CN113726410B - Unmanned aerial vehicle cluster networking method and device and unmanned aerial vehicle cluster operation system - Google Patents
Unmanned aerial vehicle cluster networking method and device and unmanned aerial vehicle cluster operation system Download PDFInfo
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Abstract
The invention provides a method and a device for networking an unmanned aerial vehicle cluster and an unmanned aerial vehicle cluster operation system, wherein a fixed relay unmanned aerial vehicle in the unmanned aerial vehicle cluster is cancelled, a plurality of upper layer networked unmanned aerial vehicles and a plurality of lower layer networked unmanned aerial vehicles are arranged, the upper layer networked unmanned aerial vehicles are used as networking routers to communicate with a ground base station and provide communication signals for the lower layer networked unmanned aerial vehicles, and in the flight process, the lower layer networked unmanned aerial vehicles dynamically determine the relay unmanned aerial vehicles in the lower layer networked unmanned aerial vehicles according to the signal intensity by comparing the signal intensity between the lower layer networked unmanned aerial vehicles and all the upper layer networked unmanned aerial vehicles in corresponding preset signal areas and the signal intensity between the lower layer networked unmanned aerial vehicles and all the upper layer networked unmanned aerial vehicles in corresponding preset signal areas in real time. Because the relay unmanned aerial vehicle in the lower-layer networking unmanned aerial vehicle is dynamically determined according to the signal intensity, the communication between the lower-layer networking unmanned aerial vehicle and the upper-layer networking unmanned aerial vehicle cannot be influenced even if the relay unmanned aerial vehicle is destroyed, and the stability of the communication of the whole unmanned aerial vehicle group is ensured.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a device for networking an unmanned aerial vehicle cluster and an unmanned aerial vehicle cluster operation system.
Background
A drone ad hoc network is typically made up of a ground station and a plurality of drones in the air. At present, in an unmanned aerial vehicle ad hoc network, a relay unmanned aerial vehicle is arranged in a cluster, and other unmanned aerial vehicles in the cluster communicate with an upper layer through the relay unmanned aerial vehicle.
However, once the relay unmanned aerial vehicle is destroyed, the whole cluster cannot communicate with the upper layer, which results in communication loss or cluster loss.
Disclosure of Invention
In view of this, the invention provides a method and a device for networking an unmanned aerial vehicle cluster, and an unmanned aerial vehicle cluster operation system, so as to realize autonomous networking of lower-layer networked unmanned aerial vehicles in the unmanned aerial vehicle cluster and ensure communication stability.
In order to achieve the above purpose, the invention provides the following specific technical scheme:
the utility model provides a method for networking of unmanned aerial vehicle crowd, is applied to lower floor's networking unmanned aerial vehicle in the unmanned aerial vehicle crowd, and unmanned aerial vehicle crowd still includes a plurality of upper strata networking unmanned aerial vehicle, and upper strata networking unmanned aerial vehicle communicates with ground basic station as networking router to provide communication signal for lower floor's networking unmanned aerial vehicle, the method includes:
acquiring signal intensity between all upper layer networking unmanned aerial vehicles in a corresponding preset signal area and signal intensity between other lower layer networking unmanned aerial vehicles and all upper layer networking unmanned aerial vehicles in the corresponding preset signal area in the flight process;
under the condition that the signal intensity between the relay unmanned aerial vehicle and the upper layer networking unmanned aerial vehicle is greater than the signal intensity between other lower layer networking unmanned aerial vehicles and the upper layer networking unmanned aerial vehicle, the relay unmanned aerial vehicle establishes communication with the upper layer networking unmanned aerial vehicle corresponding to the maximum signal intensity, and forwards information sent by the upper layer networking unmanned aerial vehicle to other lower layer networking unmanned aerial vehicles;
under the condition that the signal intensity between the unmanned aerial vehicle and the upper layer networking unmanned aerial vehicle is smaller than the signal intensity between the unmanned aerial vehicle and the upper layer networking unmanned aerial vehicle, the relay unmanned aerial vehicle is determined in the other lower layer networking unmanned aerial vehicles, and the information sent by the relay unmanned aerial vehicle is received.
Optionally, the method further includes:
generating a flight route in real time in the flight process;
the generated flight routes are sent to other lower-layer networking unmanned aerial vehicles, and the flight routes sent by other lower-layer networking unmanned aerial vehicles are received;
comparing the flight route generated by the unmanned aerial vehicle with flight routes sent by other lower-layer networking unmanned aerial vehicles, and determining an optimal flight route;
and flying according to the optimal flying route.
Optionally, lower network deployment unmanned aerial vehicle includes image acquisition equipment and radar, real-time generation flight route in flight process includes:
acquiring image information and radar information acquired by image acquisition equipment in a flight process;
determining whether an obstacle exists in a preset range or not according to the image information and the radar information, and determining the distance between the obstacle and the obstacle under the condition that the obstacle exists;
and generating a flight route according to whether an obstacle exists in a preset range, the distance between the obstacle and the obstacle under the condition that the obstacle exists and a pre-received task instruction.
