CN107272732A - Unmanned flight's device group system - Google Patents
Unmanned flight's device group system Download PDFInfo
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- CN107272732A CN107272732A CN201710438764.2A CN201710438764A CN107272732A CN 107272732 A CN107272732 A CN 107272732A CN 201710438764 A CN201710438764 A CN 201710438764A CN 107272732 A CN107272732 A CN 107272732A
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- flight
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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 kind of unmanned flight's device group system, unmanned flight's device cluster includes some master control flight instrumentses and at least one-level from controlling flight instruments；Master control flight instruments is used to be cruised according to programme path；It is used to track target flight device and cruised from control flight instruments, and performs task, wherein, target flight device includes master control flight instruments or from controlling flight instruments.Unmanned flight's device group system of the present invention, cruised from control flight instruments by tracking its target flight device, to not needing self-contained navigation and programme path from control flight instruments, the sensing equipment more than the shipped quantity thereon can be avoided, so as to reduce the charging appliance quantity and consumed energy of flight instruments.
Description
Technical field
The present invention relates to unmanned flight's engineering device technique field, more particularly to a kind of unmanned flight's device group system.
Background technology
Clustering is the development trend of unmanned plane application, i.e., constitute colony by multiple unmanned planes and perform task jointly, nobody
Machine cluster has widespread demand in fields such as scouting/monitoring, communication relay, electronic countermeasure, diaster prevention and control, emergency rescues, and it has
Have the advantages that control range is bigger, mutually supply, task sharing.
In the prior art, the cooperative work mode of unmanned plane cluster is that every frame unmanned plane passes through itself airborne sensing
Equipment obtains location information and navigation information, and independent programme path, this mode is more in the presence of required visual sensing number of devices,
Information processing capacity is big, the problem of consumed energy is excessive.
The content of the invention
It is an object of the invention to provide a kind of unmanned flight's device group system, it is not necessary to every table apparatus self-contained navigation,
Reduce the charging appliance quantity and consumed energy of flight instruments.
To achieve the above object, the present invention provides following technical scheme：
A kind of unmanned flight's device group system, unmanned flight's device cluster is including some master control flight instrumentses and extremely
Lack one-level from control flight instruments；
The master control flight instruments is used to be cruised according to programme path；
It is described to be cruised from control flight instruments for tracking target flight device, and task is performed, wherein, the target
Flight instruments includes the master control flight instruments or described from control flight instruments.
Alternatively, unmanned flight's device cluster is included described at least two-stage from control flight instruments；
Cruised described in the first order from control flight instruments for tracking the master control flight instruments, and perform task；
Cruised described in per next stage from control flight instruments for tracking its upper level from control flight instruments, and execution is appointed
Business.
Alternatively, the master control flight instruments is used to receive the programme path that ground control terminal is sent, or the master
Control flight instruments is used to be cruised according to programme path under the remote control of ground control terminal.
Alternatively, it is described to include from control flight instruments：
Taking module, the target flight installation drawing picture for shooting its tracking；
Flight adjusting module, for position in shooting picture of the target flight device that is tracked according to it, itself is current
Flying speed calculate the deviation angle in itself current flight direction, the heading of itself is adjusted according to the deviation angle and flown
Scanning frequency degree, makes the target flight device that it is tracked in shooting picture be in picture center.
Alternatively, the flight adjusting module specifically for：
Three-dimensional cartesian coordinate system is set up by X-Z plane of shooting picture, it is assumed that P points represent target flight device in space
Physical location, Q points represent projection of the P points in X-Z plane, and O point denotation coordinations system origin then meets relation according to OP distance
Formula：OP2=x2+y2+z2, z is calculated, wherein (x, y, z) represents P point coordinates；
According to calculating formulaThis is calculated from the deviation angle α in control flight instruments current flight direction.
