CN107807670A - A kind of unmanned plane cluster flight control system - Google Patents
A kind of unmanned plane cluster flight control system Download PDFInfo
- Publication number
- CN107807670A CN107807670A CN201711396739.9A CN201711396739A CN107807670A CN 107807670 A CN107807670 A CN 107807670A CN 201711396739 A CN201711396739 A CN 201711396739A CN 107807670 A CN107807670 A CN 107807670A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- scale
- display
- control center
- control system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 41
- 238000004891 communication Methods 0.000 claims description 36
- 230000005540 biological transmission Effects 0.000 claims description 17
- 239000003550 marker Substances 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 10
- 230000004888 barrier function Effects 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- 238000011084 recovery Methods 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 6
- 230000003111 delayed effect Effects 0.000 claims description 4
- 238000003745 diagnosis Methods 0.000 claims description 4
- 238000002372 labelling Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000009187 flying Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 claims 1
- 230000015572 biosynthetic process Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000000368 destabilizing effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of unmanned plane cluster flight control system, including centralized control center and unmanned plane cluster, the unmanned plane cluster includes scale unmanned plane and multiple display unmanned planes, and the centralized control center sends control instruction to the unmanned plane cluster by repeater；The centralized control center controls the scale unmanned plane first to fly upper display space, and fault scanning is carried out to display space, space orientation, the spatial orientation information for controlling multiple display unmanned planes to be fed back according to the scale unmanned plane afterwards, flies to corresponding display space.The present invention improves efficiency during to a large amount of unmanned plane clustered controls, avoids the manpower of early stage during clustered control from putting unmanned plane, reduces the cost of clustered control, save time.
Description
Technical field
The present invention relates to a kind of control system of unmanned plane, more particularly to a kind of unmanned plane cluster flight control system.
Background technology
UAV abbreviation unmanned plane, english abbreviation UAV, it is to utilize radio robot and the program provided for oneself
The not manned aircraft that control device manipulates.It can be divided into from technical standpoint definition：Depopulated helicopter, unmanned fixed-wing aircraft, nobody
Multi-rotor aerocraft, unmanned airship, unmanned parasol etc..
Unmanned plane is widely used in electric inspection process, crops monitoring, environmental monitoring, movies-making, streetscape shooting, express delivery throwing
Pass, Post disaster relief, remote sensing mapping etc. field.In the prior art, by the unmanned plane of enormous amount formed it is overall enter row information show
Show, advertisement putting is to gradually form trend.
The cooperation of unmanned plane cluster turns into current important development trend, there is bigger control range, interaction to supply, task
Share.Collaborative Control unmanned plane group system is able to carry out complex task, shortens and performs task time, improves efficiency of turning out for work.
The cooperative groups of unmanned plane cluster establish underaction, it is necessary to which a large amount of manpowers carry out the overhaul of the equipments of early stage, especially in the prior art
It is before being flown, it is necessary on the ground set the artificial rule alignment of a large amount of unmanned planes overhauled, it is necessary to expend big
Measure manpower and time.Be badly in need of it is a kind of can automated cluster control voluntarily form into columns positioning the multiple unmanned planes of control concentrate it is aobvious
The control mode shown.
The content of the invention
To solve above-mentioned technical problem：The application proposes a kind of unmanned plane cluster flight control system, including centralized control center
And unmanned plane cluster, the unmanned plane cluster include scale unmanned plane and multiple display unmanned planes, the centralized control center is in
Control instruction is sent to the unmanned plane cluster after device；It is empty that the centralized control center controls the scale unmanned plane first to fly upper display
Between, fault scanning is carried out to display space, space orientation, controls multiple display unmanned planes to be fed back according to the scale unmanned plane afterwards
Spatial orientation information, fly to corresponding display space.
A kind of described unmanned plane cluster flight control system, the scale unmanned plane include detection of obstacles unit, mark
Know transmitter module, wireless communication module, Hovering control module；The identification transmissions module, which is used to launch to adjust, shows that unmanned plane enters
The id signal of row region distribution；The Hovering control module is used to be selected according to the barrier that detection of obstacles unit detects
Position hovering is selected, adjusts clear in the range of the suitable scale unmanned plane pre-set radius.
A kind of described unmanned plane cluster flight control system, the scale unmanned plane include one or four.
