CN108447309A - Unmanned plane landing method, apparatus and computer storage media - Google Patents
Unmanned plane landing method, apparatus and computer storage media Download PDFInfo
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- G—PHYSICS
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- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0043—Traffic management of multiple aircrafts from the ground
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
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- G—PHYSICS
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Abstract
The invention discloses a kind of unmanned plane landing method, apparatus and computer storage media, the unmanned plane landing method, for the unmanned plane landing in queue arrangement, the unmanned plane landing method includes：When receiving multiple unmanned plane landing instructions, the location information of each unmanned plane is obtained；The grouping formation unmanned plane according to the positional information, to obtain unmanned plane grouping；Unmanned plane grouping is ranked up, the unmanned plane grouping is controlled according to the clooating sequence landing, controls the unmanned plane landing simultaneously in same unmanned plane grouping, and rise and be down to the corresponding position of each unmanned plane.The present invention has the effect of that the unmanned plane in queue arrangement is avoided to collide in the landing stage.
Description
Technical field
The present invention relates to unmanned plane management domains, more particularly to unmanned plane landing method, apparatus and computer storage media.
Background technology
It is more and more with the application of unmanned plane, it is increasingly socially reintegrated, therefore, the function of unmanned plane is also being expanded.Nothing
Man-machine application mode generally includes delivery, carries photographing device and carries out high-altitude shooting.But these application schemes, it can not
Meet user to need to carry out the requirement in terms of light show using unmanned plane.
When carrying out unmanned plane light show, it will usually it arranges tens or even hundreds of unmanned planes is carried out while being flown,
So as to form light formation in the air.
But a large amount of unmanned plane, when carrying out demonstration flight, the place of usual takeoff and landing is simultaneously little, therefore,
How the landing stage controls unmanned plane during flying, avoids collision as urgent problem to be solved.
Invention content
The main object of the present invention is to provide unmanned plane landing method, apparatus and computer storage media, it is intended to avoid be in
The unmanned plane of queue arrangement collides in the landing stage.
To achieve the above object, a kind of unmanned plane landing method proposed by the present invention, for the unmanned plane in queue arrangement
Landing, the unmanned plane landing method include：
When receiving multiple unmanned plane landing instructions, the location information of each unmanned plane is obtained；
The grouping formation unmanned plane according to the positional information, to obtain unmanned plane grouping；
Unmanned plane grouping is ranked up, according to the nothing in unmanned plane grouping described in the ranking results sequential control
Man-machine progress landing simultaneously, and rise and be down to the corresponding position of each unmanned plane.
Optionally, described to be grouped the unmanned plane of forming into columns according to the positional information, include to obtain unmanned plane grouping：
Unmanned plane maximum amount in default unmanned plane grouping；
The unmanned plane grouping that spacing two-by-two is more than to first threshold is formed into columns as unmanned plane grouping.
Optionally, it is before a unmanned plane is grouped to form into columns in the unmanned plane grouping that spacing two-by-two is more than to first threshold
Including：
The setting accuracy of unmanned plane is obtained according to the positional information；
Corresponding first threshold is matched according to the setting accuracy.
Optionally, it is that unmanned plane grouping includes that the unmanned plane grouping that spacing two-by-two is more than to first threshold, which is formed into columns,：
It is that a unmanned plane is grouped that spacing two-by-two, which is more than first threshold and is formed into columns less than the grouping of the unmanned plane of second threshold,.
Optionally, ranging from 0.4 meter to 0.6 meter of the first threshold；Ranging from 40 meters to 60 meters of the second threshold.
Optionally, unmanned plane maximum amount includes in the default unmanned plane grouping：
Obtain the total quantity that the multiple unmanned plane landing instructs controlled unmanned plane；
Unmanned plane maximum amount in unmanned plane grouping is set according to the total quantity of the unmanned plane.
Optionally, unmanned plane maximum amount includes in the setting unmanned plane grouping according to the total quantity of the unmanned plane：
It is preset group that unmanned plane grouping, which is formed into columns,；
When unmanned plane quantity is more than maximum preset value in each preset group, using the maximum preset value as unmanned plane
Maximum amount；
When unmanned plane quantity is less than minimum preset value in each preset group, using the minimum preset value as unmanned plane
Maximum amount；
When unmanned plane quantity is located between the minimum preset value and maximum preset value in each preset group, with institute
It is unmanned plane maximum amount to state unmanned plane quantity in preset group.
