CN110989651A - Unmanned aerial vehicle cooperative control method, device and system - Google Patents
Unmanned aerial vehicle cooperative control method, device and system Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle cooperative control method, which comprises the following steps: receiving unmanned aerial vehicle information uploaded by a client, and allocating index names to unmanned aerial vehicles according to the unmanned aerial vehicle information; receiving team formation request information of a client, and adding the index name of the unmanned aerial vehicle into a target formation group according to the team formation request information; generating flight trajectory data of the unmanned aerial vehicle of the target formation group according to the attribute information of the target formation group; and issuing the flight track data to the unmanned aerial vehicles of the target formation group through the client. The cooperative control method, the device and the system of the unmanned aerial vehicle are mainly applied to a consumer-grade unmanned aerial vehicle, and are beneficial to enabling flight enthusiasts of common unmanned aerial vehicles to group and develop and participate in formation activities of the unmanned aerial vehicles; compared with commercial unmanned aerial vehicle formation performance, the unmanned aerial vehicle formation performance system has lower system complexity, higher personnel participation and higher playability and interestingness; compared with manual control, the flying formation patterns of the scheme are more accurate and the flying is more intelligent, and the requirement on the control skill of the operator is relatively low.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a cooperative control method, a cooperative control device and a cooperative control system for unmanned aerial vehicles.
Background
Unmanned aerial vehicle formation is commonly used in respective performance occasion, for example, put out the image, the pattern combination of dot matrix with 30 planes, and the molding includes: letter combinations, numbers, smiling faces, etc.; meanwhile, the flying robot can perform transformation actions, such as integral translation, 90-degree turnover perpendicular to the ground and the like, and formation flying can be performed. The existing unmanned aerial vehicle formation method comprises the following steps:
firstly, a ground station program is set, instructions are sent to the airplane in real time, state information sent back by the airplane is received, and one-to-many centralized control is achieved. The flight path is sent to the airplane in the form of instructions through the ground station, and then the airplane carries out route planning. The unmanned aerial vehicle formation system has the advantages that the communication links are one-to-many, all airplanes are abnormal once the links are abnormal, the development complexity of a ground station system and the development complexity of a corresponding flight control system are high, in addition, professional technicians are used for centralized control through ground station programs, the personnel participation degree is not high, the unmanned aerial vehicle formation system is mainly used for commercial activities and the like, and the unmanned aerial vehicle formation system is not suitable for groups of flight enthusiasts of common unmanned aerial vehicles to participate in unmanned aerial vehicle formation activities.
Secondly, manual control: the unmanned aerial vehicle that controls one-to-one arrives certain flight track point and control the pilot lamp of aircraft. The defects are that the control difficulty is high, the fixed point is inaccurate, and a plurality of top-level professional flyers can be used for completing the operation through repeated acquaintance and acquaintance coordination.
Therefore, it is a difficult matter for unmanned aerial vehicle flight enthusiasts to group themselves to develop and participate in unmanned aerial vehicle formation activities.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the unmanned aerial vehicle cooperative control method, the device and the system which are convenient for flight enthusiasts of the common unmanned aerial vehicle to group and develop and participate in the formation activity of the unmanned aerial vehicle.
The technical scheme is as follows: in order to achieve the above object, the cooperative control method for the unmanned aerial vehicle of the present invention comprises:
receiving unmanned aerial vehicle information uploaded by a client, and allocating index names to unmanned aerial vehicles according to the unmanned aerial vehicle information;
receiving team formation request information of a client, and adding the index name of the unmanned aerial vehicle into a target formation group according to the team formation request information;
generating flight trajectory data of the unmanned aerial vehicle of the target formation group according to the attribute information of the target formation group;
and issuing the flight track data to the unmanned aerial vehicles of the target formation group through the client.
Further, the allocating index names to the drones according to the drone information includes:
acquiring an identification code of the unmanned aerial vehicle from the unmanned aerial vehicle information;
acquiring user information through login information of a client;
and binding the identification code of the unmanned aerial vehicle with the user information to generate an index name of the unmanned aerial vehicle.
Further, the formation request information includes a formation type instruction, the formation type instruction includes two types of adding to an existing formation group and adding to a newly created formation group, and the adding the index name of the unmanned aerial vehicle to a target formation group according to the formation request information includes:
judging the type of the team type instruction;
when the team type instruction is added into the existing queuing group, executing an adding process;
and when the formation type instruction is to add a new formation group, executing a formation group creation process to create a new formation group as a target formation group, and adding the index name of the unmanned aerial vehicle into the target formation group.
