CN111796604A - Light-load type remote cruise unmanned aerial vehicle group system - Google Patents
Light-load type remote cruise unmanned aerial vehicle group system Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to a light-load type remote cruising unmanned aerial vehicle cluster system which comprises a ground control base station and at least one unmanned aerial vehicle cluster, wherein the at least one unmanned aerial vehicle cluster comprises at least one master control unmanned aerial vehicle and N controlled unmanned aerial vehicles, an AAT full-automatic tracking cradle head and a wireless network bridge are mounted on the ground control base station and the master control unmanned aerial vehicle, the AAT full-automatic tracking cradle head and the wireless network bridge are used for performing point-to-point transmission on a control command between the ground control base station and the master control unmanned aerial vehicle, a router is mounted on the master control unmanned aerial vehicle, WiFi modules are mounted on the N controlled unmanned aerial vehicles, and signal communication and command transmission are performed between the master control unmanned aerial vehicle. The technology can enable the whole unmanned aerial vehicle cluster to fly farther, the cruising ability is stronger, the adopted radio wave signals enable the cluster to have the functions of investigation prevention and better concealment, and the cluster can execute tasks in mountainous areas and earthquake zones without signals of 4G, 5G and the like.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a light-load type long-distance cruising unmanned aerial vehicle cluster system.
Background
Along with the development of computer technology and internet technology, the research of unmanned aerial vehicle also develops gradually and improves, and unmanned aerial vehicle has advantages such as low cost, flexible, easy and simple to handle, the maintenance is safe in utilization, is used in aspects such as communication relay, calamity monitoring, pesticide spraying, traffic control widely, even has the concern in aspects such as military reconnaissance, attack.
At present, in order to increase the workload and the detection range of the unmanned aerial vehicle, a plurality of unmanned aerial vehicles can be combined into an unmanned aerial vehicle cluster so as to deal with the adverse factors that a wide task area and a single unmanned aerial vehicle cannot complete a task after a fault. However, in many existing unmanned plane cluster control systems, a ground console is used as a center to control each unmanned plane in an unmanned plane cluster, and each unmanned plane is used as a node to form a star-shaped control mode. Under this condition, when the data communication between unmanned aerial vehicle and the ground control platform is interrupted, will directly lead to the failure of task, even have the danger of crash. If in order to carry out remote task execution, each unmanned aerial vehicle can be equipped with an SIM card, so that the cost of the unmanned aerial vehicle cluster is greatly increased, and the resource waste is caused.
In order to solve the above problems, the patent number "201711104634.1", the patent name "a unmanned aerial vehicle cluster, a switching method and a device of the unmanned aerial vehicle cluster" discloses a control technology of the unmanned aerial vehicle cluster, the unmanned aerial vehicle cluster comprises a master unmanned aerial vehicle, a slave unmanned aerial vehicle and a ground control console, the master unmanned aerial vehicle is used as a communication access point to communicate with the outside, and sends task instructions in an ad hoc network communication mode, the slave unmanned aerial vehicle is used for receiving the task instructions in the ad hoc network communication mode, and executes corresponding tasks according to the task instructions, the ground console is used for sending the task instructions to the main unmanned aerial vehicle in a GPRS communication mode, so that main unmanned aerial vehicle sends through ad hoc network communication mode the task instruction extremely from unmanned aerial vehicle, main unmanned aerial vehicle can also regard as switching node control from unmanned aerial vehicle breaks away from current main unmanned aerial vehicle, and connect to purpose main unmanned aerial vehicle. The unmanned aerial vehicle cluster realizes seamless switching of the unmanned aerial vehicle among different unmanned aerial vehicle clusters, and completes the cross-regional task of the unmanned aerial vehicle; or when the unmanned aerial vehicle is newly added in the unmanned aerial vehicle cluster, seamless switching of the unmanned aerial vehicle from one unmanned aerial vehicle cluster to another unmanned aerial vehicle cluster is realized, so that interference caused by loss of contact with the main unmanned aerial vehicle in the switching process is avoided.
However, the above-described robot cluster and the control method thereof have disadvantages in that: 1. in order to achieve the purpose that each slave unmanned aerial vehicle described in the above patent can be switched to a master unmanned aerial vehicle connected to the ground at will, all the aircraft configurations of the whole unmanned aerial vehicle cluster are the same, and the function of the master unmanned aerial vehicle can be achieved, so that the heavier the aircraft is, the higher the power consumption is, the shorter the range of the whole unmanned aerial vehicle cluster is, and in the prior art, the unmanned aerial vehicle cluster in the flight mode generally has a range of only about 500 meters, and the distance for executing tasks is limited.