Optionally, the method further includes:
under the condition that the distance between the relay unmanned aerial vehicle and the relay unmanned aerial vehicle reaches a preset signal area, sending flight queue change signals to other lower-layer networking unmanned aerial vehicles;
correcting a flight route according to a preset rule to enable the flight route to be in chain-shaped distribution with other lower-layer networking unmanned aerial vehicles;
and receiving the information sent by the rear lower-layer networking unmanned aerial vehicle, and forwarding the information to the front lower-layer networking unmanned aerial vehicle.
The utility model provides an unmanned aerial vehicle crowd device of networking, is applied to the lower floor's network deployment unmanned aerial vehicle in the unmanned aerial vehicle crowd, and unmanned aerial vehicle crowd still includes a plurality of upper strata network deployment unmanned aerial vehicles, and upper strata network deployment unmanned aerial vehicle communicates with ground basic station as networking router to provide communication signal for lower floor's network deployment unmanned aerial vehicle, the device includes:
the signal intensity acquisition unit is used for acquiring the signal intensity between all upper layer networking unmanned aerial vehicles in the corresponding preset signal area and the signal intensity between other lower layer networking unmanned aerial vehicles and all upper layer networking unmanned aerial vehicles in the corresponding preset signal area in the flight process;
the information sending unit is used for establishing communication between the relay unmanned aerial vehicle and the upper layer networked unmanned aerial vehicle corresponding to the maximum signal intensity under the condition that the signal intensity between the relay unmanned aerial vehicle and the upper layer networked unmanned aerial vehicle is greater than the signal intensity between the other lower layer networked unmanned aerial vehicles and the upper layer networked unmanned aerial vehicle, and forwarding information sent by the upper layer networked unmanned aerial vehicle to the other lower layer networked unmanned aerial vehicles;
and the information receiving unit is used for determining the relay unmanned aerial vehicle in other lower-layer networking unmanned aerial vehicles and receiving the information sent by the relay unmanned aerial vehicle under the condition that the signal intensity between the information receiving unit and the upper-layer networking unmanned aerial vehicle is smaller than the signal intensity between other lower-layer networking unmanned aerial vehicles and the upper-layer networking unmanned aerial vehicle.
Optionally, the apparatus further comprises:
the flight route generating unit is used for generating a flight route in real time in the flight process;
the flight route receiving and transmitting unit is used for transmitting the generated flight routes to other lower-layer networking unmanned aerial vehicles and receiving the flight routes transmitted by other lower-layer networking unmanned aerial vehicles;
the optimal flight route determining unit is used for comparing the flight route generated by the optimal flight route determining unit with the flight routes sent by other lower-layer networking unmanned aerial vehicles to determine the optimal flight route;
and the flight control unit is used for flying according to the optimal flight route.
Optionally, the flight route generating unit is specifically configured to:
acquiring image information and radar information acquired by image acquisition equipment in a flight process;
determining whether an obstacle exists in a preset range or not according to the image information and the radar information, and determining the distance between the obstacle and the obstacle under the condition that the obstacle exists;
and generating a flight route according to whether an obstacle exists in a preset range, the distance between the obstacle and the obstacle under the condition that the obstacle exists and a pre-received task instruction.
Optionally, the apparatus further comprises:
the queue change signal sending unit is used for sending flight queue change signals to other lower-layer networking unmanned aerial vehicles under the condition that the distance between the queue change signal sending unit and the relay unmanned aerial vehicle reaches a preset signal area;
the flight path correcting unit is used for correcting the flight path according to a preset rule so as to enable the flight path to be distributed in a chain shape with other lower-layer networking unmanned aerial vehicles;
and the task instruction receiving and sending unit is used for receiving the information sent by the rear lower-layer networking unmanned aerial vehicle and forwarding the information to the front lower-layer networking unmanned aerial vehicle.
An unmanned aerial vehicle cluster operation system, comprising: a plurality of upper layer networking unmanned aerial vehicles and a plurality of lower layer networking unmanned aerial vehicles;
the upper layer networking unmanned aerial vehicle is used as a networking router to communicate with the ground base station and provide communication signals for the lower layer networking unmanned aerial vehicle;
the lower-layer networking unmanned aerial vehicle is used for executing the unmanned aerial vehicle cluster networking method disclosed by the embodiment.
Optionally, the fuselage of upper layer network unmanned aerial vehicle and lower floor network unmanned aerial vehicle is crashproof material, and screw and network deployment equipment set up inside crashproof material.
Optionally, the lower-layer networking unmanned aerial vehicle includes an image acquisition device and a radar.
Optionally, the upper layer network unmanned aerial vehicle is further configured to move towards the adjacent effective upper layer network unmanned aerial vehicle until the distance from the adjacent effective upper layer network unmanned aerial vehicle is within the preset value, under the condition that the distance from the adjacent effective upper layer network unmanned aerial vehicle is greater than the preset value.
