to control the plurality of first unmanned aerial vehicles to fly to a preset area in a preset reconnaissance direction, and specifically include:
(1) and determining each preset area of the plurality of first unmanned machines along the preset reconnaissance direction. In this embodiment, the number of the first unmanned machines and the preset area where each first unmanned machine stays on the line in the preset reconnaissance direction may be determined according to the position of the target area in the preset reconnaissance direction.
(2) The multiple first unmanned machines are controlled to fly to the respective preset areas, adjacent first unmanned machines in the multiple first unmanned machines are controlled to establish communication connection to form series communication, and the first unmanned machine closest to the target area is controlled to establish communication connection with the second unmanned machine and the third unmanned machine respectively.
In this embodiment, the distance between two adjacent first wtrus should be less than the maximum communication distance between the two first wtrus; the farthest flying distance of the second unmanned aerial vehicle and the third unmanned aerial vehicle along the line in the preset reconnaissance direction is smaller than the maximum communication distance of the first unmanned aerial vehicle. When the first unmanned aerial vehicle comprises a plurality of first unmanned aerial vehicles, the farthest flying distance along the line of the second unmanned aerial vehicle and the third unmanned aerial vehicle in the preset reconnaissance direction is smaller than the maximum communication distance of serial communication formed by the plurality of first unmanned aerial vehicles.
Further, in this embodiment, the position along the line of the first unmanned aerial vehicle in the preset reconnaissance direction can be adjusted according to the position along the line of the second unmanned aerial vehicle and/or the third unmanned aerial vehicle in the preset reconnaissance direction, that is, it is necessary to ensure that the communication between the first unmanned aerial vehicle and the second unmanned aerial vehicle, and the communication between the first unmanned aerial vehicle and the third unmanned aerial vehicle are stable.
In this embodiment, through carrying out cooperative control to a plurality of unmanned aerial vehicles, can realize carrying out remote reconnaissance to the target area to when semi-active laser guidance technique carries out the target striking, can carry out long-range laser irradiation control and long-range attack control to the attack target, make laser instruction platform or individual soldier instruct personnel can be close to the attack target closely, and improve laser instruction platform or individual soldier instruct personnel's security.
Although the foregoing embodiments describe the steps in the above sequential order, those skilled in the art will understand that, in order to achieve the effect of the present embodiments, the steps may not be executed in such an order, and may be executed simultaneously (in parallel) or in an inverse order, and these simple variations are within the scope of the present invention.
Further, the first drone machine in this embodiment may include the following structure, specifically:
in this embodiment, the first drone may include a communication repeater, and the communication repeater may be configured to transmit interaction information between the drone cluster control platform and the second drone and between the drone cluster control platform and the third drone, respectively. The interactive information may include a reconnaissance instruction and a positioning instruction issued by the drone cluster control platform to the second drone, an attack instruction issued to the third drone, and image information of a target area acquired by the second drone.
Further, the second unmanned aerial vehicle in this embodiment can include following structure, specifically is:
the second drone in this embodiment may include a photoelectric sensor and a laser pointer. The photoelectric sensor can be used for collecting image information of a target area, and the laser indicator can be used for irradiating an attack target in the target area with laser.
Simultaneously, the second unmanned aerial vehicle can also include two degree of freedom stabilized platforms in this embodiment. The two-degree-of-freedom stabilized platform in this embodiment may include a base frame, a pitch frame, a roll frame, a pitch axis, and a roll axis. The rolling frame, the pitching frame and the base frame are sequentially distributed from inside to outside, and the geometric center points of the rolling frame, the pitching frame and the base frame are the same point. Meanwhile, the axes of rotation of the roll frame and the pitch frame are orthogonal to one point.
In the embodiment, the rolling frame can be arranged on the pitching frame through the rolling rotating shaft to realize the rotation of 0-Nx 360 degrees, wherein N is more than 0; the pitching frame can be arranged on the base frame through a pitching rotating shaft to realize the rotation of-90 degrees to +90 degrees.