2. The ground console and the unmanned aerial vehicle cluster are communicated in a GPRS communication mode, a flight cruise task is executed in a mountain area with poor signals or a place after an earthquake, the cluster cannot be controlled or the distance is more limited due to the problem of the signals, and the unmanned aerial vehicles are easy to lose contact or be interfered when signal contact is switched.
Disclosure of Invention
In view of the technical problems in the prior art, the invention provides a light-load type long-distance cruising unmanned aerial vehicle cluster system, wherein modules carried by a main control unmanned aerial vehicle and a controlled unmanned aerial vehicle are separated, and the main control unmanned aerial vehicle and the controlled unmanned aerial vehicle are matched to enable the whole unmanned aerial vehicle cluster to fly farther and have stronger cruising ability, so that the technical problem that the flight range of the unmanned aerial vehicle in the prior art is within hundreds of meters when the unmanned aerial vehicle executes tasks is solved; and the radio wave signals are adopted, so that the cluster has the functions of detection prevention and better concealment, and the cluster can execute tasks in mountainous areas and earthquake zones without signals of 4G, 5G and the like.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a light-duty type remote cruise's unmanned aerial vehicle crowd system, includes ground control base station and at least one unmanned aerial vehicle crowd, at least one unmanned aerial vehicle crowd includes at least one master control unmanned aerial vehicle and N controlled unmanned aerial vehicle in the said at least one, its characterized in that:
the ground control base station and the master control unmanned aerial vehicle are provided with at least one AAT full-automatic tracking cradle head, the ground control base station is communicated with the master control unmanned aerial vehicle through a wireless network bridge, the AAT full-automatic tracking cradle head and the wireless network bridge are used for point-to-point transmission of control instructions between the ground control base station and the master control unmanned aerial vehicle,
the main control unmanned aerial vehicle is equipped with the router, N controlled unmanned aerial vehicle is equipped with the WiFi module, main control unmanned aerial vehicle utilizes the WiFi signal to be used for sending N corresponding control command to N controlled unmanned aerial vehicle, N controlled unmanned aerial vehicle utilizes the WiFi signal to be used for receiving one of them control command in N control command.
The ground control base station is specifically configured to: and sending the task instruction to the master control unmanned aerial vehicle in a radio wave communication mode so that the master control unmanned aerial vehicle sends the task instruction to the N controlled unmanned aerial vehicles in a wifi communication mode.
At least one unmanned aerial vehicle cluster also comprises a signal bridge connector which carries signals between the master control unmanned aerial vehicle and the signal bridge connector and between the signal bridge connector and the ground control base station,
the signal bridge is specifically configured to: the signal transfer point is used for controlling the main control unmanned aerial vehicle to be separated from the ground control base station, bridging the connection between the main control unmanned aerial vehicle and the ground control base station, and bridging the connection between the main control unmanned aerial vehicle and the main control unmanned aerial vehicle.
Optionally, the signal bridge is equipped with at least two AAT full-automatic tracking holders, and the signal bridge may also be equipped with a router to communicate with the controlled unmanned aerial vehicle, or may not be equipped with a router to communicate with the master control unmanned aerial vehicle.
Optionally, the signal bridge is an air bridge unmanned aerial vehicle, or an highland bridge base station.
In addition, master control unmanned aerial vehicle still is used for:
acquiring a first distance between the master control unmanned aerial vehicle and the ground control base station, scanning to determine the highest degree of the terrain within the flight radius range of the master control unmanned aerial vehicle, and determining a second distance between the highest degree of the terrain and the ground control base station,
determining whether the altitude of the second distance blocks a point-to-point radio wave signal between the master drone and the ground control base station,
if the height of the second distance blocks the radio wave signal between the master control unmanned aerial vehicle and the ground control base station, the ground starts the aerial bridge unmanned aerial vehicle to fly to the air, and the aerial bridge unmanned aerial vehicle is used as a signal transfer point to bridge the signal transmission between the ground control base station and the master control unmanned aerial vehicle, or
And the high place of the second distance is lapped with the highland bridging base station, and the highland bridging base station is used as a signal transfer point to bridge the signal transmission between the ground control base station and the main control unmanned aerial vehicle.