Compared with the prior art, the invention has the following beneficial effects:
the invention discloses a method for networking an unmanned aerial vehicle cluster, which is characterized in that a fixed relay unmanned aerial vehicle in the unmanned aerial vehicle cluster is cancelled, a plurality of upper layer networking unmanned aerial vehicles and a plurality of lower layer networking unmanned aerial vehicles are arranged, the upper layer networking unmanned aerial vehicles are used as a networking router to communicate with a ground base station and provide communication signals for the lower layer networking unmanned aerial vehicles, and in the flight process, the lower layer networking unmanned aerial vehicles dynamically determine the lower layer networking unmanned aerial vehicle with the maximum signal intensity as the relay unmanned aerial vehicle by comparing the signal intensity between the lower layer networking unmanned aerial vehicles and all the upper layer networking unmanned aerial vehicles in a corresponding preset signal area in real time and the signal intensity between the lower layer networking unmanned aerial vehicles and all the upper layer networking unmanned aerial vehicles in the corresponding preset signal area. Because the upper layer networking unmanned aerial vehicle is multiple, even one of them is destroyed, the communication with ground basic station can not be disconnected in whole cluster to because the relay unmanned aerial vehicle among the lower layer networking unmanned aerial vehicle is according to signal strength developments definite, even destroyed can not influence the communication between lower layer networking unmanned aerial vehicle and the upper layer networking unmanned aerial vehicle, guaranteed the stability of whole unmanned aerial vehicle crowd communication.
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 embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic diagram of a network coverage range of a cluster entering a networking foam machine No. 1 according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for networking an unmanned aerial vehicle cluster according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a network coverage range of a fleet spanning two upper-tier networked unmanned aerial vehicles according to an embodiment of the present invention;
fig. 4 is a schematic network coverage of a cluster flying out number 2 networking foam machine according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a chained multi-hop networking according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an unmanned aerial vehicle cluster networking device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The inventor finds out through research that: in the prior art, communication is carried out based on a fixed relay unmanned aerial vehicle, once the relay unmanned aerial vehicle is destroyed, the whole cluster loses communication with an upper layer, so that communication loss or cluster loss is caused, and the capacity of damage resistance is completely absent in a complex rescue or operation environment. And when the flight area is large, different networks are required to be crossed, transient network gaps exist at the crossed network boundary, and in order to enable the fixed relay unmanned aerial vehicle to be always under the optimal coverage network and avoid the formation of the gaps among the networks, large-range overlapping is required between adjacent network signals, and resource waste is caused.
In order to solve the above technical problems, the present invention provides a method for networking an unmanned aerial vehicle cluster, in which a fixed relay unmanned aerial vehicle in the unmanned aerial vehicle cluster is cancelled, please refer to fig. 1, a plurality of upper layer networked unmanned aerial vehicles and a plurality of lower layer networked unmanned aerial vehicles are arranged in the unmanned aerial vehicle cluster, the lower layer networked unmanned aerial vehicles are the number 1 to the number 6 in the unmanned aerial vehicle cluster in fig. 1, the upper layer networked unmanned aerial vehicles are the number 1 networking foam machines and the number 2 networking foam machines in fig. 1, the upper layer networked unmanned aerial vehicles serve as networking routers to communicate with a ground base station and provide communication signals for the lower layer networked unmanned aerial vehicles, and each upper layer networked unmanned aerial vehicle corresponds to a network coverage range. Each unmanned aerial vehicle flies independently, avoids obstacles and passes through network boundaries. In the flight process, lower floor's network deployment unmanned aerial vehicle is through real-time contrast self with correspond predetermine signal area in all last layer network deployment unmanned aerial vehicles between signal intensity and other lower floor's network deployment unmanned aerial vehicles and its correspond predetermine signal area in all last layer network deployment unmanned aerial vehicles between signal area, the developments are confirmed the biggest signal intensity lower floor's network deployment unmanned aerial vehicle as relaying unmanned aerial vehicle, because relaying unmanned aerial vehicle among the lower floor's network deployment unmanned aerial vehicle is according to signal intensity dynamic determination, even if destroyed can not influence the communication between lower floor's network deployment unmanned aerial vehicle and the last layer network deployment unmanned aerial vehicle, whole unmanned aerial vehicle group communication's stability has been guaranteed. And because the relay unmanned aerial vehicle in the lower-layer networking unmanned aerial vehicle is dynamically determined according to the signal intensity, the relay unmanned aerial vehicle is always the largest in signal intensity, even if the cluster spans the network coverage of two upper-layer networking unmanned aerial vehicles, the lower-layer networking unmanned aerial vehicle with the largest signal intensity can be found as the relay unmanned aerial vehicle, the network coverage of two adjacent upper-layer networking unmanned aerial vehicles does not need to be overlapped in a larger range, and the waste of resources is avoided.
Specifically, the networking method for the unmanned aerial vehicle cluster disclosed in this embodiment is applied to a lower-layer networking unmanned aerial vehicle in the unmanned aerial vehicle cluster, and please refer to fig. 2, the networking method for the unmanned aerial vehicle cluster includes the following steps:
s101: acquiring signal intensity between all upper layer networking unmanned aerial vehicles in a corresponding preset signal area and signal intensity between other lower layer networking unmanned aerial vehicles and all upper layer networking unmanned aerial vehicles in a corresponding preset signal area in the flying process;
it should be noted that each lower-layer networking unmanned aerial vehicle corresponds to a preset signal area, and the lower-layer networking unmanned aerial vehicle can acquire the signal intensity of all upper-layer networking unmanned aerial vehicles in the corresponding preset signal area.
