CN113741531A - Unmanned aerial vehicle cluster cooperative control system and control method for sharing target task information - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle cluster cooperative control system and a control method for sharing target task information, wherein the unmanned aerial vehicle cluster cooperative control system for sharing target task information comprises a grand plane and a plurality of wing planes, the grand plane is used for searching target information and issuing a recovered information instruction, and sharing the target information, the plurality of wing planes are respectively connected with the signal of the grand plane, and the plurality of wing planes are respectively used for receiving the target information shared by the grand plane, and according to the content of the target information, combining with whether each wing plane can effectively complete a task, carrying out target task grade confirmation, and transmitting the confirmed grade to the grand plane; the unmanned aerial vehicle cluster cooperative control method for sharing target task information mainly comprises the steps of establishing an unmanned aerial vehicle cluster, obtaining a target task, processing the target task, transmitting target task information, confirming task grades, feeding back, executing actions and the like. In the invention, the cooperative control is convenient by the cooperation of the fans and the wing fans.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle cooperative control, in particular to an unmanned aerial vehicle cluster cooperative control system and a control method for sharing target task information.
Background
With the continuous development of science and technology, the unmanned aerial vehicle technology is widely applied in various fields. In addition to the military category, aspects of social life have been covered, such as: power line patrol, disaster relief, plant protection, cargo transportation, and the like. Under the increasingly complex circumstances of high risk, high strength task and application environment, people constantly improve to unmanned aerial vehicle's requirement, and the shortcoming and the restriction of single unmanned aerial vehicle are more serious. It is these bottlenecks of a single drone that research and development applications are looking into the field of drone clustering applications. The unmanned aerial vehicle cluster application is also called multi-unmanned aerial vehicle cooperative application, and means that a plurality of unmanned aerial vehicles form a cluster to jointly complete various complex tasks. In such a multi-unmanned aerial vehicle cluster, different unmanned aerial vehicles often have different functions and play different roles, and the effect that these single unmanned aerial vehicles can not be realized is realized through cooperation among multiple unmanned aerial vehicles.
At present, the cooperative control of the unmanned aerial vehicle generally sets up two systems, a group control system and a flight control system, and performs cooperation of a plurality of unmanned aerial vehicles, but by adopting the cooperative mode, a plurality of unmanned aerial vehicles need to be synchronously controlled at the same time, and the control is difficult.
Disclosure of Invention
Technical problem to be solved
The unmanned aerial vehicle system can solve the problems that the existing unmanned aerial vehicle system needs to synchronously control a plurality of unmanned aerial vehicles at the same time, the control is difficult, and the single unmanned aerial vehicle needs to have strong functions, so that the overall cost is overhigh.
(II) technical scheme
In order to achieve the above object, according to a first aspect of the present invention, an unmanned aerial vehicle cluster cooperative control system for sharing target task information includes a lead plane and a plurality of wing planes, wherein the lead plane is used for searching for target information, issuing a command to retrieve information, and sharing the target information, the plurality of wing planes are respectively connected to the lead plane via signals, and the plurality of wing planes are respectively used for receiving the target information shared by the lead plane, and performing a target task level confirmation according to whether each wing plane can effectively complete a task based on the content of the target information, and transmitting the confirmed level to the lead plane.
As a preferred technical solution of the present invention, the terminal includes a search module, a first wireless communication module and a first processor, the search module is in signal connection with the first processor, the first wireless communication module is in signal connection with the first processor, wherein:
the searching module is used for searching a target task;
the first processor is used for processing the searched target tasks, sequencing a plurality of target tasks according to priority, calculating and processing information of the sequential target tasks according to sequence height, and receiving information fed back by the wing plane;
the first wireless communication module is configured to communicate with a plurality of the bureaucratic machines and share the target task information calculated by the first processor with the plurality of the bureaucratic machines.
As a preferred technical solution of the present invention, the bureaucratic plane includes a second processor and a second wireless communication module, the second wireless communication module is in signal connection with the second processor, wherein:
the second wireless communication module is used for communicating with the first wireless communication module;
and the second processor is used for carrying out grade confirmation of the target task by combining the effective completion of the tasks by the bureaucratic function according to the content of the target information and transmitting the confirmed grade to the long machine.
