CN111176308A - Small-size many rotor unmanned aerial vehicle cluster control system of closed environment - Google Patents
Small-size many rotor unmanned aerial vehicle cluster control system of closed environment Download PDFInfo
- Publication number
- CN111176308A CN111176308A CN201911378992.0A CN201911378992A CN111176308A CN 111176308 A CN111176308 A CN 111176308A CN 201911378992 A CN201911378992 A CN 201911378992A CN 111176308 A CN111176308 A CN 111176308A
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- unmanned aerial
- aerial vehicle
- closed environment
- control system
- wireless communication
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a cluster control system of a small multi-rotor unmanned aerial vehicle in a closed environment, which comprises a fixed vision camera system, a ground control system and an airborne system which are sequentially in communication connection. The fixed vision camera system comprises a vision camera group, a camera fixing assembly and an environment boundary marking pile. The ground control system comprises a flight control computer, data acquisition equipment, a graphic display system and wireless communication equipment. The airborne system comprises an unmanned aerial vehicle platform, a mark point and a wireless communication receiving end. The invention discloses a cluster control system for small multi-rotor unmanned aerial vehicles in a closed environment, which solves the problem of high-precision control of large-quantity unmanned aerial vehicles in a small space.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a cluster control system for a small multi-rotor unmanned aerial vehicle in a closed environment.
Background
Space is limited in the closed environment, and many small-size many rotor unmanned aerial vehicles form a formation flight in limited space, and its unit flight control and formation control are the very important technique that gets.
In the prior art, the unmanned aerial vehicle cluster in the closed environment mainly records position information through an airborne GPS and an airborne camera, and calculates and outputs instructions to all unmanned aerial vehicles through a computer, the control precision of the method is limited by the precision of the airborne GPS and the camera, and the unmanned aerial vehicle is low in load and directly limits the precision of the airborne GPS and the camera, so that the control precision is not high, and a large number of unmanned aerial vehicle clusters are difficult to realize in a small space.
Disclosure of Invention
The invention aims to provide a cluster control system for a small multi-rotor unmanned aerial vehicle in a closed environment, which solves the problem of high-precision control of a large number of unmanned aerial vehicles in a small space.
The technical scheme adopted by the invention is that the cluster control system of the small multi-rotor unmanned aerial vehicle in the closed environment comprises a fixed vision camera system, a ground control system and an airborne system which are sequentially in communication connection.
The invention is also characterized in that:
the fixed vision camera system comprises a vision camera group, a camera fixing assembly and an environment boundary marking pile.
The ground control system comprises a flight control computer, data acquisition equipment, a graphic display system and wireless communication equipment.
The airborne system comprises an unmanned aerial vehicle platform, a mark point and a wireless communication receiving end.
The fixed support is arranged along the boundary of the closed environment, the visual cameras are arranged on the fixed support according to a fixed distance, and all the visual cameras arranged on the fixed support form a visual camera system; arranging environment boundary marking piles at the intersection of the three boundary surfaces of the closed environment; shooting the boundary marker pile by the visual camera system, and sending the three-dimensional position information of the boundary marker pile to the flight control computer, so that the flight control computer establishes a geometric model of the closed space; the vision shooting system sends three-axis position information and three-axis attitude information of an unmanned aerial vehicle in motion or hovering to a flight control computer in real time through a mark point fixed on each unmanned aerial vehicle, the flight control computer forms instruction information through resolving, and sends the instruction information to a graphic display system, a data acquisition system and a wireless communication system, the graphic display system displays and sends the graphic data to the data acquisition system in an image form after processing the instruction, the data acquisition system collects and records the received instruction information and the graphic data sent by the graphic display system, the wireless communication system sends the instruction information to each unmanned aerial vehicle in an unmanned aerial vehicle cluster, and the unmanned aerial vehicle receives the instruction information through a wireless communication receiving end and then executes the instruction.
The invention has the beneficial effects that:
compared with a traditional unmanned aerial vehicle cluster control system, the small multi-rotor unmanned aerial vehicle cluster control system in the closed environment is provided with positioning information by the airborne GPS and the vision cameras, reduces the weight of a single unmanned aerial vehicle, or can increase batteries or loads with the same weight, finally improves the endurance time or enriches the task types, can improve the control precision by improving the resolution and frequency of the fixed vision cameras or increasing the arrangement density of the vision cameras, can increase the number of unmanned aerial vehicles in the unmanned aerial vehicle cluster in the same closed space, can be used in the closed environment, and can realize the same functions in an open field by erecting camera fixing components.
Drawings
Fig. 1 is a schematic connection diagram of a closed-environment small multi-rotor unmanned aerial vehicle cluster control system of the invention.
In the figure, 1 is a fixed vision camera system, 2 is a ground control system, and 3 is an airborne system.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the cluster control system for a small multi-rotor unmanned aerial vehicle in a closed environment comprises a fixed vision camera system 1, a ground control system 2 and an airborne system 3 which are sequentially in communication connection.
The fixed vision camera system 1 comprises a vision camera group, a camera fixing assembly and an environment boundary marking pile.
The ground control system 2 comprises a flight control computer, data acquisition equipment, a graphic display system and wireless communication equipment.
Airborne system 3 includes unmanned aerial vehicle platform, mark point, wireless communication acceptance end.
