CN109782797A - Multiple no-manned plane Synergistic method, system, device for multiple spot water quality sampling - Google Patents
Multiple no-manned plane Synergistic method, system, device for multiple spot water quality sampling Download PDFInfo
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Abstract
The invention belongs to air vehicle technique fields, and in particular to a kind of multiple no-manned plane Synergistic method, system, device for multiple spot water quality sampling, it is intended in order to solve the problems, such as the not applicable complicated acquisition scheme of existing unmanned plane water quality acquisition method.The method of the present invention includes: to obtain multiple spot water quality sampling mission bit stream；Based on the multiple spot water quality sampling mission bit stream, the unmanned unit for participating in multiple spot water quality sampling is determined；The distribution of sampling point position is carried out to unmanned plane each in the unmanned unit；Each unmanned plane in the unmanned unit is controlled to fly from initial position to corresponding sampling point position；Acquisition strategies based on setting, triggering sampling instruction, carry out the water quality sampling of corresponding sampling depth；After the water quality for obtaining sampling, controls each unmanned plane and make a return voyage.The present invention can carry out comprehensively sampling to multiple water-quality sampling points, can be adapted for multiple-quality water sampling plan, have stronger applicability for complicated acquisition scheme.
Description
Technical field
The invention belongs to air vehicle technique fields, and in particular to a kind of multiple no-manned plane collaborative party for multiple spot water quality sampling
Method, system, device.
Background technique
With the development of unmanned plane autonomy-oriented and networked communication technology, the application model of unmanned plane is also sent out constantly
Exhibition.Single rack unmanned plane is limited to the factors such as detectivity, load, it is difficult to complete increasingly complicated task.Lead between multiple UAVs
It crosses communication and carries out information sharing, expand the perception to environmental situation, realize cotasking distribution and coordinate, nothing can be effectively improved
The ability of man-machine completion complex task.The advantages of to give full play to unmanned plane and evade its deficiency, currently, there are many country all exist
The cooperation of research unmanned plane is supported energetically, and multiple no-manned plane, which is performed in unison with task, becomes the important trend of unmanned air vehicle technique development
One of.
Traditional water quality sampling needs manually to carry sample devices arrival sampled point and is sampled, for certain purpose, root
According to different demands, the water sample that different sampled points is adopted simultaneously is mixed into a sample, such mixing sample is referred to as comprehensive
Heshui sample, including two kinds of situations: a series of water sample of different depths is acquired in specific position, it is a series of not in certain depth acquisition
With the water sample of position.It is sampled using unmanned plane, accurate submarine site sampling, long-range sampling etc. may be implemented, far from riverbank, it is ensured that
The safety of staff, but the discrete job of unmanned plane is not able to satisfy the demands of many sampling tasks, such as more samplings
Sampling, the continuous sampling of single sampled point, seriously limit the richness of water quality sampling scheme while point, are not suitable for complicated acquisition
Scheme.
Summary of the invention
In order to solve the above problem in the prior art, in order to solve the water of existing unmanned plane water quality acquisition method limitation
The richness of matter sampling plan, the problem of being not suitable for complexity acquisition scheme, first aspect of the present invention it is proposed a kind of for more
The multiple no-manned plane Synergistic method of point water quality sampling, comprising the following steps:
Obtain multiple spot water quality sampling mission bit stream, including sampling point position, sampling depth；
Based on the multiple spot water quality sampling mission bit stream, the unmanned unit for participating in multiple spot water quality sampling is determined；
The distribution of sampling point position is carried out to unmanned plane each in the unmanned unit；
Each unmanned plane in the unmanned unit is controlled to fly from initial position to corresponding sampling point position；
Acquisition strategies based on setting, triggering sampling instruction, carry out the water quality sampling of corresponding sampling depth, obtain water quality sample
This；
After obtaining water quality sample, controls each unmanned plane and make a return voyage.
In some preferred embodiments, " each unmanned plane flies from initial position to right in the control unmanned unit
The sampling point position answered ", method are as follows:
Based on sampling point position in the multiple spot water quality sampling mission bit stream, first position coordinate is determined；
Default formation is obtained, and controls each unmanned plane in the unmanned unit and flies according to default formation to first position seat
Mark；
Each unmanned plane in the unmanned unit is controlled to be flown respectively from first position coordinate to corresponding sampling point position.