S102: under the condition that the signal intensity between the relay unmanned aerial vehicle and the upper layer networking unmanned aerial vehicle is greater than the signal intensity between other lower layer networking unmanned aerial vehicles and the upper layer networking unmanned aerial vehicle, the relay unmanned aerial vehicle establishes communication with the upper layer networking unmanned aerial vehicle corresponding to the maximum signal intensity, and forwards information sent by the upper layer networking unmanned aerial vehicle to other lower layer networking unmanned aerial vehicles;
it can be understood that relay unmanned aerial vehicle is decided by network signal intensity, switches in real time, and relay unmanned aerial vehicle is among the lower floor's network deployment unmanned aerial vehicle and the biggest lower floor's network deployment unmanned aerial vehicle of signal intensity between the upper strata network deployment unmanned aerial vehicle.
S103: under the condition that the signal intensity between the unmanned aerial vehicle and the upper layer networking unmanned aerial vehicle is smaller than the signal intensity between other lower layer networking unmanned aerial vehicles and the upper layer networking unmanned aerial vehicle, the relay unmanned aerial vehicle is determined in other lower layer networking unmanned aerial vehicles, and the information sent by the relay unmanned aerial vehicle is received.
Referring to fig. 1 and 3, the networking foam machine 1 and the networking foam machine 2 are upper-layer networking unmanned aerial vehicles, the networking foam machines 1 to 6 are lower-layer networking unmanned aerial vehicles, the numbers of the networking foam machines 1 to 6 indicate signal intensity, and the networking foam machine 1 indicates the lower-layer networking unmanned aerial vehicle with the largest signal intensity in the coverage range of the network.
Referring to fig. 1, when an airframe initially enters a network coverage of a networking foam machine No. 1, machines No. 1 to No. 6 are respectively in network connection with the networking foam machine No. 1, signal strength after connection is issued between networking foam machines in the airframe network, and mutual comparison is performed until the signal strength between the machine No. 1 arranged at the forefront and the networking foam machine No. 1 is found to be the largest, the machine No. 1 is determined as a relay unmanned aerial vehicle in a lower networking unmanned aerial vehicle, and other networking unmanned aerial vehicles are disconnected from the networking foam machine No. 1.
Referring to fig. 3, when the cluster passes through the network coverage of two networking foam machines, the 5 th machine and the 2 nd networking foam machine, which first enter the network coverage of the 2 nd networking foam machine, are connected to form a network, and the communication between the cluster and the 1 st networking foam machine is not disconnected. That is, the airplane 5 flying to the forefront is the airplane 1 within the network coverage of the networking foam machine 1 when the airplane initially enters the network coverage of the networking foam machine 1, and when the airplane group gradually flies out of the network coverage of the networking foam machine 1, the unmanned aerial vehicle flying to the rearmost becomes the airplane 1 within the network coverage of the networking foam machine 1, the initial signal attenuation of the airplane 1 becomes the airplane 5, and the airplane 5 is connected with the networking foam machine 2 to become the airplane 1 within the network coverage of the networking foam machine 2. Therefore, the relay unmanned aerial vehicle in the lower-layer networking unmanned aerial vehicle is dynamically determined according to the signal intensity.
As shown in fig. 4, the fleet gradually flies forward, when a certain lower-layer networked unmanned aerial vehicle in the fleet searches for a network in the forward direction and establishes connection, the other lower-layer networked unmanned aerial vehicles can exit the current network and approach in the forward direction from far to near, and the networking of the fleet again is gradually completed during the flying period. Adopt from far away to near mode, generally the preceding machine is motionless or the slow speed is advanced, waits for the back machine to follow up until being close to, then forward in proper order, and the unmanned aerial vehicle of arranging backward in the past constitutes the network structure all the time. Any unmanned aerial vehicle has signal connection in this process, can not take place the stand-alone phenomenon of cutting off the network.
As shown in fig. 5, when the swarm flies all out of the current network range (the network coverage of the networking foam machine No. 1) but does not enter the next network range (the network coverage of the networking foam machine No. 2), the spacing distance between adjacent networks is too large, and a network gap is formed. The unmanned aerial vehicle in the lower networking layer in the cluster autonomously changes a flight queue from a matrix type to a linear queue, the limit condition is horizontal in line arrangement, and the cluster is internally provided with a chained multi-hop networking, so that the network connection range is expanded.
The chain type multi-hop is that the unmanned aerial vehicles in the cluster are distributed in a chain shape, signals are connected in a one-to-one mode, and each unmanned aerial vehicle is a node or a relay point and can perform signal transmission and signal receiving and transmitting. The chain type is a network connection mode among the unmanned aerial vehicles, multiple hops are used for transmitting signals, and the signals are transmitted in a jumping mode among the unmanned aerial vehicles like Chinese checkers. The No. 5 machine sends signals to the No. 4 machine to be transferred sequentially through the No. 1 machine, the No. 6 machine, the No. 2 machine and the No. 3 machine.