In a second aspect, the present invention further provides an unmanned aerial vehicle cluster cooperative control method for sharing target task information, which specifically includes the following steps:
s1, building an unmanned aerial vehicle group: an unmanned aerial vehicle cluster is constructed in a manner that one farm machine is matched with a plurality of wing machines, and the farm machine and the wing machines are communicated with each other;
s2, obtaining a target task: the long machine searches a target task to obtain the target task;
s3, target task processing: the long machine carries out calculation processing on the target task information;
s4, target task information transmission: the leader sends the processed target task information to a plurality of bureaucratic planes;
s5, task level confirmation: a plurality of bureaucratic machines respectively carry out grade confirmation of the completed task by combining the characteristics of the bureaucratic machines;
s6, feedback: a plurality of wing machines respectively transmit the confirmed task grade information to the leader machine;
s7, executing the action: the longplane issues an instruction to a highest-level bureaucratic plane to execute a task according to the task level.
As a preferred technical solution of the present invention, in the step S2, a specific manner of obtaining the target task is as follows: the long machine is communicated with the command center to obtain the command sent by the command center, processes the command of the command center and analyzes the task contained in the command, namely, the target task is obtained, and the command sent by the command center is set in an encryption mode.
As a preferred technical solution of the present invention, in step S3, the specific manner of processing the target task is as follows: and processing the searched target tasks, sequencing the target tasks according to the priority, and calculating and processing the information of the target tasks in sequence according to the sequence.
As a preferred embodiment of the present invention, in step S5, the specific manner of task level confirmation is as follows: according to the content of the target information, in combination with whether the bureaucratic machine can effectively complete the task, the determination of the target task level is carried out, and the determination of whether the bureaucratic machine can effectively complete the task specifically includes: the space position, the flying speed and the environmental wind speed of the bureaucratic plane are comprehensively judged, the possibility of the bureaucratic plane for completing the task is judged, and the higher the possibility of completing the task is, the higher the task grade is determined to be.
As a preferable embodiment of the present invention, in the step S6, the task level information includes a number of the bureaucratic plane itself.
(III) advantageous effects
1. The unmanned aerial vehicle cluster cooperative control system for sharing the target task information comprises a leader plane and a plurality of wing planes, the mode that the same leader plane controls the plurality of wing planes is adopted, the target task information is only transmitted to the leader plane, the control over the wing planes can be completed, the simultaneous sending of instructions to a plurality of unmanned aerial vehicles is avoided, and the cooperative control is convenient;
2. the unmanned aerial vehicle cluster cooperative control method for sharing target task information comprises the steps of building an unmanned aerial vehicle cluster, obtaining a target task, processing the target task, transmitting target task information, confirming a task level, feeding back and executing actions, wherein a plurality of wing machines are combined with the characteristics of the wing machines to respectively complete task level confirmation, and a leader machine issues an instruction to a wing machine with the highest level to execute the task according to the task level, so that better assured cooperation can be realized, the task can be completed, and a good cooperation effect can be achieved.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic block diagram of a system of an unmanned aerial vehicle cluster cooperative control system for sharing target task information according to the present invention;
fig. 2 is a block schematic diagram of the modules of a single longplane and a single bureaucratic plane of the unmanned aerial vehicle cluster cooperative control system of the present invention that share target task information;
fig. 3 is a schematic block diagram of a flow of the cooperative control method for the unmanned aerial vehicle cluster sharing target task information according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it is to be understood that the terms "longitudinal", "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Example 1
As shown in fig. 1 to fig. 2, in a first aspect, the present invention provides an unmanned aerial vehicle cluster cooperative control system for sharing target task information, including a lead plane and several wing planes, wherein the lead plane is used for searching for target information and issuing a command to retrieve information, and sharing the target information, the several wing planes are respectively connected to the lead plane signals, and the several wing planes are respectively used for receiving the target information shared by the lead plane, and performing a target task level confirmation according to whether each wing plane can effectively complete a task according to the content of the target information, and transmitting the confirmed level to the lead plane.
Specifically, the terminal comprises a search module, a first wireless communication module and a first processor, wherein the search module is in signal connection with the first processor, the first wireless communication module is in signal connection with the first processor, and the terminal comprises:
the searching module is used for searching a target task;
the first processor is used for processing the searched target tasks, sequencing a plurality of target tasks according to priority, calculating and processing information of the sequential target tasks according to sequence height, and receiving information fed back by the wing plane;
the first wireless communication module is configured to communicate with a plurality of the bureaucratic machines and share the target task information calculated by the first processor with the plurality of the bureaucratic machines.