In some preferred embodiments, " each unmanned plane flies from initial position to right in the control unmanned unit
The sampling point position answered ", method are as follows:
Each unmanned plane during flying is controlled in the unmanned unit respectively to corresponding sampling point position.
In some preferred embodiments, " triggering sampling instruction, carry out the water quality sampling of corresponding sampling depth ", side
Method are as follows:
By the signal receiving device being arranged on unmanned plane receive respectively ground base station transmission acquisition instructions after, respectively into
The water quality sampling of the corresponding sampling depth of row；Or
Before unmanned plane takes off and executes water quality sampling task, acquisition instructions trigger condition is separately configured to each unmanned plane,
After reaching acquisition instructions trigger condition, the water quality sampling of corresponding sampling depth is carried out.
In some preferred embodiments, the acquisition instructions trigger condition are as follows: reach the sampling that unmanned plane is distributed
Point position；Or
Each unmanned plane reaches corresponding sampling point position in unmanned unit.
In some preferred embodiments, each unmanned plane triggers sampling instruction simultaneously, while it is corresponding to carry out each unmanned plane
The water quality sampling of sampling depth.
In some preferred embodiments, it " controls each unmanned plane to make a return voyage ", method are as follows:
It controls each unmanned plane and carries out formation of making a return voyage according to setting formation in preset second position coordinate, and according to default
Formation is maked a return voyage；Or
Each unmanned plane is controlled directly to make a return voyage from its corresponding sampling point position.
In some preferred embodiments, after each unmanned plane reaches target area of making a return voyage, further includes:
According to preset each water quality sample placement position, each unmanned plane flies respectively places water quality sample to corresponding position；
Or
The placement of water quality sample is carried out in placement region according to the formation for formation of making a return voyage；The wherein formation of the formation of making a return voyage
It is arranged based on preset each water quality sample placement position relationship.
The second aspect of the present invention proposes a kind of multiple no-manned plane cooperative system for multiple spot water quality sampling, including appoints
Business obtains module, unmanned unit chosen module, unmanned plane task allocating module, sampling control module, control module of making a return voyage；
The task acquisition module is configured to obtain multiple spot water quality sampling mission bit stream, including sampling point position, sampling are deeply
Degree；
The unmanned unit selectes number module, is configured to the multiple spot water quality sampling mission bit stream, determines and participates in
The unmanned unit of multiple spot water quality sampling；
The unmanned plane task allocating module is configured to carry out sampling point position to unmanned plane each in the unmanned unit
Distribution；
The sampling control module is configured to control each unmanned plane in the unmanned unit and flies from initial position to correspondence
Sampling point position, triggering sampling instruction carries out the water quality sampling of corresponding sampling depth, obtains water quality sample；
The control module of making a return voyage is configured to after obtaining water quality sample, controls each unmanned plane and make a return voyage.
The third aspect of the present invention proposes a kind of storage device, wherein be stored with a plurality of program, described program be suitable for by
Processor is loaded and is executed to realize the above-mentioned multiple no-manned plane Synergistic method for multiple spot water quality sampling.
The fourth aspect of the present invention proposes a kind of processing unit, including processor, storage device；Processor, suitable for holding
Each program of row；Storage device is suitable for storing a plurality of program；Described program is suitable for being loaded by processor and being executed above-mentioned to realize
The multiple no-manned plane Synergistic method for multiple spot water quality sampling.
Beneficial effects of the present invention:
The present invention sets each unmanned plane in the unmanned unit by unmanned unit, and by the distribution of multiple spot water quality sampling task, so
The water quality sampling of each sampling point position is carried out afterwards, and is based on preset acquisition strategies, is carried out in such a way that acquisition instructions trigger
According to acquisition strategies starting water quality sampling movement, comprehensively sampling can be carried out to multiple water-quality sampling points.In practical applications, may be used
To combine acquisition demand, meet demand sampling policy is set, control unmanned plane carries out water quality sampling according to the sampling policy of setting.