In this embodiment, both the photoelectric sensor and the laser indicator can be installed on the rolling frame, that is, the rolling of 0-Nx 360 degrees and the pitching of-90 to +90 degrees can be realized, so that the comprehensive image information acquisition is performed on the target area and the accurate laser irradiation is performed on the attack target.
Further, the third unmanned aerial vehicle in this embodiment can include following structure, specifically is: the third drone in this embodiment may include a laser receiver and a warhead, where the laser receiver may be configured to receive laser reflected by an attack target, and the warhead may be configured to attack the attack target. The warhead in the embodiment refers to a final damage unit for damaging targets by various ammunitions and missiles, and mainly comprises a shell, a battle charge, a detonating device and a safety device.
Preferably, this embodiment also provides an optimal technical scheme of an unmanned aerial vehicle, and the following specifically explains the structures of the first unmanned aerial vehicle, the second unmanned aerial vehicle and the third unmanned aerial vehicle in this embodiment with reference to the accompanying drawings.
First unmanned aerial vehicle, second unmanned aerial vehicle and third unmanned aerial vehicle can adopt VTOL fixed wing unmanned aerial vehicle in this embodiment, and this VTOL fixed wing unmanned has had VTOL, high-speed flight concurrently and has stabilized the advantage of hovering.
Fig. 2 illustrates the structure of a vertical take-off and landing fixed-wing drone in this embodiment, and as shown, a vertical take-off and landing fixed-wing drone 3 in this embodiment may include a fixed-wing drone 1 and a quad-rotor drone 2. Wherein, the wing of fixed wing unmanned aerial vehicle 1 is connected perpendicularly with the vertical main shaft 10 of fixed wing unmanned aerial vehicle 1, and the wing connecting rod 201 and 202 of four rotor unmanned aerial vehicle 2 are connected perpendicularly with the vertical main shaft 20 of four rotor unmanned aerial vehicle 2 respectively.
In this embodiment, the longitudinal main shaft 20 of the quad-rotor drone 2 is fixed above the longitudinal main shaft 10 of the fixed-wing drone 1, and the space angle between the longitudinal main shaft 10 and the longitudinal main shaft 20 is kept to be 0 °, that is, the longitudinal main shaft 10 and the longitudinal main shaft 20 are overlapped together. In this embodiment, the longitudinal main shaft 20 may be fixed to the longitudinal main shaft 10 by screws, and the positions of the wing connection rods 201 and 202 may be adjusted along the longitudinal main shaft 20, so as to avoid collision between the wing connection rods of the quad-rotor drone 2 and the wings of the fixed-wing drone 1.
Based on the same technical concept as the method embodiment, the embodiment of the invention also provides an unmanned aerial vehicle remote cooperative investigation and printing system. The following specifically describes the remote cooperative investigation and printing system of the unmanned aerial vehicle in this embodiment with reference to the accompanying drawings.
Fig. 3 exemplarily shows a structure of a remote cooperative scouting and printing system for unmanned aerial vehicles in this embodiment, as shown in the figure, the remote cooperative scouting and printing system for unmanned aerial vehicles in this embodiment may include an unmanned aerial vehicle cluster control platform 5, a first unmanned aerial vehicle 311, a second unmanned aerial vehicle 32, and a third unmanned aerial vehicle 33.
The unmanned aerial vehicle cluster control platform 5 may be configured to control the first unmanned aerial vehicle 311 to fly to a preset area in a preset reconnaissance direction, and control the second unmanned aerial vehicle 32 and the third unmanned aerial vehicle 33 to fly to a target area in the preset reconnaissance direction.
The first drone 311 is provided with a communication repeater. The communication repeater in this embodiment may be configured to transmit interaction information between the drone cluster control platform 5 and the second drone 32 and the third drone 33, respectively.
The second drone 32 is provided with a photoelectric sensor 3203 and a laser pointer 3204. In this embodiment, the photosensor 3203 may be configured to acquire image information of the target area according to a reconnaissance instruction issued by the unmanned aerial vehicle cluster control platform 5, and send the image information to the unmanned aerial vehicle cluster control platform 5 through the first unmanned aerial vehicle 311; the laser indicator 3204 may be configured to perform laser irradiation on an attack target in the target area according to a positioning instruction issued by the unmanned aerial vehicle cluster control platform 5. The photosensor 3203 and laser pointer 3204 are in this embodiment mounted on a two degree of freedom stabilized platform 3202.