A kind of described unmanned plane cluster flight control system, when the scale unmanned plane be one when, the scale without
The man-machine two dimension or three-dimensional cartesian coordinate system established in display space using the scale unmanned plane as zero point, centralized control center's root
The coordinate system control established according to the scale unmanned plane shows that unmanned plane identifies the different id signals, is ranked up.
A kind of described unmanned plane cluster flight control system, the sequence specifically include：
The display unmanned plane mark corresponding to order searching, is found in identification procedure, with described according to the different identification of distribution
Centered on scale unmanned plane, by range finder module measurement and the distance of the adjacent unmanned plane, exist according to pre-set flight distance
Corresponding mark direction sequential deployment, during expansion, the position for intending reaching is measured by obstacle avoidance module and whether there is unmanned plane,
If it is present fly to the next position；
The display unmanned plane circulates above-mentioned steps, until the whole of all scale unmanned planes is pressed according to the mark direction of distribution
According to the sequential deployment centered on scale unmanned plane.
A kind of described unmanned plane cluster flight control system, it is described display unmanned plane mark direction on, with scale without
Man-machine is starting point, carries out stored count, using the concrete numerical value of counting as the numbering of itself, and is sent to centralized control center；It is described
Stored count specifically includes：Near the distance of the unmanned plane detecting distance scale unmanned plane of scale unmanned plane, set and itself compile
Number it is i, by the numerical value simultaneous transmission to nearest unmanned plane and centralized control center, the centralized control center is by corresponding to numbering i
Mark combines, and forms the label that the numbering is i, and feeds back to label of the numbering i unmanned plane as reception instruction, described nearest
Unmanned plane will number plus 1, numbering is changed into i+1, and be transferred to next nearest unmanned plane and centralized control center, in repetition
Process is stated, until all unmanned planes have corresponding label.
A kind of described unmanned plane cluster flight control system, when the scale unmanned plane be four when, four scales without
Man-machine while fly to display space, forming rectangle needs, and whether there is barrier, four scales inside scan rectangle region
Unmanned plane forms chain type regulation, and chain type regulation is included using one of scale unmanned plane as basic point, other three scales without
It is man-machine to be flown with certain acceleration to away from basic point, the intercommunication of three scale unmanned planes in flight course, keep rectangle
Mode increases display space；The scale unmanned plane that centralized control center's real-time Transmission is at basic point give other three scales nobody
Machine, the speed of real-time matching basic point scale unmanned plane during other described three scale unmanned plane during flyings.
A kind of described unmanned plane cluster flight control system, the scale unmanned plane include the first wireless communication module,
Second wireless communication module, chain type regulating calculation module；First wireless communication module is used to carry out with the centralized control center
Radio communication, second wireless communication module to carry out real-time wireless communication between scale unmanned plane, adjust by the chain type
Save computing module be used for according to first wireless communication module, the second wireless communication module receive data, adjustment scale without
Man-machine increase according to rectangular mode flight arrives suitable viewing area.
A kind of described unmanned plane cluster flight control system, the centralized control center include the 3rd wireless communication module, mark
Number device, image display processor, area of space setting unit, the 3rd wireless communication module are used for and scale unmanned plane, aobvious
Show that unmanned plane is communicated, the marker is used to carry out automatic labeling processing to display unmanned plane；Described image display processing
Device is used for the display of the quantity calculating unmanned plane of the viewing area and unmanned plane set according to the area of space setting unit
Mode, and corresponding unmanned plane is assigned to according to the nominal label output control of marker.
A kind of described unmanned plane cluster flight control system, the centralized control center include diagnostor, recovery control module,
The diagnostor tests oneself to instruct for transmission arrives the unmanned plane, and fault diagnosis is carried out to unmanned plane；The recovery control module
According to the label size of marker, control unmanned plane carries out automatic execution sequence return instruction, and the order, which returns to execution, to be included
Initial each unmanned plane is set as 0, is performed when returning, will be sent and force high level to arrive unmanned plane, each pressure high level it
Between be delayed a predetermined period.
The application sets the coordinate system in space by detecting the barrier in space, can be quickly by a large amount of unmanned planes in sky
Between in deploy according to setting program, it is necessary to which early stage makes prolonged people on ground when avoiding a large amount of unmanned plane clustered controls
The time of work arrangement and cost consumption, space coordinates is established by clustered control and single unmanned plane, carries out the automatic of unmanned plane
Formation arrangement is carried out in space, and the test of unmanned plane can be carried out when formation is arranged, prevents unmanned plane in the task of execution,
Break down, when carrying out formation arrangement, there will be the unmanned plane of destabilizing factor to remove rapidly, substantially increases clustered control
Efficiency.
