CN111290430A - Unmanned aerial vehicle formation dance step uploading transmission control system and method and intelligent terminal - Google Patents

Unmanned aerial vehicle formation dance step uploading transmission control system and method and intelligent terminal Download PDF

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Publication number
CN111290430A
CN111290430A CN202010096020.9A CN202010096020A CN111290430A CN 111290430 A CN111290430 A CN 111290430A CN 202010096020 A CN202010096020 A CN 202010096020A CN 111290430 A CN111290430 A CN 111290430A
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unmanned aerial
aerial vehicle
step data
dance step
dance
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吴冲
周小宁
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Yifei Hainan Technology Co ltd
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Efy Intelligent Control Tianjin Tech Co ltd
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • General Physics & Mathematics (AREA)
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Abstract

The invention belongs to the technical field of unmanned aerial vehicle cluster control, and discloses a system, a method and an intelligent terminal for controlling the dance step uploading of unmanned aerial vehicle formation, wherein a TCP (transmission control protocol) protocol for sending dance step data is agreed with an unmanned aerial vehicle, and the information of the dance step data is sent to the unmanned aerial vehicle; after receiving the reply of the unmanned aerial vehicle, starting to send dance step data, dividing the dance step data into the same parts according to the number of the waypoints, and sending one part of dance step data to the unmanned aerial vehicle; initiating a check to the unmanned aerial vehicle every minute; the cloud background sends the dance step data combination to the unmanned aerial vehicle, and after all dance step data are sent; and initiating dance step data verification to the unmanned aerial vehicle, and returning a verification result to the cloud background after verification is completed. The invention solves the problems that in the prior art, the time consumption for sending the dance step data to the unmanned aerial vehicle is long and the dance step data needs to be completely retransmitted once the unmanned aerial vehicle moves. The invention shortens the time for uploading dance step data; the problem of the unmanned aerial vehicle need upload the dance step data again after moving the position is solved.