Alternatively, calculated by OP=vt and obtain OP distances, v represents this from the current flying speed of control flight instruments, and t is represented
Customized time variable；
Or, by measuring this from the distance between target flight device for being tracked with it of control flight instruments, as OP away from
From.
Alternatively, it is described from control flight instruments be provided with rangefinder, by the stadia surveying sheet from control flight instruments
The distance between target flight device tracked with it, is used as OP distances.
Alternatively, it is described also to include from control flight instruments：
Target identification module, for the initial position standard picture according to its target flight device tracked, from shooting picture
Recognized in face and orient target flight device.
Alternatively, the target identification module specifically for：
The SIFT feature vector of each characteristic point is extracted from shooting image, the first k-dimensional tree features are built
Extracted in structure, and the initial position standard picture of target flight device from its tracking the SIFT feature of each characteristic point to
Amount, builds the 2nd k-dimensional tree feature structures；
The first k-dimensional trees feature structure and the 2nd k-dimensional tree feature structures are entered
Row matching search, the feature point extraction in shooting image with the Feature Points Matching in standard picture is gone out；
The matching characteristic extracted point is subjected to clustering to the posture changing space of standard picture, condition will be unsatisfactory for
Matching characteristic point reject；
The matching characteristic point of reservation is fitted, the posture ginseng of the target unmanned flight device in shooting image is obtained
Number.
Alternatively, the taking module includes camera.
As shown from the above technical solution, unmanned flight's device group system provided by the present invention, including some master controls fly
Luggage is put and at least one-level is from control flight instruments, wherein, master control flight instruments is cruised according to programme path, from control flight dress
Put tracking target flight device cruised, target flight device be master control flight instruments or from control flight instruments.The present invention
Unmanned flight's device group system, is cruised from control flight instruments by tracking its target flight device, to being filled from control flight
Put and do not need self-contained navigation and programme path, the sensing equipment more than the shipped quantity thereon can be avoided, flight instruments is reduced
Charging appliance quantity and consumed energy.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of schematic diagram of unmanned flight's device group system provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram in the embodiment of the present invention from control flight instruments；
Fig. 3 illustrates for the coordinate system for calculating the foundation of heading deviation angle from control flight instruments in the embodiment of the present invention
Figure；
Fig. 4 be the embodiment of the present invention in shooting picture recognize target flight device method flow diagram.
Embodiment
In order that those skilled in the art more fully understand the technical scheme in the present invention, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described implementation
Example only a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention
Scope.
The embodiment of the present invention provides a kind of unmanned flight's device group system, including some master control flight instrumentses and at least one
Level from control flight instruments；The master control flight instruments is used to be cruised according to programme path；It is described to be used for from control flight instruments
Tracking target flight device is cruised, and performs task, wherein, the target flight device includes the master control flight instruments
Or it is described from control flight instruments.
The present embodiment unmanned flight's device group system, is patrolled from control flight instruments by tracking its target flight device
Boat, to not needing self-contained navigation and programme path from control flight instruments, can avoid the sensing equipment more than the shipped quantity thereon, from
And reduce the charging appliance quantity and consumed energy of flight instruments.
The present embodiment unmanned flight's device group system is described in detail with reference to embodiment.
It refer to Fig. 1, unmanned flight's device group system that the present embodiment is provided, including some Hes of master control flight instruments 10
At least one-level from control flight instruments 11.
The master control flight instruments 10 is used to be cruised according to programme path.
In the specific implementation, master control flight instruments 10 can receive the programme path that ground control terminal is sent；Or, it is described
Master control flight instruments 10 is cruised under the remote control of ground control terminal according to programme path.Road can will be planned before flight
Line is inserted in master control flight instruments, or, can also be real-time to master control flight instruments by ground control terminal in flight course
Remote control, controls it to be cruised according to programme path.
It is described at least to include one-level from control flight instruments 11 from control flight instruments.
