CN109508038A - A kind of more deck coordination approach of multimachine - Google Patents
A kind of more deck coordination approach of multimachine Download PDFInfo
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- CN109508038A CN109508038A CN201811645226.1A CN201811645226A CN109508038A CN 109508038 A CN109508038 A CN 109508038A CN 201811645226 A CN201811645226 A CN 201811645226A CN 109508038 A CN109508038 A CN 109508038A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The invention discloses a kind of more deck coordination approach of multimachine, including deck condition monitoring, deck airspace management, unmanned plane inspection, task status monitoring, clearance plane elevation planning, route conflict management and route conflict prevention, it takes pictures in task in the batch-automated patrol of unmanned plane, define the specific region of unmanned plane takeoff and landing, and inspection destination, and the corresponding deck for landing and recycling is set in corresponding position；The more deck coordination approach of this kind of multimachine, adapt to the business development of unmanned plane inspection demand, deck patrol modes more for multimachine provide a set of specific implementation, orderly scheduling/guide is realized on the basis of ensureing safety, facilitate multimachine to complete the patrol task of itself on more decks in approximately parallel mode and completes to recycle, reduce the demand that the mankind are flown with hand, the efficiency of the batch-automated unmanned plane inspection business in region is substantially improved, there is good replicability.
Description
Technical field
The present invention relates to multiple no-manned plane Coordinated Control field, in particular to a kind of more deck coordination approach of multimachine.
Background technique
Traditional unmanned plane patrol worker is made mainly to be carried out by flying hand manipulation unmanned plane, very high to the dependence of winged hand.In day
In the increased inspection demand of benefit, in order to reduce the dependence to winged hand and improve the efficiency of unmanned plane inspection, one kind is had more certainly
The scheme of dynamicization exactly disposes the unmanned plane of batch, and every unmanned plane has specified inspection route with coordinate route point, and conjunction is arranged
Suitable starting point and recovery point is launched in a region, realizes the disposable patrol task for completing batch in region.Such energy
The degree of automation for patrolling tower is significantly promoted, manpower can not only be saved, moreover it is possible to which column efficiency and quality are patrolled in promotion.Currently, region batch
Amount automation unmanned plane patrol task is divided into following three kinds of patrol modes: one deck patrol mode of multimachine, one deck inspection of a machine
Mode and the more deck patrol modes of multimachine.
The patrol mode on one deck of multimachine can be embodied as a mobile cruising inspection system, be transported using the Vehicle-carrying type steel vehicles
Defeated multiple unmanned planes are to designated place, and the built-in software systems for being equipped with this system and one are for taking off and dropping in the vehicles
Drop back into the deck unit and several auxiliary devices of receipts.Multiple unmanned planes orderly take off and execute inspection by deck, complete to patrol
The unmanned plane of inspection task returns to the top airspace close to deck and hovers, and detects that deck can currently execute after receiving landing notice
Landing then executes the final recycling of landing instruction, until all unmanned planes complete preplanned mission.
The patrol mode on one machine, one deck can be specially a single deck fixation airport and one it is corresponding nobody
The timing of machine or instruction patrol mode.
The more deck patrol modes of multimachine, multimachine refer to multiple with nobody of remote control and shooting and automation inspection function
Machine.More decks refer to the device of multiple auxiliary unmanned plane takeoff and landing recycling, and single deck is only used for processing most simultaneously
The taking off of more frame unmanned planes, landing operation.The more deck patrol modes of multimachine refer to can be set in the same section it is multiple
Fixed airport forms multiple one-to-one inspection systems, in more specific demand, or even combines above-mentioned one deck of multimachine
The place of taking off/land of patrol mode or setting separation, to allow deck and unmanned plane to form the relationship of real multi-to-multi.