The present invention is according to the different available different water quality samplings of acquisition strategies as a result, can be adapted for multiple-quality water sampling side
Case has stronger applicability for complicated acquisition scheme.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the multiple no-manned plane Synergistic method flow diagram for multiple spot water quality sampling of an embodiment of the present invention；
Fig. 2 is that the multiple no-manned plane Synergistic method process for multiple spot water quality sampling of another embodiment of the invention is illustrated
Figure；
Fig. 3 is that the multiple no-manned plane Synergistic method process for multiple spot water quality sampling of the third embodiment of the invention is illustrated
Figure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
Multiple no-manned plane cooperation sampling system generally comprises the sampling unmanned plane of autonomous control ability, a ground station module,
Wherein:
1) ground station module establishes cluster net, samples between unmanned plane and sampling unmanned plane, samples unmanned plane and earth station
Module is communicated by the cluster net；
2) ground station module is used to set the flight path of unmanned plane and carries out flight control and formation to sampling unmanned plane
Reconstruct, path planning, logout processing；
3) ground station module can be used for detecting and recording the flight condition of unmanned plane.
The present invention has fully considered water quality sampling all requirements, is carrying out multiple spot water quality sampling process using multiple no-manned plane
In, it is thus necessary to determine that the mission bit stream of each unmanned plane include sampling point position, sampling depth, sampling time, wherein sample
Set, sampling depth can be transmitted directly to unmanned plane, but the control in sampling time needs to carry out collaboration control to multiple unmanned planes
System to realize, the present invention is based on acquisition strategies, form the trigger policy of acquisition instructions, so as to realize include multi-point sampling,
Different sampling depths, three Variable Factors of different sampling stages acquisition strategies under water quality sampling.
The present invention is based on the sampling unmanned plane of autonomous control ability, earth stations to realize, in which:
(1) ground station module establishes cluster net, samples between unmanned plane and sampling unmanned plane, samples unmanned plane and earth station
Module is communicated by the cluster net；
(2) ground station module is used to set the flight path of unmanned plane and carries out flight control and formation to sampling unmanned plane
Reconstruct, path planning, logout processing；
(3) ground station module can be used for detecting and recording the flight condition of unmanned plane.
A kind of multiple no-manned plane Synergistic method for multiple spot water quality sampling of the invention, comprising the following steps:
Obtain multiple spot water quality sampling mission bit stream, including sampling point position, sampling depth；
Based on the multiple spot water quality sampling mission bit stream, the unmanned unit for participating in multiple spot water quality sampling is determined；
The distribution of sampling point position is carried out to unmanned plane each in the unmanned unit；
Each unmanned plane in the unmanned unit is controlled to fly from initial position to corresponding sampling point position, based on setting
Acquisition strategies, triggering sampling instruction, carry out the water quality sampling of corresponding sampling depth；
After the water quality for obtaining sampling, controls each unmanned plane and make a return voyage.
In order to be more clearly illustrated to the present invention for the multiple no-manned plane Synergistic method of multiple spot water quality sampling, tie below
It closes Fig. 1 and expansion detailed description is carried out to each step in a kind of embodiment of our inventive method.
Step S10 obtains multiple spot water quality sampling mission bit stream, including sampling point position, sampling depth.
According to acquisition strategies, conventional multipoint acquisition is not related to acquisition time problem, therefore, multiple spot water quality sampling task letter
Breath is only needed comprising sampling point position, sampling depth；In the acquisition strategies of some complexity, also relates to each sampling and sit
The acquisition time requirement of punctuate can require acquisition time to be put into multiple spot water quality sampling mission bit stream in these fact Examples
In be handed down to unmanned plane together, the acquisition instructions control strategy of each task unmanned plane can also be formed, by earth station according to
Acquisition instructions control strategy sends acquisition instructions to corresponding unmanned plane and carries out water quality acquisition.Sampling point position can in the present embodiment
To be indicated by the geographical coordinate of corresponding position.
Multiple spot water quality sampling task can be split as multiple sampling subtasks, and each sampling subtask includes one group of sampling
The sampling point position of point position, sampling depth, each sampling subtask can be different, can also be identical, and same time can
Using the continuous acquisition task as sampling point position.
Step S20 is based on the multiple spot water quality sampling mission bit stream, determines the unmanned unit for participating in multiple spot water quality sampling.