In a kind of embodiment, unmanned flight's device group system may include one-level from control flight instruments,
It is each to perform aerial mission as its master control flight instruments for tracking target from the tracking of control flight instruments.
In another embodiment, unmanned flight's device group system includes winged from control described at least two-stage
Luggage puts 11, refers to shown in Fig. 1, wherein, the first order is patrolled from control flight instruments 11 for tracking master control flight instruments 10
Navigate, and perform task, the i.e. first order and be used as tracking target from control flight instruments 11 using master control flight instruments 10；Per next stage from control
Flight instruments 11 is cruised for tracking its upper level from control flight instruments 11, and performs task, is flown per next stage from control
Device 11 is used as tracking target using its upper level from control flight instruments 11.Wrapped in the group system of unmanned flight's device shown in Fig. 1
Two-stage is included from control flight instruments, in practical application, can be set more stages from control flight instruments according to actual use demand, is existed
In the scope of the present invention.
In the respective embodiments described above, tracking its target flight device from control flight instruments can be realized by the following method,
Fig. 2 is refer to, is specifically included from control flight instruments 11：
Taking module 110, the target flight installation drawing picture for shooting its tracking；
Flight adjusting module 111, for position in shooting picture of the target flight device that is tracked according to it, itself works as
Preceding flying speed calculates the deviation angle in itself current flight direction, according to the deviation angle adjust the heading of itself and
Flight angle, makes the target flight device that it is tracked in shooting picture be in picture center.
Optionally, the taking module 110 include camera, can by from control flight instruments on camera is being installed,
Its target flight installation drawing picture of captured in real-time in flight course.
More specifically, flight adjusting module 111 specifically for：
Three-dimensional cartesian coordinate system is set up by X-Z plane of shooting picture, Fig. 3 is referred to, it is assumed that P points represent that target flight is filled
Put physical location in space, Q points represent projection of the P points in X-Z plane, O point denotation coordinations system origin, then according to OP away from
From meeting relational expression：OP2=x2+y2+z2, calculate z, wherein (x, y, z) represent P point coordinates, Q point coordinates for (x, 0, z).Fig. 3
Middle M points (x, y, 0) represent projection of the P points in X-Y plane, and N points (0, y, z) represent projection of the P points in Y-Z plane；
According to calculating formulaThis is calculated from the deviation angle α in control flight instruments current flight direction.
Wherein, OP distance can be obtained by OP=vt, and v represents this from the current flying speed of control flight instruments, and t is represented
Customized time variable.Or, by actual measurement originally between control flight instruments and its target flight device tracked
Distance, is used as OP distances.In the specific implementation, rangefinder can be set from control flight instruments at this, to measure this in real time from control
Flight instruments is the distance between to its target flight device tracked.
In above-mentioned tracking, fixed from the shooting angle of the camera device of carry on control flight instruments 11, according to
The target flight installation drawing picture of shooting calculates this from the deviation angle in control flight instruments current flight direction, directly inclined according to this
Angle adjustment is moved from the heading of control flight instruments.
Optionally, can carry on-fixed camera device from control flight instruments 11 in another embodiment.With
During track, it is described from control flight instruments by changing the shooting angle of camera device, make the mesh that it is tracked in shooting picture
Mark flight instruments and be in picture center, while according to the deviation angle adjusted to camera device shooting angle, it is corresponding to adjust from control
The current heading of flight instruments.
Specifically, before cluster starts flight, in the posture letter from its target flight device of the control memory storage of flight instruments 11
Breath, flying height of the attitude information including flight instruments, flight attitude angle, shooting zooming parameter.
In the specific implementation, can after taking module 110 often photographs a two field picture or predetermined number two field picture, from
Control flight instruments adjustment flight direction.
Further, it is described also to include from control flight instruments 11：
Target identification module 112, for the initial position standard picture according to its target flight device tracked, from shooting
Recognized in picture and orient target flight device.