Optionally, at least one of the unmanned aerial vehicle clusters further includes a second master unmanned aerial vehicle for serving as a switching node to control the master unmanned aerial vehicle to be separated from the N controlled unmanned aerial vehicles, and the second master unmanned aerial vehicle replaces the active unmanned aerial vehicle to be connected to the N controlled unmanned aerial vehicles.
Optionally, the master control drone is further configured to:
determining the master control distance between the master control unmanned aerial vehicle and the ground control base station, determining the distance between the master control unmanned aerial vehicle and the controlled unmanned aerial vehicle at the farthest distance, reflecting the master control distance and the controlled distance to the ground control base station,
if the master control distance exceeds the set threshold value, the second master control unmanned aerial vehicle takes off to a position between the master control unmanned aerial vehicle and the ground control base station, signals between the second master control unmanned aerial vehicle and the ground control and between the second master control unmanned aerial vehicle and the master control unmanned aerial vehicle are connected,
or if the controlled distance exceeds the set threshold value, the second master control unmanned aerial vehicle takes off to a position between the master control unmanned aerial vehicle and the controlled unmanned aerial vehicle, and signals between the second master control unmanned aerial vehicle and the controlled unmanned aerial vehicle and between the second master control unmanned aerial vehicle and the master control unmanned aerial vehicle are connected,
optionally, the ground control base station is respectively in point-to-point three-point series transmission with the radio wave signals between the master control unmanned aerial vehicle and the second master control unmanned aerial vehicle, or
And radio wave signals between the ground control base station and the main control unmanned aerial vehicle and between the ground control base station and the second main control unmanned aerial vehicle are transmitted in a one-to-two parallel mode.
According to the scheme, one or more technical schemes in the embodiment of the invention have the following technical effects:
1. an unmanned aerial vehicle system includes at least one unmanned aerial vehicle cluster and ground control basic station, wherein there are at least one master control unmanned aerial vehicle and N controlled unmanned aerial vehicle in the unmanned aerial vehicle cluster, and master control unmanned aerial vehicle carries on the full automatic tracking cloud platform of heavier AAT and wireless bridge and the point-to-point communication of ground control basic station and contacts, and only need very little, very light, very cheap wifi module between master control unmanned aerial vehicle and the controlled unmanned aerial vehicle to carry out the communication can. Design like this, just can make all controlled unmanned aerial vehicles of whole cluster alleviate its self dead weight, reduce self volume, the dead weight is lighter, then the duration of battery is just far away, the condition with ground communication is accomplished by at least one heavier master control unmanned aerial vehicle, then master control unmanned aerial vehicle transmits flight information for every controlled unmanned aerial vehicle again, both combine, it is farther to cause whole unmanned aerial vehicle cluster to fly, the duration is stronger, the flight range when solving unmanned aerial vehicle among the prior art and carrying out the task is in the technical problem of several hundred meters, through the experiment, the duration of unmanned aerial vehicle cluster of this design can reach 5 kilometers-10 kilometers.
2. Between master control unmanned aerial vehicle and the ground control basic station, adopt the full-automatic cloud platform of tracking of AAT to carry out transmission communication, wireless bridge is radio wave, and both can contact the communication when leading to a channel, and the benefit of utilizing the full-automatic cloud platform of tracking of AAT to communicate for network communication such as 4G, 5G is: the signals are transmitted point to point, no matter which direction the main control unmanned aerial vehicle flies, the signal transmission of the AAT full-automatic tracking cradle head always turns to the ground control base station, so that the fixed-point linear transmission of the main control unmanned aerial vehicle and the ground control base station can be achieved, and the information sent by the ground control base station can only be received by the main control unmanned aerial vehicle in the cluster. On the contrary, the information sent by the master control unmanned aerial vehicle can only be received by the corresponding ground control base station, and other unmanned aerial vehicles and base stations in a certain range cannot send and detect the flight traces of the unmanned aerial vehicle cluster, so that the design can achieve the aim of preventing detection. In addition, the advantage of radio wave transmission also has the function of preventing the signal from losing, or the ground control base station can quickly track the position of the controlled cluster after the signal is lost, so the invention adopts the radio wave as the communication protocol, and can prevent the loss of the unmanned aerial vehicle and the interruption of the signal.