It is required according to the acquisition of sampling task, selects qualified unmanned plane to constitute the cooperation of unmanned plane group and execute to sample and appoint
Business.The formation management of unmanned unit is preferably carried out before unmanned plane takes off, and can be numbered for each unmanned plane
Processing, each number correspond to a sampled point, and queue number is according to number order 0,1,2,3,4 ... ... in cluster net, n row
Column.No. 0 aircraft is by ground Leader according to the route guidance set, and No. 1 is used as queue heads by ground after No. 0 aircraft breaks down
Face Leader guiding, and so on, No. 1 follows No. 0 flight, and No. 2 follow No. 1 flight ..., and No. n follows No. n-1 flight.In net
Numbering adjacent two aircraft of front and back is one " Leader-Follower " combination, is kept really between two adjacent unmanned planes
Shi Tongxin, in addition, all unmanned planes of number with earth station and adjacent unmanned plane other than it can be communicated in net, each frame
It can be communicated with each other between unmanned plane.
Step S30 carries out the distribution of sampling point position to unmanned plane each in the unmanned unit.
Step S40 controls each unmanned plane in the unmanned unit and flies from initial position to corresponding sampling point position.
In the step, " each unmanned plane flies from initial position to corresponding sampling point position in the control unmanned unit "
It can be to control in the unmanned unit each unmanned plane during flying respectively to corresponding sampling point position；In some embodiments
It can also be realized by following steps:
Step S4011 determines first position coordinate based on sampling point position in the multiple spot water quality sampling mission bit stream；
Step S4012 obtains default formation, and control in the unmanned unit each unmanned plane according to default formation fly to
First position coordinate；Default formation includes but is not limited to "-" type, herringbone etc.；
Step S4013 controls each unmanned plane in the unmanned unit and is flown respectively from first position coordinate to corresponding and adopted
Sampling point position.
Step S50, the acquisition strategies based on setting, triggering sampling instruction carry out the water quality sampling of corresponding sampling depth, obtain
Water intaking matter sample.
In some embodiments, " acquisition strategies based on setting, triggering sampling instruction ", is according to corresponding in acquisition strategies
The relative time relationship of each point water quality sampling task execution, generates the time parameter method that each unmanned plane executes sampling instruction, and according to
The time parameter method triggers unmanned plane and obtains acquisition movement.
The mode that unmanned plane obtains sampling instruction triggers can be for by the signal receiving device being arranged on unmanned plane difference
Receive the acquisition instructions that ground base station is sent according to the time parameter method；Can also unmanned plane take off execute water quality sampling task it
Before, acquisition instructions trigger condition is separately configured to each unmanned plane, after reaching acquisition instructions trigger condition, it is deep to carry out corresponding sampling
The water quality sampling of degree.In the acquisition modes of the latter, the sampling point position that acquisition instructions trigger condition is distributed for arrival unmanned plane,
Acquisition time is not arranged at this time；Corresponding sampling point position can also be reached for each unmanned plane in unmanned unit, simultaneously
Triggering sampling instruction, to realize multiple spot while carry out the water quality sampling that each unmanned plane corresponds to sampling depth.Sample the triggering of instruction
Mode, triggering rule can carry out diversified facilities according to demand, will not enumerate herein.
Step S60 controls each unmanned plane and makes a return voyage after obtaining water quality sample.
In some embodiments, it controls each unmanned plane to make a return voyage, method are as follows: control each unmanned plane in the preset second position
Coordinate carries out formation of making a return voyage according to setting formation, and makes a return voyage according to default formation；Or each unmanned plane of control corresponding is adopted from its
Sampling point position is directly maked a return voyage.
In some preferred embodiments, each unmanned plane arrival is maked a return voyage behind target area, further includes: according to preset each water
Matter sample placement position, each unmanned plane flies respectively places water quality sample to corresponding position；Or the formation according to formation of making a return voyage
The placement of water quality sample is carried out in placement region, wherein the formation of the formation of making a return voyage, which is based on preset each water quality sample, puts position
Set relationship setting.
It carries out below by multiple no-manned plane Synergistic method of the specific embodiment to multiple spot water quality sampling of the invention into one
Step is described in detail.
The corresponding embodiment of Fig. 2, Fig. 3 is all made of the mode triggering collection that ground surface end sends specimen sample order to unmanned plane
Instruction executes acquisition movement；It is, of course, also possible to which unmanned plane takes off before executing water quality sampling task, each unmanned plane is individually matched
Acquisition instructions trigger condition is set, after reaching acquisition instructions trigger condition, carries out the water quality sampling of corresponding sampling depth.