Specifically, the bureaucratic plane includes a second processor and a second wireless communication module, the second wireless communication module is connected to the second processor through signals, wherein:
the second wireless communication module is used for communicating with the first wireless communication module;
and the second processor is used for carrying out grade confirmation of the target task by combining the effective completion of the tasks by the bureaucratic function according to the content of the target information and transmitting the confirmed grade to the long machine.
It should be noted that the persistent plane and the wing plane are respectively set as the unmanned plane, and the specific models and specifications of the search module, the first wireless communication module, the first processor, the second processor and the second wireless communication module can be determined according to actual operating conditions, and the power supply thereof is the prior art, which is not described herein.
As shown in fig. 3, in a second aspect, the present invention further provides an unmanned aerial vehicle cluster cooperative control method for sharing target task information, which specifically includes the following steps:
s1, building an unmanned aerial vehicle group: an unmanned aerial vehicle cluster is constructed in a manner that one farm machine is matched with a plurality of wing machines, and the farm machine and the wing machines are communicated with each other;
it is to be noted that the amount of wing machines can be set to a specific amount according to the actual needs.
S2, obtaining a target task: the long machine searches a target task to obtain the target task;
it should be noted that, the specific way to obtain the target task is as follows: the long machine is communicated with the command center to obtain the command sent by the command center, the command of the command center is processed, the task contained in the command is analyzed, namely the target task is obtained, the command sent by the command center is encrypted, the encryption mode adopts the mode of matching asymmetric encryption and digital signature, the whole encryption effect is better, and information is prevented from being stolen.
When the work of disaster relief, flood fighting and emergency rescue and the like is carried out, the instruction can be sent without adopting an encryption mode.
S3, target task processing: the long machine carries out calculation processing on the target task information;
it should be noted that, the specific way of processing the target task is as follows: and processing the searched target tasks, sequencing the target tasks according to the priority, and calculating and processing the information of the target tasks in sequence according to the sequence.
The priority of the target task is confirmed according to the information sent by the command center, and the priority of the task can be marked in advance before the sent information.
S4, target task information transmission: the leader sends the processed target task information to a plurality of bureaucratic planes;
the target task information can be started and sent by adopting communication among clusters, and can also be sent by adopting a signal tower for relaying according to requirements.
S5, task level confirmation: a plurality of bureaucratic machines respectively carry out grade confirmation of the completed task by combining the characteristics of the bureaucratic machines;
it should be noted that, the specific manner of task level confirmation is as follows: according to the content of the target information, in combination with whether the bureaucratic machine can effectively complete the task, the determination of the target task level is carried out, and the determination of whether the bureaucratic machine can effectively complete the task specifically includes: the space position, the flying speed and the environmental wind speed of the bureaucratic plane are comprehensively judged, the possibility of the bureaucratic plane for completing the task is judged, and the higher the possibility of completing the task is, the higher the task grade is determined to be.
In actual judgment, the parameters include the spatial position, the flight speed and the ambient wind speed, and the weight occupied by each parameter is preset.
S6, feedback: the plurality of wing machines respectively transmit the confirmed task level information to the lead machine, wherein the task level information comprises the numbering of the wing machines per se, and the numbering of the wing machines per se is carried out, so that the lead machine can be ensured to distinguish the wing machines, and the execution of subsequent wing machine actions is facilitated;
s7, executing the action: the longplane issues an instruction to a highest-level bureaucratic plane to execute a task according to the task level.
In summary, the following steps: the unmanned aerial vehicle cluster cooperative control system for sharing the target task information comprises a leader plane and a plurality of wing planes, the mode that the same leader plane controls the plurality of wing planes is adopted, the target task information is only transmitted to the leader plane, the control over the wing planes can be completed, the simultaneous sending of instructions to a plurality of unmanned aerial vehicles is avoided, and the cooperative control is convenient to carry out; the unmanned aerial vehicle cluster cooperative control method for sharing the target task information comprises the steps of building an unmanned aerial vehicle cluster, obtaining a target task, processing the target task, transmitting target task information, confirming task grades, feeding back and executing actions, wherein a plurality of wing machines are combined with the characteristics of the wing machines to respectively confirm the task grades, and a leader machine issues an instruction to the wing machine with the highest grade to execute the task according to the task grades, so that better guarantee cooperation can be realized, the task can be completed, and a good cooperation effect can be achieved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Unmanned aerial vehicle cluster cooperative control system of shared target task information, its characterized in that includes:
the long machine is used for searching target information, issuing a message recovery instruction and sharing the target information;
the wing machines are respectively connected with the farm machines through signals, and are respectively used for receiving target information shared by the farm machines, combining whether each wing machine can effectively complete a task according to the content of the target information, carrying out grade confirmation of the target task, and transmitting the confirmed grade to the farm machines.