The present invention provides a kind of unmanned plane landing method, apparatus and computer storage media, the unmanned plane landing dress
Set including：Memory, processor and the unmanned plane landing journey that is stored on the memory and can run on the processor
Sequence is realized when the unmanned plane landing program is executed by the processor such as the step of above-mentioned method.
The present invention provides a kind of computer storage medias, which is characterized in that is stored in the computer storage media
Unmanned plane landing program is realized when the unmanned plane landing program is executed by processor such as the step of above-mentioned method.
Unmanned plane landing method provided by the present invention, by being grouped formation to the unmanned plane, then with nobody
The mode of machine grouping carries out landing, to reduce the unmanned plane quantity of disposable takeoff and landing, so as to reduce nobody
Machine generates the probability collided in the takeoff and landing stage so that realization that can be safe and stable in the unmanned plane of queue arrangement rises
Fly and lands.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the flow chart of unmanned plane landing method first embodiment of the present invention；
Fig. 2 is an application scenarios schematic diagram of unmanned plane landing method shown in Fig. 1；
Fig. 3 is the flow diagram such as step S102 in Fig. 1；
Fig. 4 is the flow diagram such as the variant embodiment of step S102 in Fig. 1；
Fig. 5 is the flow diagram such as step S2024 in Fig. 4；
Fig. 6 is the flow chart of one embodiment of unmanned plane lifting gear of the present invention；
Fig. 7 is the flow chart of one embodiment of computer-readable medium of the present invention；
The optional fractional hardware structural schematic diagram of unmanned plane one of Fig. 8 each embodiments to realize the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific implementation mode
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In subsequent description, using for indicating that the suffix of such as " module ", " component " or " unit " of element is only
The explanation for being conducive to the present invention, itself does not have a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
The present embodiment first simply introduces the unmanned plane and the relevant technologies of realizing the present invention.
1. about the structure being connect with server in unmanned plane：
Fig. 8 is please referred to, shows the module diagram of Internet of Things mesh portions inside unmanned plane.Wherein, unmanned plane includes board,
And the panel light Lamp Panel being connect with board.It is provided with 4G modules on the board, controls chip MCU, unmanned plane flies
Control UVA；Wherein 4G modules are connect by serial communication with the winged control UVA of unmanned plane, and unmanned plane flies control UVA and passes through bus CAN and control
The MCU connections of coremaking piece.Control chip MCU is connect with panel light Lamp Panel.
Communication mode：Because of the up to thousands of framves of the lamp plate quantity of formation control, the lamp plate per airplane is all a control section
Point, the interference in order to avoid interplane and coupling, thus use Internet of Things 4G networking modes, come respectively to every fly control control and
Lamp plate controls；4G modules carry out data exchange node with control is flown by serial ports；Winged control receives the control instruction that bottom surface accounts for and passes through
Customized CAN protocol packet is sent to the MCU of board, and MCU receives CAN protocol packet and parses, and exports industrial standard
RGB24, to realize the combination control of a variety of colors.
Control mode：After the MCU of board receives customized protocol package, standard is obtained by analysis protocol packet
The color of RGB24 controls, and RGB24 indicates that a pixel, RGB component are all indicated with 8 using 24, value range 0
~255.To which when unmanned plane formation reaches thousands of framves, the lamp plate of each unmanned plane will form a pixel, then pass through
The movement of unmanned plane and the color control of lamp plate, to form the picture of different colours.
2. the scheme for passing through satellite positioning about unmanned plane：
Geodetic type receiver is set in demonstration flight place in advance；Geodetic type receiver obtains Differential positioning data.Geodetic
Differential positioning data are sent to the designated port of server by mobile network by type receiver by 4G modules.
Server set on ground presets the designated port for matching and connecting geodetic type receiver；And pass through finger
Fixed end mouthful receives Differential positioning data.
In the mean 3D StdDev geometric averages 3D marks for the three-dimensional coordinate that server inspection is obtained according to Differential positioning data
When quasi- difference is less than 1, judgement obtains the differential reference station information of accurate three-dimensional coordinate.
Differential reference station information and Differential positioning data are sent to unmanned plane by server by mobile network；Unmanned plane
Airborne Differential positioning module receives satellite positioning signal, obtains self-position, and further according to received differential reference platform
Information, Differential positioning data, to correct self-position, to obtain more accurate location information.