Further, the adding process comprises the following steps:
sending a list of existing queuing groups to the client;
and acquiring a selection instruction returned by the client, and adding the index name of the unmanned aerial vehicle into a target queuing group specified by the selection instruction according to the selection instruction.
Further, the formation group creation process includes:
creating a new formation group;
receiving a definition instruction of the client, and defining the attribute of the newly created formation group according to the definition instruction; the attributes comprise a formation group name, a formation flight template and the number of members.
Further, the unmanned aerial vehicle information includes status information, the status information includes electric quantity, GPS signal strength, and interference situation, and after issuing the flight trajectory data to the unmanned aerial vehicles of the target formation group through the client, the method further includes:
checking the state information of each unmanned aerial vehicle in the formation group, and judging whether each unmanned aerial vehicle meets the take-off condition;
and if the unmanned aerial vehicle which does not meet the takeoff condition exists, outputting prompt information to the client.
Further, a plurality of unmanned aerial vehicles in the formation group have the camera, and the unmanned aerial vehicle that has the camera passes through the client and uploads video, the image data that the camera was gathered to total control end, still include after issuing the flight trajectory data to the unmanned aerial vehicle of target formation group through the client:
receiving data request information of a client;
and sending the requested data to the client according to the data request information.
Further, the unmanned aerial vehicle is provided with an indicator light, and the flight mission data further comprises instructions for controlling the indicator light to be on or off and changing colors.
An unmanned aerial vehicle cooperative control device comprises a processor and a memory;
the memory is used for storing an executable program;
the processor is used for executing the executable program to realize the unmanned aerial vehicle cooperative control method.
The utility model provides an unmanned aerial vehicle cooperative control system, includes foretell unmanned aerial vehicle cooperative control device, still includes a plurality of customer ends and unmanned aerial vehicle, the customer end can with unmanned aerial vehicle cooperative control device communication, the customer end can with unmanned aerial vehicle wireless communication.
Has the advantages that: the cooperative control method, the device and the system of the unmanned aerial vehicle are mainly applied to a consumer-grade unmanned aerial vehicle, and are beneficial to enabling flight enthusiasts of common unmanned aerial vehicles to group and develop and participate in formation activities of the unmanned aerial vehicles; compared with commercial unmanned aerial vehicle formation performance, the unmanned aerial vehicle formation performance system has lower system complexity, higher personnel participation and higher playability and interestingness; compared with manual control, the flying formation patterns of the scheme are more accurate and the flying is more intelligent, and the requirement on the control skill of the operator is relatively low.
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FIG. 1 is a schematic diagram of the composition of a cooperative control system of an unmanned aerial vehicle;
fig. 2 is a schematic flow chart of the cooperative control method for the unmanned aerial vehicle.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the technical solutions in the embodiments of the present invention may be combined with each other, but must be based on the realization of the technical solutions by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not to be within the protection scope of the present invention.
The invention firstly provides an unmanned aerial vehicle cooperative control system, as shown in fig. 1, which comprises an unmanned aerial vehicle cooperative control device 10, a plurality of clients 20 and a plurality of unmanned aerial vehicles 30, wherein the clients 20 can communicate with the unmanned aerial vehicle cooperative control device 10, and the clients 20 can wirelessly communicate with the unmanned aerial vehicles 30.
The unmanned aerial vehicle cooperative control device 10 is an implementation main body of the unmanned aerial vehicle cooperative control method, and at least comprises a processor and a memory; the memory is used for storing an executable program; the processor is used for executing the executable program to realize the unmanned aerial vehicle cooperative control method. The form of the cooperative drone control device 10 may be in the form of a cloud server (i.e., a "cloud" in practice), a computer, a server, a network device, and the like.
The client 20 can be a control terminal in the form of a mobile phone, a tablet personal computer, or a special terminal with a communication function specially designed for the unmanned aerial vehicle 30, and can establish communication connection with the unmanned aerial vehicle cooperative control device 10 in the form of a wire, a wireless (WIFI, a cellular mobile network), or the like, specifically, the client 20 is pre-equipped with an APP, and a user establishes a communication relationship with the unmanned aerial vehicle cooperative control device 10 by registering and logging in the APP, and the client and the user can transmit and receive data to each other.
Each client 20 is connected with one unmanned aerial vehicle 30 in a wireless mode, and the mode of establishing connection between the common client 20 and the unmanned aerial vehicle 30 is a WIFI connection.
