CN112925340A - Unmanned aerial vehicle group flight attitude correction platform and method - Google Patents
Unmanned aerial vehicle group flight attitude correction platform and method Download PDFInfo
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Abstract
The invention relates to a flight attitude correction platform and method for an unmanned aerial vehicle group, wherein the platform comprises: the unmanned aerial vehicle group comprises a plurality of unmanned aerial vehicles, and the plurality of unmanned aerial vehicles complete combination of various patterns in the air through posture change and relative position adjustment; the height measuring mechanism is arranged below the main unmanned aerial vehicle, is positioned near the aerial photography capturing mechanism and is used for measuring the current shooting height of the aerial photography capturing mechanism; and the layout analysis equipment is used for determining the corresponding unmanned aerial vehicle group distribution area based on the received area proportion and the current shooting height. The unmanned aerial vehicle group flight attitude correction platform and the method thereof have simple principle and convenient operation and control. Because the original fixed mode of the unmanned aerial vehicle group flight mode can be replaced, a more flexible self-adaptive control mechanism is adopted to carry out on-site correction on the airspace distribution area of the unmanned aerial vehicle group, and therefore the self-adaptive level of the unmanned aerial vehicle group control is improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle groups, in particular to an unmanned aerial vehicle group flight attitude correction platform and method.
Background
The development of unmanned aerial vehicle technology is faster and faster now, and even many countries have tried to use unmanned aerial vehicles in the military, because then in the military, unmanned aerial vehicles can be used to detect enemy situations and the like, so that casualties can be greatly reduced, and various unmanned aerial vehicle tactics are derived in relation to the military use of unmanned aerial vehicles.
In this case, what is the unmanned aerial vehicle clustering technology is hot after all, and certainly, what is the unmanned aerial vehicle clustering technology, and bee attacks are attacks in a group formation, so that bee swarm tactics are called. Of course, the drone clustering technology does not simply put a stack of drones together and then arrange a stack of manipulators to operate one-to-one, and this low-end approach is completely inconsistent with the definition of the drone clustering technology.
Currently, the unmanned aerial vehicle cluster can be used not only in military, but also in various civil fields such as commercial exhibition. In the flight performance process of the unmanned aerial vehicle cluster, the occupied area of the airspace is fixed, the change is not based on the distribution of the field audiences but based on the change of a preset program, however, the distribution area of the field audiences is different under different occasions and due to reasons such as randomness, and the like, and the fixed flight performance mode can cause that some marginal audiences have poor watching effect.
Disclosure of Invention
In order to solve the technical problems in the related field, the invention provides an unmanned aerial vehicle cluster flight attitude correction platform which can replace the original fixed mode unmanned aerial vehicle cluster flight mode and adopt a more flexible self-adaptive control mechanism to carry out on-site correction on the airspace distribution area of the unmanned aerial vehicle cluster, thereby meeting the watching requirements of the widest area audience.
Therefore, the present invention needs to have at least two important points:
(1) the main unmanned aerial vehicle in the unmanned aerial vehicle cluster is used as a control main body, and the airspace distribution area of the unmanned aerial vehicle cluster is adaptively corrected based on the distribution area of audiences watching the performance on site, so that the audiovisual watching requirements of all audiences on the ground are met as far as possible;
(2) the distribution area of the audience watching the performance on site is detected by adopting a customized signal processing mechanism, and the flying height is introduced as a judgment factor of the airspace distribution area of the unmanned aerial vehicle cluster on the basis of the distribution area of the audience watching the performance on site so as to improve the precision of site judgment.
According to an aspect of the present invention, there is provided an unmanned aerial vehicle fleet attitude correction platform, comprising:
the unmanned aerial vehicle cluster is composed of a plurality of unmanned aerial vehicles, and the unmanned aerial vehicles complete combination of various patterns in the air through posture change and relative position adjustment.
According to another aspect of the present invention, there is also provided a method for flight attitude correction of a drone swarm, the method comprising using a drone swarm flight attitude correction platform as described above to adaptively correct the airspace distribution area of the drone swarm based on the distribution area of the audience viewing the performance on site.
