CN107272743A - A kind of express delivery delivering method of unmanned aerial vehicle group - Google Patents
A kind of express delivery delivering method of unmanned aerial vehicle group Download PDFInfo
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- CN107272743A CN107272743A CN201710668251.0A CN201710668251A CN107272743A CN 107272743 A CN107272743 A CN 107272743A CN 201710668251 A CN201710668251 A CN 201710668251A CN 107272743 A CN107272743 A CN 107272743A
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- unmanned plane
- aerial vehicle
- unmanned
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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 express delivery delivering method of unmanned aerial vehicle group, by determining each unmanned plane current location information and performing the target position information of delivery task, and according to the shooting angle of each unmanned plane current location information, the target position information and the camera, determine that the unmanned plane needs the flight path flown;Control and monitor console plans unmanned aerial vehicle group collaborative task sequence and automatically generates the guidance path corresponding to each unmanned plane according to the flight path of each unmanned aerial vehicle group;Each unmanned plane is flown to the target location of execution delivery task according to the task sequence and the guidance path, and after target location is arrived at, express delivery article is delivered.Express delivery delivering method disclosed in this invention, is planned the navigation route in whole unmanned aerial vehicle group in advance by control and monitor console, it is ensured that being smoothed out for work compound, and guarantee is provided to perform the multi-task using the work compound between multiple unmanned planes.
Description
Technical field
Unmanned aerial vehicle (UAV) control field of the present invention, more particularly to a kind of unmanned aerial vehicle group express delivery delivering method.
Background technology
The research of unmanned plane has very big progress in recent years, be widely used with the communication relay of civilian aspect,
Meteorological detection, disaster monitoring, pesticide spraying, geological exploration, ground mapping, traffic control and the scouting of military aspect, attack
And electronic countermeasure.
Unmanned plane small volume, it is lightweight, easy-maintaining the advantages of obtained extensive popularization, can especially use unmanned plane
Light goods and materials are conveyed, such as:The lighter express delivery of weight, but be due to single unmanned plane load it is limited, single unmanned plane with
Data communication between earth station can directly result in the failure of task when interrupting, or even have the danger of air crash, and single nothing
The man-machine unfavorable factor that completion task is will be unable to after wide mission area and single unmanned plane failure is tackled, this is allowed for
Requirement using the cooperation between multiple unmanned planes to perform increasingly complex task is increasingly becoming the trend of unmanned plane research.
Therefore, prior art needs further improve.
The content of the invention
The invention provides a kind of express delivery delivering method of unmanned aerial vehicle group, each in whole unmanned plane group can be realized
The accurate navigation of navigation route is delivered between unmanned plane, so as to improve the energy of the same time cooperation completion task of control unmanned aerial vehicle group
Power, solution manpower deliverability is limited, and the high defect of cost of transportation.
Method concrete technical scheme provided by the present invention is as follows:
A kind of express delivery delivering method based on unmanned aerial vehicle group, wherein, it the described method comprises the following steps:
Each unmanned plane in unmanned aerial vehicle group determines current location information and performs the target position information of delivery task;
Each unmanned plane according to the current location information and the target position information determine it is respective take off track and
Heading;
Each unmanned plane is according to the shooting angle of the current location information, the target position information and the camera
Degree, determines that the unmanned plane needs the flying distance flown;
Heading and flying distance that control and monitor console is confirmed according to the unmanned plane of each in unmanned aerial vehicle group, plan unmanned aerial vehicle group
Collaborative task sequence and automatically generate the guidance path corresponding to each unmanned plane;
Each unmanned plane flies to the target location for performing delivery task according to the task sequence and the guidance path,
And after target location is arrived at, express delivery article is delivered.
The described express delivery delivering method based on unmanned aerial vehicle group, wherein, when aircraft perform aerial mission during, respectively
Individual unmanned plane sends surrounding's scene video picture for collecting to control and monitor console using camera in real time;
State of flight of the control and monitor console according to the scene video picture received in real time to each unmanned plane is monitored, and works as hair
Raw unmanned plane during flying abnormal state, then send abnormal prompt information;
The state of flight includes extremely:Unmanned plane falls, unmanned plane runs out of steam or unmanned plane causes by collision
Deviate pre-set navigational path.