Specifically, to every lower floor's network deployment unmanned aerial vehicle, distance between real-time detection and the relay unmanned aerial vehicle, reach the condition of predetermineeing the signal area with the distance between the relay unmanned aerial vehicle, send flight queue change signal to other lower floor's network deployment unmanned aerial vehicles, according to predetermineeing the rule (like according to the distance adjustment flight direction and the speed with other lower floor's network deployment unmanned aerial vehicles), revise the flight route, make and be chain form distribution with other lower floor's network deployment unmanned aerial vehicles, receive the information that rear lower floor's network deployment unmanned aerial vehicle sent, and forward this information to lower floor's network deployment unmanned aerial vehicle of place ahead, communicate through the mode that the chain was multihop promptly.
When the condition of communication in the chain multi-hop mode is generated, the phenomenon of network disconnection is easily caused, the cluster linear chain uses the networked unmanned aerial vehicle as a vertex and is in a conical shape for network search, as shown in fig. 4, the transverse conical shape is the network search direction, and signal loss is avoided through network directional search.
It should be noted that, in the present embodiment, the conventional director is used for canceling the cluster linkage of the unmanned aerial vehicle group, each unmanned aerial vehicle is autonomously networked to share the task instruction issued by the ground base station, and the upper layer networked unmanned aerial vehicle is used as a networking router to communicate with the ground base station, so as to ensure that the unmanned aerial vehicle group can receive the task instruction of the ground base station, but has no directing function. Each lower-layer networking unmanned aerial vehicle independently flies, avoids obstacles and passes through network boundaries, only carries out information exchange and has no command relation, namely, no fixed formation is carried out, and all the lower-layer networking unmanned aerial vehicles are based on autonomous perception and autonomous judgment.
Specifically, each lower-layer networking unmanned aerial vehicle comprises a radar and image acquisition equipment, such as a binocular camera and the like, in the flight process, whether an obstacle exists in a preset range is determined by acquiring image information and radar information acquired by the image acquisition equipment, the distance between the unmanned aerial vehicle and the obstacle is determined under the condition that the obstacle exists, and a flight route is generated according to whether the obstacle exists in the preset range, the distance between the unmanned aerial vehicle and the obstacle under the condition that the obstacle exists and a pre-received task instruction.
On this basis, to in flight process, every lower floor's network deployment unmanned aerial vehicle generates the flight route in real time, sends the flight route that generates to other lower floor's network deployment unmanned aerial vehicles, and the flight route that receives other lower floor's network deployment unmanned aerial vehicles and send compares the flight route that self generated with the flight route that other lower floor's network deployment unmanned aerial vehicles sent, confirms the optimum flight route, flies according to the optimum flight route. For example, there is enemy near No. 1 machine, and No. 1 machine informs other lower floor's network deployment unmanned aerial vehicle enemy through the network deployment, judges through other lower floor's network deployment unmanned aerial vehicle which lower floor's network deployment unmanned aerial vehicle is closer, the obstacle is still less, change and strike enemy etc. to obtain the optimal flight route. The commands are not directed by a command machine, but are jointly judged by all lower-layer networking unmanned aerial vehicles in the unmanned aerial vehicle cluster, so that the flexibility of the unmanned aerial vehicle cluster for executing task commands is improved.
Based on the networking method for the drone group disclosed in the above embodiment, this embodiment correspondingly discloses a networking device for the drone group, which is applied to a lower networking unmanned aerial vehicle in the drone group, and the drone group further includes a plurality of upper networking unmanned aerial vehicles, and the upper networking unmanned aerial vehicles communicate with a ground base station as a networking router and provide communication signals for the lower networking unmanned aerial vehicles, please refer to fig. 6, the device includes:
the signal intensity acquiring unit 100 is configured to acquire, during a flight process, signal intensities between all upper layer networking unmanned aerial vehicles in a corresponding preset signal region and signal intensities between other lower layer networking unmanned aerial vehicles and all upper layer networking unmanned aerial vehicles in a corresponding preset signal region;
the information sending unit 200 is configured to establish communication with the upper layer networked unmanned aerial vehicle corresponding to the maximum signal intensity as a relay unmanned aerial vehicle under the condition that the signal intensity between the relay unmanned aerial vehicle and the upper layer networked unmanned aerial vehicle is greater than the signal intensity between the other lower layer networked unmanned aerial vehicle and the upper layer networked unmanned aerial vehicle, and forward information sent by the upper layer networked unmanned aerial vehicle to the other lower layer networked unmanned aerial vehicle;
the information receiving unit 300 is configured to determine a relay unmanned aerial vehicle among other lower-layer networked unmanned aerial vehicles and receive information sent by the relay unmanned aerial vehicle when the signal strength between the relay unmanned aerial vehicle and the upper-layer networked unmanned aerial vehicle is smaller than the signal strength between the other lower-layer networked unmanned aerial vehicles and the upper-layer networked unmanned aerial vehicle.
Optionally, the apparatus further comprises:
the flight route generating unit is used for generating a flight route in real time in the flight process;
the flight route receiving and sending unit is used for sending the generated flight routes to other lower-layer networking unmanned aerial vehicles and receiving the flight routes sent by other lower-layer networking unmanned aerial vehicles;
the optimal flight path determining unit is used for comparing the flight path generated by the optimal flight path determining unit with flight paths sent by other lower-layer networking unmanned aerial vehicles and determining an optimal flight path;
and the flight control unit is used for flying according to the optimal flight route.