The unmanned aerial vehicle group flight attitude correction platform and the method thereof have simple principle and convenient operation and control. Because the original fixed mode of the unmanned aerial vehicle group flight mode can be replaced, a more flexible self-adaptive control mechanism is adopted to carry out on-site correction on the airspace distribution area of the unmanned aerial vehicle group, and therefore the self-adaptive level of the unmanned aerial vehicle group control is improved.
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Embodiments of the invention will now be described with reference to the accompanying drawings, in which:
fig. 1 is a flight layout diagram illustrating a drone swarm used by a drone swarm flight attitude modification platform according to an embodiment of the present invention.
Detailed Description
Embodiments of the drone swarm flight attitude modification platform and method of the present invention will now be described in detail with reference to the accompanying drawings.
The core of the unmanned aerial vehicle clustering technology is the cluster intelligence, which is the cluster intelligence, and simply, the unmanned aerial vehicle cluster can independently complete a plurality of tasks under the control of the artificial intelligence. The inspiration of the technology of the 'colony intelligence' comes from colony organisms in nature, such as ant colonies, bee colonies and the like, which have the same characteristics, that is, the single organisms are weak and small and have little intelligence, but the organisms have very strong colony cooperation capability and can complete exquisite and complex 'engineering' even for human beings, such as bee nests, ant pits and the like. Therefore, the existing unmanned aerial vehicle cluster intelligent technology simulates a communication and cooperation mode between bees and ants, and thus the overall fighting capacity of the unmanned aerial vehicle cluster is enhanced.
Currently, the unmanned aerial vehicle cluster can be used not only in military, but also in various civil fields such as commercial exhibition. In the flight performance process of the unmanned aerial vehicle cluster, the occupied area of the airspace is fixed, the change is not based on the distribution of the field audiences but based on the change of a preset program, however, the distribution area of the field audiences is different under different occasions and due to reasons such as randomness, and the like, and the fixed flight performance mode can cause that some marginal audiences have poor watching effect.
In order to overcome the defects, the invention builds the unmanned aerial vehicle group flight attitude correction platform and the method, and can effectively solve the corresponding technical problems.
The flight attitude correction platform of the unmanned aerial vehicle group shown according to the embodiment of the invention comprises:
the unmanned aerial vehicle group comprises a plurality of unmanned aerial vehicles, and the plurality of unmanned aerial vehicles complete combination of various patterns in the air through posture change and relative position adjustment;
fig. 1 shows a flight layout of an unmanned aerial vehicle fleet used by an unmanned aerial vehicle fleet flight attitude modification platform according to an embodiment of the present invention.
Next, a detailed description will be given of a specific structure of the unmanned aerial vehicle cluster flight attitude correction platform according to the present invention.
In the unmanned aerial vehicle group flight attitude correction platform:
the unmanned aerial vehicle cluster is composed of a master unmanned aerial vehicle and slave unmanned aerial vehicles, wherein the master unmanned aerial vehicle is wirelessly connected with the slave unmanned aerial vehicles respectively and used for controlling the flight modes of the slave unmanned aerial vehicles.