The described express delivery delivering method based on unmanned aerial vehicle group, wherein, each unmanned plane is delivered to express delivery article
The step of in also include:
Obtain the scene image of target location;
Article characteristics in the scene image are identified;Judge whether the article characteristics identified contain and landing
The article characteristics identical article of pad;
If it does, then using the landing pad position identified in scene image as accurate express delivery delivery point, to thing
Product are delivered;
The article characteristics include:Shape and color.
The described express delivery delivering method based on unmanned aerial vehicle group, wherein, methods described also includes step:
Each unmanned plane flies into the way of correspondence target location according to the task sequence and guidance path, uses sensing
Device gathers flying quality information in real time, and judges whether flight changing factor according to the flying quality information;
If in the presence of the flying quality information of collection and each unmanned plane present position information are sent to monitoring
Platform;
The control and monitor console is according to each unmanned plane present position information, corresponding to respective flying quality and unmanned plane
Target position information, cook up again unmanned aerial vehicle group perform express delivery deliver task task sequence, generate each unmanned plane
Reset guidance path;
Each unmanned plane flies to target location according to guidance path is reset;
The flying quality information includes:Unmanned plane during flying speed, the gps coordinate of unmanned plane present position and nobody
The heading of machine current aircraft;
The flight changing factor is:The target position information of unmanned plane occurs change, unmanned plane during flying and exception occurs, or
There is risk of collision between person's unmanned plane.
The described express delivery delivering method based on unmanned aerial vehicle group, wherein, unmanned plane is according to the present bit in the step
Confidence ceases and the target position information determines that the method for heading includes:
Target position information corresponding to the gps coordinate included in each unmanned plane current location information and its is included
Gps coordinate carry out line, heading is used as using the line direction.
The described express delivery delivering method based on unmanned aerial vehicle group, wherein, each is determined by below equation in the step
The flying distance of flight needed for the unmanned plane:
S=(2 × M × N × tana)/(P × sinb);
Wherein:S be flying distance, M be current location that space abscissa, the N included in target location is unmanned plane with
The vertical height on ground, a are that half-angle, the P of the camera horizontal view angle immediately below unmanned plane are the horizontal stroke of space coordinates
Shaft length, b is angle between first straight line and second straight line, and the first straight line is from camera straight down straight
Line, the second straight line is:Sight model from the camera, horizontal direction with the camera in X direction
The straight line that midpoint in contour section is constituted.
The described express delivery delivering method based on unmanned aerial vehicle group, wherein, step is also included in methods described:
Each unmanned plane detects electricity in real time in flight course using current sensor, if electricity is less than preset electricity
Value, then regard the charging base station apart from the unmanned plane recently as INTRM intermediate point;Again the guidance path of the unmanned plane is planned, and according to
Again the replacement guidance path cooked up, resets unmanned aerial vehicle group collaborative task sequence, confirms each unmanned plane in unmanned aerial vehicle group
Reset guidance path;
Each unmanned plane flies to target location according to guidance path is reset.
The described express delivery delivering method based on unmanned aerial vehicle group, wherein, step is also included in methods described:
Unmanned plane carries out image recognition by bottom camera, aims at charging inlet after unmanned plane charging base station is flown to,
And it is provided with unmanned motor spindle near magnet interface, the charging inlet of unmanned plane charging base station and is also equipped with magnet interface,
For being accurately aimed at charging inlet.
The described express delivery delivering method based on unmanned aerial vehicle group, wherein, step is also included in methods described:
Each unmanned plane constantly carries out data broadcasting in flight course, judges whether to receive from the return of other unmanned planes
Echo message;
If receiving echo message, communication is set up according to the echo message and the response unmanned plane and is connected;
The navigation information of itself is intercoursed between the unmanned plane for setting up communication connection, and is sentenced according to the navigation information of other side
It is disconnected to there is collision risk;
The automatic height adjustment if it there is collision risk.
The described express delivery delivering method based on unmanned aerial vehicle group, wherein, the task sequence includes:Arranged according to the time
Sequence classification:Parallel task sequence, serial task sequence and string and hybrid task sequence;
The parallel task sequence is that whole unmanned planes in unmanned aerial vehicle group initiate job task simultaneously;
The serial task sequence is that each unmanned plane in unmanned aerial vehicle group initiates job task successively at predetermined time intervals;
Simultaneously hybrid task sequence synchronously initiates job task to the string to contain between the unmanned plane in unmanned aerial vehicle group simultaneously
The two kinds of task ranking of operation is initiated at predetermined time intervals;
Time needed for subscription time that the control and monitor console is signed for according to express delivery, unmanned plane during flying way and each unmanned plane it
Between accessible flight navigation path the task sequence is planned.
