CN108073182A - Unmanned plane cluster control system based on both-way communication module - Google Patents
Unmanned plane cluster control system based on both-way communication module Download PDFInfo
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- CN108073182A CN108073182A CN201611008741.XA CN201611008741A CN108073182A CN 108073182 A CN108073182 A CN 108073182A CN 201611008741 A CN201611008741 A CN 201611008741A CN 108073182 A CN108073182 A CN 108073182A
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- host
- unmanned plane
- communication module
- cluster
- control system
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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 present invention provides a kind of unmanned plane cluster control systems based on both-way communication module, belong to unmanned air vehicle technique field, pass through the integrated bi-directional communication module in flight control system, cluster sets a frame host, remaining is slave, every frame unmanned plane sets sole electron identification code, operator manipulates host and selects cluster formation, host flies relative position of the control according to slave in itself real time position and formation, calculate each slave target location, using communication module broadcast type identification code and control information are sent to each slave, selection is read out and performs with the corresponding information of itself identification code after slave receives, and oneself state is fed back to by host with same principle, current cluster real-time status is showed by operator with map view in ground control terminal after host integral data.The present invention realizes single operator's unmanned plane clustered control, ensures flight safety and operability using principal and subordinate's plane mechanism, saves human cost, have great application value in field of industrial production.
Description
Technical field
The invention belongs to unmanned air vehicle technique fields, and in particular to a kind of unmanned plane clustered control based on both-way communication module
System.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and is provided for oneself
The not manned aircraft that presetting apparatus manipulates.It can be divided into from technical standpoint definition：Unmanned helicopter, unmanned fixed-wing aircraft,
Unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol etc., unmanned plane press application field, can be divided into it is military with it is civilian.It is military
Aspect, unmanned plane are divided into reconnaissance plane and target drone, and unmanned plane+sector application is that unmanned plane has really just needed.
Continuous development and maturation with unmanned air vehicle technique, unmanned plane have been widely used for each neck of social production life
Domain including agricultural, fire-fighting, rescue, inspection etc., however in many application scenarios, generally requires multiple UAVs operation simultaneously
Job requirements can just be met, current pattern is mainly one-to-one or even many-one, that is, a people or multiple people is needed to operate
One frame unmanned plane, there are several obvious shortcomings for such mode：High labor cost, operating efficiency is low, and operation effectiveness is bad；Several framves
Between unmanned plane may the air crash that collides due to operating personnel's maloperation, and the nothing each operated by several operating personnel
A man-machine group of planes once flies to outside operator's sighting distance, can not ensure safely；It is more since data transmission equipment is operated in same rf frequency
When frame unmanned plane operates respectively, number passes direct transmission signal and can interfere with each other, and causes signal strength weakening, and transmission is unstable,
Seriously affect flight operation and security.
The content of the invention
The present invention intends to provide a kind of unmanned plane cluster control system based on both-way communication module, to solve the above-mentioned back of the body
The problem of being proposed in scape technology.
To achieve the above object, the present invention provides following technical solution.
Unmanned plane cluster control system based on both-way communication module, described including multiple UAVs, both-way communication module,
Data transmission equipment and ground control terminal.
Further, the unmanned plane forms a cluster, wherein a frame is host, remaining is slave, every frame unmanned plane
The integrated bi-directional communication module in itself flight control system, simultaneously equipped with the data transmission equipment on the host, for institute
State ground control terminal transmission data.
Further, every frame unmanned plane is respectively provided with there are one unique electronic identification code in the cluster.
Further, map and the real time position of each unmanned plane and work shape can be shown in the ground control terminal
State.
Further, the network system realization is as follows.
Operator operates the host by the ground control terminal and selects cluster formation and task, is passed using the number
Device ground end sends director data to host.
Data transmission equipment on host is held in the air receives above-metioned instruction data, and is transferred to host flight control system, host
Fly that after control reads instruction, host dynamical system, target position, performance objective task, while not are transferred by flight algorithm
It is disconnected to read self-position and work state information, including GPS location, height, working condition etc., with reference to each machine in cluster formation
Relative position, calculate each slave target location and task, instruction is combined into each slave electronic identification code, it is unified to broadcast shape
Formula is sent by both-way communication module.