3. flying the destination in air mileage and sequential about unmanned plane：
3.1, way point information includes not only spatial positional information and light change information, each destination also includes to correspond to
Timing node.When unmanned plane obtains destination task, flight is voluntarily controlled by the winged control in unmanned plane, to reach
The specified position of destination is reached in each corresponding timing node, and shows specified light.
Fly control and carry out accurate light transformation at each time point, the flight between different location destination by unmanned plane from
Oneself voluntarily configures rational flying speed according to the difference at time point, ensures right place.
Specifically, unmanned plane can calculate two differences between different location destination：One is path length difference, and one is the time
Difference.Unmanned plane adjusts flying speed according to path length difference/time difference, ensures to reach corresponding sky just in next timing node
Between location point.
The variation of light is also more accurate because there is accurately time parameter, can complete such as gradual change, timing and have a ride on a horse
The variation task of the complexity such as lamp.
3.2, the 4G function of surfing the Net that four-dimensional destination combination unmanned plane has, unmanned plane are obtained by mobile network on server
The Perfect Time information of storage realizes the accurate unification of the sequential of whole unmanned planes.
4. about unmanned plane formation route matching：
Server obtains the position point set that multiple unmanned planes are currently located, and needs the task point set reached.
A location point in the position point set is traversed into the every bit in the task point set, according to distance
It is ranked up, according to obtained clooating sequence by the task point and the location point successively line.
When the two side areas of line includes the equal location point of quantity and task point, by the position of the same side of the line
It sets a little and task point is divided into a location point subset and corresponding task point subset.Include it on the line and its extended line
When his location point and task point, using on the line and its extended line location point and task point as special points subset and
Corresponding special duty point subset.
When the two side areas of line does not include the equal location point of quantity and task point, by its in the location sets
His location point traverses the every bit in the task point set.
Judge whether the location point quantity in the location point subset is less than amount threshold；If it is not, then by the location point
Subset and corresponding task point subset divide again, are divided into two location point subsets and corresponding task point subset.
It traverses the location point subset to combine with all lines of corresponding task point subset, it is shortest described to obtain total length
Line combines.The matching relationship for obtaining location point subset and corresponding task point subset is combined according to obtained line.
Particular distance of each task point of special duty idea concentration apart from special points subset is obtained, according to described
Particular distance carries out special sort from as far as into the task point；According to the special sort, successively by the task point with
It is matched one by one apart from nearest location point；The special points subset is obtained to special duty point subset according to the matching
Special matched relationship；
Formation path is obtained according to the matching relationship.
5. the protection about unmanned plane in the takeoff and landing stage controls：
Server obtains the location information of each unmanned plane when receiving multiple unmanned plane landing instructions.
Obtain the total quantity that the multiple unmanned plane landing instructs controlled unmanned plane.
It is preset group that unmanned plane grouping, which is formed into columns,；Unmanned plane quantity is more than maximum preset in each preset group
When value, using the maximum preset value as unmanned plane maximum amount.Unmanned plane quantity is less than minimum pre- in each preset group
If when value, using the minimum preset value as unmanned plane maximum amount.Unmanned plane quantity is located at described in each preset group
When between minimum preset value and maximum preset value, using unmanned plane quantity in the preset group as unmanned plane maximum amount.
It is that a unmanned plane is grouped that spacing two-by-two, which is more than first threshold and is formed into columns less than the grouping of the unmanned plane of second threshold,.
Unmanned plane grouping is ranked up, controls the unmanned plane grouping according to the clooating sequence landing, control
Unmanned plane landing simultaneously in same unmanned plane grouping, and rise and be down to the corresponding position of each unmanned plane.
6. about unmanned plane in demonstration flight, process flow when accident is encountered：
Server controls spare unmanned plane and goes up to the air to hovering region and hover standby in advance.
When information is maked a return voyage in the unmanned plane midway for receiving progress demonstration flight automatically, corresponding destination task is obtained.
It controls the spare unmanned plane and loads obtained destination task, and continue to execute corresponding destination task.
Based on above-mentioned unmanned plane hardware configuration, control system and control flow, each embodiment of the method for the present invention is proposed.
Hereinafter, it will be apparent from the specific implementation mode of the key technical feature about the present invention.
