WO2020063450A1 - Système de véhicule aérien sans pilote et procédé de commande de système de véhicule aérien sans pilote - Google Patents

Système de véhicule aérien sans pilote et procédé de commande de système de véhicule aérien sans pilote Download PDF

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Publication number
WO2020063450A1
WO2020063450A1 PCT/CN2019/106785 CN2019106785W WO2020063450A1 WO 2020063450 A1 WO2020063450 A1 WO 2020063450A1 CN 2019106785 W CN2019106785 W CN 2019106785W WO 2020063450 A1 WO2020063450 A1 WO 2020063450A1
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Prior art keywords
drone
ground station
instruction
ground
control platform
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PCT/CN2019/106785
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English (en)
Chinese (zh)
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汤鹏程
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深圳市道通智能航空技术有限公司
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Publication of WO2020063450A1 publication Critical patent/WO2020063450A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial system and a method for controlling an unmanned aerial system.
  • UAVs are now more and more widely used in aerial photography, reconnaissance, public security / firefighting / traffic / emergency rescue, customs border defense / sea surveillance inspection, real-time broadcast / on-site monitoring, power line inspection / pipeline inspection, plant protection, etc. has been widely used. For drone cruise monitoring in a large area, the following networking technologies currently exist.
  • the first is to use a drone as a relay and extend the data transmission distance and coverage area through WIFI and other drone networks; however, the bandwidth between the drone and the ground station as a relay is limited. It is impossible to send real-time high-definition images of all drones to the ground at the same time, and the ground station cannot control all drones at the same time.
  • the second is to deploy multiple ground stations in a distributed manner to control the drone flight.
  • the drone detects that the communication signal with a certain ground station is good, it switches to the connection with this ground station.
  • this solution requires network switching between the drone and multiple ground stations, which is very complicated to implement; and the area covered by the drone is small due to the power limitation.
  • the third is to control the drone through the public 3/4 / 5G network, to control the drone's flight and real-time video surveillance from a long distance.
  • This solution requires the use of mobile communication base stations to communicate with the drone; but no Human aircraft generally fly higher than the base station, and the signal of the base station is generally transmitted horizontally, so the signal between the base station and the drone will have a high probability and is bad, which directly affects the control and video transmission of the drone.
  • the embodiments of the present invention provide a drone system and a drone system control method, which can better realize drone tasks in a large area, such as cruise monitoring, spraying pesticides, and the like.
  • an unmanned aerial vehicle system is provided.
  • the unmanned aerial vehicle system is configured to perform tasks in a task area, and the task area is divided into several sub-areas; the system includes:
  • a number of ground stations the number of ground stations being in one-to-one correspondence with the number of sub-areas, and the number of ground stations being in one-to-one correspondence with the number of drones;
  • control platform the control platform is in communication connection with the ground stations, and the control platform is configured to send execution instructions;
  • the ground station obtaining the execution instructions controls the corresponding drone to execute the corresponding sub-area according to the execution instructions. task.
  • the plurality of ground stations are distributed at intervals in the mission area, and a distance between two adjacent ground stations is not greater than a first preset distance.
  • the several ground stations are distributed at equal intervals in the mission area.
  • the drone includes a control module, a communication unit and a positioning module connected to the control module;
  • the control module is configured to obtain information of a corresponding sub-area from a ground station corresponding to the drone through the communication unit;
  • the control module is further configured to control the drone to fly in the corresponding sub-area according to the positioning information of the positioning module.
  • the execution instruction includes flight control information, and the flight control information is set according to a sub-region corresponding to the ground station;
  • the tasks performed by the corresponding drone in the corresponding sub-area include:
  • the corresponding drone flies according to the flight control information.
  • the flight control information includes information on a preset flight range; the corresponding drone is flown according to the preset flight range in the flight control information, and the corresponding drone and the corresponding The distance between the ground stations is not greater than the second preset distance;
  • the preset flight range information includes at least one of a preset area, a preset flight path, and a preset target position.