Optionally, the flight route generating unit is specifically configured to:
acquiring image information and radar information acquired by image acquisition equipment in a flight process;
determining whether an obstacle exists in a preset range according to the image information and the radar information, and determining the distance between the obstacle and the obstacle under the condition that the obstacle exists;
and generating a flight route according to whether an obstacle exists in a preset range, the distance between the obstacle and the obstacle under the condition that the obstacle exists and a pre-received task instruction.
Optionally, the apparatus further comprises:
the queue change signal sending unit is used for sending flight queue change signals to other lower-layer networking unmanned aerial vehicles under the condition that the distance between the queue change signal sending unit and the relay unmanned aerial vehicle reaches a preset signal area;
the flight path correcting unit is used for correcting the flight path according to a preset rule so as to enable the flight path to be distributed in a chain shape with other lower-layer networking unmanned aerial vehicles;
and the task instruction receiving and sending unit is used for receiving the information sent by the rear lower-layer networking unmanned aerial vehicle and forwarding the information to the front lower-layer networking unmanned aerial vehicle.
The disclosed unmanned aerial vehicle crowd device that organizes of this embodiment, cancel the fixed relay unmanned aerial vehicle in the unmanned aerial vehicle crowd, set up a plurality of upper strata networking unmanned aerial vehicle and a plurality of lower floor networking unmanned aerial vehicle, upper strata networking unmanned aerial vehicle is as networking router and ground basic station communication, and provide communication signal for lower floor networking unmanned aerial vehicle, in the flight process, lower floor networking unmanned aerial vehicle is through real-time contrast self and correspond signal intensity between all upper strata networking unmanned aerial vehicle in the signal area of predetermineeing and other lower floor networking unmanned aerial vehicle and all upper strata networking unmanned aerial vehicle in the signal area of predetermineeing rather than corresponding, developments are confirmed as relay unmanned aerial vehicle with the biggest lower floor networking unmanned aerial vehicle of signal intensity. Because upper strata networking unmanned aerial vehicle has a plurality ofly, even one of them is destroyed, whole cluster also can not break off with the communication of ground basic station to because the relay unmanned aerial vehicle among the networking unmanned aerial vehicle of lower floor is according to signal strength developments definite, even if destroyed can not influence the communication between networking unmanned aerial vehicle of lower floor and the networking unmanned aerial vehicle of upper strata, guaranteed the stability of whole unmanned aerial vehicle crowd communication.
The embodiment also discloses an unmanned aerial vehicle cluster operation system, which comprises a plurality of upper layer networking unmanned aerial vehicles and a plurality of lower layer networking unmanned aerial vehicles.
The upper layer networking unmanned aerial vehicle is used as a networking router to communicate with the ground base station and provide communication signals for the lower layer networking unmanned aerial vehicle;
the lower-layer networking unmanned aerial vehicle is used for executing the following unmanned aerial vehicle group networking method:
acquiring signal intensity between all upper layer networking unmanned aerial vehicles in a corresponding preset signal area and signal intensity between other lower layer networking unmanned aerial vehicles and all upper layer networking unmanned aerial vehicles in a corresponding preset signal area in the flying process;
under the condition that the signal intensity between the relay unmanned aerial vehicle and the upper layer networking unmanned aerial vehicle is greater than the signal intensity between other lower layer networking unmanned aerial vehicles and the upper layer networking unmanned aerial vehicle, the relay unmanned aerial vehicle establishes communication with the upper layer networking unmanned aerial vehicle corresponding to the maximum signal intensity, and forwards information sent by the upper layer networking unmanned aerial vehicle to other lower layer networking unmanned aerial vehicles;
under the condition that the signal intensity between the unmanned aerial vehicle and the upper layer networking unmanned aerial vehicle is smaller than the signal intensity between the unmanned aerial vehicle and the upper layer networking unmanned aerial vehicle, the relay unmanned aerial vehicle is determined in the other lower layer networking unmanned aerial vehicles, and the information sent by the relay unmanned aerial vehicle is received.
Further, the method further comprises:
generating a flight route in real time in the flight process;
the generated flight routes are sent to other lower-layer networking unmanned aerial vehicles, and the flight routes sent by other lower-layer networking unmanned aerial vehicles are received;
comparing the flight route generated by the unmanned aerial vehicle with flight routes sent by other lower-layer networking unmanned aerial vehicles, and determining an optimal flight route;
and flying according to the optimal flying route.
Further, lower floor's network deployment unmanned aerial vehicle includes image acquisition equipment and radar, real-time flight route that generates at the flight in-process includes:
acquiring image information and radar information acquired by image acquisition equipment in a flight process;
determining whether an obstacle exists in a preset range according to the image information and the radar information, and determining the distance between the obstacle and the obstacle under the condition that the obstacle exists;
and generating a flight route according to whether an obstacle exists in a preset range, the distance between the obstacle and the obstacle under the condition that the obstacle exists and a pre-received task instruction.
Further, the method further comprises:
under the condition that the distance between the relay unmanned aerial vehicle and the relay unmanned aerial vehicle reaches a preset signal area, sending flight queue change signals to other lower-layer networking unmanned aerial vehicles;
according to a preset rule, correcting a flight route to enable the flight route to be in chain-shaped distribution with other lower-layer networking unmanned aerial vehicles;
and receiving information sent by the rear lower-layer networking unmanned aerial vehicle, and forwarding the information to the front lower-layer networking unmanned aerial vehicle.