Description

Unmanned aerial vehicle formation dance step uploading transmission control system and method and intelligent terminal
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle cluster control, and particularly relates to a system and a method for controlling unmanned aerial vehicle formation dance step uploading transmission and an intelligent terminal.
Background
The unmanned aerial vehicle formation performance is that a plurality of unmanned aerial vehicles form a plane pattern or a 3D stereo graph in the air according to a designed air route. In the early stage, each unmanned aerial vehicle needs to be designed with a route, each aircraft is guaranteed to have a safe distance and cannot collide with other aircraft, and then the route is scattered into a point, so that the unmanned aerial vehicle flies according to the dance step data of the waypoints. The method relates to the steps of sending designed air route dance step data to the unmanned aerial vehicle and checking the integrity of the dance step data. The volume of dance step data generated by the formation performance of the unmanned aerial vehicles is huge, and the requirements on the real-time performance and the bandwidth of communication are very high. The pictures formed by the unmanned aerial vehicle formation performance are firstly designed on software, and then the track dance step data of the unmanned aerial vehicle flight is generated, namely dance steps. At present, the main stream communication has wifi and radio station communication, but the two devices are more, the technical requirements are also higher, the problem is difficult to find, the debugging is troublesome, the requirement for equipment erection is very high, and the debugging is more troublesome. Because the unmanned frame number that needs control is more, real time control unmanned aerial vehicle flight is not too realistic, and there is the time difference in the instruction that unmanned aerial vehicle received, leads to the instruction not synchronous execution, appears frying machine or dance step data execution asynchronous scheduling problem to real time control has high to the stability requirement of signal, must guarantee that unmanned aerial vehicle and control cabinet can not break off.
In summary, the problems of the prior art are as follows: at present, wifi communication and radio station communication have very high requirements on equipment erection and are relatively troublesome; the unmanned aerial vehicle that needs control counts more, and real-time control unmanned aerial vehicle flight is not too realistic to real-time control requires extremely high to the stability of signal.
The difficulty of solving the technical problems is as follows: firstly, a very strong cloud background is needed to be made, and the control and access of concurrent hundreds of thousands of data can be supported. There is a need for an innovative tcp protocol between cloud back office and drone.
The significance of solving the technical problems is as follows: all data are processed through a platform, and all unmanned aerial vehicles are controlled through the platform. And simultaneously can support multiple users to control respective airplanes. The initiated data transmission protocol mode of the unmanned aerial vehicle provides a reference case for the unmanned aerial vehicle industry.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a system and a method for controlling the uploading and the transmission of the formation dance steps of unmanned aerial vehicles and an intelligent terminal.
The invention is realized in such a way that the method for controlling the uploading and the transmission of the formation of the unmanned aerial vehicles in the dance steps comprises the following steps:
step one, a TCP protocol for sending dance step data is agreed with an unmanned aerial vehicle, and information of the dance step data is sent to the unmanned aerial vehicle; and the Tcp protocol part is provided with a protocol head part and a protocol tail part which do not repeatedly appear. And the version number is set, so that the expansion and the resolution are convenient. The data length is set, so that the receiving party can conveniently determine the integrity of the protocol. The sender and the receiver are arranged, so that the expansion and the forwarding of the multi-equipment product are facilitated.
Secondly, after receiving the reply of the unmanned aerial vehicle, starting to send dance step data, dividing the dance step data into the same parts according to the number of the waypoints, and sending one part of dance step data to the unmanned aerial vehicle;
thirdly, initiating verification to the unmanned aerial vehicle every minute;
fourthly, the cloud background sends the dance step data combination to the unmanned aerial vehicle, and after all dance step data are sent; and initiating dance step data verification to the unmanned aerial vehicle, and returning a verification result to the cloud background after verification is completed.
Further, in the second step, a piece of dance step data is sent to the unmanned aerial vehicle every 300 ms.
Further, if the unmanned aerial vehicle does not receive the sent dance step data in the sending process or the dance step data is found to be wrong through verification, the unmanned aerial vehicle returns the serial number of the dance step data to the cloud background.
Further, the dance step data of each unmanned aerial vehicle in the unmanned aerial vehicle formation dance step uploading transmission control method is dance step data in a row specific format, each row represents one point on the unmanned aerial vehicle travelling path, and each point has a number of the point.
Another object of the present invention is to provide a formation of unmanned aerial vehicles dance transmission control system for implementing the formation of unmanned aerial vehicles dance transmission control method, the formation of unmanned aerial vehicles dance transmission control system comprising:
the dance step data information sending module is used for realizing a TCP protocol for sending dance step data by convention with the unmanned aerial vehicle and sending the information of the dance step data to the unmanned aerial vehicle;
the dance step data interval sending module is used for starting sending dance step data after receiving the reply of the unmanned aerial vehicle, dividing the dance step data into the same parts according to the number of waypoints, and sending one part of dance step data to the unmanned aerial vehicle every 300 ms;
the dance step data checking module is used for initiating checking to the unmanned aerial vehicle every minute, and if the unmanned aerial vehicle does not receive the sent dance step data in the sending process or the dance step data is checked to be found to be wrong, the unmanned aerial vehicle returns the serial number of the dance step data to the cloud background;
the dance step data combination module is used for realizing that the cloud background combines and sends dance step data to the unmanned aerial vehicle, and after all dance step data are sent; and initiating dance step data verification to the unmanned aerial vehicle, and returning a verification result to the cloud background after verification is completed.
The invention also aims to provide the intelligent terminal for realizing the unmanned aerial vehicle formation dance step uploading transmission control method.
Another object of the present invention is to provide a computer-readable storage medium, which includes instructions that, when executed on a computer, cause the computer to execute the method for controlling upload transmission during formation of unmanned aerial vehicles.
In summary, the advantages and positive effects of the invention are: the invention adopts 4G communication, and sends the track dance step data to the unmanned aerial vehicles before flying, so that each unmanned aerial vehicle executes the respective dance step data. The unmanned aerial vehicle transmits the dance step data to the cloud background through 4G communication, and the cloud background calculates the state of the unmanned aerial vehicle in real time and controls the unmanned aerial vehicle to take off and land and execute the dance step data. The invention solves the problems that in the prior art, the time consumption for sending the dance step data to the unmanned aerial vehicle is long and the dance step data needs to be completely retransmitted once the unmanned aerial vehicle moves. The invention shortens the time for uploading dance step data; the problem of the unmanned aerial vehicle need upload the dance step data again after moving the position is solved.