The invention discloses a kind of express delivery delivering method of unmanned aerial vehicle group, determined by each unmanned plane in unmanned aerial vehicle group
Current location information and the target position information for performing delivery task, each unmanned plane is according to the current location information and described
Target position information determines respective track and the heading of taking off;Each unmanned plane is according to the current location information, described
The shooting angle of target position information and the camera, determines that the unmanned plane needs the flying distance flown;Control and monitor console root
According to the heading and flying distance that each unmanned plane is confirmed in unmanned aerial vehicle group, unmanned aerial vehicle group collaborative task sequence and oneself are planned
The dynamic guidance path generated corresponding to each unmanned plane;Each unmanned plane flies according to the task sequence and the guidance path
To the target location of execution delivery task, and after target location is arrived at, express delivery article is delivered.It is disclosed in this invention
Express delivery delivering method, is planned the navigation route in whole unmanned aerial vehicle group, it is ensured that work compound in advance by control and monitor console
Be smoothed out, provide guarantee to perform the multi-task using the work compound between multiple unmanned planes.
Brief description of the drawings
Fig. 1 is a kind of step flow chart of the express delivery delivering method of unmanned aerial vehicle group provided by the present invention.
Embodiment
In order that those skilled in the art is better understood from technical scheme, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
The invention provides a kind of express delivery delivering method of unmanned aerial vehicle group, as shown in figure 1, methods described includes following step
Suddenly:
Each unmanned plane in step 101, unmanned aerial vehicle group determines current location information and performs the target position of delivery task
Confidence ceases;
Each unmanned plane in unmanned aerial vehicle group determines current location information and performs the target position information of delivery task.
In this method due to be multiple unmanned planes in whole unmanned aerial vehicle group common operational, therefore firstly the need of being directed to successively
Each unmanned plane aerial mission to be performed, respectively unmanned plane input respective destination locations information.
It is envisioned that the identical that whole unmanned aerial vehicle group can be performed delivers task, such as:Can be simultaneously mutually same
Article is delivered in individual position place, can also respectively be performed to deliver article and be arrived different position places, therefore unmanned aerial vehicle group can be with
The unmanned plane in control group performs corresponding task as needed.
Step 102, each unmanned plane determine respective fly according to the current location information and the target position information
Line direction.
After each unmanned plane gets target position information, flight is calculated to target according to its current location information respectively
The heading of position.
Specifically, unmanned plane determines flight side according to the current location information and the target position information in this step
To method include:
Target position information corresponding to the gps coordinate included in each unmanned plane current location information and its is included
Gps coordinate carry out line, heading is used as using the line direction.
Step 103, each unmanned plane are according to the current location information, the target position information and the camera
Shooting angle, determines that the unmanned plane needs the flying distance flown.
Each unmanned plane according to current location information and its each corresponding to target position information, and each unmanned plane
The shooting angle of the camera of upper installation, calculates the flying distance of flight required for the unmanned plane.
Specifically, determining by below equation the flying distance flown needed for each described unmanned plane in this step:
S=(2 × M × N × tana)/(P × sinb);
Wherein:S be flying distance, M be current location that space abscissa, the N included in target location is unmanned plane with
The vertical height on ground, a are that half-angle, the P of the camera horizontal view angle immediately below unmanned plane are the horizontal stroke of space coordinates
Shaft length, b is angle between first straight line and second straight line, and the first straight line is from camera straight down straight
Line, the second straight line is:Sight model from the camera, horizontal direction with the camera in X direction
The straight line that midpoint in contour section is constituted.
Specifically, coordinate in above-mentioned formula is the three dimensional space coordinate of space coordinates, wherein camera be installed in
Camera immediately below unmanned plane.
Heading and flying distance that step 104, control and monitor console are confirmed according to the unmanned plane of each in unmanned aerial vehicle group, planning
Unmanned aerial vehicle group collaborative task sequence and automatically generate the guidance path corresponding to each unmanned plane.