Each slave utilizes the information that respective both-way communication module receiving host is sent, and flies control and reads one's own electricity
Instruction under sub- identification code is transferred self power system by flight algorithm, is flown to target location, performance objective task, simultaneously
It is sent by both-way communication module after own location information, working condition and electronic identification code are packaged, is identified for host with connecing
It receives.
After the communication module of host receives the information that each slave is sent, flight control system is using electronic identification code as according to whole
Reason and arrangement data, by data transmission equipment are held and send back ground control terminal in the air.
Data transmission equipment ground surface end receives data, after ground control terminal operating system handles data, is intuitively opened up with map view
Show each aircraft real time position of cluster and working condition to operator, for operator's decision-making.
Further, when the host flight control system detects arbitrary two framves unmanned plane distance in cluster by algorithm
During less than safe distance, safety protection function can be started, i.e., transmitted target position data actively change a wherein frame from
The position height of machine, remaining instruction is constant, continues to keep clustered control.
Further, the safety protection function can be chosen whether to enable by operator, and the safe distance can be by operating
Person sets, and the concrete numerical value of the position height of the change can be set by operator.
Further, the unmanned plane for changing position height, it is detected in host flight control system by algorithm
When distance is safe in the horizontal direction with other unmanned planes in cluster, returns normal cluster formation and both positioned.
With prior art ratio, the present invention has the advantages that.
First, using the present invention, the clustered control of unmanned plane can be realized in an operator, and meeting needs multiple UAVs same
The demand of the application scenarios of Shi Zuoye, and substantially reduce cost of labor.Simultaneously as it is respectively computer algorithm control from machine operation
It makes, each machine operation is accurate in cluster, and response is fast.Therefore, operating cost is low by this way, efficient, effect is good.
2nd, the present invention is monitored using the algorithm of host flight control system between each machine in real time by setting safety protection function
Distance, once performing protection act at once less than safe distance, solving referred in background technology manually-operated can not
Carry out cluster safety monitoring, with protection low-response the problem of.
3rd, the present invention is realized and controlled using single data transmission equipment to unmanned plane by the utilization to both-way communication module
The control of cluster, evaded the number referred in background technology pass between interference effect signal strength and the problem of quality, ensure that
The operability and security of operation.
Description of the drawings
Fig. 1 is the control method flow chart of the unmanned plane cluster control system of the present invention based on both-way communication module.
Specific embodiment
For a better understanding of the present invention, with reference to the embodiment content that the present invention is further explained, but the present invention
Content is not limited solely to the following examples.
Embodiment one.
Unmanned plane cluster control system based on both-way communication module, described including multiple UAVs, both-way communication module,
Data transmission equipment and ground control terminal.
Wherein, unmanned plane forms a cluster, wherein a frame is host, remaining is slave, and every frame unmanned plane flies at itself
Integrated bi-directional communication module in row control system, simultaneously equipped with the data transmission equipment on the host, for being controlled with the ground
Transmit data in end processed.
Wherein, every frame unmanned plane is respectively provided with there are one unique electronic identification code in the cluster.
Wherein, the real time position and working condition of map and each unmanned plane can be shown in the ground control terminal.
The network system realization is as follows.
Operator selectes three frame unmanned planes and flies simultaneously, in one line in transverse direction, and intermediate unmanned plane is host, controls two
Frame slave spacing is 10 meters.Operator sets aerial mission, and data transmission equipment ground end main frame sends the flight directive of operator
Data.
Data transmission equipment on host is held in the air receives above-metioned instruction data, and is transferred to host flight control system, host
Fly that after control reads instruction, host dynamical system, target position, performance objective task, while not are transferred by flight algorithm
It is disconnected to read self-position and work state information, including GPS location, height, working condition etc., with reference to each machine in cluster formation
Relative position, calculate two frame slaves target location and task, instruction is combined into each slave electronic identification code, it is unified to broadcast
Form is sent by both-way communication module.