As shown in fig. 2, the cooperative control method for the unmanned aerial vehicle includes the following steps S401 to S404:
step S401, receiving unmanned aerial vehicle information uploaded by a client 20, and allocating an index name to an unmanned aerial vehicle 30 according to the unmanned aerial vehicle information;
in this step, the information of the unmanned aerial vehicle is acquired from the unmanned aerial vehicle 30 by the client 20, and is forwarded to the unmanned aerial vehicle cooperative control apparatus 10. The index name of the unmanned aerial vehicle 30 is the identification code for the unmanned aerial vehicle cooperative control device 10 to move the unmanned aerial vehicle 30 and assign the task to the unmanned aerial vehicle 30, and the index name is generally related to the user information of the owner of the unmanned aerial vehicle 30 and the information of the unmanned aerial vehicle 30, so that the unmanned aerial vehicle cooperative control device 10 can issue the flight task conveniently.
In one embodiment, the drone 30 information includes a unique identification code of the drone 30, and the assigning a unique index name to the drone 30 in step S401 includes the following steps S401a-S401 c:
step S401a, acquiring the identification code of the unmanned aerial vehicle from the unmanned aerial vehicle information;
step S401b, acquiring user information through the login information of the client 20;
in this step, after the user logs in the cooperative unmanned aerial vehicle control device 10 through the APP of the client 20, the cooperative unmanned aerial vehicle control device 10 may call login information of the user and extract necessary user information from the login information, where the necessary user information includes a real name of the user, a contact information, and the like.
Step S401c, the unique identifier of the drone 30 is bound to the user information to generate an index name of the drone 30.
Referring back to fig. 2, in step S402, the formation request information of the client 20 is received, and the index name of the unmanned aerial vehicle 30 is added to the target formation group according to the formation request information;
in this step, a user initiates a formation request to the cooperative drone control device 10 through the client 20, where the formation request information includes a formation type command, and a general user may newly create a formation group as needed, or the user may also choose to join an existing formation group, so the formation type command includes two types of joining an existing formation group and joining a newly created formation group, and the step S402 of adding the index name of the drone 30 to a target formation group according to the formation request information includes the following steps S402a-S402 c:
step S402a, judging the type of the team type instruction;
in this step, after the user side logs in through the APP, two options of "adding the existing formation group" and "creating the formation group" are displayed on a user interface of the APP, and the user selects the corresponding option as required, that is, a formation type instruction is sent to the unmanned aerial vehicle cooperative control device 10.
Step S402b, when the team type instruction is to join the existing team group, executing the joining process;
in this step, the adding process includes the following steps S501 to S502:
step S501, sending a list of existing queuing groups to the client 20;
after the step is executed, the APP of the user can display a list of the joinable formation groups, the list of the formation groups can display information such as residual denominations, the user can select to join a certain formation group according to interests, and a selection instruction is fed back to the unmanned aerial vehicle cooperative control device 10.
Step S502, obtaining the selection instruction returned by the client 20, and adding the index name of the unmanned aerial vehicle 30 to the target formation group specified by the selection instruction according to the selection instruction.
Step S402c, when the team type command indicates that a newly created team group is to be added, a new team group is created as a target team group by executing the team group creation process, and the index name of the drone 30 is added to the target team group.
In this step, the process of creating the formation group includes the following steps S601 to S602:
step S601, creating a new formation group;
after this step is executed, the cooperative unmanned aerial vehicle control device 10 may push a list of items to be defined to the APP of the client 20 for user-definition, and after the user inputs corresponding data of each item through the APP and confirms the corresponding data, the client 20 feeds back the definition instruction data to the cooperative unmanned aerial vehicle control device 10.
Step S602, receiving a definition instruction of the client 20, and defining an attribute of a newly created formation group according to the definition instruction; the attributes comprise a formation group name, a formation flight template and the number of members.
In this step, the formation flight template refers to a lattice pattern and a preset template of a transformation action, which are preset by the cloud server and need to be pieced out through the flight of a plurality of unmanned aerial vehicles.
For each formation group, since it needs to satisfy the set number of members to start formation flight, it needs to wait for users to actively join the formation group, or owners of members of unmanned aerial vehicles who have joined the formation group can send invitation formation information to other members, and owners of unmanned aerial vehicles 30 who have not joined the formation group join the formation group by receiving the invitation formation information at the client 20 and selecting to approve joining.
Referring back to fig. 2, in step S403, generating flight task data of the unmanned aerial vehicle 30 of the target formation group according to the attribute information of the target formation group, where the flight task data includes flight trajectory data;
in this step, the attributes of the formation group include formation flight template data, and the unmanned aerial vehicle cooperative control device 10 can arrange the flight task data to each unmanned aerial vehicle in the formation group according to the index number according to the formation flight template.