The unmanned aerial vehicle group flight attitude correction platform can further comprise:
the height measuring mechanism is arranged below the main unmanned aerial vehicle, is positioned near the aerial photography capturing mechanism and is used for measuring the current shooting height of the aerial photography capturing mechanism;
the aerial photography capturing mechanism is arranged below the main unmanned aerial vehicle and is used for executing image capturing operation on the environment where the audience watching the unmanned aerial vehicle group performance is located so as to obtain an instant aerial photography image;
the content equalization equipment is arranged in the main unmanned aerial vehicle, is connected with the aerial photography capturing mechanism, and is used for executing histogram equalization processing based on a distribution function on the received instant aerial photography image so as to obtain a field processing image;
the data sharpening device is connected with the content equalization device and used for carrying out image data sharpening processing based on high-pass filtering on the received field processing image so as to obtain a data sharpened image;
the object identification mechanism is connected with the data sharpening equipment and used for identifying each human body object in the data sharpened image based on a standard human body pattern, wherein the standard human body pattern is an imaging pattern of each angle of the human body in the upward-looking state;
the area analysis mechanism is arranged in the main unmanned aerial vehicle, is connected with the object identification mechanism and is used for determining the area proportion of the distribution area of the human body objects in the data sharpened image occupying the data sharpened image;
the layout analysis equipment is respectively connected with the height measurement mechanism and the area analysis mechanism and is used for determining the corresponding unmanned aerial vehicle group distribution area based on the area proportion and the current shooting height;
the wireless transmitting unit of the master unmanned aerial vehicle is also connected with the layout analysis equipment and is used for wirelessly transmitting the unmanned aerial vehicle cluster distribution area to the wireless receiving unit of each slave unmanned aerial vehicle so as to control each slave unmanned aerial vehicle to correct the performance position of each slave unmanned aerial vehicle, so that the space occupation area of the unmanned aerial vehicle cluster is the same as the unmanned aerial vehicle cluster distribution area;
wherein controlling each slave unmanned aerial vehicle to modify its performance position such that the airspace footprint of the fleet of unmanned aerial vehicles is the same as the fleet distribution area comprises: each slave unmanned aerial vehicle completes the correction of the performance position through a flight driving mechanism, a positioning mechanism and a distance measuring mechanism;
wherein determining a corresponding unmanned aerial vehicle group distribution area based on the area ratio and the current shooting height comprises: the larger the area proportion is, the wider the determined corresponding unmanned aerial vehicle group distribution area is.
In the unmanned aerial vehicle group flight attitude correction platform:
determining a corresponding unmanned aerial vehicle group distribution area based on the area ratio and the current shooting height comprises: the higher the current shooting height is, the wider the determined corresponding unmanned aerial vehicle group distribution area is.
In the unmanned aerial vehicle group flight attitude correction platform:
determining the area proportion of the distribution area with the human body object in the data sharpened image occupying the data sharpened image comprises the following steps: and determining a distribution area of the human body objects in the data sharpened image as an imaging area of each human body object in the data sharpened image.
The unmanned aerial vehicle group flight attitude correction platform can further comprise:
and the pattern storage mechanism is connected with the object identification mechanism and is used for storing the standard human body patterns, wherein more than one standard human body patterns only comprise one human body object.
In the unmanned aerial vehicle group flight attitude correction platform:
identifying individual human objects in the data-sharpened image based on a standard human pattern comprises: and taking the block with the similarity exceeding the image content similarity of a certain standard human body pattern in the data sharpening image as an image block with a corresponding human body object.
In the unmanned aerial vehicle group flight attitude correction platform:
each slave unmanned aerial vehicle is provided with a wireless receiving unit and a wireless transmitting unit, and the master unmanned aerial vehicle is also provided with a wireless receiving unit and a wireless transmitting unit.
In the unmanned aerial vehicle group flight attitude correction platform:
in the wireless communication protocol of the master unmanned aerial vehicle and each slave unmanned aerial vehicle, different marks are adopted to distinguish the master unmanned aerial vehicle from the slave unmanned aerial vehicle.
Meanwhile, in order to overcome the defects, the invention also builds a flight attitude correction method of the unmanned aerial vehicle cluster, and the method comprises the step of using the flight attitude correction platform of the unmanned aerial vehicle cluster to adaptively correct the airspace distribution area of the unmanned aerial vehicle cluster based on the distribution area of the audience for watching the performance on site.
In addition, according to the classification of flight platform configuration, unmanned aerial vehicle can be divided into fixed wing unmanned aerial vehicle, rotor unmanned aerial vehicle, unmanned airship, umbrella wing unmanned aerial vehicle, flapping wing unmanned aerial vehicle etc..