It is the complexity and safety issue of unmanned plane scheduling that the inspection on the more decks of multimachine, which requires bring, to be considered
The unmanned plane of airflight is and single since course line is excessively closely plus the possible collision problem of gps error in flight course
Deck needs to handle in the same period the taking off when landing process of multiple unmanned planes, how to be guaranteed at air-ground where itself
The safety and ordered operation to landing unmanned plane near domain.
The present invention proposes a kind of more deck coordination approach of multimachine, provides a set of specific reality to the more deck patrol modes of multimachine
Existing scheme, reduces the demand that the mankind are flown with hand, the efficiency of the batch-automated unmanned plane inspection business of lifting region.
Summary of the invention
The main purpose of the present invention is to provide a kind of more deck coordination approach of multimachine, can effectively solve in background technique
The problem of.
To achieve the above object, the invention provides the following technical scheme: a kind of more deck coordination approach of multimachine, including deck
Condition monitoring, deck airspace management, unmanned plane inspection, task status monitoring, clearance plane elevation planning, route conflict management and
Route conflict prevention, steps are as follows for specific method:
Deck condition monitoring: deck system constantly will send itself to unmanned plane software systems according to certain time interval
State, and newest operational order is pulled from unmanned plane software systems, cooperate the scheduling requirement of unmanned plane software systems complete
At lifting platform to allow unmanned plane to take off, or platform is fallen to recycle the unmanned plane after landing, unmanned plane software systems combine
Dispatching requirement and the current state on deck are come to operation deck transmission suitable order and wait deck completion order corresponding；
Deck airspace management: being realized and safeguarded by unmanned plane software systems, and the ground at each deck place can define one
It is a using center deck as the center of circle and a correct radial r, be highly a column of the flying height upper limit, the referred to as sky on deck
Domain, it is contemplated that multiple unmanned planes during take-off and landing may be to the same deck there are use demand, in order to avoid accident generation, often
The same time can only have a unmanned plane in-flight in the airspace on a deck；
Unmanned plane inspection: UAV system constantly will send itself to unmanned plane software systems according to certain time interval
State, and newest operational order is pulled from unmanned plane software systems, it, can simultaneously when unmanned plane pulls takeoff order
A series of waypoints for carrying out inspection to inspection target are obtained from order, define latitude coordinates, height and bat in waypoint
According to etc. action messages, when informing that unmanned plane is reached near region of patrolling and examining, inspection will be carried out according to the waypoint that defines and be taken pictures；
Task status monitoring: unmanned plane software systems are defined according to unmanned plane and airport and system communication transmitting state
The state of flight of interface protocol energy real-time collecting unmanned plane and the current state on deck, are made into log or UI by corresponding interface
Interface display is timely feedbacked to user；
Clearance plane elevation planning: unmanned plane software systems are high for the security plane to be arranged when unmanned plane during flying
Degree, provides algorithmic rule function, and can guarantee will be divided in same batch by the unmanned plane that the same deck executes patrol task
Clearance plane elevation absolute value of the difference with two different clearance plane elevations and the two is not less than d；
Route conflict management: if in two unmanned planes, wherein the inspection target of unmanned plane shape on floor projection
At point set and another unmanned plane fly to the line segment that inspection target formed on floor projection exist it is staggeredly or relatively close, then after
The clearance plane elevation that one frame unmanned plane is set must be higher than previous frame unmanned plane, and course line is anyway between unmanned plane
In the presence of the danger closely collided excessively, or when without suitable clearance plane elevation having distributed to unmanned plane, unmanned plane software system
System can temporarily cease the takeoff order for handle next unmanned plane and provide corresponding prompt, waiting next suitable opportunity or
It, can continued takeoff process after other unmanned planes to lead to a conflict are completed task and recycled；
Route conflict prevention: the inspection target of unmanned plane must can straight line from starting point and reentry point, it is ensured that
Not less than clear on any equal height above sea level plane and straight line flight path between highest inspection waypoint and highest flying height, have
Reliable signal of communication, and without going past the airspace on the deck in other any runnings, each unmanned plane can be equipped with remote controler,
Fortuitous event solves to conflict when having accident potential by the way of artificial access control.