At present, the mode of uploading the dance step data is to send an effective dance step data to the unmanned aerial vehicle at one time, and the correctness of the dance step data needs to be checked after the sending is finished, so that the mode is time-consuming and long. The invention respectively optimizes the way of sending the dance step data and the verification way of safety and integrity, the way of sending the dance step data in batches is adopted, effective dance step data are sent as much as possible in one dance step data, the verification way is adjusted to be the total verification after the verification of several dance step data is once completed and the dance step data is sent, and the correctness of the dance step data is ensured.
After the unmanned aerial vehicles in the formation have the dance step data, if the takeoff position is changed, the dance step data needs to be sent to the unmanned aerial vehicles again. After optimization, the position change of each unmanned aerial vehicle is calculated by the cloud background, the change of the dance step data is calculated to obtain the dance step data correction of each unmanned aerial vehicle, and the dance step data correction is sent to the unmanned aerial vehicle, so that the time consumed for transmitting the dance step data is reduced.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle formation dance step uploading transmission control system provided by an embodiment of the present invention;
in the figure: 1. the dance step data information sending module; 2. a dance step data interval sending module; 3. a dance step data checking module; 4. dance step data combination module.
Fig. 2 is a flowchart of a method for controlling upload transmission during formation of a formation of unmanned aerial vehicles according to an embodiment of the present invention.
Fig. 3 is a flowchart of an implementation of the method for controlling upload transmission during formation of a formation of unmanned aerial vehicles according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following 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.
Aiming at the problems in the prior art, the invention provides a system and a method for controlling the uploading and the transmission of the formation dance steps of unmanned aerial vehicles and an intelligent terminal, and the invention is described in detail with reference to the attached drawings.
As shown in fig. 1, an unmanned aerial vehicle formation dance step uploading transmission control system provided by the embodiment of the present invention includes:
the dance step data information sending module 1 is used for realizing a TCP protocol for sending dance step data in agreement with the unmanned aerial vehicle, and sending the information of the dance step data to the unmanned aerial vehicle.
And the dance step data interval sending module 2 is used for sending dance step data after receiving the reply of the unmanned aerial vehicle, dividing the dance step data into the same parts according to the number of waypoints, and sending one part of dance step data to the unmanned aerial vehicle every 300 ms.
And the dance step data checking module 3 is used for initiating one check to the unmanned aerial vehicle every minute, and if the unmanned aerial vehicle does not receive the sent dance step data or the dance step data is checked to find errors in the dance step data in the sending process, the unmanned aerial vehicle returns the serial number of the dance step data to the cloud background.
The dance step data combination module 4 is used for realizing that the cloud background combines and sends dance step data to the unmanned aerial vehicle, and after all dance step data are sent; and initiating dance step data verification to the unmanned aerial vehicle, and returning a verification result to the cloud background after verification is completed.
As shown in fig. 2, the method for controlling uploading transmission during formation of a team of unmanned aerial vehicles according to the embodiment of the present invention includes the following steps:
s201: the TCP protocol for sending dance step data is appointed with the unmanned aerial vehicle, and the information of the dance step data is sent to the unmanned aerial vehicle;
s202: after receiving the reply of the unmanned aerial vehicle, starting to send dance step data, dividing the dance step data into the same parts according to the number of the waypoints, and sending one part of dance step data to the unmanned aerial vehicle every 300 ms;
s203: initiating verification to the unmanned aerial vehicle every minute, and if the unmanned aerial vehicle does not receive the sent dance step data in the sending process or the verification finds that the dance step data is wrong, the unmanned aerial vehicle returns the serial number of the dance step data to the cloud background;
s204: the cloud background sends the dance step data combination to the unmanned aerial vehicle, and after all dance step data are sent; and initiating dance step data verification to the unmanned aerial vehicle, and returning a verification result to the cloud background after verification is completed.
The technical solution of the present invention is further described below with reference to the accompanying drawings.
As shown in fig. 3, the method for controlling uploading transmission during formation of a team of unmanned aerial vehicles according to the embodiment of the present invention specifically includes: the dance step data of each unmanned aerial vehicle is dance step data in a line specific format, each line represents one point on the travel path of the unmanned aerial vehicle, and each point has a number of the point. Firstly, the TCP protocol for sending dance step data is appointed with the unmanned aerial vehicle, and the information of the dance step data is sent to the unmanned aerial vehicle. And after receiving the reply of the unmanned aerial vehicle, starting to send dance step data, dividing the dance step data into the same parts according to the number of the waypoints, and sending one part of dance step data to the unmanned aerial vehicle every 300 ms. And initiating verification once per minute to the unmanned aerial vehicle, and if the unmanned aerial vehicle does not receive the sent dance step data in the sending process or the verification finds that the dance step data is wrong, the unmanned aerial vehicle returns the serial numbers of the dance step data to the cloud background. The cloud background combines the dance step data and sends the dance step data to the unmanned aerial vehicle. And after all dance step data are sent, initiating dance step data verification to the unmanned aerial vehicle again, and returning a verification result to the cloud background after verification is completed.
Because the earlier stage of the unmanned aerial vehicle formation dance step data in the prior art is long in manufacturing time and complex, if the takeoff position of the unmanned aerial vehicle is changed, the unmanned aerial vehicle dance step must be done again. The cloud backstage calculates the position change of each unmanned aerial vehicle, records the correction amount of each unmanned aerial vehicle, sends the correction amount to the unmanned aerial vehicle through a protocol, and the unmanned aerial vehicle modifies the stored dance step data and returns the modification result after the modification is completed.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. It will be appreciated by those of ordinary skill in the art that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided, for example, on a carrier medium such as a disk, CD or DVD-ROM, programmable memory such as read only memory (firmware), or a dance data carrier such as an optical or electronic signal carrier. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (7)