Brief description of the drawings
Fig. 1 is the schematic diagram of the application unmanned plane cluster flight control system embodiment one.
Fig. 2 is the schematic diagram of the application unmanned plane cluster flight control system embodiment one.
Embodiment
The application is described in further detail below in conjunction with the accompanying drawings, it is necessary to it is pointed out here that, implement in detail below
Mode is served only for that the application is further detailed, it is impossible to the limitation to the application protection domain is interpreted as, the field
Technical staff can make some nonessential modifications and adaptations to the application according to above-mentioned application content.
Embodiment one：
As shown in figure 1, propose that the application proposes a kind of unmanned plane cluster flight control system for the application, including centralized control center and
Unmanned plane cluster, the unmanned plane cluster includes scale unmanned plane and multiple display unmanned planes, the centralized control center pass through relaying
Device sends control instruction to the unmanned plane cluster；The centralized control center controls the scale unmanned plane first to fly upper display space,
Fault scanning is carried out to display space, space orientation, controls what multiple display unmanned planes fed back according to the scale unmanned plane afterwards
Spatial orientation information, fly to corresponding display space.
A kind of described unmanned plane cluster flight control system, the scale unmanned plane include detection of obstacles unit, mark
Know transmitter module, wireless communication module, Hovering control module；The identification transmissions module, which is used to launch to adjust, shows that unmanned plane enters
The id signal of row region distribution；The Hovering control module is used to be selected according to the barrier that detection of obstacles unit detects
Position hovering is selected, adjusts clear in the range of the suitable scale unmanned plane pre-set radius.
A kind of described unmanned plane cluster flight control system, the scale unmanned plane include one.As shown in figure 1, with
First unmanned plane is zero point, forms vertical and horizontal two rectangular coordinate systems.
A kind of described unmanned plane cluster flight control system, when the scale unmanned plane be one when, the scale without
The man-machine two dimension or three-dimensional cartesian coordinate system established in display space using the scale unmanned plane as zero point, centralized control center's root
The coordinate system control established according to the scale unmanned plane shows that unmanned plane identifies the different id signals, is ranked up.
A kind of described unmanned plane cluster flight control system, the sequence specifically include：
The display unmanned plane mark corresponding to order searching, is found in identification procedure, with described according to the different identification of distribution
Centered on scale unmanned plane, by range finder module measurement and the distance of the adjacent unmanned plane, exist according to pre-set flight distance
Corresponding mark direction sequential deployment, during expansion, the position for intending reaching is measured by obstacle avoidance module and whether there is unmanned plane,
If it is present fly to the next position；
The display unmanned plane circulates above-mentioned steps, until the whole of all scale unmanned planes is pressed according to the mark direction of distribution
According to the sequential deployment centered on scale unmanned plane.
A kind of described unmanned plane cluster flight control system, it is described display unmanned plane mark direction on, with scale without
Man-machine is starting point, carries out stored count, using the concrete numerical value of counting as the numbering of itself, and is sent to centralized control center；It is described
Stored count specifically includes：Near the distance of the unmanned plane detecting distance scale unmanned plane of scale unmanned plane, set and itself compile
Number it is i, by the numerical value simultaneous transmission to nearest unmanned plane and centralized control center, the centralized control center is by corresponding to numbering i
Mark combines, and forms the label that the numbering is i, and feeds back to label of the numbering i unmanned plane as reception instruction, described nearest
Unmanned plane will number plus 1, numbering is changed into i+1, and be transferred to next nearest unmanned plane and centralized control center, in repetition
Process is stated, until all unmanned planes have corresponding label.
A kind of described unmanned plane cluster flight control system, the centralized control center include the 3rd wireless communication module, mark
Number device, image display processor, area of space setting unit, the 3rd wireless communication module are used for and scale unmanned plane, aobvious
Show that unmanned plane is communicated, the marker is used to carry out automatic labeling processing to display unmanned plane；Described image display processing
Device is used for the display of the quantity calculating unmanned plane of the viewing area and unmanned plane set according to the area of space setting unit
Mode, and corresponding unmanned plane is assigned to according to the nominal label output control of marker.
