CN207516832U - The landing control system of taking off of unmanned plane formation performance - Google Patents
The landing control system of taking off of unmanned plane formation performance Download PDFInfo
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- CN207516832U CN207516832U CN201720725004.5U CN201720725004U CN207516832U CN 207516832 U CN207516832 U CN 207516832U CN 201720725004 U CN201720725004 U CN 201720725004U CN 207516832 U CN207516832 U CN 207516832U
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- unmanned plane
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Abstract
The utility model provides a kind of landing control system of taking off of unmanned plane formation performance, forms into columns including place earth station controller, unmanned plane, the place earth station controller is connect with the unmanned plane formation wireless signal, and the beneficial effects of the utility model are：It can quickly find failure unmanned plane, ensure safety；Place can be more effectively utilized, it is not high to site requirements；It is freer to the control of unmanned plane formation takeoff landing, make the landing form of taking off that unmanned plane is formed into columns more diversified；It is more accurate for the time control of unmanned plane formation takeoff landing, it can within a specified time complete formation task.
Description
【Technical field】
The utility model is related to a kind of unmanned air vehicle technique field more particularly to a kind of landing of taking off of unmanned plane formation performance
Control system.
【Background technology】
In modern society, we do not perform inter-related task using only unmanned plane formation, also using unmanned plane form into columns into
Row, which is formed into columns, to be performed.
From 2015, unmanned plane, which forms into columns to perform, stepped into market.In November, 2015, Intel Company first turn on
The beginning of formation performance.The unmanned plane of 100 rack-mounted standby light is waved in the night sky of Hamburg, Germany, they are according to designed road
Line flies seven minutes, finally forms one 250 meters wide of Intel Logo.On August 1st, 2016, Shenzhen desert pansophy control technology
Co., Ltd, in the light show for all having performed the formation of 80 frame unmanned planes, commemorates that the Long March was won for 80 anniversaries in Jiangxi.This is at home
Multiple no-manned plane for the first time, which is formed into columns, to be performed, and opens the gate of domestic unmanned plane formation performance.80 frame unmanned planes in the night sky with
Music flickers, and is transformed into " the Chinese Long March " printed words, and inverse of the unmanned plane from ten to one opens the climax portion entirely performed
Point, entire performance causes huge repercussion at home.Since then, extensive unmanned plane formation performance starts prevailing at home,
Therefore, the landing control also ever more important of taking off of research unmanned plane formation performance.
【Utility model content】
The utility model aim is to solve the too small restricted problem in multiple no-manned plane formation takeoff landing place；Solve mostly without
The restricted problem of man-machine formation takeoff landing time length；Anticollision asks in solution multiple no-manned plane formation takeoff descent
Topic；It solves in multiple no-manned plane formation takeoff descent for the process problem of abnormal aircraft；Solve multiple no-manned plane formation takeoff
A kind of novel unmanned plane formation performance provided at any time the deficiency for the problem of controlling of forming into columns in descent is taken off
Landing control system.
The utility model is achieved through the following technical solutions：A kind of landing control of taking off of unmanned plane formation performance
System is formed into columns including place earth station controller, unmanned plane, and the place earth station controller is formed into columns wireless with the unmanned plane
Signal connects.
Further, the unmanned plane formation, which includes several, to be communicated wirelessly respectively with place earth station controller
Unmanned plane.
Further, the unmanned plane includes unmanned plane housing, battery, circuit board, and the battery, circuit board are located at described
Unmanned plane enclosure interior, several unmanned plane during flying modules are additionally provided on the unmanned plane housing, and the circuit board includes wireless communication
Number receiving module, wireless signal transmitting module, processor, GPS positioning module, obstacle detection module, the wireless signal connect
Module, wireless signal transmitting module, GPS positioning module, obstacle detection module is received to connect with the processor signal, it is described
Unmanned plane during flying module is connect with the processor signal.