The target identification module recognizes that the concrete processing procedure of target flight device is as follows, refer to from shooting picture
Fig. 4, including step：
S20：The SIFT feature vector of each characteristic point is extracted from shooting image, the first k-dimensional trees are built
The SIFT feature of each characteristic point is extracted in feature structure, and the initial position standard picture of target flight device from its tracking
Vector, builds the 2nd k-dimensional tree feature structures.
Before cluster flight, the initial position standard picture of its target flight device is stored from control flight instruments 11, can be with
The initial position standard picture of target flight device is stored in advance in out of control flight instruments by operating personnel.
In unmanned flight's device flight course, for the target flight installation drawing picture from control flight instruments captured in real-time,
The SIFT feature vector of each characteristic point is extracted from shooting image, the first k-dimensional tree feature structures are built.
In the above description, SIFT is Scale invariant features transform (Scale-invariant feature
Transform, SIFT), it is one kind description for image processing field, is a kind of local feature description's.It is to rotation, chi
Degree scaling, brightness change are maintained the invariance, and a certain degree of stability is also kept to visual angle change, affine transformation, noise.
K-dimensional tree feature structures (abbreviation Kd-Tree), are a kind of data structures in segmentation k dimension datas space.
Search applied to hyperspace critical data.
S21：To the first k-dimensional trees feature structure and the 2nd k-dimensional tree feature knots
Structure carries out matching search, and the feature point extraction in shooting image with Feature Points Matching in standard picture is gone out.
In the specific implementation, BBF (Best Bin First, BBF) searching algorithm can be used, to the first k-
Dimensional trees feature structure and the 2nd k-dimensional trees feature structure carry out matching search, extract matching
Characteristic point.
S22：The matching characteristic extracted point is subjected to clustering to the posture changing space of standard picture, will be unsatisfactory for
The matching characteristic point of condition is rejected.
The matching characteristic point searched out by upper step S21 is not accurate enough, the match point that there is mistake, will by this step
Wherein wrong matching characteristic point is rejected.
In the specific implementation, Hough transform algorithm can be used, by posture of the matching characteristic extracted the point to standard picture
Transformation space carries out clustering.Wherein, the posture changing space of standard picture is joined for orientation angle, the scaling of tracking target
Number, scale parameter etc. are divided into some equal portions formation according to a fixed step size.
The cluster result of matching characteristic point is obtained according to default threshold value, the match point of mistake is rejected, only retains correct
Match point,
S23：The matching characteristic point of reservation is fitted, the posture ginseng of the target flight device in shooting image is obtained
Number.
In the specific implementation, the matching characteristic point of reservation can be fitted using least square method, fitting obtains clapping
The attitude parameter of target flight device in image is taken the photograph, so as to be recognized in shooting picture and orient target flight device.
It should be noted that the matching characteristic point that fit procedure is used is more, the reliability of statistics of fitting result is also higher,
But the increase of matching characteristic point logarithm can sharply increase amount of calculation, therefore in practical application suitable matching should be taken special
Levy a quantity to be fitted, to ensure that arithmetic speed also ensures that reliability.
Orient after target flight device, further can be filled according to target flight in shooting image from control flight instruments
Put the position in shooting picture, itself current flying speed and calculate the deviation angle in itself current flight direction, according to this
Deviation angle adjusts the heading and flying speed of itself, to track target flight device.
It should be noted that in the specific implementation, can be by setting initial position standard picture to be flown come control targe
Device and track its from relative position, distance etc. between control flight instruments.
, can be by setting initial position standard picture and attitude information to control nobody for unmanned flight's devices at different levels
The shape of flight instruments cluster flight array.
Can be investigation tasks, monitoring times by performing task from control flight instruments in this unmanned flight device group system
Business, can also perform the tasks such as pesticide spraying, agricultural irrigation.