A kind of described unmanned plane cluster flight control system, the centralized control center include diagnostor, recovery control module,
The diagnostor tests oneself to instruct for transmission arrives the unmanned plane, and fault diagnosis is carried out to unmanned plane；The recovery control module
According to the label size of marker, control unmanned plane carries out automatic execution sequence return instruction, and the order, which returns to execution, to be included
Initial each unmanned plane is set as 0, is performed when returning, will be sent and force high level to arrive unmanned plane, each pressure high level it
Between be delayed a predetermined period.
Embodiment two：
As shown in Fig. 2 propose a kind of another embodiment of unmanned plane cluster flight control system for the application, including centralized control center and
Unmanned plane cluster, the unmanned plane cluster includes scale unmanned plane and multiple display unmanned planes, the centralized control center pass through relaying
Device sends control instruction to the unmanned plane cluster；The centralized control center controls the scale unmanned plane first to fly upper display space,
Fault scanning is carried out to display space, space orientation, controls what multiple display unmanned planes fed back according to the scale unmanned plane afterwards
Spatial orientation information, fly to corresponding display space.
A kind of described unmanned plane cluster flight control system, the scale unmanned plane include detection of obstacles unit, mark
Know transmitter module, wireless communication module, Hovering control module；The identification transmissions module, which is used to launch to adjust, shows that unmanned plane enters
The id signal of row region distribution；The Hovering control module is used to be selected according to the barrier that detection of obstacles unit detects
Position hovering is selected, adjusts clear in the range of the suitable scale unmanned plane pre-set radius.
A kind of described unmanned plane cluster flight control system, the scale unmanned plane include four.As shown in Fig. 2 with
1 basic point of scale unmanned plane, scale unmanned plane 2-4 intercommunication, and when extending viewing area with away from scale nobody
The direction of machine 1 accelerates flight.
A kind of described unmanned plane cluster flight control system, when the scale unmanned plane be four when, four scales without
Man-machine while fly to display space, forming rectangle needs, and whether there is barrier, four scales inside scan rectangle region
Unmanned plane forms chain type regulation, and chain type regulation is included using one of scale unmanned plane as basic point, other three scales without
It is man-machine to be flown with certain acceleration to away from basic point, the intercommunication of three scale unmanned planes in flight course, keep rectangle
Mode increases display space；The scale unmanned plane that centralized control center's real-time Transmission is at basic point give other three scales nobody
Machine, the speed of real-time matching basic point scale unmanned plane during other described three scale unmanned plane during flyings.
A kind of described unmanned plane cluster flight control system, the scale unmanned plane include the first wireless communication module,
Second wireless communication module, chain type regulating calculation module；First wireless communication module is used to carry out with the centralized control center
Radio communication, second wireless communication module to carry out real-time wireless communication between scale unmanned plane, adjust by the chain type
Save computing module be used for according to first wireless communication module, the second wireless communication module receive data, adjustment scale without
Man-machine increase according to rectangular mode flight arrives suitable viewing area.
A kind of described unmanned plane cluster flight control system, the centralized control center include the 3rd wireless communication module, mark
Number device, image display processor, area of space setting unit, the 3rd wireless communication module are used for and scale unmanned plane, aobvious
Show that unmanned plane is communicated, the marker is used to carry out automatic labeling processing to display unmanned plane；Described image display processing
Device is used for the display of the quantity calculating unmanned plane of the viewing area and unmanned plane set according to the area of space setting unit
Mode, and corresponding unmanned plane is assigned to according to the nominal label output control of marker.
A kind of described unmanned plane cluster flight control system, the centralized control center include diagnostor, recovery control module,
The diagnostor tests oneself to instruct for transmission arrives the unmanned plane, and fault diagnosis is carried out to unmanned plane；The recovery control module
According to the label size of marker, control unmanned plane carries out automatic execution sequence return instruction, and the order, which returns to execution, to be included
Initial each unmanned plane is set as 0, is performed when returning, will be sent and force high level to arrive unmanned plane, each pressure high level it
Between be delayed a predetermined period.