Further, the place earth station controller includes controller signals transmitting module, controller signals receive mould
Block, controller processor, the controller signals transmitting module, controller signals receiving module with the controller processor
Signal connects, and what the controller signals receiving module reception unmanned plane wireless signal transmitting module launched determines according to GPS
The unmanned plane location information of position module positioning；Every frame unmanned plane hair of the controller signals transmitting module into unmanned plane formation
It send the scenario information that unmanned plane forms into columns performance and control is grouped until completion task to unmanned plane formation.
A kind of landing control system of taking off of unmanned plane formation performance, includes the following steps：
(1) it determines the target point of unmanned plane formation and makes a return voyage a little；
(2) unmanned plane formation square formation is grouped by row；
(3) a group operation is carried out；
(4) faults-tolerant control is carried out；
(5) formation flight/landing reaches target point/is maked a return voyage a little；
(6) task is completed.
Further, the target point and make a return voyage a little that the determining unmanned plane is formed into columns, determine target point that unmanned plane forms into columns and
It makes a return voyage a little, target point represents the first frame of drama, and taking any position of departure location, drama first frame is according to origin as origin
Draw square formation in position；It makes a return voyage the return level point of an expression aircraft, each self-calibration position of oneself is home to aircraft before take-off
Point, the home points include longitude, latitude, the elevation information of the point.
Further, it is described that unmanned plane formation square formation is grouped by row, according to the drama arranged in certain sequence
The square formation of one frame, carry out from left to right by column split, several independent flight groups can be formed after grouping.
Further, it is described to carry out a group operation；After being grouped；It is set separately wherein one on each four angles of group
The aircraft that airplane takes off as the first of each group, then every group it is independent since respective first airplane by erecting
Fly, the sequence of takeoff and landing is all determined by the first airplane.
Further, the carry out faults-tolerant control；Faults-tolerant control is mainly comprising in terms of following four：
1) according to the positioning accuracy of GPS, the safe distance between unmanned plane is set；Airborne aircraft is by the shadow of GPS precision
It rings, it is impossible to it is completely consistent with drama first frame, therefore safe distance is set as 7 meters；
2) take off/land decision condition, and in addition to the aircraft that first takes off/lands, remaining aircraft takes off/lands
Decision condition is：The aircraft of standby for takeoff/landing must be more than 7 meters of safe distance with all plane distances for leaving ground；
3) pausing operation during landing of taking off, can click pause button and abort and land, by frame at any time
When taking off, pause is clicked, all aircrafts not taken off keep the state of ground, and the aircraft to have taken off still flies to target point and hangs
Stop, controller can determines according to actual conditions whether continued takeoff, directly aircraft can also be allowed to land by frame, but can exclude not
The aircraft to take off；When landing by frame, pause is clicked, all aircrafts for not starting landing can be maintained at the shape of drama last frame
State, controller can select to continue to land after exception is excluded；
4) taking off in descent, it is abnormal to occur, and can according to circumstances coordinate pausing operation, EKF mistakes and remote controler lost contact
When, the rejecting of abnormal aircraft, which is taken off, landing queue and to be forced to land；During aerial earth station's lost contact, rejecting, which is taken off, landing queue and to be forced
Landing；Earth station's lost contact before taking off repeatedly is attempted to take off after number reaches the upper limit and rejects performance queue.
Further, formation flight/landing reaches target point/is maked a return voyage a little, unmanned plane is completed respectively to fly after taking off in order
To the target point of oneself, that is, drama first frame, unmanned plane flies to making a return voyage a little for oneself after entering pattern of making a return voyage in order.
The beneficial effects of the utility model are：
(1) it can quickly find failure unmanned plane, ensure safety；It is existing when unmanned plane performance is actually carried out
Technology can find the unmanned plane of failure earlier, so as to be rejected or replacement operation, ensure to the full extent
The safety entirely formed into columns；
(2) place can be more effectively utilized, it is not high to site requirements；It is existing when unmanned plane performance is actually carried out
There is technology that can carry out large-scale performance of forming into columns using smaller place, largely solve the small restricted problem in place；
(3) freer to the control of unmanned plane formation takeoff landing, make unmanned plane formation takes off landing form more
Diversification；
(4) it is more accurate for the time control of unmanned plane formation takeoff landing, it can within a specified time complete to form into columns
Task.