  • the execution instruction further includes ground station identification information, and the ground station obtains a corresponding execution instruction according to the ground station identification information.
  • the execution instruction further includes application task control information
  • the corresponding drone executes a task in a corresponding sub-region, further including:
  • the corresponding UAV executes a corresponding application task in a corresponding sub-area according to the application task control information.
  • the several ground stations are connected to the control platform through at least one base station; or
  • the ground stations are connected to the control platform through Ethernet.
  • each of the ground stations is connected to the control platform through a base station, or:
  • At least two ground stations among the plurality of ground stations are connected to the control platform through a base station.
  • the ground station and the corresponding UAV are connected in a point-to-point wireless communication manner or a 5G communication manner.
  • the coordinated ground station adjusts flight control information corresponding to the drone according to the coordinated instruction, and the The corresponding drones fly according to the adjusted flight control information;
  • the cooperative instruction is generated and transmitted by the control platform, or is generated and transmitted by other ground stations among the several ground stations.
  • each of the drones is further configured to analyze whether a collaborative work is required according to the current state data
  • a drone that needs to work in coordination sends a collaboration request to a corresponding ground station or the control platform, and the corresponding ground station or the control platform generates and sends the collaboration instruction according to the collaboration request for corresponding collaboration Ground station acquisition.
  • the corresponding ground station is further configured to obtain current status data from a corresponding drone, and analyze whether the drone needs to work cooperatively according to the current status data;
  • the corresponding ground station If the UAV needs to work in cooperation, the corresponding ground station generates and sends the cooperation instruction for the corresponding cooperative ground station to obtain; or
  • the corresponding ground station sends a cooperation request to the control platform; the control platform generates and sends the cooperation instruction according to the cooperation request for the corresponding cooperative ground station to obtain.
  • the corresponding ground station is further configured to obtain current status data from a corresponding drone, and transmit the current status data to the control platform;
  • the control platform analyzes whether the drone needs to work cooperatively according to the current state data. If the drone needs to work cooperatively, the control platform generates and sends the cooperative instruction for a corresponding cooperative ground station. Obtain; or
  • the control platform includes a terminal and a server for communicating with the terminal, and the server is configured to display the current status data through the terminal, so that the user can analyze whether the drone needs to work together and where it needs to work together.
  • a collaboration request is input during work; the server generates and sends the collaboration instruction according to the collaboration request for acquisition by a corresponding cooperative ground station.
  • the current status data includes the energy value of the UAV, fault information, location information, or event information;
  • the drone Machines need to work together.
  • the distance between the ground station corresponding to the unmanned aerial vehicle that needs to work cooperatively and the cooperative ground station is not greater than the cooperative distance threshold.
  • a second aspect of the embodiments of the present invention provides a drone system control method.
  • the control method is used to control a drone to perform tasks in a task area.
  • the task area is divided into several sub-areas.
  • the aircraft system includes a number of ground stations, a number of unmanned aerial vehicles, and a control platform.
  • the number of ground stations is one-to-one corresponding to the number of sub-areas.
  • the number of ground stations is one-to-one corresponding to the number of unmanned aerial vehicles.
  • Several ground stations are in communication with the control platform;
  • the method includes:
  • the corresponding drone is controlled to execute a task in a corresponding sub-area according to the execution instruction.
  • the execution instruction includes flight control information, and the flight control information is set according to a sub-region corresponding to the ground station;
  • the performing of a task in a corresponding sub-region by the corresponding drone includes: flying the corresponding drone according to the flight control information.
  • the flight control information includes information on a preset flight range; the corresponding drone is flown according to the preset flight range in the flight control information, and the corresponding drone and the corresponding The distance between the ground stations is not greater than the second preset distance;
  • the preset flight range information includes at least one of a preset area, a preset flight path, and a preset target position.