After the unmanned plane receives the pressure high level, the wireless communication unit in unmanned plane directly sends out high level
Hovering control device is sent to, after the Hovering control device receives the high level signal, hovering pattern is released, detects the letter on ground
The signal of number transmitter module transmitting, using ground signal as target, earthward flight past automatically.Unmanned plane can pass through camera
Or infrared receiving module receives the signal on ground, and optimal rectilinear flight line is selected between current location and ground signal
Road is flown, automatic obstacle-avoiding in flight course, and is calculated before flight and reached the time, and after calculating arrival time, detection is worked as
Preceding electricity, judge that current electric quantity can maintain the time of flight, if current electric quantity can not support return line, start urgent compel
Drop mode, flight forced landing is controlled to be force-landed by ground artificial, or adjustment returns to destination, and by the return purpose of adjustment
Ground is sent to centralized control center.
Embodiment three：
In some embodiments, it is not necessary to including repeater, repeater be mainly used in enhancing transmission signal, can selectivity not
Set, other modes are similar with embodiment one, embodiment two.
The application sets the coordinate system in space by detecting the barrier in space, can be quickly by a large amount of unmanned planes in sky
Between in deploy according to setting program, it is necessary to which early stage makes prolonged people on ground when avoiding a large amount of unmanned plane clustered controls
The time of work arrangement and cost consumption, space coordinates is established by clustered control and single unmanned plane, carries out the automatic of unmanned plane
Formation arrangement is carried out in space, and the test of unmanned plane can be carried out when formation is arranged, prevents unmanned plane in the task of execution,
Break down, when carrying out formation arrangement, there will be the unmanned plane of destabilizing factor to remove rapidly, substantially increases clustered control
Efficiency.
Claims (10)
- A kind of 1. unmanned plane cluster flight control system, it is characterised in that including centralized control center and unmanned plane cluster, it is described nobody Machine cluster includes scale unmanned plane and multiple display unmanned planes, and the centralized control center sends control instruction described in by repeater Unmanned plane cluster；The centralized control center controls the scale unmanned plane first to fly upper display space, and carrying out failure to display space sweeps Retouch, space orientation, the spatial orientation information for controlling multiple display unmanned planes to be fed back according to the scale unmanned plane afterwards, fly to correspondingly Display space.
- A kind of 2. unmanned plane cluster flight control system as claimed in claim 1, it is characterised in that the scale unmanned plane bag Include detection of obstacles unit, identification transmissions module, wireless communication module, Hovering control module；The identification transmissions module is used for Transmitting adjustment shows that unmanned plane carries out the id signal of region distribution；The Hovering control module is used for according to detection of obstacles list The barrier of member detection carries out selecting position hovering, adjusts accessible in the range of the suitable scale unmanned plane pre-set radius Thing.
- A kind of 3. unmanned plane cluster flight control system as claimed in claim 1, it is characterised in that the scale unmanned plane bag Include one or four.
- 4. a kind of unmanned plane cluster flight control system as claimed in claim 3, it is characterised in that when the scale unmanned plane For one when, the scale unmanned plane display space establish using the scale unmanned plane as zero point two-dimentional or three-dimensional right angle sit Mark system, the coordinate system control that the centralized control center establishes according to the scale unmanned plane show that unmanned plane identifies the different marks Know signal, be ranked up.
- A kind of 5. unmanned plane cluster flight control system as claimed in claim 4, it is characterised in that the specific bag of sequence Include：The display unmanned plane mark corresponding to order searching, is found in identification procedure, with described according to the different identification of distribution Centered on scale unmanned plane, by range finder module measurement and the distance of the adjacent unmanned plane, exist according to pre-set flight distance Corresponding mark direction sequential deployment, during expansion, the position for intending reaching is measured by obstacle avoidance module and whether there is unmanned plane, If it is present fly to the next position；The display unmanned plane circulates above-mentioned steps, until the whole of all scale unmanned planes is pressed according to the mark direction of distribution According to the sequential deployment centered on scale unmanned plane.
- 6. a kind of unmanned plane cluster flight control system as claimed in claim 5, it is characterised in that the display unmanned plane exists Identify on direction, using scale unmanned plane as starting point, carry out stored count, using the concrete numerical value of counting as the numbering of itself, and It is sent to centralized control center；The stored count specifically includes：Near scale unmanned plane unmanned plane detecting distance scale nobody The distance of machine, it is i to set itself numbering, by the numerical value simultaneous transmission to nearest unmanned plane and centralized control center, the collection control Center will identify corresponding to numbering i and combine, and form the label that the numbering is i, and feed back to numbering i unmanned plane as reception The label of instruction, the nearest unmanned plane, which will number, adds 1, numbering is changed into i+1, and be transferred to next nearest unmanned plane And centralized control center, said process is repeated, until all unmanned planes have corresponding label.