3. Because the master control unmanned aerial vehicle measures the distance between the master control unmanned aerial vehicle and the controlled unmanned aerial vehicle and the ground control base station and determines the height of the barrier between the flight height of the master control unmanned aerial vehicle and the ground control base station, when the radio wave signal is blocked by the barrier, the signal bridge can take off to an open place as a bridge, under the condition of not taking over the main control unmanned aerial vehicle for main control, the signal bridge point or the signal transfer point is used as a signal bridge point or a signal transfer point to reestablish a new signal point to control the main control unmanned aerial vehicle, because the signal bridge is provided with two AAT full-automatic tracking cloud platforms, one AAT full-automatic tracking cloud platform is in contact with the ground control base station, the other AAT full-automatic tracking cloud platform is in contact communication with the main control unmanned aerial vehicle, when the unmanned aerial vehicle group executes tasks in mountainous areas, or when the earthquake-stricken area executes tasks, the master control unmanned aerial vehicle and the unmanned aerial vehicle cluster do not lose signal connection due to geographical limitation.
Similarly, the highland bridging base station has the same function as the signal bridge, the flight range of the unmanned aerial vehicle group is determined only by artificially surveying the terrain, and a highland bridging base station is established in advance before the flight in the highland without signal shielding and is used as a signal transfer point or a signal bridging point to link the communication between the ground control base station and the master control unmanned aerial vehicle.
4. Because the second main control unmanned aerial vehicle is also designed, the second main control unmanned aerial vehicle can also be used as a main controller of two or more unmanned aerial vehicles, for example, when a plurality of unmanned aerial vehicles simultaneously execute flight tasks in different places, the second main control unmanned aerial vehicle can connect a plurality of individual unmanned aerial vehicles into a whole, uniformly receive signals of all the unmanned aerial vehicles, and uniformly transmit the signals to a ground headquarter control center, so that data can be integrated, a system network of a plurality of unmanned aerial vehicles is formed, the unified management of a general operation desk is facilitated, tasks are uniformly distributed, the operation is simpler, and the tasks are distributed more timely.
5. The second main control unmanned aerial vehicle still has as switching node, takes over the function that main control unmanned aerial vehicle flight controlled task, when main control unmanned aerial vehicle energy exhausts like this, perhaps when flight trouble appears, can in time take off second main control unmanned aerial vehicle and take over its task, continue to establish with controlled unmanned aerial vehicle between the contact, no matter be main control unmanned aerial vehicle or second main control unmanned aerial vehicle not only are limited to one, can be two and more than two.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a communication connection between a ground control base station and an unmanned aerial vehicle cluster according to a first embodiment;
fig. 2 is a schematic flow chart of the communication connection between the ground control base station and the master drone and the signal bridge according to the second embodiment;
fig. 3 is a schematic flow chart of the communication connection between the ground control base station and the master unmanned aerial vehicle and between the ground control base station and the second master unmanned aerial vehicle in the third embodiment;
fig. 4 is a schematic flowchart of communication connection between another ground control base station and the master drone, the signal bridge, and the second master drone disclosed in the fourth embodiment;
Detailed Description
In order that those skilled in the art will better understand the technical solution of the present invention, the following embodiments are further described. In the embodiment of the present invention, the provided drone swarm system can be applied to application scenarios such as tour, remote monitoring or transmission, or other application scenarios, which are not illustrated herein.
The first embodiment is as follows: as shown in fig. 1, a light-load type remote cruising unmanned aerial vehicle cluster system includes a ground control base station and at least one unmanned aerial vehicle cluster, where the at least one unmanned aerial vehicle cluster includes at least one master unmanned aerial vehicle and N controlled unmanned aerial vehicles, the ground control base station and the master unmanned aerial vehicle are equipped with an AAT full-automatic tracking cradle head, the ground control base station and the master unmanned aerial vehicle are in contact communication through a wireless network bridge, and the AAT full-automatic tracking cradle head and the wireless network bridge are used for performing point-to-point transmission on a control command between the ground control base station and the master unmanned aerial vehicle; the wireless network bridge is carried on the AAT full-automatic tracking cradle head, and the point-to-point transmission means that no matter the master control unmanned aerial vehicle flies to any direction, the AAT full-automatic tracking cradle head always faces the ground control base station, so that point-to-point linear transmission is realized, signal transmission is the same as laser and searchlighting light, and the signals are transmitted only in the relative spatial range of the two AAT full-automatic tracking cradle heads, so that other signals can not interfere and the unmanned aerial vehicle cluster can not be detected; in addition, the full automatic tracking cloud platform of AAT can track the signal, prevents that master control unmanned aerial vehicle from losing the antithetical couplet, in case track the signal and just lock this signal, keeps the communication unblocked, and in the same way, below second master control unmanned aerial vehicle and signal bridge also have the same model and track the function.