  • the method further includes:
  • the cooperative instruction is generated and transmitted by the control platform, or is generated and transmitted by other ground stations among the several ground stations.
  • the method further includes:
  • the cooperation instruction is generated and sent according to the cooperation request for the corresponding cooperative ground station to obtain.
  • the method further includes:
  • the cooperation instruction is generated and sent to the control platform, so that the control platform generates and sends the cooperation instruction according to the cooperation request for the corresponding Acquired in conjunction with a ground station.
  • the method further includes:
  • the current status data from the corresponding drone is obtained, the current status data is transmitted to the control platform, so that the control platform analyzes whether the drone needs to work cooperatively according to the current status data.
  • the UAV needs to work in coordination, and the control platform generates and sends the cooperation instruction for the corresponding cooperative ground station to obtain.
  • a third aspect of the embodiments of the present invention provides a drone system control method.
  • the control method is used to control a drone to perform a task in a task area, and the task area is divided into several sub-areas; the unmanned
  • the aircraft system includes a number of ground stations, a number of unmanned aerial vehicles, and a control platform.
  • the number of ground stations is one-to-one corresponding to the number of sub-areas, and the number of ground stations is one-to-one corresponding to the number of unmanned aerial vehicles.
  • the method includes:
  • an execution instruction is generated and sent, so that the ground station that obtained the execution instruction controls the corresponding drone to perform tasks in the corresponding sub-area according to the execution instruction.
  • the execution instruction includes flight control information, and the flight control information is set according to a sub-region corresponding to the ground station;
  • the ground station that has obtained the execution instruction to control the corresponding drone according to the execution instruction to perform tasks in the corresponding sub-area includes:
  • the several ground stations control the corresponding drones to fly according to the flight control information.
  • the flight control information includes information on a preset flight range; the corresponding drone is flown according to the preset flight range in the flight control information, and the corresponding drone and the corresponding The distance between the ground stations is not greater than the second preset distance;
  • the preset flight range information includes at least one of a preset area, a preset flight path, and a preset target position.
  • the method further includes:
  • a coordination instruction is generated and sent according to the coordination request for acquisition by a cooperative ground station;
  • a coordination instruction is generated and sent according to the coordination request for acquisition by a corresponding cooperative ground station.
  • the method further includes:
  • the cooperative instruction is generated and sent for the corresponding cooperative ground station to obtain.
  • the method further includes:
  • the cooperation instruction is generated and sent according to the cooperation request for the corresponding cooperative ground station to obtain.
  • a fourth aspect of the embodiments of the present invention provides a ground station, including a first processor and a first storage medium, where the first storage medium is used to store a first program instruction; the first processor is used to execute the first A program instruction; if the first processor executes the first program, the above UAV system control method is implemented.
  • a fifth aspect of the embodiments of the present invention provides a storage medium, where the storage medium is used to store a first computer program; if the first computer program is executed by a processor, the foregoing UAV system control method is implemented.
  • a sixth aspect of the embodiments of the present invention provides a control platform, including a second processor and a second storage medium, where the second storage medium is used to store a second program instruction; the second processor is used to execute the first Two program instructions; if the second processor executes the second program, the above UAV system control method is implemented.
  • a storage medium is provided, where the storage medium is used to store a second computer program; if the second computer program is executed by a processor, the foregoing UAV system control method is implemented.
  • the embodiment of the present invention has the beneficial effect that, by dividing the task area into several sub-areas, and one-to-one corresponding communication connections between the ground stations corresponding to the drones and the sub-areas, the local stations will be controlled from
  • the execution instruction obtained by the platform is sent to the drone corresponding to the ground station, so that the drone controls the corresponding drone according to the execution instruction to perform tasks in the corresponding sub-area;
  • a single drone is exclusive to the corresponding ground station Bandwidth, which can fully meet the transmission of large amounts of data, and the sub-areas of each drone flying are relatively small, and the dwell time is longer; it can better realize the drone tasks in a large mission area, such as wide area monitor.