- 7. a kind of unmanned plane cluster flight control system as claimed in claim 3, it is characterised in that when the scale unmanned plane For four when, four scale unmanned planes fly to display space simultaneously, and forming rectangle needs, and whether there is inside scan rectangle region Barrier, four scale unmanned planes form chain type regulation, the chain type regulation include using one of scale unmanned plane as Basic point, other three scale unmanned planes are flown with certain acceleration to away from basic point, in flight course three scale unmanned planes it Intercommunication, keep rectangular mode increase display space；The scale that centralized control center's real-time Transmission is at basic point nobody Machine gives other three scale unmanned planes, the speed of real-time matching basic point scale unmanned plane during other described three scale unmanned plane during flyings Degree.
- A kind of 8. unmanned plane cluster flight control system as claimed in claim 7, it is characterised in that the scale unmanned plane bag Include the first wireless communication module, the second wireless communication module, chain type regulating calculation module；First wireless communication module is used for Radio communication is carried out with the centralized control center, second wireless communication module between scale unmanned plane carrying out real-time nothing Line communicates, and the chain type regulating calculation module is used to be received according to first wireless communication module, the second wireless communication module Data, adjustment scale unmanned plane according to rectangular mode flight increase arrives suitable viewing area.
- 9. a kind of unmanned plane cluster flight control system as claimed in claim 1, it is characterised in that the centralized control center includes 3rd wireless communication module, marker, image display processor, area of space setting unit, the 3rd wireless communication module For being communicated with scale unmanned plane, display unmanned plane, the marker is used to carry out at automatic labeling display unmanned plane Reason；Described image video-stream processor is used for the number of the viewing area and unmanned plane set according to the area of space setting unit Amount calculates the display mode of unmanned plane, and is assigned to corresponding unmanned plane according to the nominal label output control of marker.
- A kind of 10. unmanned plane cluster flight control system as claimed in claim 9, it is characterised in that centralized control center's bag Diagnostor, recovery control module are included, the diagnostor tests oneself to instruct for transmission arrives the unmanned plane, and failure is carried out to unmanned plane Diagnosis；Described to reclaim label size of the control module according to marker, control unmanned plane carries out automatic execution sequence return instruction, The order, which returns to perform, includes set initial each unmanned plane as 0, when performing return, will transmission pressure high level to nobody Machine, be each delayed a predetermined period between pressure high level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711396739.9A CN107807670A (en) | 2017-12-21 | 2017-12-21 | A kind of unmanned plane cluster flight control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711396739.9A CN107807670A (en) | 2017-12-21 | 2017-12-21 | A kind of unmanned plane cluster flight control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107807670A true CN107807670A (en) | 2018-03-16 |
Family
ID=61588714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711396739.9A Pending CN107807670A (en) | 2017-12-21 | 2017-12-21 | A kind of unmanned plane cluster flight control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107807670A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109116863A (en) * | 2018-08-24 | 2019-01-01 | 北京京东尚科信息技术有限公司 | Unmanned plane dispatching method, device, system, electronic equipment and readable medium |
| CN111240211A (en) * | 2020-03-19 | 2020-06-05 | 北京航空航天大学 | Dynamic recovery method for unmanned aerial vehicle group |
| CN111260123A (en) * | 2020-01-09 | 2020-06-09 | 鹏城实验室 | Cluster recovery control method, device and equipment and readable storage medium |
| CN111368971A (en) * | 2020-02-19 | 2020-07-03 | 中国人民解放军军事科学院国防科技创新研究院 | Unmanned aerial vehicle cluster cooperative landing sequencing method and system |
| CN111736623A (en) * | 2020-03-27 | 2020-10-02 | 北京京东乾石科技有限公司 | Numbering method and device for unmanned aerial vehicle and ground station |