The unmanned aerial vehicle of master control is last to be loaded with the router, N controlled unmanned aerial vehicle is last to be loaded with the WiFi module, master control unmanned aerial vehicle utilizes the WiFi signal to be used for sending N corresponding control command to N controlled unmanned aerial vehicle, N controlled unmanned aerial vehicle utilizes the WiFi signal to be used for receiving one of them control command in N control command, and here N is for being equal to or being greater than 1 integer.
In a specific embodiment of the present invention, the ground control base station is specifically configured to: and sending the task instruction to the master control unmanned aerial vehicle in a radio wave communication mode so that the master control unmanned aerial vehicle sends the task instruction to the N controlled unmanned aerial vehicles in a wifi communication mode.
The N controlled unmanned aerial vehicles are only used for receiving the instruction of the master control unmanned aerial vehicle in the cluster, the feedback information is also fed back to the master control unmanned aerial vehicle in the cluster, and then the master control unmanned aerial vehicle transmits the information back to the ground control base station, the N controlled unmanned aerial vehicles can be the same type of unmanned aerial vehicle or different types of unmanned aerial vehicles, the function modules of each controlled unmanned aerial vehicle controlled by the master unmanned aerial vehicle in the cluster are different, and the finally realized functions are different, for example, the controlled unmanned aerial vehicle with the number 1 executes a reconnaissance task of animal or human activities, the controlled unmanned aerial vehicle with the number 2 executes a terrain scanning task, the controlled unmanned aerial vehicle with the number 3 can also be provided with a heat carrier imaging device, can search for and rescue live person and live animal, also can image at night, number 4 carries on the jettison device, can deliver rescue goods and materials etc. and number 5 carries on loudspeaker for propaganda and broadcast, number 6 carries on the camera can monitor and topography scanning surveys. The method of the present invention is not limited to the above embodiments, and the method of the present invention may be implemented by any method.
In a drone swarm, the master drone is not limited to only one, such as: 500 controlled unmanned aerial vehicle's cluster, send two main control unmanned aerial vehicle to control, the order of ground control basic station that two main control unmanned aerial vehicle received is the same, and two main control unmanned aerial vehicle can manage half controlled unmanned aerial vehicle in charge, also can cross management all controlled unmanned aerial vehicle. Because master control unmanned aerial vehicle is responsible for and contacts with ground control basic station, the module of carrying on certainly more than controlled unmanned aerial vehicle, so, controlled unmanned aerial vehicle self module reduces, does not influence the communication with ground again, and ground instruction can convey to so controlled unmanned aerial vehicle through master control unmanned aerial vehicle, so the cruiser mileage of whole unmanned aerial vehicle crowd just becomes: the communication distance of master control unmanned aerial vehicle and ground control basic station + master control unmanned aerial vehicle and controlled unmanned aerial vehicle directly lengthens this flying distance on prior art, combines controlled unmanned aerial vehicle's underloaded flight, and under the condition of battery same power, whole mileage directly increases about 4 times for original flight mileage, and the mileage that the unmanned aerial vehicle crowd of present design can fly has reached 5 kilometers.
According to the description of the embodiment, all the controlled unmanned aerial vehicles can be controlled more flexibly, and when the regional environment for executing the tasks is severe or the range is large, the master control unmanned aerial vehicle can replace technicians to control the whole unmanned aerial vehicle cluster to complete corresponding tasks; meanwhile, the unmanned aerial vehicle cluster can realize remote control, technicians do not need to reach a task area personally, only instructions needed by completing tasks need to be configured in the master control unmanned aerial vehicle in advance, and the master control unmanned aerial vehicle brings each controlled unmanned aerial vehicle to execute corresponding operation according to the pre-configured task instructions, so that labor force is liberated, and resources and cost are saved.
Example two:
as shown in fig. 2, on the basis of the first embodiment, in the specific implementation of this embodiment, at least one unmanned aerial vehicle group includes at least one master control unmanned aerial vehicle and N controlled unmanned aerial vehicles, and further includes a signal bridge, which carries signals between the master control unmanned aerial vehicle and the signal bridge, and between the signal bridge and the ground control base station, and the signal bridge carries two AAT full-automatic tracking holders on the master control unmanned aerial vehicle carrying base module, where one AAT full-automatic tracking holder is responsible for always keeping in contact with the ground control base station, and the other is responsible for being in communication connection with the master control unmanned aerial vehicle, and performs signal transmission point to point. In addition, the signal bridge can also carry a router to communicate with the controlled unmanned aerial vehicle, or the signal bridge does not carry a router to communicate with the master control unmanned aerial vehicle.
