CN109597428A - A kind of unmanned plane collision-proof method and unmanned plane and server-side based on ZigBee-network - Google Patents
A kind of unmanned plane collision-proof method and unmanned plane and server-side based on ZigBee-network Download PDFInfo
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Abstract
The present invention provides a kind of unmanned plane collision-proof method based on ZigBee-network and unmanned plane and server-side, comprising: unmanned plane passes through the ad hoc network that ZigBee realizes unmanned plane, wherein serves as network node in ad hoc network by unmanned plane；Aerial mission is sent to server-side by ZigBee-network by unmanned plane；The a variety of countermeasures of unmanned plane；According to the set flight of any one countermeasures, unmanned plane is by establishing data channel by server-side and zigbee network with other unmanned planes in flight course；Unmanned plane receives server-side and selects countermeasures according to the command information that data channel generates.It is communicated using the communication module in Zigbee network by realization mutually coordinated between thousands of small sensors, these sensors only need seldom energy that data are passed to another sensor from a sensor by radio wave in a manner of relay, with very high communication efficiency, the real-time anticollision of unmanned plane can be more efficiently realized.The present invention is applied to unmanned plane anticollision field.
Description
Technical field
The present invention relates to unmanned plane anticollision field field more particularly to a kind of unmanned plane anti-collisions based on ZigBee-network
Hit method and unmanned plane and server-side.
Background technique
UAV referred to as " unmanned plane ", is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned aircraft.Most of civilian unmanned aerial vehicle (UAV) control is direct by wireless digital broadcasting station between earth station and unmanned plane at present
Data communication is carried out, then passes through earth station's software editing countermeasures and uploads to UAV Flight Control device.Unmanned plane uses
It is more and more extensive, due to the unmanned plane largely used belonged in aircraft field it is small, slow, the means such as ground radar can not and
Shi Faxian and monitoring, increasing to the potential danger of normal airline carriers of passengers and military secret, there is an urgent need to supervise comprehensively to unmanned plane
Control and aerial anticollision.
There are mainly three types of the schemes to solve the above problems at present:
(1) by unmanned plane networking to central server, pass through all unmanned plane behaviors of central server United Dispatching.
(2) by installing the airborne response identifier of current passenger plane installation on unmanned plane, it is directly entered the anticollision of civil aviaton
System.
(3) 3G the 4G mould group installed on unmanned plane, unmanned plane ceaselessly pass through the forms of broadcasting in flight course
It sends position location to be identified to other units, if there is the response for receiving broadcast in flight range, passes through broadcast response
Data channel is established with other unmanned planes.
But above-mentioned three kinds of solutions are by respective defect:
For the first solution, when central server does not authorize, unmanned plane can not take off.And this can not be real-time
Understand the situation in entire unmanned plane airspace, decision-making period is very long, and coordination is very slow, is unable to complete aerial anticollision effect, only
It can play the role of monitoring unmanned plane；
It is that airborne response identifier is all very expensive and bulking value is big first for second of solution, it is middle-size and small-size
Unmanned plane is at all with the motionless equipment.Secondly, civil aviaton's system is participated in, Yao Jinhang FAA certification, and relevant authentication is in whole world model
Also in research state in enclosing, have no idea to dispose in short term；
For the third solution, due to having semaphore request to 3G 4G network, once flight range does not have network
Signal, unmanned unit will be unable to complete aerial anticollision effect.
Summary of the invention
During the prior art there are problems that can not effective solution unmanned plane anticollision, the object of the present invention is to provide
A kind of unmanned plane collision-proof method and unmanned plane and server-side based on ZigBee-network, serves as Zigbee network by unmanned plane
Network node in ad hoc network is communicated by Zigbee network in Zigbee network ad hoc network and realizes unmanned plane anticollision, is utilized
ZigBee-network short distance, low complex degree, low-power consumption, low rate, the feature of low cost realize unmanned plane anticollision.
In order to achieve the above-mentioned object of the invention, the present invention provides a kind of unmanned plane collision-proof method based on ZigBee-network,
Itself the technical solution adopted is that:
A kind of unmanned plane collision-proof method based on ZigBee-network, specifically includes the following steps:
After A1, unmanned plane booting are powered, unmanned plane broadcasts self poisoning information and net to server-side by ZigBee-network
Network information, and then realize the ad hoc network of unmanned plane, wherein network node in ad hoc network is served as by unmanned plane；
Aerial mission is sent to server-side by ZigBee-network by A2, unmanned plane；
A3, unmanned plane receive a variety of flight plans that server-side is fed back according to the network information, location information and aerial mission
Slightly；
After A4, unmanned plane take off, according to the set flight of any one countermeasures, in flight course, unmanned plane by with
Other unmanned planes establish data channel with zigbee network to exchange flying quality information by server-side；
A5, unmanned plane receive the command information that server-side is generated according to data channel and select flight plan according to command information
Slightly.