The fixed support is arranged along the boundary of the closed environment, the visual cameras are arranged on the fixed support according to a fixed distance, and all the visual cameras arranged on the fixed support form a visual camera system; arranging environment boundary marking piles at the intersection of the three boundary surfaces of the closed environment; shooting the boundary marker pile by the visual camera system, and sending the three-dimensional position information of the boundary marker pile to the flight control computer, so that the flight control computer establishes a geometric model of the closed space; the vision shooting system sends three-axis position information and three-axis attitude information of an unmanned aerial vehicle in motion or hovering to a flight control computer in real time through a mark point fixed on each unmanned aerial vehicle, the flight control computer forms instruction information through resolving, and sends the instruction information to a graphic display system, a data acquisition system and a wireless communication system, the graphic display system displays and sends the graphic data to the data acquisition system in an image form after processing the instruction, the data acquisition system collects and records the received instruction information and the graphic data sent by the graphic display system, the wireless communication system sends the instruction information to each unmanned aerial vehicle in an unmanned aerial vehicle cluster, and the unmanned aerial vehicle receives the instruction information through a wireless communication receiving end and then executes the instruction.
The components function as follows:
the camera fixing component is used for fixing the visual camera;
the environment boundary marking pile is used for providing boundary information of the closed environment space;
the visual camera group consists of a plurality of cameras arranged on the camera assembly and is used for capturing the position information of the environment boundary marking pile and the three-axis position information and the attitude information of the unmanned aerial vehicle and sending the information to the flight control computer;
the flight control computer establishes a geometric model of a closed space according to the position information of the environment boundary marker pile shot by the visual camera group, resolves and forms a flight path and instruction information of the unmanned aerial vehicle according to the three-axis position information and attitude information of the unmanned aerial vehicle captured by the visual camera group, and sends the instruction information to the graphic display system, the data acquisition system and the wireless communication system;
the graphic display system displays the graphic data in an image form and sends the graphic data to the data acquisition system after processing the unmanned aerial vehicle flight path and the instruction information sent by the flight control computer;
the data acquisition equipment acquires and records the flight path and the instruction information of the unmanned aerial vehicle sent by the flight control computer and the graphic data sent by the graphic display system;
the wireless communication equipment sends the unmanned plane instruction information sent by the flight control computer to each unmanned plane in the unmanned plane cluster;
the marking points are fixed on each unmanned aerial vehicle and used for being identified by the visual camera group and distinguishing different unmanned aerial vehicles, the marking points on each unmanned aerial vehicle are composed of at least three marking balls, and the marking ball combinations of each unmanned aerial vehicle are different;
the wireless communication receiving end receives instruction information sent by wireless communication equipment in the ground control system and transmits the instruction information to the unmanned aerial vehicle platform;
and after receiving the instruction information through the wireless communication receiving end, the unmanned aerial vehicle platform flies or hovers or executes tasks according to the instruction.
Compared with a traditional unmanned aerial vehicle cluster control system, the small multi-rotor unmanned aerial vehicle cluster control system in the closed environment is provided with positioning information by the airborne GPS and the vision cameras, reduces the weight of a single unmanned aerial vehicle, or can increase batteries or loads with the same weight, finally improves the endurance time or enriches the task types, can improve the control precision by improving the resolution and frequency of the fixed vision cameras or increasing the arrangement density of the vision cameras, can increase the number of unmanned aerial vehicles in the unmanned aerial vehicle cluster in the same closed space, can be used in the closed environment, and can realize the same functions in an open field by erecting camera fixing components.
Claims (5)
1. The utility model provides a small-size many rotor unmanned aerial vehicle cluster control system of closed environment which characterized in that: the system comprises a fixed vision camera system (1), a ground control system (2) and an airborne system (3) which are sequentially in communication connection.
2. The closed environment multi-rotor drone cluster control system according to claim 1, characterized in that: the fixed vision camera system (1) comprises a vision camera group, a camera fixing assembly and an environment boundary marking pile.
3. The closed environment multi-rotor drone cluster control system according to claim 2, characterized in that: the ground control system (2) comprises a flight control computer, data acquisition equipment, a graphic display system and wireless communication equipment.
4. The closed environment multi-rotor drone cluster control system according to claim 3, characterized in that: the airborne system (3) comprises an unmanned aerial vehicle platform, a mark point and a wireless communication receiving end.
5. The closed environment multi-rotor drone cluster control system according to claim 4, characterized in that: the fixed support is arranged along the boundary of the closed environment, the visual cameras are arranged on the fixed support according to a fixed distance, and all the visual cameras arranged on the fixed support form a visual camera system; arranging environment boundary marking piles at the intersection of the three boundary surfaces of the closed environment; shooting the boundary marker pile by the visual camera system, and sending the three-dimensional position information of the boundary marker pile to the flight control computer, so that the flight control computer establishes a geometric model of the closed space; the vision shooting system sends three-axis position information and three-axis attitude information of an unmanned aerial vehicle in motion or hovering to a flight control computer in real time through a mark point fixed on each unmanned aerial vehicle, the flight control computer forms instruction information through resolving, and sends the instruction information to a graphic display system, a data acquisition system and a wireless communication system, the graphic display system displays and sends the graphic data to the data acquisition system in an image form after processing the instruction, the data acquisition system collects and records the received instruction information and the graphic data sent by the graphic display system, the wireless communication system sends the instruction information to each unmanned aerial vehicle in an unmanned aerial vehicle cluster, and the unmanned aerial vehicle receives the instruction information through a wireless communication receiving end and then executes the instruction.
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| CN201911378992.0A CN111176308A (en) | 2019-12-27 | 2019-12-27 | Small-size many rotor unmanned aerial vehicle cluster control system of closed environment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859923A (en) * | 2021-01-25 | 2021-05-28 | 西北工业大学 | Unmanned aerial vehicle vision formation flight control system |
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Application publication date: 20200519 |
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