The third drone 33 is provided with a laser receiver 3302 and a warhead 3303. The laser receiver 3302 in this embodiment may be configured to receive laser light reflected by an attack target; the warhead 3303 may be used to attack the attack targets. Meanwhile, the third unmanned aerial vehicle 33 performs guided flight according to the attack instruction issued by the unmanned aerial vehicle cluster control platform 5 and the laser reflected by the attack target, and attacks the attack target.
Further, in this embodiment, the first drone may include one or more first drones, as shown in fig. 3, in this embodiment, the first drone includes a first drone 311 and a second drone 312, the first drone 311 communicates with the drone cluster control platform 5 and the second drone 312 respectively, and the second drone 312 communicates with the first drone 311, the second drone, and the third drone respectively. The first drone 311 and the first drone 312 form a serial communication link, that is, when the embodiment includes a plurality of first drones, all the first drones are sequentially distributed on the preset reconnaissance direction along the line and form the serial communication link.
In this embodiment, the unmanned aerial vehicle cluster control platform 5 may be configured to control a plurality of first unmanned aerial vehicles to fly to a preset reconnaissance direction along respective preset regions on the line. Meanwhile, the unmanned aerial vehicle cluster control platform 5 establishes communication connection with the first unmanned aerial vehicle closest to the unmanned aerial vehicle cluster control platform, controls adjacent first unmanned aerial vehicles in the plurality of first unmanned aerial vehicles to establish communication connection to form series communication, and controls the first unmanned aerial vehicle closest to a target area to establish communication connection with the second unmanned aerial vehicle and the third unmanned aerial vehicle respectively.
In this embodiment, in order to ensure that the communication of the serial communication link formed by the first unmanned aerial vehicle is stable, and ensure that the communication between the first unmanned aerial vehicle and the second unmanned aerial vehicle is stable, the distance between two adjacent first unmanned aerial vehicles needs to be controlled to be smaller than the communication distance between the two first unmanned aerial vehicles, and the farthest flight distance along the line between the second unmanned aerial vehicle and the third unmanned aerial vehicle in the preset reconnaissance direction needs to be controlled to be smaller than the communication distance between the first unmanned aerial vehicle.
Further, the third drone may include one or more third drones in this embodiment. All the third unmanned aerial vehicles fly with the second unmanned aerial vehicle, and after the unmanned aerial vehicle cluster control platform 5 determines an attack target in the target area, an attack instruction can be issued to one or more of the third unmanned aerial vehicles to strike the attack target.
Further, in this embodiment, the first unmanned aerial vehicle can also be used for automatically adjusting the position along the line in the preset reconnaissance direction according to the position along the line in the preset reconnaissance direction of the second unmanned aerial vehicle and/or the third unmanned aerial vehicle, so that stable communication is maintained between the first unmanned aerial vehicle and the second unmanned aerial vehicle, and between the first unmanned aerial vehicle and the third unmanned aerial vehicle.
The following describes in detail the working process of the remote cooperative investigation and printing system of the unmanned aerial vehicle in this embodiment with reference to the accompanying drawings, and specifically includes:
fig. 4 exemplarily shows the distribution of the drones along the preset reconnaissance direction in the present embodiment, and as shown in the drawing, the remote cooperative reconnaissance and printing system for drones in the present embodiment includes a drone cluster control platform 5, a first drone 311, a first drone 312, a second drone 32, and a third drone 33. The scout directions include a preset scout direction 61 and a preset scout direction 62.
In this embodiment, the implementation process of the remote cooperative investigation and printing system of the unmanned aerial vehicle specifically includes:
step S201: the unmanned aerial vehicle cluster control platform 5 controls the first unmanned aerial vehicle 311, the first unmanned aerial vehicle 312, the second unmanned aerial vehicle 32 and the third unmanned aerial vehicle 33 to take off simultaneously, controls the first unmanned aerial vehicle 311 and the first unmanned aerial vehicle 312 to fly to respective preset areas in the preset reconnaissance direction 61 in sequence, and controls the second unmanned aerial vehicle 32 and the third unmanned aerial vehicle 33 to fly to target areas in the preset reconnaissance direction 61.