Establishing a connection with a ground control base station and a master control unmanned aerial vehicle;
the signal bridge is specifically configured to: the signal transfer point is used for controlling the main control unmanned aerial vehicle to be separated from the ground control base station, bridging the connection between the main control unmanned aerial vehicle and the ground control base station, and bridging the connection between the main control unmanned aerial vehicle and the main control unmanned aerial vehicle.
Optionally, the signal bridge is an air bridge unmanned aerial vehicle, or an highland bridge base station.
Specifically, as the wireless bridge of the invention belongs to a signal transmission form of radio waves carried on an AAT full-automatic tracking cradle head, once a transmission path of signals is blocked by something, the master control unmanned aerial vehicle is easy to lose contact with a ground control base station, especially when the unmanned aerial vehicle group carries out flying and cruising in a mountain area, the signals are easy to be blocked by mountains, at the moment, the signal bridge is dispatched to a use field, the aerial bridge unmanned aerial vehicle can fly to an unobstructed high altitude, or a high-altitude bridge base station is established in a mountain top high altitude in advance, so that the signal bridge can carry out signal linear transmission with the ground control base station, and then the received signals are linearly transmitted to the master control unmanned aerial vehicle to complete signal transfer and bridge.
In addition, master control unmanned aerial vehicle still is used for:
acquiring a first distance between the master control unmanned aerial vehicle and the ground control base station, scanning to determine the highest degree of the terrain within the flight radius range of the master control unmanned aerial vehicle, and determining a second distance between the highest degree of the terrain and the ground control base station,
determining whether the altitude of the second distance blocks a point-to-point radio wave signal between the master drone and the ground control base station,
if the height of the second distance blocks the radio wave signal between the master control unmanned aerial vehicle and the ground control base station, the ground starts the aerial bridge unmanned aerial vehicle to fly to the air, and the aerial bridge unmanned aerial vehicle is used as a signal transfer point to bridge the signal transmission between the ground control base station and the master control unmanned aerial vehicle, or
And the high place of the second distance is lapped with the highland bridging base station, and the highland bridging base station is used as a signal transfer point to bridge the signal transmission between the ground control base station and the main control unmanned aerial vehicle.
In specific implementation, after the master control drone flies to high altitude, the flight altitude is determined while flying, once an obstacle obstructing signal connection with the ground control base station exists in the range of the flight altitude, information is fed back to the ground control base station immediately, the ground control base station makes a corresponding strategy immediately, the signal bridge drone flies to the air or the ground bridge base station is started, after the signal bridge is in place, the connection between the signal bridge and the master control drone is connected, and then whether the connection between the master control drone and the ground control base station is cut off or not is considered, it needs to be noted that the transmission mode of signals and the transmission mode of control instructions at this time include, but are not limited to, the following centralized modes:
1. the master control unmanned aerial vehicle also only receives signals and instructions of the ground control base station;
2. the main control unmanned aerial vehicle cuts off direct contact with the ground control base station and only receives signals and instructions from the signal bridge;
3. the main control unmanned aerial vehicle receives the commands sent by the ground control base station and the signal bridge connector at the same time.
For the above three implementations, one or more combinations of the above three implementations may be selected by those skilled in the art according to actual needs, and are not particularly limited in the embodiments of the present invention.
Example three:
as shown in fig. 3, on the basis of the first embodiment, in the specific implementation of this embodiment, optionally, at least one of the unmanned aerial vehicle clusters further includes a second master drone for serving as a switching node to control the master drone to separate from the N controlled unmanned aerial vehicles, and the second master drone replaces the master drone to be connected to the N controlled unmanned aerial vehicles.