After each described unmanned plane is according to the heading and flying distance calculated in above-mentioned steps, then control and monitor console root
According to the pre- heading and flying distance of each unmanned plane of acquisition, the task sequence of the unmanned plane in whole unmanned aerial vehicle group is planned
Row, are that the order of unmanned plane during flying is planned, it is to avoid air route situation hair overlapping on the same time occurs between unmanned plane
It is raw, determine the guidance path of whole unmanned unit.
Specifically, the task sequence includes:Classification is ranked up according to the time:Parallel task sequence, serial task
Sequence and string and hybrid task sequence;
The parallel task sequence is that whole unmanned planes in unmanned aerial vehicle group initiate job task simultaneously;
The serial task sequence is that each unmanned plane in unmanned aerial vehicle group initiates job task successively at predetermined time intervals;
Simultaneously hybrid task sequence synchronously initiates job task to the string to contain between the unmanned plane in unmanned aerial vehicle group simultaneously
The two kinds of task ranking of operation is initiated at predetermined time intervals.
It that is to say, the unmanned plane in the unmanned unit as needed can fly successively performs corresponding task, also may be used
To perform corresponding task simultaneously, it can also take existing while performing the unmanned unit of operation, also there is different time sections execution
The unmanned unit of different delivery tasks.
Time needed for subscription time that the control and monitor console is signed for according to express delivery, unmanned plane during flying way and each unmanned plane it
Between accessible flight navigation path the task sequence is planned.
It can think, monitor supervision platform is planned the task sequence of unmanned aerial vehicle group and automatically generated corresponding to each unmanned plane
Guidance path be according to specific express mail deliver require come in whole unmanned aerial vehicle group unmanned plane during flying carry out integral traffic control
, but flight of the master controller only to unmanned plane in low latitude is controlled and according to the unmanned plane transmission received
Information carries out state of flight monitoring to it, and when unmanned plane is in high-altitude flight, its flight path is according to preset navigation road
Line is realized.
Step 105, each unmanned plane fly to execution delivery task according to the task sequence and the guidance path
Target location, and after target location is arrived at, express delivery article is delivered.
When aircraft perform aerial mission during, each unmanned plane in real time using camera send collect around
Scene video picture is to control and monitor console;
State of flight of the control and monitor console according to the scene video picture received in real time to each unmanned plane is monitored, and works as hair
Raw unmanned plane during flying abnormal state, then send abnormal prompt information, the details of each express delivery understood so as to realize,
If having gone out accident can find in time, and provide solution.
Specifically, above-mentioned state of flight includes extremely:Unmanned plane is fallen, unmanned plane runs out of steam or unmanned plane is touched
Hitting causes to deviate pre-set navigational path.
Each unmanned plane also includes in the step of being delivered to express delivery article:
Obtain the scene image of target location;
Article characteristics in the scene image are identified;Judge whether the article characteristics identified contain and landing
The article characteristics identical article of pad;
If it does, then using the landing pad position identified in scene image as accurate express delivery delivery point, to thing
Product are delivered;
The article characteristics include:Shape and color.
Broken when being delivered in order to avoid express delivery article from unmanned plane, in target location by setting landing pad to be article
Damping, therefore when unmanned plane is in space-time on target location, the scenery of target location can be identified automatically, it is accurate to judge
Go out landing pad position, and express delivery article is delivered according to the landing pad position judged.
Further, unmanned aerial vehicle group is when performing aerial mission, it may occur that fortuitous event, in order to preferably be controlled
System, each unmanned plane flies into the way of correspondence target location according to the task sequence and guidance path, real using sensor
When gather flying quality information, and flight changing factor is judged whether according to the flying quality information;If there is flight
Changing factor, the then target location corresponding to the flying quality information gathered according to each current unmanned plane and each unmanned plane
Information, cooks up the task sequence of unmanned aerial vehicle group again, reaffirms the guidance path of the unmanned plane of each in unmanned aerial vehicle group;Each
Unmanned plane flies to target location according to the guidance path reaffirmed;
Specifically, position data includes described in methods described:Unmanned plane during flying speed, unmanned plane are currently located position
The gps coordinate and the heading of unmanned plane current aircraft put.
The flight changing factor is:The target position information of unmanned plane occurs change, unmanned plane during flying and exception occurs, or
There is risk of collision between person's unmanned plane.
It that is to say, fly abnormal, it is necessary to return when there is unmanned plane to occur in unmanned aerial vehicle group, or may have collision wind
When dangerous, then control and monitor console is planned the unmanned plane task sequence and guidance path in unmanned aerial vehicle group again, each unmanned plane life
Cheng Xin guidance path.