The information that slave 1 is sent using the both-way communication module receiving host of itself, it is one's own that slave 1 flies control reading
Instruction under electronic identification code is transferred self power system by flight algorithm, is flown to target location, performance objective task, together
When will own location information, working condition and electronic identification code be packaged after be sent by both-way communication module, for host identification with
It receives.
The information that slave 2 is sent using the both-way communication module receiving host of itself, it is one's own that slave 2 flies control reading
Instruction under electronic identification code is transferred self power system by flight algorithm, is flown to target location, performance objective task, together
When will own location information, working condition and electronic identification code be packaged after be sent by both-way communication module, for host identification with
It receives.
After the communication module of host receives the information that each slave is sent, flight control system is using electronic identification code as according to whole
Reason and arrangement data, by data transmission equipment are held and send back ground control terminal in the air.
Data transmission equipment ground surface end receives data, after ground control terminal operating system handles data, is intuitively opened up with map view
Show each aircraft real time position of cluster and working condition to operator, for operator's decision-making.
Wherein, operator sets cluster safety defencive function and enables, when host flight control system is detected by algorithm
When arbitrary two framves unmanned plane is smaller than 5 meters in cluster, safety protection function comes into force, by the rise 5 of the two wherein frame slave
Rice, remaining instruction is constant, continues to keep clustered control.
Wherein, the unmanned plane for changing position height, itself and collection are detected in host flight control system by algorithm
Group in other unmanned planes in the horizontal direction distance it is safe when, return normal cluster formation and both positioned.
Embodiment two.
In the present embodiment, the cluster unmanned plane quantity is 5 framves, wherein 1 frame host, 4 frame slave, headed by host, collection
Group is in yi word pattern longitudinal arrangement.Spacing between adjacent two framves unmanned plane is 20 meters, and safe distance is 10 meters, safeguard protection work(
It is 10 meters to change position height when can start.Other steps are identical with embodiment one.
Embodiment three.
In the present embodiment, the cluster unmanned plane quantity is 7 framves, wherein 1 frame host, 6 frame slave, centered on host,
6 frame slaves equidistantly surround host in the form of regular hexagon.Spacing between adjacent two framves slave, slave and host is 50 meters,
Safe distance is 30 meters, and it is 10 meters to change position height when safety protection function starts.Other steps and embodiment one or implementation
It is identical in example two.
What is be not specifically noted in the present invention is the prior art or can be realized by the prior art.The skill of the industry
For art personnel it should be appreciated that the present invention is not limited to the above embodiments, the description in above embodiments and description is explanation
The principle of the present invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these
Changes and improvements all fall within the protetion scope of the claimed invention.
Claims (8)
1. the unmanned plane cluster control system based on both-way communication module, which is characterized in that the system comprises multiple UAVs,
Both-way communication module, data transmission equipment and ground control terminal.
2. the unmanned plane cluster control system according to claim 1 based on both-way communication module, which is characterized in that described
Unmanned plane forms a cluster, wherein a frame is host, remaining is slave, and every frame unmanned plane collects in itself flight control system
It is in pairs to communication module, simultaneously equipped with the data transmission equipment on the host, for transmitting data with the ground control terminal.
3. the unmanned plane cluster control system according to claim 2 based on both-way communication module, which is characterized in that described
Every frame unmanned plane is respectively provided with there are one unique electronic identification code in cluster.
4. the unmanned plane cluster control system according to claim 1 based on both-way communication module, which is characterized in that described
The real time position and working condition of map and each unmanned plane can be shown in ground control terminal.