As shown in Fig. 2, a kind of multiple no-manned plane Synergistic method example of multiple spot water quality sampling, comprising:
Step 101: cluster net being established by ground surface end, the unmanned plane of all preparation flight is all added in net；
Step 102: waiting facilities addition/preparation, and inspection work is carried out before take-off, it is all added when confirming equipment
In net；
Step 103: it is all ready if not member in all nets after detection, execute step 102, if all nets at
Member is ready for ready, thens follow the steps 104；
Step 104: unmanned plane takes off, formation flight, flies according to predetermined formation to specified region；
Step 105: detect whether unmanned plane in all nets all reaches specified region, if it is not, step 104 is executed,
If so, executing step 106；
Step 106: according to each seat in the plane sampled point (sampled point of each unmanned plane distribution), each unmanned plane executes reconfiguration
Operation, according to the sampled point distributed, flight to each sampled point；This sentence each sampled point positional relationship be new formation into
Row reconfiguration；
Step 107: detection unmanned plane whether complete by reconfiguration, no to then follow the steps if not execution step 106
108；
Step 108: ground surface end sends specimen sample order to unmanned plane, and waits for condition feedback information；
Step 109: detection nets whether interior member completes sampling task, if it is not, executing step 108, otherwise executes step
Rapid 110；
Step 110: after the completion of all unmanned plane samplings, carrying out reconfiguration according to the formation of making a return voyage of setting；It makes a return voyage herein
Formation corresponds to the default formation of step 104；
Step 111: reconfiguration makes a return voyage according to the flight pattern set later；
Step 112: sampling is completed to terminate.
As shown in figure 3, the multiple no-manned plane Synergistic method example of the multiple spot water quality sampling of another embodiment, comprising:
Step 201: ground surface end establishes cluster net, waits all devices (unmanned plane) that cluster net is added；
Step 202: whether all members it is ready enter cluster net in judging to net, if not executing step 201,
It is no to then follow the steps 203；
Step 203: before take off, processing is numbered in sampled point, corresponding with unmanned plane number, unmanned plane is according to each
From sampled point flight path is planned, take off and fly to sampled point；
Step 204: judging whether the unmanned plane of each sampled point reaches task point (sampled point), if not execution step
203, it is no to then follow the steps 205；
Step 205: ground surface end sends specimen sample order, and each unmanned plane is sampled simultaneously；
Step 206: judge to net whether interior member completes sampling task, it is no to then follow the steps if not execution step 205
207；
Step 207: unmanned plane formation is maked a return voyage；
Step 208: terminating.
In the present invention, unmanned plane carries out real-time path planning in flight course, and when carrying out reconfiguration, formation is most
The unmanned plane of outside preferentially moves, each unmanned plane every one second to the ground end send real time position, avoid with others nobody
Machine bumps against, wherein frame unmanned plane planning path again automatically when bumping against risk if any unmanned plane, in addition, being arranged between unmanned plane
Safe separation distance, when reaching safe distance, unmanned plane can just follow flight, otherwise default waiting, until reaching safe distance
After can just following flight, all unmanned planes all to reach sampled point afterwards, reconfiguration is completed.
In the flight course of unmanned plane, unmanned plane all remains with each frame unmanned plane in net and communicates, available
The location information of each frame unmanned plane, while safe separation distance is set between unmanned plane, when reaching safe distance setting value, nothing
It is man-machine to continue to fly.During flying to sampled point, every one second, end sent real time position to every frame unmanned plane to the ground,
Meanwhile each frame unmanned plane will acquire the real-time position information for netting other interior unmanned planes every one second, path conflict is occurring
Or avoidance processing is carried out, it is winged that unmanned plane can be improved (reductions) when distance is close to safe distance setting value between unmanned plane
Row height or other modes avoid bumping against, and when judging that periphery is accessible, plan flight path again, continue to fly
To sampled point.