Preferably, wireless receiving transmitting apparatus is installed on the unmanned plane, for transmitting captured video picture data
With unmanned plane during flying posture and control data.
Preferably, the unmanned plane receives the control of unmanned plane flat-plate special computer, by unmanned plane flat-plate special computer
Unmanned plane software systems control unmanned plane, and watch unmanned plane and send back the real time video image come, the unmanned plane is logical
It crosses internet and unmanned plane flat-plate special computer and computer controlling center is realized and is wirelessly connected.
Preferably, the deck system is real by internet and unmanned plane flat-plate special computer and computer controlling center
Now it is wirelessly connected.
Preferably, the SMS queue's pattern foundation between the unmanned plane and deck system based on Http is correspondingly connected with and has
The state of effect, order send format it is matched, control the unmanned plane flat-plate special computer of the unmanned plane and deck system with
And computer controlling center has been respectively mounted MSMQ+Http support.
Preferably, the unmanned plane software systems are combined by software communication, software and hardware communication, software algorithm, are completed more
Reality scene scheduling under the more deck patrol modes of machine.
Preferably, the unmanned plane software systems, which can operate on, is mounted with that windows, linux, macox etc. are most of
In the server of mainstream operation system, the software and hardware communication is designed based on message queue, it is only necessary to define necessary data lattice
Formula can the communication of simple realization software and hardware.
Preferably, in the clearance plane elevation planning step, d is that a given desired value is used to consider having both
Be staggered in the case where gps error unmanned plane route to avoid issuable risk of collision.
Preferably, in the clearance plane elevation planning step, each security plane can only at most accommodate a frame unmanned plane,
Every frame unmanned plane is assigned to only a security plane in an aerial mission.
Compared with prior art, the invention has the following beneficial effects: the more deck coordination approach of this kind of multimachine, nobody is adapted to
The business development of machine inspection demand, deck patrol modes more for multimachine provide a set of specific implementation, are ensureing safety
On the basis of realize orderly scheduling/guide, facilitate multimachine to complete the inspection of itself in approximately parallel mode on more decks
Task simultaneously is completed to recycle, and reduces the demand that the mankind are flown with hand, and the batch-automated unmanned plane inspection business in region is substantially improved
Efficiency has good replicability.
Detailed description of the invention
Fig. 1 is the more deck patrol mode schematic diagrames of multimachine in a kind of more deck coordination approach of multimachine of the present invention；
Fig. 2 is two frame unmanned plane routes conflict schematic diagram in a kind of more deck coordination approach of multimachine of the present invention；
Fig. 3 is in a kind of more deck coordination approach of multimachine of the present invention by taking 2.0 meters of height above sea level differences as an example, and listing five layers can make
For the height above sea level of security plane；
Fig. 4 is a kind of allocation plan that the more deck coordination approach of multimachine are made by taking 1-4 unmanned plane as an example of the present invention
Schematic diagram.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Embodiment 1
As shown in Figs 1-4, the more deck coordination approach of a kind of multimachine, including deck condition monitoring, deck airspace management, nobody
Machine inspection, task status monitoring, clearance plane elevation planning, route conflict management and route conflict prevention, specific method step
It is as follows:
Deck condition monitoring: deck system constantly will send itself to unmanned plane software systems according to certain time interval
State, and newest operational order is pulled from unmanned plane software systems, cooperate the scheduling requirement of unmanned plane software systems complete
At lifting platform to allow unmanned plane to take off, or platform is fallen to recycle the unmanned plane after landing, unmanned plane software systems combine
Dispatching requirement and the current state on deck are come to operation deck transmission suitable order and wait deck completion order corresponding；
Deck airspace management: being realized and safeguarded by unmanned plane software systems, and the ground at each deck place can define one
It is a using center deck as the center of circle and a correct radial r, be highly a column of the flying height upper limit, the referred to as sky on deck