Preferably, in the above-mentioned methods, in order to avoid awing there is the situation of not enough power supply, institute on the way in each unmanned plane
Step can also be included by stating in method:
Each unmanned plane detects electricity in real time in flight course using current sensor, if electricity is less than preset electricity
Value, then regard the charging base station apart from the unmanned plane recently as INTRM intermediate point;Again the guidance path of the unmanned plane is planned, and according to
Again the replacement guidance path cooked up, resets the task sequence of unmanned plane in unmanned aerial vehicle group, confirms each nothing in unmanned aerial vehicle group
Man-machine replacement guidance path, each unmanned plane flies to target location according to guidance path is reset.
Specifically in implementation process, can by detect in real time the charge value of unmanned plane avoid occur due to electricity is low can not
Realize that unmanned plane completes the situation generation of task.After unmanned plane charge value is detected less than preset charge value, then it can look into
The unmanned plane charging base station nearest with current location is looked for, and after unmanned plane charging base station charging complete, is further continued for flight to mesh
Cursor position, therefore unmanned plane needs to fly first to unmanned plane and charge base station, after charging complete, is calculated and is charged base station with unmanned plane
Guidance path is reset for starting point, by terminal of target location to target location.
In order to realize quick charge, it can also set:
Each unmanned plane carries out image recognition by bottom camera, aims at charging after unmanned plane charging base station is flown to
Interface, and unmanned motor spindle is provided with magnet interface, it is also equipped with magnet near the charging inlet of unmanned plane charging base station
Interface, for being accurately aimed at charging inlet.
It is preferred that, when unmanned plane during flying is to unmanned plane charging base station, attempt the shooting that can be set during charging by bottom
Head carries out the access that charging inlet is realized in image recognition, specifically, the charging inlet bottom is provided with magnet interface, unmanned plane
Charging inlet is similarly provided with the opposite polarity between magnet interface, and two magnet interfaces, consequently facilitating charging inlet
Access.
Also include step in methods described:
Each unmanned plane constantly carries out data broadcasting in flight course, judges whether to receive from the return of other unmanned planes
Echo message;
If receiving echo message, communication is set up according to the echo message and the response unmanned plane and is connected;
The navigation information of itself is intercoursed between the unmanned plane for setting up communication connection, and is sentenced according to the navigation information of other side
It is disconnected to there is collision risk;
The automatic height adjustment if it there is collision risk.
Specifically, unmanned plane sends data broadcasting in flight course, it is wide according to the data that other unmanned planes are returned
The echo message broadcast, obtains the relevant information for perceiving the response unmanned plane, and the communication set up between the unmanned plane is connected, base
Obtain the current positional information of the response unmanned plane in the communication connection, and by the current location information of the response unmanned plane and
Its heading is calculated with unmanned plane present position and heading, judges whether to bump against risk, if having
Adjust automatically flying height, evades collision risk.
In order to do further description to navigation control method disclosed in this invention, specific embodiment is carried out below
Explain.
When the express delivery that unmanned aerial vehicle group is carried out using the method disclosed in the present, which is delivered, carries out Navigation Control, mainly contain
Following steps:
Step H1, each unmanned plane first confirmd that in group are set up communication with control control and monitor console and are connected, and control and monitor console can lead to
The unique mark that each unmanned plane has is crossed, for example:The ID of each unmanned plane communication module to carry out the unmanned plane in group
Identification, it is possible to by communication network, send the controller corresponding to control instruction to each unmanned plane, realized by controller
Control to each unmanned plane.
Step H2, each unmanned plane confirm to perform the delivery task target position information to be arrived at, the target location
Information is a fixed position, and the target location that each unmanned plane is arrived at can be same or different.
Step H3, according to the target position information and the current positional information of each unmanned plane, calculate each unmanned plane
Fly to the heading required for the target location and flight time.
Heading and flight time that step H4, basis are calculated, control platform plan the task sequence of unmanned aerial vehicle group
With automatically generate the guidance path corresponding to each unmanned plane.
Step H5, each unmanned plane perform aerial mission according to the guidance path, and in flight course, detection in real time
Electricity, sends data broadcasting in real time, judges whether with there is risk of collision between other unmanned planes, if electricity is low, searches attached
Near unmanned plane charging station, is charged, if there is risk of collision, adjusts flying height.