Categorised according to the usage, unmanned aerial vehicle can be divided into for military use unmanned aerial vehicle and civilian unmanned aerial vehicle. Military unmanned aerial vehicles can be divided into reconnaissance unmanned aerial vehicles, decoy unmanned aerial vehicles, electronic countermeasure unmanned aerial vehicles, communication relay unmanned aerial vehicles, unmanned fighters, target drone and the like; civilian unmanned aerial vehicles can be divided into patrol/watch on unmanned aerial vehicles, agricultural unmanned aerial vehicles, meteorological unmanned aerial vehicles, exploration unmanned aerial vehicles, surveying and mapping unmanned aerial vehicles, and the like.
By scale classification (civil aviation regulations), unmanned aerial vehicles can be divided into micro unmanned aerial vehicles, light unmanned aerial vehicles, small unmanned aerial vehicles and large unmanned aerial vehicles. The micro unmanned aerial vehicle is an unmanned aerial vehicle with the mass of an air machine less than or equal to 7kg, the mass of a light unmanned aerial vehicle more than 7kg but less than or equal to 116kg, and the corrected airspeed is less than 100km/h (55nmile/h) and the lift limit is less than 3000m in full-horsepower flat flight. The small unmanned aerial vehicle is an unmanned aerial vehicle with the mass of the air aircraft less than or equal to 5700kg, except for micro and light unmanned aerial vehicles. Large-scale unmanned aerial vehicle is that the empty quick-witted quality is greater than 5700 kg.
Categorised according to the radius of activity, unmanned aerial vehicle can be divided into super short range unmanned aerial vehicle, medium range unmanned aerial vehicle and long-range unmanned aerial vehicle. The radius of motion of super short range unmanned aerial vehicle is within 15km, and short range unmanned aerial vehicle radius of motion is between 15 ~ 50km, and short range unmanned aerial vehicle radius of motion is between 50 ~ 200km, and middle range unmanned aerial vehicle radius of motion is between 200 ~ 800km, and long-range unmanned aerial vehicle radius of motion is greater than 800 km.
According to task height classification, unmanned aerial vehicles can be divided into ultra-low altitude unmanned aerial vehicles, hollow unmanned aerial vehicles, high altitude unmanned aerial vehicles and ultra-high altitude unmanned aerial vehicles. The task height of the ultra-low altitude unmanned aerial vehicle is generally between 0 and room, the task height of the low altitude unmanned aerial vehicle is generally between 100 and 1000m, the task height of the hollow unmanned aerial vehicle is generally between 1000 and 7000m, the task height of the high altitude unmanned aerial vehicle is generally between 7000 and 18000m, and the task height of the ultra-high altitude unmanned aerial vehicle is generally greater than 18000 m.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (10)
1. An unmanned aerial vehicle crowd flight attitude correction platform, characterized in that, the platform includes:
the unmanned aerial vehicle cluster is composed of a plurality of unmanned aerial vehicles, and the unmanned aerial vehicles complete combination of various patterns in the air through posture change and relative position adjustment.
2. The drone swarm flight attitude modifier platform of claim 1, wherein:
the unmanned aerial vehicle cluster is composed of a master unmanned aerial vehicle and slave unmanned aerial vehicles, wherein the master unmanned aerial vehicle is wirelessly connected with the slave unmanned aerial vehicles respectively and used for controlling the flight modes of the slave unmanned aerial vehicles.