The multiple no-manned plane cooperative system for multiple spot water quality sampling of an embodiment of the present invention, comprising: task obtains mould
Block, unmanned unit select number module, unmanned plane task allocating module, sampling control module, control module of making a return voyage；
The task acquisition module is configured to obtain multiple spot water quality sampling mission bit stream, including sampling point position, sampling are deeply
Degree；
The unmanned unit selectes number module, is configured to the multiple spot water quality sampling mission bit stream, determines and participates in
The unmanned unit of multiple spot water quality sampling；
The unmanned plane task allocating module is configured to carry out sampling point position to unmanned plane each in the unmanned unit
Distribution；
The sampling control module is configured to control each unmanned plane in the unmanned unit and flies from initial position to correspondence
Sampling point position, triggering sampling instruction carries out the water quality sampling of corresponding sampling depth, obtains water quality sample；
The control module of making a return voyage is configured to after obtaining water quality sample, controls each unmanned plane and make a return voyage.
Person of ordinary skill in the field can be understood that, for convenience and simplicity of description, foregoing description
The specific work process of system and related explanation, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
It should be noted that the multiple no-manned plane cooperative system provided by the above embodiment for multiple spot water quality sampling, only with
The division of above-mentioned each functional module carries out for example, in practical applications, can according to need and by above-mentioned function distribution by
Different functional modules is completed, i.e., by the embodiment of the present invention module or step again decompose or combine, for example, above-mentioned
The module of embodiment can be merged into a module, can also be further split into multiple submodule, described above to complete
All or part of function.For module involved in the embodiment of the present invention, the title of step, it is only for distinguish each mould
Block or step, are not intended as inappropriate limitation of the present invention.
The storage device of an embodiment of the present invention, wherein being stored with a plurality of program, described program is suitable for being added by processor
It carries and executes to realize the above-mentioned multiple no-manned plane Synergistic method for multiple spot water quality sampling.
The processing unit of an embodiment of the present invention, including processor, storage device；Processor is adapted for carrying out each journey
Sequence；Storage device is suitable for storing a plurality of program；Described program be suitable for load by processor and being executed with realize it is above-mentioned be used for it is more
The multiple no-manned plane Synergistic method of point water quality sampling.
Person of ordinary skill in the field can be understood that, for convenience and simplicity of description, foregoing description
The specific work process and related explanation of storage device, processing unit, can refer to corresponding processes in the foregoing method embodiment,
Details are not described herein.
Those skilled in the art should be able to recognize that, mould described in conjunction with the examples disclosed in the embodiments of the present disclosure
Block, method and step, can be realized with electronic hardware, computer software, or a combination of the two, software module, method and step pair
The program answered can be placed in random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electric erasable and can compile
Any other form of storage well known in journey ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field is situated between
In matter.In order to clearly demonstrate the interchangeability of electronic hardware and software, in the above description according to function generally
Describe each exemplary composition and step.These functions are executed actually with electronic hardware or software mode, depend on technology
The specific application and design constraint of scheme.Those skilled in the art can carry out using distinct methods each specific application
Realize described function, but such implementation should not be considered as beyond the scope of the present invention.
Term " first ", " second " etc. are to be used to distinguish similar objects, rather than be used to describe or indicate specific suitable
Sequence or precedence.
Term " includes " or any other like term are intended to cover non-exclusive inclusion, so that including a system
Process, method, article or equipment/device of column element not only includes those elements, but also including being not explicitly listed
Other elements, or further include the intrinsic element of these process, method, article or equipment/devices.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection of the present invention.
Claims (11)
1. a kind of multiple no-manned plane Synergistic method for multiple spot water quality sampling, which comprises the following steps:
Obtain multiple spot water quality sampling mission bit stream, including sampling point position, sampling depth；
Based on the multiple spot water quality sampling mission bit stream, the unmanned unit for participating in multiple spot water quality sampling is determined；
The distribution of sampling point position is carried out to unmanned plane each in the unmanned unit；
Each unmanned plane in the unmanned unit is controlled to fly from initial position to corresponding sampling point position；
Acquisition strategies based on setting, triggering sampling instruction, carry out the water quality sampling of corresponding depth, obtain water quality sample；
After obtaining water quality sample, controls each unmanned plane and make a return voyage.