【Description of the drawings】
Fig. 1 is the landing control system schematic diagram that takes off of the utility model unmanned plane formation performance；
Fig. 2 is the utility model unmanned plane structure diagram；
Fig. 3 is the utility model place earth station controller schematic diagram；
Fig. 4 is the utility model unmanned plane formation packet diagram schematic diagram；
Fig. 5 forms into columns for the utility model unmanned plane performs the flow graph construction schematic diagram that takes off；
Fig. 6 forms into columns for the utility model unmanned plane performs the flow chart schematic diagram that takes off；
Reference numeral：1st, place earth station controller；11st, controller signals transmitting module；12nd, controller signals receive mould
Block；13rd, controller processor；2nd, unmanned plane is formed into columns；21st, unmanned plane；210th, unmanned plane housing；211st, battery；212nd, circuit board；
2120th, reception of wireless signals module；2121st, wireless signal transmitting module；2122nd, processor；2123rd, GPS positioning module；
2124th, obstacle detection module；213rd, unmanned plane during flying module.
【Specific embodiment】
Below in conjunction with the accompanying drawings and specific embodiment is described further the utility model：
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, a kind of landing control system of taking off of unmanned plane formation performance, packet
Include place earth station controller 1, unmanned plane formation 2, the place earth station controller 1 and the unmanned plane 2 wireless communications of formation
Number connection.
Preferably, the unmanned plane formation 2, which includes several, to be communicated wirelessly respectively with place earth station controller 1
Unmanned plane 21.
Preferably, the unmanned plane 21 includes unmanned plane housing 210, battery 211, circuit board 212, the battery 211, electricity
Road plate 212 is located inside the unmanned plane housing 210, and several unmanned plane during flying modules are additionally provided on the unmanned plane housing 210
213, the circuit board 212 includes reception of wireless signals module 2120, wireless signal transmitting module 2121, processor 2122, GPS
Locating module 2123, obstacle detection module 2124, the reception of wireless signals module 2120, wireless signal transmitting module
2121st, GPS positioning module 2123, obstacle detection module 2124 are connect with 2122 signal of processor, the unmanned plane
Flight module 213 is connect with 2122 signal of processor.
Preferably, the place earth station controller 1 includes controller signals transmitting module 11, controller signals receive mould
Block 12, controller processor 13, the controller signals transmitting module 11, controller signals receiving module 12 with the control
13 signal of device processor connects, and the controller signals receiving module 12 receives unmanned plane wireless signal transmitting module 11 and emitted
21 location information of unmanned plane positioned according to GPS positioning module 2123 come；The controller signals transmitting module 11 to nobody
Every frame unmanned plane 21 in machine formation 2 sends the scenario informations of 2 performance of unmanned plane formation and unmanned plane formation 2 is grouped
Control is until completing task.
A kind of landing control system of taking off of unmanned plane formation performance, includes the following steps：
(1) it determines the target point of unmanned plane formation and makes a return voyage a little；
(2) unmanned plane formation square formation is grouped by row；
(3) a group operation is carried out；
(4) faults-tolerant control is carried out；
(5) formation flight/landing reaches target point/is maked a return voyage a little；
(6) task is completed.
Preferably, the determining unmanned plane form into columns 2 target point and make a return voyage a little, determine unmanned plane form into columns 2 target point and
It makes a return voyage a little, target point represents the first frame of drama, and taking any position of departure location, drama first frame is according to origin as origin
Draw square formation in position；As shown in figure 4, origin is O, formation square formation is drama first frame, the return drop for the expression aircraft that makes a return voyage
Drop point, each self-calibration position of oneself is home points to aircraft before take-off, and the home points include longitude, latitude, the height of the point
Spend information.