3. The drone swarm attitude modifier platform of claim 2, wherein the platform further comprises:
the height measuring mechanism is arranged below the main unmanned aerial vehicle, is positioned near the aerial photography capturing mechanism and is used for measuring the current shooting height of the aerial photography capturing mechanism;
the aerial photography capturing mechanism is arranged below the main unmanned aerial vehicle and is used for executing image capturing operation on the environment where the audience watching the unmanned aerial vehicle group performance is located so as to obtain an instant aerial photography image;
the content equalization equipment is arranged in the main unmanned aerial vehicle, is connected with the aerial photography capturing mechanism, and is used for executing histogram equalization processing based on a distribution function on the received instant aerial photography image so as to obtain a field processing image;
the data sharpening device is connected with the content equalization device and used for carrying out image data sharpening processing based on high-pass filtering on the received field processing image so as to obtain a data sharpened image;
the object identification mechanism is connected with the data sharpening equipment and used for identifying each human body object in the data sharpened image based on a standard human body pattern, wherein the standard human body pattern is an imaging pattern of each angle of the human body in the upward-looking state;
the area analysis mechanism is arranged in the main unmanned aerial vehicle, is connected with the object identification mechanism and is used for determining the area proportion of the distribution area of the human body objects in the data sharpened image occupying the data sharpened image;
the layout analysis equipment is respectively connected with the height measurement mechanism and the area analysis mechanism and is used for determining the corresponding unmanned aerial vehicle group distribution area based on the area proportion and the current shooting height;
the wireless transmitting unit of the master unmanned aerial vehicle is also connected with the layout analysis equipment and is used for wirelessly transmitting the unmanned aerial vehicle cluster distribution area to the wireless receiving unit of each slave unmanned aerial vehicle so as to control each slave unmanned aerial vehicle to correct the performance position of each slave unmanned aerial vehicle, so that the space occupation area of the unmanned aerial vehicle cluster is the same as the unmanned aerial vehicle cluster distribution area;
wherein controlling each slave unmanned aerial vehicle to modify its performance position such that the airspace footprint of the fleet of unmanned aerial vehicles is the same as the fleet distribution area comprises: each slave unmanned aerial vehicle completes the correction of the performance position through a flight driving mechanism, a positioning mechanism and a distance measuring mechanism;
wherein determining a corresponding unmanned aerial vehicle group distribution area based on the area ratio and the current shooting height comprises: the larger the area proportion is, the wider the determined corresponding unmanned aerial vehicle group distribution area is.
4. The drone swarm flight attitude modifier platform of claim 3, wherein:
determining a corresponding unmanned aerial vehicle group distribution area based on the area ratio and the current shooting height comprises: the higher the current shooting height is, the wider the determined corresponding unmanned aerial vehicle group distribution area is.
5. The drone swarm flight attitude modifier platform of claim 4, wherein:
determining the area proportion of the distribution area with the human body object in the data sharpened image occupying the data sharpened image comprises the following steps: and determining a distribution area of the human body objects in the data sharpened image as an imaging area of each human body object in the data sharpened image.
6. The drone swarm attitude modifier platform of claim 5, wherein the platform further comprises:
and the pattern storage mechanism is connected with the object identification mechanism and is used for storing the standard human body patterns, wherein more than one standard human body patterns only comprise one human body object.
7. The drone swarm flight attitude modifier platform of claim 6, wherein:
identifying individual human objects in the data-sharpened image based on a standard human pattern comprises: and taking the block with the similarity exceeding the image content similarity of a certain standard human body pattern in the data sharpening image as an image block with a corresponding human body object.
8. The drone swarm flight attitude modifier platform of claim 7, wherein:
each slave unmanned aerial vehicle is provided with a wireless receiving unit and a wireless transmitting unit, and the master unmanned aerial vehicle is also provided with a wireless receiving unit and a wireless transmitting unit.
9. The drone swarm flight attitude modifier platform of claim 8, wherein:
in the wireless communication protocol of the master unmanned aerial vehicle and each slave unmanned aerial vehicle, different marks are adopted to distinguish the master unmanned aerial vehicle from the slave unmanned aerial vehicle.
10. A method of drone swarm attitude modification, the method comprising using a drone swarm attitude modification platform according to any one of claims 3-9 to adaptively modify an airspace distribution area of the drone swarm based on a distribution area of an audience viewing a performance on-site.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113642526A (en) * | 2021-09-03 | 2021-11-12 | 江阴市浩华新型复合材料有限公司 | Picture processing system and method based on computer control |
| CN113837581A (en) * | 2021-09-16 | 2021-12-24 | 江苏泰扬金属制品有限公司 | Big data application dispatching system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113642526A (en) * | 2021-09-03 | 2021-11-12 | 江阴市浩华新型复合材料有限公司 | Picture processing system and method based on computer control |
| CN113837581A (en) * | 2021-09-16 | 2021-12-24 | 江苏泰扬金属制品有限公司 | Big data application dispatching system and method |
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Application publication date: 20210608 |