Referring back to fig. 2, in step S404, the flight mission data is issued to the drone 30 through the client 20.
In this step, the unmanned aerial vehicle cooperative control device 10 sends the flight task data to the client 20 corresponding to each unmanned aerial vehicle, the client 20 sends the flight task data to the unmanned aerial vehicle 30 in communication connection with the client, and the controller of the unmanned aerial vehicle 30 can execute the flight task according to the flight trajectory data when receiving the flight task data.
Based on the above steps, after the cooperative control device 10 of the unmanned aerial vehicles receives the takeoff trigger signal of the client 20 of the creator of the formation group, the cooperative control device can send the task execution trigger signal to the clients 20 corresponding to all the unmanned aerial vehicles in the formation group, and all the unmanned aerial vehicles 30 can take off and fly according to the predetermined flight trajectory data.
In a further embodiment, the information of the drone 30 includes status information, where the status information includes an electric quantity, a GPS signal strength, and an interference condition, and the cooperative drone control method further includes the following steps S701 to S703:
step S701, checking state information of all unmanned aerial vehicles in a formation group, and judging whether all unmanned aerial vehicles meet takeoff conditions;
step S702, if all the unmanned aerial vehicles meet the takeoff condition, executing the next step;
and step S703, if there is an unmanned aerial vehicle that does not satisfy the takeoff condition, outputting prompt information to the client 20.
The above steps S701 to S703 may be executed after the unmanned aerial vehicle cooperative control apparatus 10 receives the takeoff trigger signal of the client 20 of the formation group creator. Of course, other times may be implemented, such as when the drone 30 joins the formation group.
In this step, the prompt information includes basic information (such as an index number) and fault information (such as insufficient electric quantity, weak GPS signal, strong interference, etc.) of the unmanned aerial vehicle, and the owner of the corresponding unmanned aerial vehicle can try to fly again after removing the fault according to the fault information.
In a further embodiment, there are several unmanned aerial vehicles in the formation group, each of the unmanned aerial vehicles has a camera, and the unmanned aerial vehicle 30 with a camera uploads video and image data collected by the camera to the master control terminal through the client 20, and the method further includes the following steps S801-S802:
step S801, receiving data request information of the client 20;
sending data request information to the unmanned aerial vehicle cooperative control device 10 by a user through an APP of a client 20, wherein the data request information includes an index number of the unmanned aerial vehicle 30 corresponding to video and image data to be acquired;
step S802, sending the requested data to the client 20 according to the data request information.
Through the above steps S801 to S802, owners of drones joining the same formation group can share video data acquired by formation of the drone 30.
In a further embodiment, the drone 30 has an indicator light thereon, and the flight mission data further includes instructions for controlling the indicator light to turn on or off and the color to change. Unmanned aerial vehicle 30 receives flight mission data back except flying according to the flight path data that the flight mission contained, still will control the colour of pilot lamp, bright going out etc. according to pilot lamp control data, so can make the 30 formation of unmanned aerial vehicle have better visuality, and the accessible pilot lamp of 30 formation of unmanned aerial vehicle group shows pattern, typeface etc..
The cooperative control method, the device and the system of the unmanned aerial vehicle are mainly applied to a consumer-grade unmanned aerial vehicle, and are beneficial to enabling flight enthusiasts of common unmanned aerial vehicles to group and develop and participate in formation activities of the unmanned aerial vehicles; compared with commercial unmanned aerial vehicle formation performance, the unmanned aerial vehicle formation performance system has lower system complexity, higher personnel participation and higher playability and interestingness; compared with manual control, the flying formation patterns of the scheme are more accurate and the flying is more intelligent, and the requirement on the control skill of the operator is relatively low.
The above description is only an alternative embodiment of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. An unmanned aerial vehicle cooperative control method is characterized by comprising the following steps:
receiving unmanned aerial vehicle information uploaded by a client, and allocating index names to unmanned aerial vehicles according to the unmanned aerial vehicle information;
receiving team formation request information of a client, and adding the index name of the unmanned aerial vehicle into a target formation group according to the team formation request information;
generating flight trajectory data of the unmanned aerial vehicle of the target formation group according to the attribute information of the target formation group;
and issuing the flight track data to the unmanned aerial vehicles of the target formation group through the client so as to control the unmanned aerial vehicles of the target formation group to fly according to the flight track data.