Domain, it is contemplated that multiple unmanned planes during take-off and landing may be to the same deck there are use demand, in order to avoid accident generation, often
The same time can only have a unmanned plane in-flight in the airspace on a deck；
Unmanned plane inspection: UAV system constantly will send itself to unmanned plane software systems according to certain time interval
State, and newest operational order is pulled from unmanned plane software systems, it, can simultaneously when unmanned plane pulls takeoff order
A series of waypoints for carrying out inspection to inspection target are obtained from order, define latitude coordinates, height and bat in waypoint
According to etc. action messages, when informing that unmanned plane is reached near region of patrolling and examining, inspection will be carried out according to the waypoint that defines and be taken pictures；
Task status monitoring: unmanned plane software systems are defined according to unmanned plane and airport and system communication transmitting state
The state of flight of interface protocol energy real-time collecting unmanned plane and the current state on deck, are made into log or UI by corresponding interface
Interface display is timely feedbacked to user；
Clearance plane elevation planning: unmanned plane software systems are high for the security plane to be arranged when unmanned plane during flying
Degree, provides algorithmic rule function, and can guarantee will be divided in same batch by the unmanned plane that the same deck executes patrol task
Clearance plane elevation absolute value of the difference with two different clearance plane elevations and the two is not less than d；Each unmanned plane flies
Walking along the street line schematic diagram can be used as the height above sea level of security plane as shown in Figure 1, as shown in figure 3, by taking 2.0 meters of height above sea level differences as an example, scheme
In list 5 layers；As shown in figure 4, the allocation plan of No. 4 unmanned planes is made in figure by taking 1-4 unmanned plane as an example.
Route conflict management: if in two unmanned planes, as shown in Fig. 2, wherein the inspection target of a unmanned plane is on ground
In the projection of face the point set that is formed and another unmanned plane fly to the line segment that inspection target is formed on floor projection exist staggeredly or
Person is closer, then the clearance plane elevation that latter frame unmanned plane is set must be higher than previous frame unmanned plane, between unmanned plane
There is the danger closely collided in course line, or when without suitable clearance plane elevation having distributed to unmanned plane anyway,
Unmanned plane software systems can temporarily cease the takeoff order for handling next unmanned plane and provide corresponding prompt, wait next conjunction
It, can continued takeoff process after suitable opportunity or other unmanned planes to lead to a conflict are completed task and recycled；
Route conflict prevention: the inspection target of unmanned plane must can straight line from starting point and reentry point, it is ensured that
Not less than clear on any equal height above sea level plane and straight line flight path between highest inspection waypoint and highest flying height, have
Reliable signal of communication, and without going past the airspace on the deck in other any runnings, each unmanned plane can be equipped with remote controler,
Fortuitous event solves to conflict when having accident potential by the way of artificial access control.
Wireless receiving transmitting apparatus is installed, for transmitting captured video picture data and unmanned plane during flying on unmanned plane
Posture and control data.
Unmanned plane receives the control of unmanned plane flat-plate special computer, passes through the unmanned plane software on unmanned plane flat-plate special computer
System controls unmanned plane, and watches unmanned plane and send back the real time video image come, and unmanned plane passes through internet and unmanned plane
Flat-plate special computer and computer controlling center, which are realized, to be wirelessly connected.
Deck system is realized by internet and unmanned plane flat-plate special computer and computer controlling center and is wirelessly connected.
SMS queue's pattern foundation between unmanned plane and deck system based on Http is correspondingly connected with and effective state, life
It enables transmission format matched, controls the unmanned plane flat-plate special computer and computer controlling center of unmanned plane and deck system
It has been respectively mounted MSMQ+Http support.
Unmanned plane software systems are combined by software communication, software and hardware communication, software algorithm, complete the more deck inspections of multimachine
Reality scene scheduling under mode.