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle system according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural diagram of another unmanned aerial vehicle system according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of an application scenario of a drone system
  • FIG. 4 is a schematic structural diagram of a ground station in a drone system
  • FIG. 5 is a schematic structural diagram of a drone in a drone system
  • FIG. 6 is a schematic diagram of a first embodiment when a drone system performs cooperative work
  • FIG. 7 is a schematic diagram of a second embodiment when a drone system performs cooperative work
  • FIG. 8 is a schematic diagram of a third embodiment when the drone system performs cooperative work.
  • FIG. 9 is a schematic flowchart of a first embodiment of a UAV system control method
  • FIG. 10 is a schematic flowchart of a second embodiment of a method for controlling a drone system
  • FIG. 11 is a schematic flowchart of a third embodiment of a UAV system control method
  • FIG. 12 is a schematic flowchart of a fourth embodiment of a method for controlling a drone system
  • FIG. 13 is a schematic flowchart of a fifth embodiment of a drone system control method
  • FIG. 14 is a schematic flowchart of a sixth embodiment of a method for controlling a drone system
  • 15 is a schematic flowchart of a seventh embodiment of a drone system control method
  • 16 is a schematic flowchart of an eighth embodiment of a drone system control method
  • FIG. 17 is a schematic flowchart of a ninth embodiment of a method for controlling a drone system
  • 19 is a schematic flowchart of an eleventh embodiment of a method for controlling a drone system
  • 20 is a schematic flowchart of a twelfth embodiment of a method for controlling a drone system
  • 21 is a schematic structural diagram of a ground station according to an embodiment of the present invention.
  • FIG. 22 is a schematic structural diagram of a control platform according to an embodiment of the present invention.
  • Figure 1 and Figure 2 show the structure of the UAV system.
  • Drone systems are used to perform tasks within the mission area.
  • the UAV system can be used to perform tasks in narrow areas such as highways, borders, and urban traffic; in some other feasible embodiments, the UAV system can also be used to perform grasslands and mountainous areas. Tasks in a wide range of areas, such as spraying pesticides on farms. UAV systems also need to control drones. The following uses the drone system to monitor the highway as an example. The task area is divided into several sub-areas.
  • a 30-km-long highway is used as a task area, and the area is divided into three sub-areas M1-M3.
  • the three sub-regions M1-M3 have the same length or the same area range. Understandably, the length of the three sub-regions M1-M3 is 10 kilometers.
  • the UAV system includes a number of UAVs 10, a number of ground stations 20, and a control platform 30.
  • a number of ground stations 20 correspond to a number of sub-areas, and a number of ground stations 20 correspond to a number of unmanned aerial vehicles 10 in a communication connection.
  • the control platform 30 is in communication connection with several ground stations 20.
  • the control platform 30 is used to send execution instructions to the local stations 20, the local stations 20 are used to control the corresponding drones 10 according to the execution instructions, and each of the drones 10 is used to control the corresponding ground stations 20 in the corresponding sub-areas. Perform tasks.
  • the control platform 30 sends corresponding execution instructions to several ground stations 20 so that the several ground stations 20 control the corresponding drones 10 to perform tasks in the corresponding sub-areas.
  • the ground stations 20 are spaced apart from each other in the mission area, and the distance between two adjacent ground stations 20 is not greater than the first preset distance.
  • the first preset distance can be set according to the cruising range of each drone 10, the mission density, the communication distance between the drone 10 and the ground station 20, etc., so that the size of the corresponding sub-region can ensure that the drone 10 and the corresponding The reliable communication between the ground stations 20 and the drone 10 can completely cover the corresponding sub-areas.