As a further improvement of the above technical scheme, in step A1, realize that the process of ad hoc network specifically includes:
A11, unmanned plane are scanned neighbouring ZigBee-network, and determine that unmanned plane exists according to scanning return information
The network information in ZigBee-network；
A12, unmanned plane send connection request to server-side, and server-side judges whether CSMA-CA channel access succeeds, if at
Function then enters step S14, the connection failure if unsuccessful；
A13, unmanned plane receive the ACK that server-side is sent back to and respond；
A14, unmanned plane connect the connection request response of server-side transmission, and unmanned plane is into server-side sending step A13
ACK, connection are completed.
In order to achieve the above-mentioned object of the invention, the present invention provides a kind of unmanned plane, the technical solution adopted is that:
A kind of unmanned plane, including drone body and the control mainboard being located in drone body, the control mainboard
Upper dismountable integrated installation has ZigBee communication module, is mounted at unmanned plane memory and unmanned plane in the control mainboard
Device is managed, the ZigBee communication module is connected with unmanned plane processor communication, and the unmanned plane memory is stored with unmanned plane meter
The step of calculation machine program, the unmanned plane processor realizes the above method when executing the unmanned plane computer program.
In order to achieve the above-mentioned object of the invention, the present invention provides a kind of unmanned plane collision-proof method based on ZigBee-network,
Itself the technical solution adopted is that:
A kind of unmanned plane collision-proof method based on ZigBee-network, specifically includes the following steps:
B1, server-side receive unmanned plane location information and the network information by ZigBee-network, and then realize unmanned plane
Ad hoc network, wherein network node in ad hoc network is served as by unmanned plane；
B2, server-side receive the aerial mission that unmanned plane is sent, and are believed according to the location information of each unmanned plane, network
Breath and a variety of countermeasures of aerial mission planning department；
The countermeasures of each unmanned plane will be sent to corresponding unmanned plane by ZigBee-network, and controlled by B3, server-side
Unmanned plane is according to the set flight of any one countermeasures；
B4, server-side establish data channel to any two unmanned planes in-flight by zigbee network to exchange two
Unmanned plane during flying data information；
Two unmanned planes that data channel has been established according to anti-collision algorithm judgement in B5, server-side are general with the presence or absence of what is bumped against
Rate, the probability bumped against if it does not exist then control two unmanned planes and fly by original countermeasures, and what is bumped against if it exists is general
Rate then controls two unmanned planes and randomly chooses another countermeasures.
As a further improvement of the above technical scheme, in step B1, realize that the process of ad hoc network specifically includes:
B11, server-side receive the connection of unmanned plane location information and the network information and unmanned plane by ZigBee-network
Request；
Whether B12, server-side judgement and the CSMA-CA channel access of unmanned plane succeed, and enter step B13 if success,
The connection failure if unsuccessful；
B13, server-side send ACK to unmanned plane and respond；
B14, server-side judge whether resource enough, if resource enough if enter step S15, if not enough connection failures；
B15, server-side send connection request response to unmanned plane, and server-side receives in step transmitted by unmanned plane
ACK, connection are completed.
As a further improvement of the above technical scheme, in step B5, the anti-collision algorithm is calculated using CDMA slotted ALOHA
Method.
In order to achieve the above-mentioned object of the invention, the present invention provides a kind of server-side, the technical solution adopted is that:
A kind of server-side, including server-side processor, server-side memory and ZigBee coordinator, the ZigBee coordinate
Device is connected with server-side processor communication, and the server-side memory is stored with server computer program, at the server-side
Manage the step of realizing the above method when device executes the server computer program.
Advantageous effects of the invention:
The present invention serves as network node in Zigbee network ad hoc network by unmanned plane, leads in Zigbee network ad hoc network
It crosses Zigbee network communication and realizes that unmanned plane anticollision, the communication module in Zigbee network pass through in thousands of small sensings
Mutually coordinated realization communication, these sensors only need seldom energy that will count in a manner of relay by radio wave between device
Another sensor is passed to according to from a sensor, there is very high communication efficiency, can more efficiently realize unmanned plane
Real-time anticollision.
Detailed description of the invention
Fig. 1 is the principle process schematic diagram of the present embodiment；
Fig. 2 is the flow diagram for realizing ad hoc network.
Specific embodiment
In order to which the purposes, technical schemes and advantages of the disclosure are more clearly understood, under in conjunction with specific embodiments, and according to
Attached drawing, the present invention is described in more detail.It should be noted that in attached drawing or specification description, the content that does not describe with
And part English is abbreviated as content known to those of ordinary skill in technical field.