Unmanned plane software systems, which can operate on, is mounted with most of mainstream operation system such as windows, linux, macox
Server in, software and hardware communication based on message queue design, it is only necessary to define necessary data format can simple realization it is soft
Hardware communications.
In clearance plane elevation planning step, d is a given desired value for having both the feelings for considering gps error
Be staggered under condition unmanned plane route to avoid issuable risk of collision.
In clearance plane elevation planning step, each security plane can only at most accommodate a frame unmanned plane, every frame unmanned plane
A security plane is assigned to only in an aerial mission.
By using above-mentioned technical proposal, deck system, which detects, is not present other aircrafts in-flight in the airspace of deck
When, unmanned plane takes off from flying-off deck, rises to the height specified by height above sea level vertically, this height is referred to as the aircraft and holds
The clearance plane elevation of this subtask of row, and must be all higher than the height above sea level in the waypoint in task, by unmanned plane software system
System is provided according to state of flight operation overall in current region.It keeps and along height above sea level rectilinear flight where the height to inspection mesh
Longitude and latitude where first waypoint of target, initially drops until that defining position with waypoint is overlapped, then according to the waypoint sequence of definition
Column are sequentially completed flight and take pictures movement, climb back clearance plane elevation from the last one waypoint, keep this height straight line winged
Toward at the deck that can land, scheduling landing of independently being selected a good opportunity by unmanned plane software systems may be selected, or correspond to outside airspace on deck
Side is nearby hovered, and waits suitable time points to land by manual command, if there is multiple aircrafts to wait near the same deck
Landing, and there is an aircraft occupying deck this moment and carry out landing operation, aircraft to be landed will successively hover over deck pair
It answers on the outside of airspace, the aircraft of landing operation is waited to fly out behind airspace, by the Automatic dispatching of unmanned plane software systems or artificial
Order is landed and is recycled.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (9)
1. a kind of more deck coordination approach of multimachine, which is characterized in that including deck condition monitoring, deck airspace management, unmanned plane
Inspection, task status monitoring, clearance plane elevation planning, route conflict management and route conflict prevention, specific method step is such as
Under:
Deck condition monitoring: deck system constantly will send itself shape to unmanned plane software systems according to certain time interval
State, and newest operational order is pulled from unmanned plane software systems, the scheduling requirement of cooperation unmanned plane software systems is completed
Lifting platform is to allow unmanned plane to take off, or falls platform to recycle the unmanned plane after landing, and unmanned plane software systems, which combine, to be adjusted
Degree demand and the current state on deck are come to operation deck transmission suitable order and wait deck completion order corresponding；
Deck airspace management: being realized and safeguarded by unmanned plane software systems, where each deck at ground can define one with
Center deck is the center of circle and a correct radial r, is highly a column of the flying height upper limit, the referred to as airspace on deck,
In view of multiple unmanned planes during take-off and landing may be to the same deck there are use demand, in order to avoid accident generation, each
The same time can only have a unmanned plane in-flight in the airspace on deck；
Unmanned plane inspection: UAV system constantly will send itself shape to unmanned plane software systems according to certain time interval
State, and newest operational order is pulled from unmanned plane software systems, when unmanned plane pulls takeoff order, can simultaneously from
A series of waypoints for carrying out inspection to inspection target are obtained in order, are defined latitude coordinates, height in waypoint and are taken pictures
Etc. action messages, when informing that unmanned plane is reached near region of patrolling and examining, inspection will be carried out according to the waypoint that defines and be taken pictures；
Task status monitoring: the interface that unmanned plane software systems are defined according to unmanned plane and airport and system communication transmitting state
The state of flight of agreement energy real-time collecting unmanned plane and the current state on deck, are made into log or the interface UI by corresponding interface
It has been shown that, timely feedbacks to user；
Clearance plane elevation planning: unmanned plane software systems mention the clearance plane elevation to be arranged when unmanned plane during flying