  • the number of the UAV 10 and the ground station 20 is set correspondingly according to the number of the sub-regions. That is, if there are three sub-areas, the number of drones 10 and ground stations 20 is also three accordingly. Specifically, one ground station 20 is provided for each sub-region M1-M3.
  • the several ground stations are equally spaced in the mission area, and the distance between two adjacent ground stations 20 is the same, which facilitates the sub-area division of the mission area and the arrangement of the ground stations 20 .
  • the ground station 20 communicates with the corresponding drone 10 through a wireless communication method, and can be connected through wireless communication technologies such as Bluetooth, WIFI, ZIGBEE, and 5G.
  • the UAV 10 and the corresponding ground station 20 use a point-to-point wireless communication method, such as a point-to-point LTE transmission or a 5G technology communication connection.
  • the frequency band may be selected from multiple frequencies such as 2.4 GHz and 900 MHz. point.
  • the ground station 20 and the control platform 30 may adopt various existing networking technologies, such as wired or wireless technology, wide area network or local area network technology.
  • several ground stations 20 are connected to the control platform 30 through at least one base station 40.
  • the plurality of ground stations 20 are each connected to the control platform 30 through a base station 40.
  • at least two ground stations 20 in the plurality of ground stations 20 jointly pass one base station.
  • 40 is connected to the control platform 30.
  • several ground stations 20 are connected to at least one base station 40, as shown in FIG.
  • the control platform 30 is connected via at least A base station 40 is communicatively connected to each local station 20.
  • the number of base stations 40 does not necessarily correspond one-to-one with the ground station 20, and multiple ground stations 20 can access the same base station 40, which is mainly determined by the network environment.
  • a number of ground stations 20 are connected to the control platform 30 through the Ethernet 50; a number of ground stations 20 and the control platform 30 are connected to the Ethernet 50.
  • each local station 20 communicates with the control platform 30, and each unmanned aerial vehicle 10 can communicate with the control platform 30 through the corresponding ground station 20.
  • the ground stations 20 are connected to a server device through the Ethernet 50, and the server device is used as a relay, so that the ground stations 20 can exchange information with each other.
  • each local station 20 can also be connected through the control platform 30.
  • a ground station 20 sends information to the control platform 30 through the base station 40, and the control platform 30 sends information to another ground station through the base station 40. 20; or, a ground station 20 sends information to the control platform 30 via Ethernet 50, and the control platform 30 sends information to another ground station 20 via Ethernet 50.
  • control platform 30 is configured to receive an execution request input by a user, and generate the execution instruction according to the execution request.
  • the control platform 30 includes a server 31.
  • the server 31 is configured to communicate with the terminal 32, and several ground stations 20 in the UAV system are communicatively connected to the server 31.
  • the terminal 32 may be, but is not limited to, a desktop computer, a smart phone, and a tablet computer.
  • the user inputs control information through an input device of the terminal 32, such as a physical button or a virtual button, such as an execution request.
  • the server 31 is used to obtain control information from the terminal 32, and sends an execution instruction to the local station 20 according to the control information, so that UAV controls.
  • the control platform 30 may also automatically generate a corresponding execution instruction according to a preset condition.
  • the execution instructions include ground station identification information, flight control information, and application mission control information.
  • the ground station identification information includes the IP address, physical address, or number of the ground station 20 and is used to distinguish several ground stations 20. Understandably, each ground station 20 corresponds to an IP address, a physical address, or a number. Therefore, the ground station identification information includes a unique identification of each ground station 20. Understandably, the control platform 30 can send the execution instruction to the corresponding ground station 20 according to the ground identification information, that is, the control platform 30 can accurately control each ground station 20 through the ground station identification information.
  • the execution instruction includes flight control information, and the flight control information is set according to the subregion corresponding to the ground station 20.
  • the ground station 20 that obtained the execution instruction controls the corresponding unmanned aerial vehicle 10 to fly in the sub-region corresponding to the ground station 20 according to the flight control information in the execution instruction.