Optionally, the master control drone is further configured to:
the master control distance between the master control unmanned aerial vehicle and the ground control base station and the distance between the master control unmanned aerial vehicle and the controlled unmanned aerial vehicle at the farthest position are determined through the distance sensor, and the master control distance and the controlled distance are reflected to the ground control base station,
if the master control distance exceeds the set threshold value, the second master control unmanned aerial vehicle takes off to a position between the master control unmanned aerial vehicle and the ground control base station, signals between the second master control unmanned aerial vehicle and the ground control and between the second master control unmanned aerial vehicle and the master control unmanned aerial vehicle are connected,
or if the controlled distance exceeds the set threshold value, the second master control unmanned aerial vehicle takes off to a position between the master control unmanned aerial vehicle and the controlled unmanned aerial vehicle, and signals between the second master control unmanned aerial vehicle and the controlled unmanned aerial vehicle and between the second master control unmanned aerial vehicle and the master control unmanned aerial vehicle are connected,
optionally, the ground control base station is respectively in point-to-point three-point series transmission with the radio wave signals between the master control unmanned aerial vehicle and the second master control unmanned aerial vehicle, or
And radio wave signals between the ground control base station and the main control unmanned aerial vehicle and between the ground control base station and the second main control unmanned aerial vehicle are transmitted in a one-to-two parallel mode.
During the concrete implementation, use a master control unmanned aerial vehicle and a controlled unmanned aerial vehicle as an example, the settlement threshold of master control distance is originally 500 meters, the settlement threshold of controlled distance is originally 1000 meters, under the actual conditions, if master control unmanned aerial vehicle and controlled unmanned aerial vehicle surpass and set for the threshold, then ground control personnel just take off second master control unmanned aerial vehicle, master control unmanned aerial vehicle just bridges between the master control distance or between the controlled distance, a signal of switching, carry out the instruction transmission, no matter be master control unmanned aerial vehicle or controlled unmanned aerial vehicle can both prolong the navigation distance in setting for the threshold once more like this.
Or when the master control unmanned aerial vehicle breaks down, the second master control unmanned aerial vehicle directly takes off to serve as a switching node, directly switches the master control right of the master control aircraft to serve as a new master control unmanned aerial vehicle, and establishes large signal contact with the ground control base station and the controlled unmanned aerial vehicle.
In the embodiment of the invention, when the master unmanned aerial vehicle controls the N controlled unmanned aerial vehicles, the requirements of algorithm scheduling and data throughput can be simplified, and the controlled unmanned aerial vehicles are only controlled by the master unmanned aerial vehicle, so that the flight distances of the M controlled unmanned aerial vehicles can be farther, the application scenes of the unmanned aerial vehicle cluster can be expanded, and the technical effect of the usability of the unmanned aerial vehicle cluster can be further achieved.
In the above three embodiments, the second master unmanned aerial vehicle is basically the same as the master unmanned aerial vehicle in configuration, and the basic modules carried on the second master unmanned aerial vehicle are the same, and in addition, no matter whether the master unmanned aerial vehicle, the second master unmanned aerial vehicle or the signal bridge are carried on the modules described in this embodiment, other modules can be added by oneself according to the tasks executed by the modules, such as a reconnaissance module, a cruise module, a tracking module, and the like.
Example four:
as shown in fig. 4, the fourth embodiment can also be implemented in combination with the first, second and third embodiments, and even if the signal bridge executes the flight mission, the flight state of the master control unmanned aerial vehicle can be utilized, the second master control unmanned aerial vehicle taking off takes over the master control unmanned aerial vehicle to perform master control flight, and at this time, the second master control unmanned aerial vehicle can take over the master control unmanned aerial vehicle to be connected and transmitted with the signal bridge.
The above detailed description of the light-load type long-distance cruising unmanned aerial vehicle cluster system provided by the present invention is only used to help understanding the method and the core idea of the present invention. It should be noted that, for those skilled in the art, on the premise of not departing from the principle of the present invention, the present invention may be further modified and modified, for example, the main control drone may determine a flight distance according to its own electric quantity or oil quantity, so as to send an instruction to the ground control base station, and the ground control base station may rapidly make a takeoff time of the second main control drone and send an instruction to recall the main control drone. In addition, the present invention is not limited to such radio communication protocols, such as bluetooth, and such modifications and improvements fall within the scope of the claims of the present invention.