2. the multiple no-manned plane Synergistic method according to claim 1 for multiple spot water quality sampling, which is characterized in that " control
Each unmanned plane flies from initial position to corresponding sampling point position in the unmanned unit ", method are as follows:
Based on sampling point position in the multiple spot water quality sampling mission bit stream, first position coordinate is determined；
Default formation is obtained, and controls each unmanned plane in the unmanned unit and flies according to default formation to first position coordinate；
Each unmanned plane in the unmanned unit is controlled to be flown respectively from first position coordinate to corresponding sampling point position.
3. the multiple no-manned plane Synergistic method according to claim 1 for multiple spot water quality sampling, which is characterized in that " control
Each unmanned plane flies from initial position to corresponding sampling point position in the unmanned unit ", method are as follows:
Each unmanned plane during flying is controlled in the unmanned unit respectively to corresponding sampling point position.
4. the multiple no-manned plane Synergistic method according to claim 1-3 for multiple spot water quality sampling, feature exist
In, " triggering sampling instruction, carry out the water quality sampling of corresponding sampling depth ", method are as follows:
After the acquisition instructions for receiving ground base station transmission respectively by the signal receiving device being arranged on unmanned plane, carry out respectively pair
Answer the water quality sampling of sampling depth；Or
Before unmanned plane takes off and executes water quality sampling task, acquisition instructions trigger condition is separately configured to each unmanned plane, is being reached
To after acquisition instructions trigger condition, the water quality sampling of corresponding sampling depth is carried out.
5. the multiple no-manned plane Synergistic method according to claim 4 for multiple spot water quality sampling, which is characterized in that described to adopt
Collect instruction triggers condition are as follows: reach the sampling point position that unmanned plane is distributed；Or
Each unmanned plane reaches corresponding sampling point position in unmanned unit.
6. the multiple no-manned plane Synergistic method according to claim 5 for multiple spot water quality sampling, which is characterized in that it is each nobody
Machine triggers sampling instruction simultaneously, while carrying out the water quality sampling that each unmanned plane corresponds to sampling depth.
7. the multiple no-manned plane Synergistic method according to claim 1-3 for multiple spot water quality sampling, feature exist
In, " controlling each unmanned plane to make a return voyage ", method are as follows:
It controls each unmanned plane and carries out formation of making a return voyage according to setting formation in preset second position coordinate, and according to default formation
It makes a return voyage；Or
Each unmanned plane is controlled directly to make a return voyage from its corresponding sampling point position.
8. the multiple no-manned plane Synergistic method for multiple spot water quality sampling stated according to claim 7, which is characterized in that each unmanned plane
Arrival is maked a return voyage behind target area, further includes:
According to preset each water quality sample placement position, each unmanned plane flies respectively places water quality sample to corresponding position；Or
The placement of water quality sample is carried out in placement region according to the formation for formation of making a return voyage；Wherein the formation of the formation of making a return voyage is based on
Preset each water quality sample placement position relationship setting.
9. a kind of multiple no-manned plane cooperative system for multiple spot water quality sampling, which is characterized in that including task acquisition module, nobody
Unit selectes number module, unmanned plane task allocating module, sampling control module, control module of making a return voyage；
The task acquisition module is configured to obtain multiple spot water quality sampling mission bit stream, including sampling point position, sampling depth；
The unmanned unit selectes number module, is configured to the multiple spot water quality sampling mission bit stream, determines and participates in multiple spot
The unmanned unit of water quality sampling；
The unmanned plane task allocating module is configured to divide unmanned plane each in unmanned unit progress sampling point position
Match；
The sampling control module is configured to control each unmanned plane in the unmanned unit and flies from initial position to corresponding and adopts
Sampling point position, triggering sampling instruction, carries out the water quality sampling of corresponding sampling depth, obtains water quality sample；
The control module of making a return voyage is configured to after obtaining water quality sample, controls each unmanned plane and make a return voyage.
10. a kind of storage device, wherein being stored with a plurality of program, which is characterized in that described program is suitable for by processor load simultaneously
It executes to realize the described in any item multiple no-manned plane Synergistic methods for multiple spot water quality sampling of claim 1-8.
11. a kind of processing unit, including processor, storage device；Processor is adapted for carrying out each program；Storage device is suitable for
Store a plurality of program；It is characterized in that, described program is suitable for being loaded by processor and being executed to realize any one of claim 1-8
The multiple no-manned plane Synergistic method for multiple spot water quality sampling.
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