Preferably, 2 square formations of forming into columns to unmanned plane are grouped by row, according to the drama first arranged in certain sequence
The square formation of frame, carry out from left to right by column split, several independent flight groups can be formed after grouping, as shown in figure 4,
2 square formations of unmanned plane formation are divided into 3 groups, each piece of color represents a group
Preferably, it is described to carry out a group operation；After being grouped；The wherein frame on each four angles of group is set separately
The aircraft that aircraft takes off as the first of each group, then every group it is independent since respective first airplane by erecting
Fly, the sequence of takeoff and landing is all determined by the first airplane；As shown in figure 4, the aircraft that the first group selection number is 11, second
Group selection number be 26 aircraft, third group selection number be 56 aircraft, then three groups by erect fly sequence be followed successively by：
First group：1,2,3,4,5,6,11,12,13,14,15,16
Second group：26,25,24,23,22,21,36,35,34,33,32,31
Third group：56,55,54,53,52,51,46,45,44,43,42,41
The sequence landed by frame is the reverse order taken off, and is followed successively by：
First group：16,15,14,13,12,11,6,5,4,3,2,1
Second group：31,32,33,34,35,36,21,22,23,24,25,26
Third group：41,42,43,44,45,46,51,52,53,54,55,56
Preferably, the carry out faults-tolerant control；Faults-tolerant control is mainly comprising in terms of following four：
1) according to the positioning accuracy of GPS, the safe distance between unmanned plane 21 is set；Airborne aircraft is by GPS accuracy
It influences, it is impossible to it is completely consistent with drama first frame, therefore safe distance is set as 7 meters；
2) take off/land decision condition, and in addition to the aircraft that first takes off/lands, remaining aircraft takes off/lands
Decision condition is：The aircraft of standby for takeoff/landing must be more than 7 meters of safe distance with all plane distances for leaving ground；
3) pausing operation during landing of taking off, can click pause button and abort and land, by frame at any time
When taking off, pause is clicked, all aircrafts not taken off keep the state of ground, and the aircraft to have taken off still flies to target point and hangs
Stop, controller can determines according to actual conditions whether continued takeoff, directly aircraft can also be allowed to land by frame, but can exclude not
The aircraft to take off；When landing by frame, pause is clicked, all aircrafts for not starting landing can be maintained at the shape of drama last frame
State, controller can select to continue to land after exception is excluded；
4) taking off in descent, it is abnormal to occur, and can according to circumstances coordinate pausing operation, EKF mistakes and remote controler lost contact
When, the rejecting of abnormal aircraft, which is taken off, landing queue and to be forced to land；During aerial earth station's lost contact, rejecting, which is taken off, landing queue and to be forced
Landing；Earth station's lost contact before taking off repeatedly is attempted to take off after number reaches the upper limit and rejects performance queue.
Preferably, formation flight/landing reaches target point/is maked a return voyage a little, unmanned plane 21 is completed respectively to fly after taking off in order
To the target point of oneself, that is, drama first frame, unmanned plane 21 flies to making a return voyage a little for oneself after entering pattern of making a return voyage in order.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying carries out appropriate change and modification.Therefore, the utility model is not limited to specific implementation disclosed and described above
Mode should also be as falling into the scope of the claims of the utility model to some modifications and changes of the utility model.
In addition, although having used some specific terms in this specification, these terms merely for convenience of description, not to this reality
With novel composition any restrictions.
Claims (2)
- The landing control system of taking off of performance 1. a kind of unmanned plane is formed into columns, it is characterised in that：Including place earth station controller, nothing Man-machine formation, the place earth station controller are connect with the unmanned plane formation wireless signal；The unmanned plane formation includes Several unmanned planes that can be communicated wirelessly respectively with place earth station controller；The unmanned plane include unmanned plane housing, Battery, circuit board, the battery, circuit board are located at the unmanned plane enclosure interior, are additionally provided on the unmanned plane housing several Unmanned plane during flying module, the circuit board include reception of wireless signals module, wireless signal transmitting module, processor, GPS positioning Module, obstacle detection module, the reception of wireless signals module, wireless signal transmitting module, GPS positioning module, barrier Detecting module is connect with the processor signal, and the unmanned plane during flying module is connect with the processor signal.