The present embodiment provides a kind of unmanned plane collision-proof method based on ZigBee-network, serves as Zigbee by unmanned plane
Network node in network ad hoc network is communicated by Zigbee network in Zigbee network ad hoc network and realizes unmanned plane anticollision.
It is communicated using the communication module in Zigbee network by realization mutually coordinated between thousands of small sensors, these biographies
Sensor only needs seldom energy that data are passed to another sensor from a sensor by radio wave in a manner of relay,
With very high communication efficiency, the real-time anticollision of unmanned plane can be more efficiently realized.
As shown in Figure 1, a kind of unmanned plane collision-proof method based on ZigBee-network provided by the present embodiment specifically wraps
Include following steps:
The dismountable ZigBee communication module of integrated installation and anticollision module in S1, the control mainboard in unmanned plane.
Wherein, ZigBee communication module is used to carry out broadcast communication with other unmanned planes and be led to the control computer of distal end
News, transmission range is up to 2 kilometers；The data and countermeasures that anticollision module is received according to ZigBee communication module control
Unmanned plane during flying.
After S2, unmanned plane booting are powered, the ZigBee communication module of unmanned plane is broadcasted by ZigBee-network to server-side
Other unmanned plane location informations and the network information in self poisoning information and collecting zone realize ad hoc network.It is real with reference to Fig. 2
The detailed process of existing ad hoc network are as follows:
S21, unmanned plane complete the scanning to neighbouring ZigBee-network by ZigBee communication module；
S22, ZigBee communication module determine the network information of the unmanned plane in ZigBee-network according to scanning return information；
S23, ZigBee communication module lead to coordinator to the ZigBee of server-side and initiate the connection request, and ZigBee leads to coordinator
Judge whether CSMA-CA channel access succeeds, enters step S24 if success, if unsuccessful notify server-side by MAC,
The aerial mission of the unmanned plane is deleted in connection failure, server-side control；
S24, ZigBee lead to coordinator and send ACK response to ZigBee communication module；
S25, ZigBee lead to coordinator to server-side send connection indicate and judge whether resource enough, if resource enough if
S26 is entered step, sends connection failure response to ZigBee communication module if not enough ZigBee lead to coordinator；
S26, ZigBee lead to coordinator to ZigBee communication module send connection request response, ZigBee communication module to
ZigBee leads to the ACK in coordinator sending step S24, and connection is completed.
After the completion of S3, ad hoc network, clothes are sent by the network information, location information of unmanned plane in ad hoc network and aerial mission
Business end；Server-side cooks up a variety of countermeasures to each unmanned plane according to the location information and aerial mission of each unmanned plane,
Such as rectilinear flight track strategy, circular arc flight path strategy etc..And pass through ZigBee-network for the countermeasures of each unmanned plane
It is sent to the ZigBee communication module of corresponding unmanned plane, is then stored into anticollision module.
After S4, unmanned plane take off, according to the set flight of any one countermeasures, in flight course, unmanned plane by with
Other unmanned planes establish data channel with zigbee network to exchange exchange flying quality information by server-side, wherein flight
Data information includes flight path data, location data and the altitude information of unmanned plane.
Two unmanned planes that data channel has been established according to anti-collision algorithm judgement in S5, server-side are general with the presence or absence of what is bumped against
Rate, the probability bumped against if it does not exist, two unmanned planes fly by original countermeasures, the probability bumped against if it exists, and two
Unmanned plane randomly chooses another countermeasures by respective anticollision module.Wherein, anti-collision algorithm uses time slot
ALOHA algorithm is combined by the ad hoc network of zigbee network with the CDMA slotted ALOHA algorithm of collision avoidance system, to select
The countermeasures being stored in unmanned plane anticollision module are selected, solve the delay as caused by sending instructions under control centre, and
The Communication as caused by 3G 4G network signal problem.
The present embodiment also discloses a kind of unmanned plane, including drone body and the control master being located in drone body
Plate, dismountable integrated installation has ZigBee communication module in the control mainboard, is mounted with unmanned plane in the control mainboard
Memory and unmanned plane processor, the ZigBee communication module are connected with unmanned plane processor communication, the unmanned plane storage
Device is stored with unmanned plane computer program, and the unmanned plane processor realizes above-mentioned side when executing the unmanned plane computer program
The function of unmanned plane in method.
The present embodiment also discloses a kind of server-side, including server-side processor, server-side memory and ZigBee coordinate
Device, the ZigBee coordinator are connected with server-side processor communication, and the server-side memory is stored with server computer
Program, the server-side processor realize the function of above-mentioned server-side when executing the server computer program.
Contain the explanation of the preferred embodiment of the present invention above, this be for the technical characteristic that the present invention will be described in detail, and
Be not intended to for summary of the invention being limited in concrete form described in embodiment, according to the present invention content purport carry out other
Modifications and variations are also protected by this patent.The purport of the content of present invention is to be defined by the claims, rather than by embodiment
Specific descriptions are defined.