And, during each unmanned plane during flying, the flying quality collected according to its sensor judges each unmanned plane
Whether occur exception, if so, then control adjustment its there is default guidance path to be consistent (default guidance path that is to say
State the heading calculated in step and flying distance), if inconsistent, the unmanned plane during flying deviateed is controlled to pre-set navigational
Path.
Step H6, each unmanned plane flown to target location gathers the image of surrounding scene in real time, and by image and certainly
The position data of body is sent to control and monitor console, and control and monitor console is monitored to the image received, is judged the flight of unmanned plane and is
It is no to occur exception.If there is abnormal, the task sequence of planning unmanned aerial vehicle group and navigation again in the state of flight of some unmanned plane
Path.
Step H7, after unmanned plane arrives at express delivery and delivers place, then the landing pad that is pre-placed on target location is carried out
Identification, and according to the landing pad position identified, express delivery article is delivered.
The invention discloses a kind of express delivery delivering method of unmanned aerial vehicle group, determined by each unmanned plane in unmanned aerial vehicle group
Current location information and the target position information for performing delivery task, each unmanned plane is according to the current location information and described
Target position information determines respective track and the heading of taking off;Each unmanned plane is according to the current location information, described
The shooting angle of target position information and the camera, determines that the unmanned plane needs the flying distance flown;Control and monitor console root
According to the heading and flying distance that each unmanned plane is confirmed in unmanned aerial vehicle group, unmanned aerial vehicle group collaborative task sequence and oneself are planned
The dynamic guidance path generated corresponding to each unmanned plane;Each unmanned plane flies according to the task sequence and the guidance path
To the target location of execution delivery task, and after target location is arrived at, express delivery article is delivered.It is disclosed in this invention
Express delivery delivering method, is planned the navigation route in whole unmanned aerial vehicle group, it is ensured that work compound in advance by control and monitor console
Be smoothed out, provide guarantee to perform the multi-task using the work compound between multiple unmanned planes.
Described above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations;Although with reference to before
Embodiment is stated the present invention is described in detail, it will be understood by those within the art that:It still can be to preceding
State the technical scheme described in each embodiment to modify, or equivalent substitution is carried out to which part technical characteristic;And these
Modification is replaced, and the essence of appropriate technical solution is departed from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a kind of express delivery delivering method based on unmanned aerial vehicle group, it is characterised in that the described method comprises the following steps:
Each unmanned plane in unmanned aerial vehicle group determines current location information and performs the target position information of delivery task;
Each unmanned plane determines respective take off track and flight according to the current location information and the target position information
Direction;
Each unmanned plane is according to the shooting angle of the current location information, the target position information and the camera, really
The fixed unmanned plane needs the flying distance flown;
Heading and flying distance that control and monitor console is confirmed according to the unmanned plane of each in unmanned aerial vehicle group, planning unmanned aerial vehicle group cooperation
Task sequence and automatically generate the guidance path corresponding to each unmanned plane;
Each unmanned plane flies to the target location for performing delivery task according to the task sequence and the guidance path, and
Arrive at behind target location, express delivery article is delivered.
2. the express delivery delivering method according to claim 1 based on unmanned aerial vehicle group, it is characterised in that
When aircraft is during aerial mission is performed, each unmanned plane sends the surrounding's scene collected using camera in real time
Video pictures are to control and monitor console;
State of flight of the control and monitor console according to the scene video picture received in real time to each unmanned plane is monitored, when generation nothing
Man-machine state of flight is abnormal, then sends abnormal prompt information;
The state of flight includes extremely:Unmanned plane falls, unmanned plane runs out of steam or unmanned plane causes to deviate by collision
Pre-set navigational path.
3. the express delivery delivering method according to claim 2 based on unmanned aerial vehicle group, it is characterised in that each unmanned plane is right
Also include in the step of express delivery article is delivered:
Obtain the scene image of target location;
Article characteristics in the scene image are identified;Judge whether the article characteristics identified contain and landing pad
Article characteristics identical article;
If it does, then the landing pad position identified in scene image is entered as accurate express delivery delivery point to article
Row is delivered;
The article characteristics include:Shape and color.