- 2. the landing control system of taking off of unmanned plane formation performance according to claim 1, it is characterised in that：The place Face station control includes controller signals transmitting module, controller signals receiving module, controller processor, the controller letter Number transmitting module, controller signals receiving module are connect with the controller processor signal, and the controller signals receive Module receives the unmanned plane location information positioned according to GPS positioning module that unmanned plane wireless signal transmitting module launches； Every frame unmanned plane of the controller signals transmitting module into unmanned plane formation sends the scenario information of unmanned plane formation performance And control is grouped until completion task to unmanned plane formation.
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| CN109278994A (en) * | 2018-10-18 | 2019-01-29 | 广州创睿特光电技术股份有限公司 | It is a kind of with the performance unmanned plane of formation LED stroboscopic lamp |
| CN110673639A (en) * | 2019-10-18 | 2020-01-10 | 深圳大漠大智控技术有限公司 | Unmanned aerial vehicle cluster take-off and landing control method and device, computer equipment and storage medium |
| CN111736623A (en) * | 2020-03-27 | 2020-10-02 | 北京京东乾石科技有限公司 | Numbering method and device for unmanned aerial vehicle and ground station |
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| CN112722256A (en) * | 2021-01-15 | 2021-04-30 | 江苏无国界无人机科技有限公司 | Formation performance unmanned aerial vehicle system |
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| CN113805608A (en) * | 2021-09-22 | 2021-12-17 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle formation starry sky landing method, system and medium based on automatic grouping planning |
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| CN109278994A (en) * | 2018-10-18 | 2019-01-29 | 广州创睿特光电技术股份有限公司 | It is a kind of with the performance unmanned plane of formation LED stroboscopic lamp |
| CN109278994B (en) * | 2018-10-18 | 2024-05-03 | 南京寻翼文化传媒有限公司 | Unmanned aerial vehicle with formation LED stroboscopic lamp for performance |
| CN110673639A (en) * | 2019-10-18 | 2020-01-10 | 深圳大漠大智控技术有限公司 | Unmanned aerial vehicle cluster take-off and landing control method and device, computer equipment and storage medium |
| CN111736623A (en) * | 2020-03-27 | 2020-10-02 | 北京京东乾石科技有限公司 | Numbering method and device for unmanned aerial vehicle and ground station |
| CN112363502A (en) * | 2020-06-30 | 2021-02-12 | 珠海云洲智能科技有限公司 | Unmanned ship position allocation strategy determination method, device, equipment and storage medium |
| CN112363502B (en) * | 2020-06-30 | 2021-10-08 | 珠海云洲智能科技股份有限公司 | Unmanned ship position allocation strategy determination method, device, equipment and storage medium |
| CN112722256A (en) * | 2021-01-15 | 2021-04-30 | 江苏无国界无人机科技有限公司 | Formation performance unmanned aerial vehicle system |
| CN113485423A (en) * | 2021-07-12 | 2021-10-08 | 一飞(海南)科技有限公司 | Method, system, medium, terminal, product and application for updating takeoff time of cluster performance |
| CN113485423B (en) * | 2021-07-12 | 2022-12-13 | 一飞(海南)科技有限公司 | Method, system, medium, terminal, product and application for updating takeoff time of cluster performance |
| CN113589844A (en) * | 2021-08-02 | 2021-11-02 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle formation and starry sky landing method, control system and storage medium |
| CN113805608A (en) * | 2021-09-22 | 2021-12-17 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle formation starry sky landing method, system and medium based on automatic grouping planning |
| CN113805608B (en) * | 2021-09-22 | 2024-03-05 | 一飞智控(天津)科技有限公司 | Unmanned aerial vehicle formation sky landing method, system and medium based on automatic grouping planning |
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