Claims (9)
1. The utility model provides a light-duty type remote cruise's unmanned aerial vehicle crowd system, includes ground control base station and at least one unmanned aerial vehicle crowd, at least one unmanned aerial vehicle crowd includes at least one master control unmanned aerial vehicle and N controlled unmanned aerial vehicle in the said at least one, its characterized in that:
the ground control base station and the master control unmanned aerial vehicle are provided with at least one AAT full-automatic tracking cradle head, the ground control base station is communicated with the master control unmanned aerial vehicle through a wireless network bridge, the AAT full-automatic tracking cradle head and the wireless network bridge are used for point-to-point transmission of control instructions between the ground control base station and the master control unmanned aerial vehicle,
the main control unmanned aerial vehicle is equipped with the router, N controlled unmanned aerial vehicle is equipped with the WiFi module, main control unmanned aerial vehicle utilizes the WiFi signal to be used for sending N corresponding control command to N controlled unmanned aerial vehicle, N controlled unmanned aerial vehicle utilizes the WiFi signal to be used for receiving one of them control command in N control command.
2. The light-duty remotely cruising drone swarm system of claim 1, wherein the ground control base station is specifically configured to: and sending the task instruction to the master control unmanned aerial vehicle in a radio wave communication mode so that the master control unmanned aerial vehicle sends the task instruction to the N controlled unmanned aerial vehicles in a wifi communication mode.
3. The light-duty long-range cruising unmanned aerial vehicle cluster system of claim 2, wherein at least one unmanned aerial vehicle cluster further comprises a signal bridge for carrying signals between the master control unmanned aerial vehicle and the signal bridge, and between the signal bridge and the ground control base station,
the signal bridge is specifically configured to: the signal transfer point is used for controlling the main control unmanned aerial vehicle to be separated from the ground control base station, bridging the connection between the main control unmanned aerial vehicle and the ground control base station, and bridging the connection between the main control unmanned aerial vehicle and the main control unmanned aerial vehicle.
4. The light-duty long-distance cruising unmanned aerial vehicle cluster system of claim 3, wherein at least two AAT fully automatic tracking pan/tilt heads are mounted on said signal bridge.
5. The light-duty cruise drone swarm system according to claim 4, wherein the signal bridge is an air bridge drone or an aerial bridge base station.
6. The light-duty remotely cruising drone swarm system of claim 5, wherein said master drone is further configured to:
acquiring a first distance between the master control unmanned aerial vehicle and the ground control base station, scanning to determine the highest degree of the terrain within the flight radius range of the master control unmanned aerial vehicle, and determining a second distance between the highest degree of the terrain and the ground control base station,
determining whether the altitude of the second distance blocks a point-to-point radio wave signal between the master drone and the ground control base station,
if the height of the second distance blocks the radio wave signal between the master control unmanned aerial vehicle and the ground control base station, the ground starts the aerial bridge unmanned aerial vehicle to fly to the air, and the aerial bridge unmanned aerial vehicle is used as a signal transfer point to bridge the signal transmission between the ground control base station and the master control unmanned aerial vehicle, or
And the high place of the second distance is lapped with the highland bridging base station, and the highland bridging base station is used as a signal transfer point to bridge the signal transmission between the ground control base station and the main control unmanned aerial vehicle.
7. The unmanned aerial vehicle fleet system for light-load and long-distance cruise, according to claim 2, wherein at least one of the unmanned aerial vehicle fleets further comprising a second master drone serving as a switching node for controlling the master drone to depart from the N controlled drones, and the second master drone replaces the master drone and is connected to the N controlled drones.
8. The light-duty remotely cruising drone swarm system of claim 7, wherein said master drone is further configured to:
determining the master control distance between the master control unmanned aerial vehicle and the ground control base station, determining the distance between the master control unmanned aerial vehicle and the controlled unmanned aerial vehicle at the farthest distance, reflecting the master control distance and the controlled distance to the ground control base station,
if the master control distance exceeds the set threshold value, the second master control unmanned aerial vehicle takes off to a position between the master control unmanned aerial vehicle and the ground control base station, and signals between the second master control unmanned aerial vehicle and the ground control and between the second master control unmanned aerial vehicle and the master control unmanned aerial vehicle are connected.
Or if the controlled distance exceeds the set threshold value, the second master control unmanned aerial vehicle takes off to a position between the master control unmanned aerial vehicle and the controlled unmanned aerial vehicle, and signals between the second master control unmanned aerial vehicle and the controlled unmanned aerial vehicle and between the second master control unmanned aerial vehicle and the master control unmanned aerial vehicle are connected,
9. the drone swarm system for light-load cruise distant according to claim 7, wherein the ground control base station transmits the radio wave signals between the master drone and the second master drone in a point-to-point three-point series connection, or
And radio wave signals between the ground control base station and the main control unmanned aerial vehicle and between the ground control base station and the second main control unmanned aerial vehicle are transmitted in a one-to-two parallel mode.
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