5. the unmanned plane cluster control system according to claim 2 based on both-way communication module, which is characterized in that this is
Implementation method of uniting is as follows：
Operator operates the host by the ground control terminal and selects cluster formation and task, utilizes the data transmission equipment
Ground surface end sends director data to host；
Data transmission equipment on host is held in the air receives above-metioned instruction data, and is transferred to host flight control system, and host flies to control
After reading instruction, host dynamical system, target position, performance objective task are transferred by flight algorithm, while constantly read
Take self-position and work state information, including GPS location, height, working condition etc., with reference in cluster formation each machine it is opposite
Position, calculate each slave target location and task, instruction is combined into each slave electronic identification code, it is unified to be led to the forms of broadcasting
Cross the transmission of both-way communication module；
Each slave utilizes the information that respective both-way communication module receiving host is sent, and flies the one's own electronics of control reading and knows
Instruction under other code is transferred self power system by flight algorithm, is flown to target location, performance objective task, while will be certainly
Body location information, working condition and electronic identification code are sent after being packaged by both-way communication module, are identified and are received for host；
After the communication module of host receives the information that each slave is sent, flight control system using electronic identification code be according to arranging and
Data are arranged, is held in the air by data transmission equipment and sends back ground control terminal；
Data transmission equipment ground surface end receives data, and after ground control terminal operating system handles data, collection is intuitively shown with map view
Each aircraft real time position of group and working condition are to operator, for operator's decision-making.
6. the unmanned plane cluster control system according to claim 5 based on both-way communication module, which is characterized in that work as institute
When stating host flight control system and detecting that arbitrary two framves unmanned plane distance is less than safe distance in cluster by algorithm, it can start
Safety protection function actively changes the position height of a wherein frame slave in transmitted target position data, remaining instruction
It is constant, continue to keep clustered control.
7. the unmanned plane cluster control system according to claim 6 based on both-way communication module, which is characterized in that described
Safety protection function can be chosen whether to enable by operator, and the safe distance can be set by operator, the position of the change
The concrete numerical value of height can be set by operator.
8. the unmanned plane cluster control system according to claim 6 based on both-way communication module, which is characterized in that described
Change the unmanned plane of position height, detect it with other unmanned planes in cluster in water by algorithm in host flight control system
Square upwards distance it is safe when, return normal cluster formation and both positioned.
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| CN201611008741.XA CN108073182A (en) | 2016-11-16 | 2016-11-16 | Unmanned plane cluster control system based on both-way communication module |
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Cited By (9)
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| CN109343571A (en) * | 2018-12-13 | 2019-02-15 | 桂林航天工业学院 | Unmanned plane cluster formation method |
| CN109407702A (en) * | 2018-12-13 | 2019-03-01 | 桂林航天工业学院 | Unmanned plane cluster formation method |
| CN109672503A (en) * | 2019-02-03 | 2019-04-23 | 唐山坤翼创新科技有限公司 | More plant protection drone communication means and communication system |
| CN112015200A (en) * | 2020-07-31 | 2020-12-01 | 湖南省西瓜甜瓜研究所 | Agricultural unmanned aerial vehicle group cooperative operation system, cooperative operation method and unmanned aerial vehicle |
| CN112242072A (en) * | 2020-10-14 | 2021-01-19 | 中国联合网络通信集团有限公司 | Unmanned aerial vehicle navigation method and system, unmanned aerial vehicle for navigation and number management platform |
| WO2021097979A1 (en) * | 2019-11-18 | 2021-05-27 | 捷开通讯(深圳)有限公司 | Unmanned aerial vehicle control method and device, and storage medium |
| CN112947559A (en) * | 2021-02-08 | 2021-06-11 | 北京理工大学 | Master-slave machine cooperation method and device |
| WO2021168679A1 (en) * | 2020-02-26 | 2021-09-02 | 深圳市大疆创新科技有限公司 | Information processing method, electronic devices, information processing systems, and readable storage medium |
| CN114604424A (en) * | 2020-12-09 | 2022-06-10 | 北京理工大学 | Patrol, flight, check and fight integrated platform |
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| CN109672503A (en) * | 2019-02-03 | 2019-04-23 | 唐山坤翼创新科技有限公司 | More plant protection drone communication means and communication system |
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| CN114604424A (en) * | 2020-12-09 | 2022-06-10 | 北京理工大学 | Patrol, flight, check and fight integrated platform |
| CN112947559A (en) * | 2021-02-08 | 2021-06-11 | 北京理工大学 | Master-slave machine cooperation method and device |
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Application publication date: 20180525 |