For the security that improves unmanned aerial vehicle, go up the fuselage of layer network unmanned aerial vehicle and lower floor's network unmanned aerial vehicle and be crashproof material, like the foam, screw and network deployment equipment setting are inside crashproof material, do not have the metal interference.
Meanwhile, as the unmanned aerial vehicle is made of anti-collision materials, the unmanned aerial vehicle can enter an indoor environment without collision and crash, so that the unmanned aerial vehicle cluster can fly safely indoors and outdoors.
Because the weight of the anti-collision material is light, the radar reflection is not strong, and the anti-collision material can be prevented from being monitored locally.
In the unmanned aerial vehicle cluster operation system in the embodiment, the arrangement density of the upper layer networked unmanned aerial vehicles ensures that the network coverage of the lower layer networked unmanned aerial vehicles is in a mutual networking state, and if the upper layer networked unmanned aerial vehicles are normally networked, the lower layer generally cannot generate a large network vacuum area. If a certain upper layer networking unmanned aerial vehicle is damaged, other upper layer networking unmanned aerial vehicles can also move independently, and comprehensive network coverage to lower layer networking unmanned aerial vehicles is guaranteed as far as possible.
Specifically, to every group's network unmanned aerial vehicle that goes up, real-time detection and adjacent effective network unmanned aerial vehicle that goes up's distance, be greater than the default at the distance, when being greater than the maximum distance between the adjacent network unmanned aerial vehicle that goes up when normal network deployment promptly, move to adjacent effective network unmanned aerial vehicle that goes up's direction, until with adjacent effective network unmanned aerial vehicle that goes up's distance within the default, avoid appearing big network vacuum area between the adjacent network unmanned aerial vehicle that goes up, guarantee to lower floor's network coverage comprehensively.
Further, for the lower-layer networking unmanned aerial vehicle, when the relay unmanned aerial vehicle communicating with the upper-layer networking unmanned aerial vehicle is destroyed, the communication is reestablished by the lower-layer networking unmanned aerial vehicle and the upper-layer networking unmanned aerial vehicle with the maximum network signal intensity in the cluster according to the connection network signal intensity to serve as a new relay unmanned aerial vehicle.
Therefore, the unmanned aerial vehicle cluster operation system disclosed in the embodiment can not affect the stability of the whole unmanned aerial vehicle cluster communication even if a certain upper layer networking unmanned aerial vehicle or a certain lower layer networking unmanned aerial vehicle is destroyed.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments can be combined arbitrarily, and the features described in the embodiments in the present specification can be replaced or combined with each other in the above description of the disclosed embodiments, so that those skilled in the art can implement or use the present application.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (12)
1. The utility model provides a method for networking of unmanned aerial vehicle crowd, which characterized in that, is applied to lower floor's networking unmanned aerial vehicle in the unmanned aerial vehicle crowd, and the unmanned aerial vehicle crowd still includes a plurality of upper strata networking unmanned aerial vehicle, and upper strata networking unmanned aerial vehicle communicates with ground basic station as networking router to provide communication signal for lower floor's networking unmanned aerial vehicle, the method includes:
acquiring signal intensity between all upper layer networking unmanned aerial vehicles in a corresponding preset signal area and signal intensity between other lower layer networking unmanned aerial vehicles and all upper layer networking unmanned aerial vehicles in a corresponding preset signal area in the flying process;
aiming at each upper layer networking unmanned aerial vehicle, under the condition that the signal intensity between the upper layer networking unmanned aerial vehicle and the upper layer networking unmanned aerial vehicle is larger than the signal intensity between other lower layer networking unmanned aerial vehicles and the upper layer networking unmanned aerial vehicle, the upper layer networking unmanned aerial vehicle is used as a relay unmanned aerial vehicle to establish communication with the upper layer networking unmanned aerial vehicle, and information sent by the upper layer networking unmanned aerial vehicle is forwarded to other lower layer networking unmanned aerial vehicles;
under the condition that the signal intensity between the unmanned aerial vehicle and the upper layer networking is smaller than the signal intensity between other lower layer networking unmanned aerial vehicles and the unmanned aerial vehicle, the relay unmanned aerial vehicle is determined in the other lower layer networking unmanned aerial vehicles, and the information sent by the relay unmanned aerial vehicle is received.
2. The method of claim 1, further comprising:
generating a flight route in real time in the flight process;
the generated flight routes are sent to other lower-layer networking unmanned aerial vehicles, and the flight routes sent by other lower-layer networking unmanned aerial vehicles are received;
comparing the flight route generated by the unmanned aerial vehicle with flight routes sent by other lower-layer networking unmanned aerial vehicles, and determining an optimal flight route;
and flying according to the optimal flying route.
3. The method of claim 2, wherein the lower networking drone comprises an image acquisition device and a radar, and the generating of the flight path in real time during the flight comprises:
acquiring image information and radar information acquired by image acquisition equipment in a flight process;
determining whether an obstacle exists in a preset range according to the image information and the radar information, and determining the distance between the obstacle and the obstacle under the condition that the obstacle exists;
and generating a flight route according to whether an obstacle exists in a preset range, the distance between the obstacle and the obstacle under the condition that the obstacle exists and a pre-received task instruction.