  • the flight control information includes information on a preset flight range.
  • the information of the preset flight range includes at least one of a preset area, a preset flight path, and a preset target position.
  • the preset area is used to indicate the boundary where the drone 10 is flying
  • the preset flight path is used to indicate the route where the drone 10 is flying
  • the preset target position is used to indicate the direction in which the drone 10 is flying.
  • the preset area, the preset flight path, and the preset target position are all set according to the sub-area corresponding to the ground station 20.
  • the preset area, the preset flight path, and the preset target position are located inside a sub-area corresponding to the ground station 20, or a preset distance, such as a place of one kilometer, from the outside of the sub-area corresponding to the ground station 20.
  • the application task control information is used to guide the drone 10 to complete corresponding application tasks, such as monitoring, spraying pesticides, and the like.
  • the task control information may be input by the user to the control platform 30 through the terminal 32, or automatically sent by the control platform 30 to the corresponding ground station 20 according to preset conditions, such as the control platform 30 sending execution instructions to the corresponding ground station 20 at regular intervals.
  • the corresponding UAV 10 is used to perform corresponding application tasks, such as monitoring, spraying pesticides, etc., in the corresponding sub-area of the corresponding ground station 20.
  • the application task control information may include the time, dose, and range of spraying pesticides.
  • ground station 20 that obtains the execution instruction controls the corresponding drone 10 to perform tasks in the corresponding sub-area according to the execution instruction.
  • the control platform 30 generates and sends two execution instructions.
  • the first execution instruction includes: the ground station identification information is 202.168.1.1, the preset flight range is the area delimited by the four position coordinates of A, B, C, and D, and the drone identification information is number X52;
  • the second execution The instructions include: the ground station identification information is 202.168.3.1, the preset flight range is the area delimited by four position coordinates, and the drone identification information is number X55.
  • the control platform 30 sends the first execution instruction to the ground station 20 with the IP address 202.168.1.1 and the second execution instruction to the ground station 20 with the IP address 202.168.3.1 according to the ground station identification information in the execution instruction. .
  • the ground station 20 with the IP address 202.168.1.1 After receiving the first execution instruction, the ground station 20 with the IP address 202.168.1.1 sends the information of the preset flight range in the first execution instruction, that is, the four position coordinates of A, B, C, and D to the X52 Man-machine 10; Ground station 20 with IP address 202.168.3.1 After receiving the second execution instruction, it sends the information of the preset flight range in the second execution instruction, that is, the four position coordinates of C, D, E, and F to Drone 10 with number X55.
  • the drone 10 with the number X52 receives the information of the preset flight range in the first execution instruction, and completes the corresponding application tasks, such as monitoring and spraying pesticides, within the area defined by the four position coordinates of A, B, C, and D. Wait.
  • the drone 10 with the number X55 receives the information of the preset flight range in the second execution instruction, and completes the corresponding application tasks, such as monitoring and spraying, in the area delimited by the four position coordinates of C, D, E, and F. Pesticides etc.
  • the ground station 20 includes an obtaining unit 21, an analyzing unit 22, an instruction generating unit 23, a sending unit 24, and a storage unit 25.
  • the storage unit 25 is configured to store the drone identification information and the ground station identification information.
  • the drone identification information includes an IP address, and each drone 10 corresponds to the IP address on a one-to-one basis, that is, the drone identification information includes a unique identification of the drone 10. In this way, the IP address of the ground station 20 can uniquely identify the corresponding drone 10.
  • the ground station 20 After the ground station 20 is bound to the drone 10, the ground station 20 records the drone identification information of the corresponding drone 10; the ground station 20 sends corresponding instructions to the corresponding drone 10 according to the drone identification information.
  • the acquisition unit 21 of the corresponding ground station 20 obtains the execution instruction.
  • the analysis unit 22 parses out the corresponding flight control information and application task control information according to the obtained execution instruction.