The present invention provides a kind of unmanned plane landing methods, for the unmanned plane landing in queue arrangement.
Please refer to Fig. 1, unmanned plane landing method first embodiment of the present invention.The unmanned plane landing method includes：
Step S101 obtains the location information of each unmanned plane when receiving multiple unmanned plane landing instructions.
Incorporated by reference to referring to Fig. 2, showing that 100 unmanned planes are arranged as 10 rows 10 row in the figure；Server will be by wireless
Electricity is communicated with 100 unmanned planes, is instructed to be sent to each unmanned plane, and receives the feedback letter of each unmanned plane
Breath.
Wherein, multiple unmanned plane landing instructions can be the instruction that user individually sends, and can also be demonstration flight
Instruction caused by takeoff maneuver or dropping action in flow.And multiple unmanned plane landings instruct controlled unmanned plane
It can be whole 100 unmanned planes, can also be part unmanned plane.When server, which receives, takes off instruction, this will be decomposed and referred to
It enables, the individual control instruction of corresponding each unmanned plane is generated after decomposition.
In the feedback information of unmanned plane, include the location information of unmanned plane.The location information can pass through global location
System GPS services come position or Beidou navigation service come position, Galileo navigation service come position, in conjunction with base station service come
Positioning etc..Further, in order to obtain more accurate positioning, geodetic type Differential positioning module can be increased to obtain
Position corrected parameter；After service obtains the positioning corrected parameter, it is forwarded to unmanned plane so that unmanned plane can correct self poisoning
Information on the other hand can be to server to which itself can carry out destination flight control using the more accurate location information
The more accurate location information of feedback makes so that server can carry out subsequent step based on more accurate location information
Obtain the accuracy higher of subsequent step.
Step S102, the grouping formation unmanned plane, is grouped with obtaining unmanned plane according to the positional information.
Wherein, server can be previously provided with the threedimensional model of local landform, believe in the position for obtaining each unmanned plane
When breath, each unmanned plane is mapped on the threedimensional model of landform, to be grouped volume to unmanned plane in conjunction with threedimensional model
Team.It is, of course, also possible to using simpler algorithm, for example, by the adjacent unmanned plane of each unmanned plane of positional information calculation, so
Arbitrarily N number of non-conterminous unmanned plane, grouping formation it will be grouped scheme for a unmanned plane afterwards；Or by arbitrary N number of adjacent nothing
Man-machine, grouping is formed into columns as a unmanned plane grouping etc. scheme.
As shown in Fig. 2, being shown in figure two unmanned plane groupings, the grouping 100 of the first unmanned plane and the second unmanned plane point
Group 200.It should be understood that 100 unmanned planes shown in Figure 2, which, which should all form into columns, is grouped into nothing
In man-machine grouping, but in order to which view is more succinct and clear, two unmanned planes grouping therein is illustrate only in Fig. 2.This
In embodiment, the unmanned plane quantity of the grouping 100 of the first unmanned plane and the second unmanned plane grouping 200 is all 10.It is only at this
Citing, the unmanned plane quantity for not limiting each unmanned plane grouping must be equal.When taking off, in the first unmanned plane grouping 100
Unmanned plane take off first to its correspond to spatial domain；Then the second unmanned plane grouping 200 is taken off to corresponding spatial domain ... until last
The grouping of one unmanned plane is taken off to corresponding spatial domain.
In the present embodiment, formation is grouped according to location information, then when can realize two adjacent unmanned plane differences
It takes off, to achieve the effect that avoid collision；Each unmanned plane grouping may be implemented again and show specific image, such as triangle
Shape, rectangle or pentalpha etc.；It can also realize that the unmanned plane in a region is united the effect taken off.
Unmanned plane grouping is ranked up by step S103, controls the unmanned plane grouping according to the clooating sequence
Landing controls the unmanned plane landing simultaneously in same unmanned plane grouping, and rises and be down to the corresponding position of each unmanned plane.