For algorithmic rule function, can guarantee will be assigned two by the unmanned plane that the same deck executes patrol task in same batch
The clearance plane elevation absolute value of the difference of different clearance plane elevation and the two is not less than d；
Route conflict management: if in two unmanned planes, wherein what the inspection target of a unmanned plane was formed on floor projection
There is staggeredly or relatively close, then latter frame in point set and another the unmanned plane line segment that inspection target is formed on floor projection that flies to
The clearance plane elevation that unmanned plane is set must be higher than previous frame unmanned plane, and course line exists anyway between unmanned plane
When crossing the danger closely collided, or without suitable clearance plane elevation having distributed to unmanned plane, unmanned plane software systems meeting
It temporarily ceases the takeoff order for handling next unmanned plane and provides corresponding prompt, wait next suitable opportunity or cause
It, can continued takeoff process after other unmanned planes of conflict are completed task and recycled；
Route conflict prevention: the inspection target of unmanned plane must can straight line from starting point and reentry point, it is ensured that not low
Clear on any equal height above sea level plane and straight line flight path between highest inspection waypoint and highest flying height, has reliable
Signal of communication, and without going past the airspace on the deck in other any runnings, each unmanned plane can be equipped with remote controler, in accident
Situation solves to conflict when having accident potential by the way of artificial access control.
2. the more deck coordination approach of a kind of multimachine according to claim 1, which is characterized in that be equipped on the unmanned plane
Wireless receiving transmitting apparatus, for transmitting captured video picture data and unmanned plane during flying posture and control data.
3. the more deck coordination approach of a kind of multimachine according to claim 1, which is characterized in that the unmanned plane receives nobody
The control of machine flat-plate special computer, controls unmanned plane by the unmanned plane software systems on unmanned plane flat-plate special computer, and see
See that unmanned plane sends back the real time video image come, the unmanned plane passes through internet and unmanned plane flat-plate special computer and meter
Suan Ji control centre, which realizes, to be wirelessly connected.
4. the more deck coordination approach of a kind of multimachine according to claim 3, which is characterized in that the deck system passes through mutual
Networking is realized with unmanned plane flat-plate special computer and computer controlling center and is wirelessly connected.
5. the more deck coordination approach of a kind of multimachine according to claim 4, which is characterized in that the unmanned plane and deck system
Between system based on Http SMS queue's pattern foundation be correspondingly connected with effective state, order send format it is matched, control
The unmanned plane flat-plate special computer and computer controlling center for making the unmanned plane and deck system have been respectively mounted MSMQ+Http
It supports.
6. the more deck coordination approach of a kind of multimachine according to claim 1, which is characterized in that the unmanned plane software systems
It is combined by software communication, software and hardware communication, software algorithm, completes the reality scene scheduling under the more deck patrol modes of multimachine.
7. the more deck coordination approach of a kind of multimachine according to claim 6, which is characterized in that the unmanned plane software systems
It can operate in the server for being mounted with most of mainstream operation system such as windows, linux, macox, the software and hardware
Communication is designed based on message queue, it is only necessary to which defining necessary data format can the communication of simple realization software and hardware.
8. the more deck coordination approach of a kind of multimachine according to claim 1, which is characterized in that the clearance plane elevation rule
Draw step in, d be a given desired value be used for be staggered in the case where having both and considering gps error unmanned plane route with
Avoid issuable risk of collision.
9. the more deck coordination approach of a kind of multimachine according to claim 1, which is characterized in that the clearance plane elevation rule
It draws in step, each security plane can only at most accommodate a frame unmanned plane, and every frame unmanned plane only distributes in an aerial mission
To a security plane.
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| CN112379686A (en) * | 2020-04-22 | 2021-02-19 | 北京三快在线科技有限公司 | Unmanned aerial vehicle control method and device, electronic equipment and storage medium |
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| CN112904886A (en) * | 2019-12-03 | 2021-06-04 | 顺丰科技有限公司 | Unmanned aerial vehicle flight control method and device, computer equipment and storage medium |
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