| CN113568433A (en) * | 2021-08-12 | 2021-10-29 | 广东新创华科环保股份有限公司 | Multi-rotor unmanned aerial vehicle cluster measurement and control system and method |
| TWI763105B (en) * | 2020-10-29 | 2022-05-01 | 中華學校財團法人中華科技大學 | Intelligent group flight path planning method and system for unmanned vehicles |
| CN115580833A (en) * | 2022-11-22 | 2023-01-06 | 湖南工商大学 | Multifunctional monitoring and early warning multifunctional cooperative system |
-
2017
- 2017-12-21 CN CN201711396739.9A patent/CN107807670A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109116863A (en) * | 2018-08-24 | 2019-01-01 | 北京京东尚科信息技术有限公司 | Unmanned plane dispatching method, device, system, electronic equipment and readable medium |
| CN109116863B (en) * | 2018-08-24 | 2021-12-03 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle scheduling method, device, system, electronic equipment and readable medium |
| CN111260123A (en) * | 2020-01-09 | 2020-06-09 | 鹏城实验室 | Cluster recovery control method, device and equipment and readable storage medium |
| CN111260123B (en) * | 2020-01-09 | 2022-07-01 | 鹏城实验室 | Cluster recovery control method, device and equipment and readable storage medium |
| CN111368971A (en) * | 2020-02-19 | 2020-07-03 | 中国人民解放军军事科学院国防科技创新研究院 | Unmanned aerial vehicle cluster cooperative landing sequencing method and system |
| CN111240211A (en) * | 2020-03-19 | 2020-06-05 | 北京航空航天大学 | Dynamic recovery method for unmanned aerial vehicle group |
| CN111240211B (en) * | 2020-03-19 | 2020-08-28 | 北京航空航天大学 | Dynamic recovery method for unmanned aerial vehicle group |
| CN111736623A (en) * | 2020-03-27 | 2020-10-02 | 北京京东乾石科技有限公司 | Numbering method and device for unmanned aerial vehicle and ground station |
| TWI763105B (en) * | 2020-10-29 | 2022-05-01 | 中華學校財團法人中華科技大學 | Intelligent group flight path planning method and system for unmanned vehicles |
| CN113568433A (en) * | 2021-08-12 | 2021-10-29 | 广东新创华科环保股份有限公司 | Multi-rotor unmanned aerial vehicle cluster measurement and control system and method |
| CN115580833A (en) * | 2022-11-22 | 2023-01-06 | 湖南工商大学 | Multifunctional monitoring and early warning multifunctional cooperative system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107807670A (en) | A kind of unmanned plane cluster flight control system | |
| CN104615143B (en) | Unmanned aerial vehicle scheduling method | |
| CN106200680B (en) | Unmanned aerial vehicle cluster management system and control method thereof | |
| CN106909167B (en) | Multi-machine multi-station combined three-dimensional task system and method | |
| CN107272742A (en) | A kind of navigation control method of unmanned aerial vehicle group work compound | |
| CN105222807B (en) | A kind of rotor wing unmanned aerial vehicle precision approach path indicator check system and method for calibration | |
| CN105157708A (en) | Unmanned aerial vehicle autonomous navigation system and method based on image processing and radar | |
| CN105048533B (en) | Small-sized multi-rotor unmanned aerial vehicle automatic charging system | |
| WO2018028358A1 (en) | Method, apparatus and system for implementing formation flying | |
| JPWO2018155700A1 (en) | Flight management system | |
| CN107272743A (en) | A kind of express delivery delivering method of unmanned aerial vehicle group | |
| CN106093855B (en) | The navigation control method and control system of unmanned plane | |
| CN102756808A (en) | Taking-off and landing target instrument and automatic taking-off and landing system | |
| CN206431277U (en) | Unmanned plane alignment system | |
| CN107289953A (en) | A kind of navigation control method of unmanned aerial vehicle group | |
| CN105518377A (en) | Gas leakage processing method and apparatus, and air vehicle | |
| CN107977016A (en) | A kind of unmanned plane cluster makes a return voyage control method | |
| CN101866180A (en) | Flight control system | |
| CN205898998U (en) | Unmanned aerial vehicle's navigation control system | |
| CN110203395B (en) | Method and system for detecting intelligent child equipment carried by mother aircraft of unmanned aerial vehicle | |
| CN204809917U (en) | Automatic charging system of small -size many rotor unmanned aerial vehicle | |
| CN107943086A (en) | A kind of unmanned plane cluster makes a return voyage control system | |
| CN110907500B (en) | Unmanned aerial vehicle platform-based composite insulator hydrophobicity automatic detection method and device | |
| CN106896828A (en) | A kind of unmanned plane automated wireless charging method and system | |
| CN107069859A (en) | A kind of wireless charging system and method based on unmanned plane base station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180316 |
|
| WD01 | Invention patent application deemed withdrawn after publication |