Wherein, unmanned plane grouping is ranked up, can be ranked up according to pre-set flight drama, to reach
While safe take-off and landing, the effect for showing special pattern may also reach up.Certainly, unmanned plane grouping is ranked up,
It can also be and be ranked up at random, to the effect only up to safe take-off and landing.Certainly, it should be noted that adjacent
Unmanned plane order of packets take off, can be spaced follow-through in shorter time, to reduce same multiple nothings
The takeoff separation of multiple unmanned planes that take off under man-machine landing instruction control, such as：
First unmanned plane grouping 100 the 0th:It takes off within 01 second；And 0:0.5 meter of position is reached at 02 second；
At the same time, 0:At 02 second, the second unmanned plane grouping 200 is taken off；And 0:At 03 second, first nobody
Machine grouping 100 reaches 1.5 meters of position, and the second unmanned plane grouping 200 reaches 0.5 meter of position；
At the same time, 0:At 03 second, the grouping of third unmanned plane is taken off ...
Then the present embodiment carries out landing by being grouped formation to the unmanned plane in such a way that unmanned plane is grouped,
To reduce the unmanned plane quantity of disposable takeoff and landing, generated in the takeoff and landing stage so as to reduce unmanned plane
The probability of collision so that the realization takeoff and landing that the unmanned plane for being in queue arrangement can be safe and stable.
Incorporated by reference to referring to Fig. 3, optionally, the step S102 is grouped the unmanned plane of forming into columns according to the positional information,
Include to obtain unmanned plane grouping：
Step S1023 presets unmanned plane maximum amount in unmanned plane grouping.
In fig. 2, for example, set unmanned plane grouping in unmanned plane maximum amount as 9, then in figure the first unmanned plane grouping
100 and second unmanned plane grouping 200 all have exceeded unmanned plane maximum amount, can form into columns grouping again again and be reduced to 9.Most
Eventually, the grouping of the 1st to the 11st unmanned plane all includes 9 unmanned planes, is left the last one unmanned plane separately as the 12nd unmanned plane point
Group is taken off.Alternatively, in order to more neat, system reallocates to unmanned plane grouping, such as：By the 1st unmanned plane
Unmanned plane quantity is 9 during grouping is grouped to the 4th unmanned plane；5th unmanned plane is grouped to the 12nd unmanned plane to unmanned plane in being grouped
Quantity is 8.To complete to be assigned 100 unmanned planes.
Step S1024, the unmanned plane grouping that spacing two-by-two is more than to first threshold are formed into columns as unmanned plane grouping.
Such as in fig. 2, in the first unmanned plane grouping 100, the spacing of unmanned plane 11 and other any unmanned planes in group
All it is more than first threshold, unmanned plane 12 and the spacing of other any unmanned planes in group are all more than first threshold ... ..., unmanned plane 10
All it is more than first threshold with the spacing of other any unmanned planes in group.
The present embodiment, by limiting in each unmanned plane grouping, the distance between unmanned plane is more than first threshold two-by-two, from
And can avoid in the unmanned plane of takeoff and landing at the same time, there is the too small situation of spacing.And then reaches and improve unmanned plane peace
Effect that is complete and stablizing takeoff and landing.Further, by the way that the unmanned plane maximum amount in unmanned plane grouping is arranged, nothing is avoided
The quantity of unmanned plane is excessive in man-machine grouping, to avoid while landing unmanned plane quantity is excessive, and then avoid it is excessive nobody
The air-flow mutation that machine generates simultaneously is excessive and generates unexpected.
Optionally, in the step S1024, spacing two-by-two is more than first threshold unmanned plane grouping form into columns for one nobody
Include before machine grouping：
Step S1021 obtains the setting accuracy of unmanned plane according to the positional information.
Usually it can determine the setting accuracy of unmanned plane by obtaining the elegant range of horizontal location of unmanned plane.
Step S1022 matches corresponding first threshold according to the setting accuracy.
In server, the positioning accuracy grade of unmanned plane and matching first threshold can be pre-set.For example,
When the positioning accuracy grade of unmanned plane is 1 grade, first threshold is set as 0.4 meter；When the positioning accuracy grade of unmanned plane is 2 grades
When, first threshold is set as 0.6 meter；When the positioning accuracy grade of unmanned plane is 3 grades, first threshold is set as 1 meter；When nobody
When the positioning accuracy grade of machine is 4 grades, first threshold is set as 1.5 meters.Or can also by obtain setting accuracy, and
By preset formula, to calculate the numerical value for obtaining first threshold.
The present embodiment can then avoid using improper by matching corresponding first threshold according to setting accuracy
First threshold.On the one hand, can be too small to avoid first threshold, and lead to adjacent unmanned plane safe distance deficiency and generate and touch
It hits.On the other hand, safe clearance setting can also be avoided excessive, caused by first threshold it is excessive, and cause grouping difficult.