2. The unmanned aerial vehicle cluster cooperative control system for sharing target task information according to claim 1, wherein: the long machine comprises a search module, a first wireless communication module and a first processor, wherein the search module is in signal connection with the first processor, the first wireless communication module is in signal connection with the first processor, and the first wireless communication module is in signal connection with the first processor, wherein:
the searching module is used for searching a target task;
the first processor is used for processing the searched target tasks, sequencing a plurality of target tasks according to priority, calculating and processing information of the sequential target tasks according to sequence height, and receiving information fed back by the wing plane;
the first wireless communication module is configured to communicate with a plurality of the bureaucratic machines and share the target task information calculated by the first processor with the plurality of the bureaucratic machines.
3. The unmanned aerial vehicle cluster cooperative control system and the unmanned aerial vehicle cluster cooperative control method for sharing target task information according to claim 2, wherein: the bureau plane includes a second processor and a second wireless communication module, the second wireless communication module is connected with the second processor through signals, wherein:
the second wireless communication module is used for communicating with the first wireless communication module;
and the second processor is used for carrying out grade confirmation of the target task by combining the effective completion of the tasks by the bureaucratic function according to the content of the target information and transmitting the confirmed grade to the long machine.
4. The unmanned aerial vehicle cluster cooperative control method for sharing target task information is characterized in that: the method specifically comprises the following steps:
s1, building an unmanned aerial vehicle group: an unmanned aerial vehicle cluster is constructed in a manner that one farm machine is matched with a plurality of wing machines, and the farm machine and the wing machines are communicated with each other;
s2, obtaining a target task: the long machine searches a target task to obtain the target task;
s3, target task processing: the long machine carries out calculation processing on the target task information;
s4, target task information transmission: the leader sends the processed target task information to a plurality of bureaucratic planes;
s5, task level confirmation: a plurality of bureaucratic machines respectively carry out grade confirmation of the completed task by combining the characteristics of the bureaucratic machines;
s6, feedback: a plurality of wing machines respectively transmit the confirmed task grade information to the leader machine;
s7, executing the action: the longplane issues an instruction to a highest-level bureaucratic plane to execute a task according to the task level.
5. The unmanned aerial vehicle cluster cooperative control method for sharing target task information according to claim 4, wherein: in step S2, the specific manner of obtaining the target task is as follows: the long machine obtains the command sent by the command center through communication with the command center, processes the command of the command center, and analyzes the task contained in the command, namely obtains the target task.
6. The unmanned aerial vehicle cluster cooperative control method for sharing target task information according to claim 5, wherein: the command sent by the command center adopts encryption setting.
7. The unmanned aerial vehicle cluster cooperative control method for sharing target task information according to claim 4, wherein: in step S3, the specific manner of processing the target task is as follows: and processing the searched target tasks, sequencing the target tasks according to the priority, and calculating and processing the information of the target tasks in sequence according to the sequence.
8. The unmanned aerial vehicle cluster cooperative control method for sharing target task information according to claim 4, wherein: in step S5, the specific manner of task level confirmation is as follows: and according to the content of the target information, combining whether the bureaucratic plane can effectively complete the task to carry out the grade confirmation of the target task.
9. The cooperative control method for unmanned aerial vehicle clusters sharing target task information according to claim 8, wherein: the judgment of whether a bureaucratic plane can effectively complete a task specifically comprises: the space position, the flying speed and the environmental wind speed of the bureaucratic plane are comprehensively judged, the possibility of the bureaucratic plane for completing the task is judged, and the higher the possibility of completing the task is, the higher the task grade is determined to be.
10. The unmanned aerial vehicle cluster cooperative control method for sharing target task information according to claim 4, wherein: in step S6, the task level information includes the number of the bureaucratic plane itself.
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