Unmanned flight's device group system provided by the present invention is described in detail above.Tool used herein
Body example is set forth to the principle and embodiment of the present invention, and the explanation of above example is only intended to help and understands this hair
Bright method and its core concept.It should be pointed out that for those skilled in the art, not departing from the present invention
On the premise of principle, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into right of the present invention
It is required that protection domain in.
Claims (10)
1. a kind of unmanned flight's device group system, it is characterised in that unmanned flight's device cluster flies including some master controls
Luggage put and at least one-level from control flight instruments；
The master control flight instruments is used to be cruised according to programme path；
It is described to be cruised from control flight instruments for tracking target flight device, and task is performed, wherein, the target flight
Device includes the master control flight instruments or described from control flight instruments.
2. unmanned flight's device group system according to claim 1, it is characterised in that unmanned flight's device cluster
Including described at least two-stage from control flight instruments；
Cruised described in the first order from control flight instruments for tracking the master control flight instruments, and perform task；
Cruised described in per next stage from control flight instruments for tracking its upper level from control flight instruments, and perform task.
3. unmanned flight's device group system according to claim 1 or 2, it is characterised in that the master control flight instruments
For receiving the programme path that ground control terminal is sent, or the master control flight instruments is used in the distant of ground control terminal
Cruised under control according to programme path.
4. unmanned flight's device group system according to claim 1 or 2, it is characterised in that described from control flight instruments
Including：
Taking module, the target flight installation drawing picture for shooting its tracking；
Flight adjusting module, for position in shooting picture of the target flight device that is tracked according to it, itself current flies
Scanning frequency degree calculates the deviation angle in itself current flight direction, and the heading of itself and flight speed are adjusted according to the deviation angle
Degree, makes the target flight device that it is tracked in shooting picture be in picture center.
5. unmanned flight's device group system according to claim 4, it is characterised in that the flight adjusting module is specific
For：
Three-dimensional cartesian coordinate system is set up by X-Z plane of shooting picture, it is assumed that P points represent the reality of target flight device in space
Border position, Q points represent projection of the P points in X-Z plane, and O point denotation coordinations system origin then meets relational expression according to OP distance：
OP2=x2+y2+z2, z is calculated, wherein (x, y, z) represents P point coordinates；
According to calculating formulaThis is calculated from the deviation angle α in control flight instruments current flight direction.
6. unmanned flight's device group system according to claim 5, it is characterised in that calculated by OP=vt obtain OP away from
From v represents this from the current flying speed of control flight instruments, and t represents customized time variable；
Or, by measuring the distance between this target flight device tracked from control flight instruments with it, it is used as OP distances.
7. unmanned flight's device group system according to claim 5, it is characterised in that described to be set from control flight instruments
There is rangefinder, the distance between target flight device tracked by the stadia surveying sheet from control flight instruments with it is made
For OP distances.
8. unmanned flight's device group system according to claim 4, it is characterised in that described also to be wrapped from control flight instruments
Include：
Target identification module, for the initial position standard picture according to its target flight device tracked, from shooting picture
Recognize and orient target flight device.
9. unmanned flight's device group system according to claim 8, it is characterised in that the target identification module is specific
For：
The SIFT feature vector of each characteristic point is extracted from shooting image, the first k-dimensional tree feature structures are built,
And the SIFT feature vector of each characteristic point is extracted in the initial position standard picture of the target flight device from its tracking, build
2nd k-dimensional tree feature structures；
To the first k-dimensional trees feature structure and the 2nd k-dimensional trees feature structure progress
With search, the feature point extraction in shooting image with the Feature Points Matching in standard picture is gone out；
The matching characteristic extracted point is subjected to clustering to the posture changing space of standard picture, by for the condition that is unsatisfactory for
Rejected with characteristic point；
The matching characteristic point of reservation is fitted, the attitude parameter of the target unmanned flight device in shooting image is obtained.
10. unmanned flight's device group system according to claim 4, it is characterised in that the taking module includes taking the photograph
As head.
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