Optionally, the step S1024, the unmanned plane grouping that spacing two-by-two is more than to first threshold are formed into columns as a unmanned plane
Grouping includes：
It is that a unmanned plane is grouped that spacing two-by-two, which is more than first threshold and is formed into columns less than the grouping of the unmanned plane of second threshold,.
By the way that second threshold is arranged, then the unmanned plane distribution that formation can be grouped to avoid same unmanned plane is excessively wide, and
Cause to be difficult to observe, count and manage while the unmanned plane of takeoff and landing.
In the present embodiment, difference, ranging from 0.4 meter to 0.6 meter of the first threshold are carried on optional unmanned plane；It is described
Ranging from 40 meters to 60 meters of second threshold.
Fig. 4 is please referred to, in a variant embodiment, based on first embodiment, step S102 is adjusted.Tool
Body is as follows：The step S102 is grouped the unmanned plane of forming into columns according to the positional information, includes to obtain unmanned plane grouping：
Step S2021 obtains the setting accuracy of unmanned plane according to the positional information.
Step S2022 matches corresponding first threshold according to the setting accuracy.
Step S2023 obtains the total quantity that the multiple unmanned plane landing instructs controlled unmanned plane.
The total quantity of unmanned plane, the total quantity for the unmanned plane in queue arrangement for taking off or landing for current needs.For example,
Current one shares 100 frame unmanned planes in place.Wherein, in current performance flow process, 50 frame unmanned planes currently need take off to
Respective waypoint location；Then 50 frame unmanned planes are the total quantity of unmanned plane.
Step S2024 sets unmanned plane maximum amount in unmanned plane grouping according to the total quantity of the unmanned plane.
For example, when unmanned plane total quantity be 100, then unmanned plane maximum amount can be set as 100 1/10th；When
The total quantity of unmanned plane be 50, then unmanned plane maximum amount can be set as 50 1/10th.
Step S2025, the unmanned plane grouping that spacing two-by-two is more than to first threshold are formed into columns as unmanned plane grouping.
In the present embodiment, by setting the unmanned plane maximum amount in unmanned plane grouping according to the total quantity of unmanned plane,
So that dividing more flexible when unmanned plane maximum amount so that the unmanned plane maximum amount of setting can be needed with current
The unmanned plane total quantity taken off or landed matches, and is risen to obtain efficient landing efficiency and safer single
Unmanned plane sortie drops.
Incorporated by reference to referring to Fig. 5, optionally, the step S2024 sets unmanned plane point according to the total quantity of the unmanned plane
Unmanned plane maximum amount includes in group：
Step S20241, it is preset group that unmanned plane grouping, which is formed into columns,.
The setting of the preset group can be determined in advance one and more efficiently be grouped situation.Such as preset group is 10 groups, and
And the takeoff separation being determined in advance between adjacent unmanned plane grouping is 0.5 second, and 10 groups of unmanned plane groupings are obtained therefore, it is possible to calculate
The required time is 5 seconds when all taking off.Certainly, in actual setting, can be come true according to the takeoff separation between adjacent sets
A fixed more efficient preset group numerical value.
For example, when the case where preset group is 10 groups：If the total quantity of current unmanned plane is 100, unmanned plane is grouped
It is 10 groups to form into columns, to which each group includes 10 unmanned planes.If the total quantity of current unmanned plane is 200, unmanned plane is grouped
It is 10 groups to form into columns, to which each group includes 20 unmanned planes.
Step S20242, when unmanned plane quantity is more than maximum preset value in each preset group, with described maximum pre-
If value is unmanned plane maximum amount.
For example, maximum preset value is 10, if then the total quantity of current unmanned plane is 200 framves, unmanned plane grouping, which is formed into columns, is
10 groups, then each group includes 20 unmanned planes, has exceeded maximum preset value.Therefore use 10 unmanned planes for one group of scheme,
It is 20 groups to retrodict acquisition and need to form into columns unmanned plane grouping.
Step S20243, when unmanned plane quantity is less than minimum preset value in each preset group, with described minimum pre-
If value is unmanned plane maximum amount.