Step S202: the drone cluster control platform 5 sends a scout instruction to the first drone 311, the first drone 311 forwards the scout instruction to the first drone 312, and the first drone 312 forwards the scout instruction to the second drone 32.
Step S203: the second drone 32 controls the photoelectric sensor 3203 to collect image information of the target area according to the reconnaissance instruction, and sends the collected image information to the first drone 312, the first drone 312 forwards the image information to the first drone 311, and finally the first drone 311 sends the image information to the drone cluster control platform 5.
Step S204: the unmanned aerial vehicle cluster control platform 5 determines an attack target according to the received image information; if it is determined that the attack target exists in the target region, step S205 is executed, and if the attack target exists in the target region, step S207 is executed.
Step S205: the unmanned aerial vehicle cluster control platform 5 sends the positioning instruction and the attack instruction containing the position coordinate of the attack target 4 to the first unmanned aerial vehicle 311, the first unmanned aerial vehicle 311 forwards the positioning instruction and the attack instruction to the second unmanned aerial vehicle 312, and finally the first unmanned aerial vehicle 312 sends the positioning instruction to the second unmanned aerial vehicle 32 and sends the attack instruction to the third unmanned aerial vehicle 33.
Step S206: the second unmanned aerial vehicle 32 stops flying at a high speed after receiving the positioning instruction, hovers over the attack target 4, and performs laser irradiation on the attack target 4. After receiving the attack instruction, the third unmanned aerial vehicle 33 performs guided flight according to the laser reflected by the attack target, and precisely strikes the attack target 4.
Fig. 5 illustrates the cooperative working process of the second drone and the third drone in this embodiment, as shown in the figure, the laser pointer 3204 of the second drone 32 in this embodiment emits a laser signal 3201 to the attack target 4 for laser irradiation; the laser receiver 3302 of the third unmanned aerial vehicle 33 receives the laser signal 3301 reflected by the attack target 4, and performs guided flight according to the laser signal 3301, and flies to the attack target 4 in a suicide attack manner, and finally destroys the attack target 4 by the warhead 3303.
Step S207: the unmanned aerial vehicle cluster control platform 5 controls the first unmanned aerial vehicle 311 and the first unmanned aerial vehicle 312 to fly to respective preset areas in the preset reconnaissance direction 62, controls the second unmanned aerial vehicle 32 and the third unmanned aerial vehicle 33 to fly to target areas in the preset reconnaissance direction 62, and repeatedly executes the steps S202 to S206.
In this embodiment, the first drone 311, the first drone 312, the second drone 32, and the third drone 33 all employ a vertical take-off and landing fixed wing drone, and the first drone 311, the first drone 312, the second drone 32, and the third drone 33 can be rapidly arranged along the preset reconnaissance direction by the drone cluster control platform 5, so that the attack target can be remotely reconnaissance and remotely attacked.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in a server, client, or the like, according to embodiments of the present invention. The present invention may also be embodied as an apparatus or device program (e.g., PC program and PC program product) for carrying out a portion or all of the methods described herein. Such a program implementing the invention may be stored on a PC readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed PC. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (7)
1. An unmanned aerial vehicle remote cooperative scouting and printing method is characterized by comprising the following steps:
controlling the first unmanned aerial vehicle to fly to a preset area in a preset reconnaissance direction, and controlling the second unmanned aerial vehicle and the third unmanned aerial vehicle to fly to a target area in the preset reconnaissance direction;
sending a reconnaissance instruction to the second unmanned aerial vehicle through the first unmanned aerial vehicle, and receiving image information of the target area acquired by the second unmanned aerial vehicle;
determining an attack target according to the image information, sending a positioning instruction to the second unmanned aerial vehicle through the first unmanned aerial vehicle, and sending an attack instruction to the third unmanned aerial vehicle; the second unmanned aerial vehicle carries out laser irradiation on the attack target according to the positioning instruction; the third unmanned aerial vehicle conducts guided flight according to the attack instruction and the laser reflected by the attack target to attack the attack target;
the first drone includes a plurality of first drones and the third drone includes a plurality of third drones;
wherein, control a plurality of first unmanned aerial vehicle flight to the preset region of presetting reconnaissance direction in, specifically include:
determining each preset area of the plurality of first unmanned machines along the preset reconnaissance direction;
controlling the plurality of first unmanned aerial vehicles to fly to respective preset areas, controlling adjacent first unmanned aerial vehicles in the plurality of first unmanned aerial vehicles to establish communication connection to form series communication, and controlling the first unmanned aerial vehicle closest to the target area to establish communication connection with the second unmanned aerial vehicle and a third unmanned aerial vehicle respectively;
the distance between two adjacent first unmanned machines is smaller than the communication distance between the two first unmanned machines; the farthest flying distance of the second unmanned aerial vehicle and the third unmanned aerial vehicle along the line in the preset reconnaissance direction is smaller than the communication distance of the first unmanned aerial vehicle.