4. The method of claim 1, further comprising:
determining that the relay unmanned aerial vehicle reaches the boundary of a preset signal area based on the distance between the relay unmanned aerial vehicle and the relay unmanned aerial vehicle, and sending flight queue change signals to other lower-layer networking unmanned aerial vehicles;
according to a preset rule, correcting a flight route to enable the flight route to be in chain-shaped distribution with other lower-layer networking unmanned aerial vehicles;
and receiving the information sent by the rear lower-layer networking unmanned aerial vehicle, and forwarding the information to the front lower-layer networking unmanned aerial vehicle.
5. The utility model provides an unmanned aerial vehicle crowd device of organizing network, its characterized in that is applied to lower floor's network deployment unmanned aerial vehicle in the unmanned aerial vehicle crowd, and unmanned aerial vehicle crowd still includes a plurality of upper strata network deployment unmanned aerial vehicles, and upper strata network deployment unmanned aerial vehicle communicates with ground basic station as networking router to for lower floor's network deployment unmanned aerial vehicle provides communication signal, the device includes:
the signal intensity acquisition unit is used for acquiring the signal intensity between all upper layer networking unmanned aerial vehicles in the corresponding preset signal area and the signal intensity between other lower layer networking unmanned aerial vehicles and all upper layer networking unmanned aerial vehicles in the corresponding preset signal area in the flight process;
the information sending unit is used for establishing communication with the upper layer networking unmanned aerial vehicle as a relay unmanned aerial vehicle under the condition that the signal intensity between the relay unmanned aerial vehicle and each upper layer networking unmanned aerial vehicle is greater than the signal intensity between other lower layer networking unmanned aerial vehicles and each upper layer networking unmanned aerial vehicle, and forwarding information sent by the upper layer networking unmanned aerial vehicle to other lower layer networking unmanned aerial vehicles;
and the information receiving unit is used for determining the relay unmanned aerial vehicle in other lower-layer networking unmanned aerial vehicles and receiving the information sent by the relay unmanned aerial vehicle under the condition that the signal intensity between the relay unmanned aerial vehicle and the upper-layer networking unmanned aerial vehicle is smaller than the signal intensity between the other lower-layer networking unmanned aerial vehicles and the upper-layer networking unmanned aerial vehicle.
6. The apparatus of claim 5, further comprising:
the flight route generating unit is used for generating a flight route in real time in the flight process;
the flight route receiving and transmitting unit is used for transmitting the generated flight routes to other lower-layer networking unmanned aerial vehicles and receiving the flight routes transmitted by other lower-layer networking unmanned aerial vehicles;
the optimal flight route determining unit is used for comparing the flight route generated by the optimal flight route determining unit with the flight routes sent by other lower-layer networking unmanned aerial vehicles to determine the optimal flight route;
and the flight control unit is used for flying according to the optimal flight route.
7. The apparatus according to claim 6, wherein the flight path generation unit is specifically configured to:
acquiring image information and radar information acquired by image acquisition equipment in a flight process;
determining whether an obstacle exists in a preset range according to the image information and the radar information, and determining the distance between the obstacle and the obstacle under the condition that the obstacle exists;
and generating a flight route according to whether an obstacle exists in a preset range, the distance between the obstacle and the obstacle under the condition that the obstacle exists and a pre-received task instruction.
8. The apparatus of claim 6, further comprising:
the queue change signal sending unit is used for determining that the relay unmanned aerial vehicle reaches the boundary of a preset signal area based on the distance between the relay unmanned aerial vehicle and the queue change signal sending unit and sending flight queue change signals to other lower-layer networking unmanned aerial vehicles;
the flight path correcting unit is used for correcting the flight path according to a preset rule so as to enable the flight path to be distributed in a chain shape with other lower-layer networking unmanned aerial vehicles;
and the task instruction receiving and sending unit is used for receiving the information sent by the rear lower-layer networking unmanned aerial vehicle and forwarding the information to the front lower-layer networking unmanned aerial vehicle.
9. An unmanned aerial vehicle cluster operating system, comprising: a plurality of upper layer networking unmanned aerial vehicles and a plurality of lower layer networking unmanned aerial vehicles;
the upper layer networking unmanned aerial vehicle is used as a networking router to communicate with the ground base station and provide communication signals for the lower layer networking unmanned aerial vehicle;
the lower layer networking unmanned aerial vehicle is used for executing the unmanned aerial vehicle cluster networking method according to any one of claims 1 to 4.
10. The system of claim 9, wherein the bodies of the upper networked drone and the lower networked drone are made of an anti-collision material, and the propeller and the networking device are disposed inside the anti-collision material.
11. The system of claim 9, wherein the underlay networking drone includes an image capture device and a radar.
12. The system of claim 9, wherein the upper network drone is further configured to move in the direction of the adjacent effective upper network drone until the distance to the adjacent effective upper network drone is within a preset value if it is detected that the distance to the adjacent effective upper network drone is greater than the preset value.
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