For example, minimum preset value is 5, if then the total quantity of current unmanned plane is 30 framves, it is 10 that unmanned plane grouping, which is formed into columns,
Group, then each group includes 3 unmanned planes, not up to minimum preset value.Therefore it uses 5 unmanned planes for one group of scheme, retrodicts
It is 6 groups that acquisition, which needs to form into columns unmanned plane grouping,.
Step S20244, unmanned plane quantity is located at the minimum preset value and maximum preset value in each preset group
Between when, using unmanned plane quantity in the preset group as unmanned plane maximum amount.
For example, maximum preset value is 10, minimum preset value is 5；If the total quantity of current unmanned plane is 90 framves, by nobody
It is 10 groups that machine grouping, which is formed into columns, to which each group includes 9 unmanned planes, is located in maximum preset value and minimum values, because
This uses 9 unmanned planes for one group, altogether the scheme of 10 groups of unmanned planes grouping.
When using preset group not divisible unmanned plane quantity, it may be used into a method.For example, unmanned plane quantity is 55
A, preset group 10, then it is 10 groups unmanned plane grouping to be formed into columns, to which each group includes 5.5 unmanned planes, using into a method,
Then each group includes 6 unmanned planes.It is retrodicted by 6 unmanned planes, then this landing, unmanned plane is grouped into 10 groups, and preceding 9
6 unmanned planes in the group of group, 1 unmanned plane in the 10th group of group.It is of course also possible to use method above-mentioned, reallocates each
The quantity of group, so that each group of quantity is average, it is more neat when achieving the effect that take off.
The present embodiment by being preset group by unmanned plane grouping formation, and obtains unmanned plane quantity in each preset group,
To obtain the baseline values of unmanned plane quantity in the grouping of initial division unmanned plane, which can realize more efficiently complete
At whole takeoff procedures.
Further, by judging whether the baseline values are located within safe range, i.e., maximum preset value and minimum are pre-
If being worth in range, if within safe range, using the baseline values as unmanned plane maximum amount.
But if the baseline values exceed the safe range upper limit, then it is assumed that the unmanned plane quantity that will currently take off simultaneously
Excessively.Therefore, use maximum preset value more smaller than the baseline values for unmanned plane maximum amount, so that unmanned plane is grouped
Group in quantity reduce, but be grouped quantity increase；And then in a manner of increasing batch of taking off, it is ensured that the every group of unmanned plane that takes off
Quantity be located within safety line.
If the baseline values are not up to the lower limit of safe range, then it is assumed that the unmanned plane quantity mistake that will currently take off simultaneously
It is few.Therefore, use the minimum preset value than the baseline values bigger for unmanned plane maximum amount, so that unmanned plane grouping
Quantity increases in group, but the quantity being grouped is reduced；And then in a manner of reducing batch of taking off, reach the effect for improving efficiency of taking off
Fruit.
Optionally, the quantitative range of the preset group is：8 groups to 12 groups；The maximum preset value ranging from 8 framves are to 12
Frame；The minimum values are 4 framves to 6 framves.
According to the example of the present embodiment, the label of above-mentioned steps is not used to limit the priority of each step in the present embodiment
Sequentially, the number of each step is intended merely to allow the general label progress for quoting step when describing each step convenient
Reference, as long as the sequence that each step executes, which does not influence the logical relation of the present embodiment, indicates claimed in the application
Within the scope of.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to be realized by hardware, but very much
In the case of the former be more preferably embodiment.Based on this understanding, technical scheme of the present invention is substantially in other words to existing
The part that technology contributes can be expressed in the form of software products, which is stored in a storage
In medium (such as ROM/RAM, magnetic disc, CD), including some instructions are used so that a station terminal equipment (can be mobile phone, calculate
Machine, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
Please refer to Fig. 6, one embodiment of unmanned plane lifting gear of the present invention.
The unmanned plane lifting gear 2000 includes：Memory 2100, processor 2200 and it is stored in the memory
On 2100 and the unmanned plane landing program 2300 that can be run on the processor 2200,2300 quilt of unmanned plane landing program
The step of method as described in above-mentioned each embodiment is realized when the processor 2200 executes.
Specific steps may refer to above-described embodiment, and details are not described herein.
Then the present embodiment carries out landing by being grouped formation to the unmanned plane in such a way that unmanned plane is grouped,
To reduce the unmanned plane quantity of disposable takeoff and landing, generated in the takeoff and landing stage so as to reduce unmanned plane
The probability of collision so that the realization takeoff and landing that the unmanned plane for being in queue arrangement can be safe and stable.