1. The method for controlling the uploading transmission during the formation of the unmanned aerial vehicles is characterized by comprising the following steps of:
step one, a TCP protocol for sending dance step data is agreed with an unmanned aerial vehicle, and information of the dance step data is sent to the unmanned aerial vehicle;
secondly, after receiving the reply of the unmanned aerial vehicle, starting to send dance step data, dividing the dance step data into the same parts according to the number of the waypoints, and sending one part of dance step data to the unmanned aerial vehicle;
thirdly, initiating verification to the unmanned aerial vehicle every minute;
fourthly, the cloud background sends the dance step data combination to the unmanned aerial vehicle, and after all dance step data are sent; and initiating dance step data verification to the unmanned aerial vehicle, and returning a verification result to the cloud background after verification is completed.
2. The method of claim 1, wherein the second step sends a piece of dance step data to the drones every 300 ms.
3. The method for controlling upload transmission of dance steps by formation of unmanned aerial vehicles according to claim 1, wherein in the third step, if the unmanned aerial vehicle does not receive the transmitted dance step data during transmission or the transmitted dance step data is checked to be incorrect, the unmanned aerial vehicle transmits the number of the dance step data back to the cloud background.
4. The method of claim 1, wherein the dance step data of each drone is dance step data in a row specific format, each row representing a point on the path of travel of the drone, each point having its own number.
5. An unmanned aerial vehicle formation dance step uploading transmission control system implementing the unmanned aerial vehicle formation dance step uploading transmission control method according to any one of claims 1 to 4, wherein the unmanned aerial vehicle formation dance step uploading transmission control system comprises:
the dance step data information sending module is used for realizing a TCP protocol for sending dance step data by convention with the unmanned aerial vehicle and sending the information of the dance step data to the unmanned aerial vehicle;
the dance step data interval sending module is used for starting sending dance step data after receiving the reply of the unmanned aerial vehicle, dividing the dance step data into the same parts according to the number of waypoints, and sending one part of dance step data to the unmanned aerial vehicle every 300 ms;
the dance step data checking module is used for initiating checking to the unmanned aerial vehicle every minute, and if the unmanned aerial vehicle does not receive the sent dance step data in the sending process or the dance step data is checked to be found to be wrong, the unmanned aerial vehicle returns the serial number of the dance step data to the cloud background;
the dance step data combination module is used for realizing that the cloud background combines and sends dance step data to the unmanned aerial vehicle, and after all dance step data are sent; and initiating dance step data verification to the unmanned aerial vehicle, and returning a verification result to the cloud background after verification is completed.
6. An intelligent terminal for realizing the unmanned aerial vehicle formation dance transmission control method according to any one of claims 1-4.
7. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the drone formation dance transmission control method of any one of claims 1 to 4.
CN202010096020.9A 2020-02-17 2020-02-17 Unmanned aerial vehicle formation dance step uploading transmission control system and method and intelligent terminal Pending CN111290430A (en)

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CN113485455A (en) * 2021-08-23 2021-10-08 一飞(海南)科技有限公司 Method, system, terminal and unmanned aerial vehicle for transmitting state information of formation dance step files back to background

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