Claims (8)
1. a kind of unmanned plane collision-proof method based on ZigBee-network, which is characterized in that specifically includes the following steps:
After A1, unmanned plane booting are powered, unmanned plane broadcasts self poisoning information to server-side by ZigBee-network and network is believed
Breath, and then realize the ad hoc network of unmanned plane, wherein network node in ad hoc network is served as by unmanned plane；
Aerial mission is sent to server-side by ZigBee-network by A2, unmanned plane；
A3, unmanned plane receive a variety of countermeasures that server-side is fed back according to the network information, location information and aerial mission；
After A4, unmanned plane take off, according to the set flight of any one countermeasures, in flight course, unmanned plane by with other
Unmanned plane establishes data channel with zigbee network to exchange flying quality information by server-side；
A5, unmanned plane receive the command information that server-side is generated according to data channel and select countermeasures according to command information.
2. the unmanned plane collision-proof method based on ZigBee-network according to claim 1, which is characterized in that in step A1,
Realize that the process of ad hoc network specifically includes:
A11, unmanned plane are scanned neighbouring ZigBee-network, and determine unmanned plane in ZigBee according to scanning return information
The network information in network；
A12, unmanned plane send connection request to server-side, and server-side judges whether CSMA-CA channel access succeeds, if success
S14 is entered step, the connection failure if unsuccessful；
A13, unmanned plane receive the ACK that server-side is sent back to and respond；
A14, unmanned plane connect the connection request response of server-side transmission, and ACK of the unmanned plane into server-side sending step A13 connects
Connect completion.
3. a kind of unmanned plane collision-proof method based on ZigBee-network, which is characterized in that specifically includes the following steps:
B1, server-side receive unmanned plane location information and the network information by ZigBee-network, so realize unmanned plane from group
Net, wherein network node in ad hoc network is served as by unmanned plane；
B2, server-side receive unmanned plane send aerial mission, and according to the location information of each unmanned plane, the network information with
The a variety of countermeasures of aerial mission planning department；
The countermeasures of each unmanned plane will be sent to corresponding unmanned plane by ZigBee-network, and control nobody by B3, server-side
Machine is according to the set flight of any one countermeasures；
B4, server-side data channel established to any two unmanned planes in-flight by zigbee network with exchange two nobody
Machine flying quality information；
Probability of two unmanned planes with the presence or absence of collision of data channel has been established according to anti-collision algorithm judgement for B5, server-side,
The probability bumped against if it does not exist then controls two unmanned planes and flies by original countermeasures, the probability bumped against if it exists, then
It controls two unmanned planes and randomly chooses another countermeasures.
4. the unmanned plane collision-proof method based on ZigBee-network according to claim 3, which is characterized in that in step B1,
Realize that the process of ad hoc network specifically includes:
B11, server-side receive the connection request of unmanned plane location information and the network information and unmanned plane by ZigBee-network；
Whether B12, server-side judgement and the CSMA-CA channel access of unmanned plane succeed, and B13 are entered step if success, if not
Successful then connection failure；
B13, server-side send ACK to unmanned plane and respond；
B14, server-side judge whether resource enough, if resource enough if enter step S15, if not enough connection failures；
B15, server-side send connection request response to unmanned plane, and server-side receives the ACK in step transmitted by unmanned plane, even
Connect completion.
5. the unmanned plane collision-proof method based on ZigBee-network according to claim 3, which is characterized in that in step B5,
The anti-collision algorithm uses CDMA slotted ALOHA algorithm.
6. according to claim 1 or the 3 unmanned plane collision-proof methods based on ZigBee-network, which is characterized in that described to fly
Row data information includes flight path data, location data and the altitude information of unmanned plane.
7. a kind of unmanned plane, which is characterized in that described including drone body and the control mainboard being located in drone body
Dismountable integrated installation has ZigBee communication module in control mainboard, be mounted in the control mainboard unmanned plane memory with
Unmanned plane processor, the ZigBee communication module are connected with unmanned plane processor communication, and the unmanned plane memory is stored with
Unmanned plane computer program, the unmanned plane processor realize claims 1 or 2 institute when executing the unmanned plane computer program
The step of stating method.
8. a kind of server-side, which is characterized in that described including server-side processor, server-side memory and ZigBee coordinator
ZigBee coordinator is connected with server-side processor communication, and the server-side memory is stored with server computer program, institute
State the step of realizing claim 3 or 4 or 5 the method when server-side processor executes the server computer program.
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| CN111901379A (en) * | 2020-06-29 | 2020-11-06 | 西安交通大学 | Robot fish cluster formation control system and control method based on Zigbee networking |
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