Please refer to Fig. 7, one embodiment of computer-readable medium of the present invention.
Unmanned plane landing program 3100, the unmanned plane landing program are stored in the computer storage media 3000
The 3100 the step of method as described in above-mentioned each embodiment is realized when being executed by processor.
Specific steps may refer to above-described embodiment, and details are not described herein.
Then the present embodiment carries out landing by being grouped formation to the unmanned plane in such a way that unmanned plane is grouped,
To reduce the unmanned plane quantity of disposable takeoff and landing, generated in the takeoff and landing stage so as to reduce unmanned plane
The probability of collision so that the realization takeoff and landing that the unmanned plane for being in queue arrangement can be safe and stable.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or device.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are used so that a station terminal (can be mobile phone, computer, service
Device, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of unmanned plane landing method, for the unmanned plane landing in queue arrangement, which is characterized in that the unmanned plane landing
Method includes：
When receiving multiple unmanned plane landing instructions, the location information of each unmanned plane is obtained；
The grouping formation unmanned plane according to the positional information, to obtain unmanned plane grouping；
Unmanned plane grouping is ranked up, controls the unmanned plane grouping according to the clooating sequence landing, control is same
Unmanned plane landing simultaneously in unmanned plane grouping, and rise and be down to the corresponding position of each unmanned plane.
2. unmanned plane landing method as described in claim 1, which is characterized in that the grouping according to the positional information is formed into columns
The unmanned plane, with obtain unmanned plane grouping include：
Unmanned plane maximum amount in default unmanned plane grouping；
The unmanned plane grouping that spacing two-by-two is more than to first threshold is formed into columns as unmanned plane grouping.
3. unmanned plane landing method as claimed in claim 2, which is characterized in that spacing will be more than first threshold two-by-two described
Unmanned plane grouping form into columns be a unmanned plane grouping before include：
The setting accuracy of unmanned plane is obtained according to the positional information；
Corresponding first threshold is matched according to the setting accuracy.
4. unmanned plane landing method as claimed in claim 3, which is characterized in that described that spacing two-by-two is more than first threshold
It is that unmanned plane grouping includes that unmanned plane grouping, which is formed into columns,：
It is that a unmanned plane is grouped that spacing two-by-two, which is more than first threshold and is formed into columns less than the grouping of the unmanned plane of second threshold,.
5. unmanned plane landing method as claimed in claim 4, which is characterized in that ranging from 0.4 meter to 0.6 of the first threshold
Rice；Ranging from 40 meters to 60 meters of the second threshold.
6. unmanned plane landing method as claimed in claim 2, which is characterized in that unmanned plane is most in the default unmanned plane grouping
Big number includes：
Obtain the total quantity that the multiple unmanned plane landing instructs controlled unmanned plane；
Unmanned plane maximum amount in unmanned plane grouping is set according to the total quantity of the unmanned plane.
7. unmanned plane landing method as claimed in claim 6, which is characterized in that the total quantity according to the unmanned plane is set
Determining unmanned plane maximum amount in unmanned plane grouping includes：
It is preset group that unmanned plane grouping, which is formed into columns,；
When unmanned plane quantity is more than maximum preset value in each preset group, using the maximum preset value as unmanned plane maximum
Number；
When unmanned plane quantity is less than minimum preset value in each preset group, using the minimum preset value as unmanned plane maximum
Number；
When unmanned plane quantity is located between the minimum preset value and maximum preset value in each preset group, with described pre-
If unmanned plane quantity is unmanned plane maximum amount in group.
8. unmanned plane landing method as claimed in claim 7, which is characterized in that the quantitative range of the preset group is：8 groups extremely
12 groups；The maximum preset value ranging from 8 framves are to 12 framves；The minimum values are 4 framves to 6 framves.
9. a kind of unmanned plane lifting gear, which is characterized in that the unmanned plane lifting gear includes：It memory, processor and deposits
The unmanned plane landing program that can be run on the memory and on the processor is stored up, the unmanned plane landing program is by institute
It states when processor executes and realizes such as the step of method described in any item of the claim 1 to 8.
10. a kind of computer storage media, which is characterized in that be stored with unmanned plane landing journey in the computer storage media
Sequence realizes the step such as method described in any item of the claim 1 to 8 when the unmanned plane landing program is executed by processor
Suddenly.
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