2. The cooperative control method for unmanned aerial vehicles according to claim 1, wherein the assigning an index name to an unmanned aerial vehicle according to the unmanned aerial vehicle information comprises:
acquiring an identification code of the unmanned aerial vehicle from the unmanned aerial vehicle information;
acquiring user information through login information of a client;
and binding the identification code of the unmanned aerial vehicle with the user information to generate an index name of the unmanned aerial vehicle.
3. The cooperative control method for unmanned aerial vehicles according to claim 1, wherein the formation request information includes a formation type command, the formation type command includes two types of adding to an existing formation group and adding to a newly created formation group, and the adding the index name of the unmanned aerial vehicle to a target formation group according to the formation request information includes:
judging the type of the team type instruction;
when the team type instruction is added into the existing queuing group, executing an adding process;
and when the formation type instruction is to add a new formation group, executing a formation group creation process to create a new formation group as a target formation group, and adding the index name of the unmanned aerial vehicle into the target formation group.
4. The unmanned aerial vehicle cooperative control method according to claim 3, wherein the joining process comprises:
sending a list of existing queuing groups to the client;
and acquiring a selection instruction returned by the client, and adding the index name of the unmanned aerial vehicle into a target queuing group specified by the selection instruction according to the selection instruction.
5. The cooperative control method for unmanned aerial vehicles according to claim 3, wherein the formation group creation process includes:
creating a new formation group;
receiving a definition instruction of the client, and defining the attribute of the newly created formation group according to the definition instruction; the attributes comprise a formation group name, a formation flight template and the number of members.
6. The cooperative control method for unmanned aerial vehicles according to claim 1, wherein the unmanned aerial vehicle information includes status information, the status information includes electric quantity, GPS signal strength, and interference situation, and after the sending of the flight trajectory data to the unmanned aerial vehicles in the target formation group by the client, the method further includes:
acquiring state information of each unmanned aerial vehicle in the target formation group, and judging whether each unmanned aerial vehicle meets a take-off condition;
and if the unmanned aerial vehicle which does not meet the takeoff condition exists, outputting prompt information to the client.
7. The cooperative control method for unmanned aerial vehicles according to claim 1, wherein there are a plurality of unmanned aerial vehicles in the formation group, the unmanned aerial vehicles with cameras upload video and image data collected by the cameras to the master control end through a client, and after the client issues the flight trajectory data to the unmanned aerial vehicles in the target formation group, the cooperative control method further comprises:
receiving data request information of a client;
and sending the requested data to the client according to the data request information.
8. The cooperative control method for unmanned aerial vehicles according to claim 1, wherein the unmanned aerial vehicles have indicator lights thereon, and the flight mission data further includes instructions for controlling the on/off of the indicator lights and the color change.
9. An unmanned aerial vehicle cooperative control device is characterized by comprising a processor and a memory;
the memory is used for storing an executable program;
the processor is used for executing the executable program to realize the unmanned aerial vehicle cooperative control method according to any one of claims 1 to 8.
10. An unmanned aerial vehicle cooperative control system, comprising the unmanned aerial vehicle cooperative control apparatus according to claim 9, further comprising a plurality of clients and an unmanned aerial vehicle, the clients being communicable with the unmanned aerial vehicle cooperative control apparatus, the clients being wirelessly communicable with the unmanned aerial vehicle.
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| CN113485434B (en) * | 2021-07-28 | 2023-03-14 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle formation aggregation control method |
| CN113658455A (en) * | 2021-10-20 | 2021-11-16 | 北京亦飞科技有限公司 | Unmanned aerial vehicle operation and maintenance control method and system |
| CN113658455B (en) * | 2021-10-20 | 2022-04-01 | 北京亦飞科技有限公司 | Unmanned aerial vehicle operation and maintenance control method and system |
| CN114793370A (en) * | 2022-02-17 | 2022-07-26 | 深圳市星昇科技有限公司 | Control method and device of toy device and storage medium |
| CN115062207A (en) * | 2022-03-31 | 2022-09-16 | 亿航智能设备（广州）有限公司 | Data acquisition method and system |
| CN115564315A (en) * | 2022-11-28 | 2023-01-03 | 苏州维伟思医疗科技有限公司 | Unmanned aerial vehicle control method, server, control terminal and storage medium |
| CN115564315B (en) * | 2022-11-28 | 2023-09-22 | 苏州维伟思医疗科技有限公司 | Unmanned aerial vehicle control method, server, control terminal and storage medium |
| CN117425148A (en) * | 2023-10-13 | 2024-01-19 | 深圳中软国际科技服务有限公司 | Ground-air task cooperative control method, service equipment and storage medium |
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