2. The unmanned aerial vehicle remote cooperative scouting and printing method according to claim 1,
further, the method further comprises:
and adjusting the position of the first unmanned aerial vehicle along the preset reconnaissance direction according to the position of the second unmanned aerial vehicle and/or the third unmanned aerial vehicle along the preset reconnaissance direction.
3. The unmanned aerial vehicle remote cooperative scouting and printing method according to claim 1,
the first drone machine comprises a communication repeater; the communication repeater is used for transmitting interactive information between the unmanned aerial vehicle cluster control platform and the second unmanned aerial vehicle and between the unmanned aerial vehicle cluster control platform and the third unmanned aerial vehicle.
4. The unmanned aerial vehicle remote cooperative scouting and printing method according to claim 1,
the second unmanned aerial vehicle comprises a photoelectric sensor and a laser pointer;
the photoelectric sensor is used for acquiring image information of the target area;
the laser indicator is used for irradiating the attack target in the target area with laser.
5. The unmanned aerial vehicle remote cooperative scouting and printing method according to claim 4,
further, the second unmanned aerial vehicle further comprises a two-degree-of-freedom stable platform; the two-degree-of-freedom stable platform comprises a base frame, a pitching frame, a rolling frame, a pitching rotating shaft and a rolling rotating shaft;
the rolling frame, the pitching frame and the base frame are sequentially distributed from inside to outside, and the rotation axes of the rolling frame and the pitching frame are orthogonal to one point;
the rolling frame is arranged on the pitching frame through the rolling rotating shaft to realize rotation of 0-Nx 360 degrees, and N is more than 0; the pitching frame is arranged on the base frame through the pitching rotating shaft to realize the rotation of-90 degrees to +90 degrees;
and the photoelectric sensor and the laser pointer of the second unmanned aerial vehicle are installed on the rolling frame.
6. The unmanned aerial vehicle remote cooperative scout method of claim 1, wherein the third unmanned aerial vehicle comprises a laser receiver and a warhead;
the laser receiver is used for receiving the laser signal reflected by the attack target;
the warhead is used for attacking the attack target.
7. The unmanned aerial vehicle remote cooperative scout approach of any of claims 1, 3-6, wherein the first, second, and third unmanned aerial vehicles are vertical take-off and landing fixed wing unmanned aerial vehicles; the vertical take-off and landing fixed-wing unmanned aerial vehicle comprises a fixed-wing unmanned aerial vehicle and a quad-rotor unmanned aerial vehicle;
the wings of the fixed-wing unmanned aerial vehicle are vertically connected with the longitudinal main shaft of the fixed-wing unmanned aerial vehicle, and the wing connecting rods of the four-rotor unmanned aerial vehicle are vertically connected with the longitudinal main shaft of the four-rotor unmanned aerial vehicle;
the vertical main shaft of four rotor unmanned aerial vehicle fixes fixed wing unmanned aerial vehicle's vertical main shaft top, and the space contained angle of two vertical main shafts is 0.
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