4. the express delivery delivering method according to claim 2 based on unmanned aerial vehicle group, it is characterised in that methods described also includes
Step:
Each unmanned plane flies into the way of correspondence target location according to the task sequence and guidance path, real using sensor
When gather flying quality information, and flight changing factor is judged whether according to the flying quality information;
If in the presence of the flying quality information of collection and each unmanned plane present position information are sent to control and monitor console;
The control and monitor console is according to each unmanned plane present position information, the mesh corresponding to respective flying quality and unmanned plane
Cursor position information, cooks up unmanned aerial vehicle group and performs the task sequence that task is delivered in express delivery, generate the replacement of each unmanned plane again
Guidance path;
Each unmanned plane flies to target location according to guidance path is reset;
The flying quality information includes:Unmanned plane during flying speed, the gps coordinate of unmanned plane present position and unmanned plane are worked as
The heading of preceding aircraft;
The flight changing factor is:The target position information of unmanned plane occurs change, unmanned plane during flying and abnormal, Huo Zhewu occurs
There is risk of collision between man-machine.
5. the express delivery delivering method according to claim 4 based on unmanned aerial vehicle group, it is characterised in that in the step nobody
Machine determines that the method for heading includes according to the current location information and the target position information:
Target position information corresponding to the gps coordinate included in each unmanned plane current location information and its is included
Gps coordinate carries out line, and heading is used as using the line direction.
6. the express delivery delivering method according to claim 5 based on unmanned aerial vehicle group, it is characterised in that pass through in the step
Below equation determines the flying distance of flight needed for each described unmanned plane:
S=(2 × M × N × tana)/(P × sinb);
Wherein:S is that flying distance, M are the current location and ground that space abscissa, the N included in target location is unmanned plane
Vertical height, a it is long for the transverse axis that half-angle, the P of camera horizontal view angle immediately below unmanned plane are space coordinates
Degree, b is the angle between first straight line and second straight line, and the first straight line is the straight line from camera straight down,
The second straight line is:Visual line of sight from the camera, horizontal direction with the camera in X direction
The straight line that midpoint in line segment is constituted.
7. the express delivery delivering method according to claim 6 based on unmanned aerial vehicle group, it is characterised in that also wrapped in methods described
Include step:
Each unmanned plane detects electricity in real time in flight course using current sensor, if electricity is less than preset charge value,
It regard the charging base station apart from the unmanned plane recently as INTRM intermediate point;Again the guidance path of the unmanned plane is planned, and according to again
The replacement guidance path cooked up, resets unmanned aerial vehicle group collaborative task sequence, confirms the replacement of each unmanned plane in unmanned aerial vehicle group
Guidance path;
Each unmanned plane flies to target location according to guidance path is reset.
8. the express delivery delivering method according to claim 7 based on unmanned aerial vehicle group, it is characterised in that also wrapped in methods described
Include step:
Unmanned plane carries out image recognition after unmanned plane charging base station is flown to by bottom camera, aims at charging inlet, and
It is provided with unmanned motor spindle near magnet interface, the charging inlet of unmanned plane charging base station and is also equipped with magnet interface, is used for
It is accurately aimed at charging inlet.
9. the express delivery delivering method according to claim 8 based on unmanned aerial vehicle group, it is characterised in that also wrapped in methods described
Include step:
Each unmanned plane constantly carries out data broadcasting in flight course, judges whether to receive from returning that other unmanned planes are returned
Answer information;
If receiving echo message, communication is set up according to the echo message and the response unmanned plane and is connected;
The navigation information of itself is intercoursed between the unmanned plane for setting up communication connection, and is deposited according to the judgement of the navigation information of other side
Bumping against risk;
The automatic height adjustment if it there is collision risk.
10. the express delivery delivering method according to claim 9 based on unmanned aerial vehicle group, it is characterised in that the task sequence
Including:Classification is ranked up according to the time:Parallel task sequence, serial task sequence and string and hybrid task sequence;
The parallel task sequence is that whole unmanned planes in unmanned aerial vehicle group initiate job task simultaneously;
The serial task sequence is that each unmanned plane in unmanned aerial vehicle group initiates job task successively at predetermined time intervals;
The string and hybrid task sequence are to initiate job task and every containing synchronous simultaneously between the unmanned plane in unmanned aerial vehicle group
The two kinds of task ranking of operation is initiated every the scheduled time;
Needed for subscription time that the control and monitor console is signed for according to express delivery, unmanned plane during flying way between time and each unmanned plane
Accessible flight navigation path is planned by the task sequence.
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