  • the instruction generating unit 23 generates a corresponding control instruction according to the flight control information, the application task control information, and the drone identification information.
  • the sending unit 24 sends the control instruction to the corresponding drone 10 according to the drone identification information, so as to control the corresponding drone 10 to fly according to the preset flight range information, and to control the drone 10 according to the time of spraying pesticides, Dosage and range control information is used to spray pesticides.
  • each drone 10 includes a control module 11 and a communication unit 12, a positioning module 13, and a monitoring module 14 connected to the control module 11.
  • control module 11 includes a processor chip
  • communication unit 12 includes a 5G chip
  • positioning module 13 includes a GPS chip
  • monitoring module 14 includes a camera.
  • the communication unit 12 is configured to obtain a control instruction from the corresponding ground station 20; the control module 11 is configured to obtain the information of the corresponding sub-area from the ground station 20 corresponding to the drone 10 through the communication unit 12, for example, the control module 11 can be obtained from
  • the control instruction acquired by the communication unit 12 acquires information of a preset flight range and application task control information.
  • the control module 11 is configured to control the drone 10 to fly within a corresponding sub-area designated by the control instruction according to the positioning information of the positioning module 13, for example, to fly within an area set by information of a preset flight range.
  • the monitoring module 14 is used to obtain monitoring data.
  • the control module 11 also sends the monitoring data obtained by the monitoring module 14 to the corresponding ground station 20 through the communication unit 12.
  • the ground station 20 also transmits the monitoring data obtained from the corresponding drone 10 to the control platform 30, that is, the control platform 30 obtains the monitoring data obtained from the corresponding drone 10 from the local stations 20.
  • the user can connect to the server 31 through the terminal 32 and watch the real-time video data transmitted from the drone 10.
  • the server 31 can input multiple high-definition real-time images at the same time, and the staff can make analysis on the terminal 32 based on the real-time images of the multiple drones 10.
  • the ground station identification information included in an execution instruction is the IP address 202.168.1.1
  • the preset flight range is the area delimited by the four position coordinates of A, B, C, and D.
  • the drone identification information of the corresponding drone 10 of the ground station 20 at the address 202.168.1.1 is number X52.
  • the ground station 20 with the IP address 202.168.1.1 obtains the execution instruction and sends the information of the preset flight range in the execution instruction to the drone 10 with the number X52; the drone 10 with the number X52 receives the preset flight range And perform monitoring tasks in the area delimited by the four position coordinates of A, B, C, and D.
  • the drone 10 when the drone 10 is flying in the corresponding sub-area, for example, when flying in the sub-area corresponding to the corresponding ground station 20 according to the preset flight range in the flight control information, The distance between them is not greater than the second preset distance.
  • the second preset distance can be set according to the maximum flying distance of the drone 10 and the strength of the wireless communication signal between the drone 10 and the ground station 20, thereby ensuring the quality of communication between the drone 10 and the corresponding ground station 20, It can also ensure that the drone 10 has sufficient energy, such as electricity or fuel, to return to the corresponding ground station 20.
  • the unmanned aerial vehicle system provided by the embodiment of the present invention solves the problem of a single unmanned aerial vehicle, which is limited by the battery power and cannot extend the flight distance, and does not suffer from the bandwidth when multiple unmanned aerial vehicles are connected to a single ground station Insufficient restrictions and flexible networking can easily increase the number of drones and achieve full geographical coverage.
  • the drone system is also used if one drone 10 needs to work cooperatively during the execution of a task, so that other drones 10 and the drone 10 work together to complete the corresponding sub-area. Within the task.
  • the cooperative ground station 20 is at least one of the ground stations 20 other than the ground station 20 corresponding to the drone 10 that needs to work in cooperation.
  • the coordinated ground station 20 that has acquired the coordinated instruction adjusts the flight range of the coordinated ground station 20 corresponding to the drone 10 according to the coordinated instruction.
  • the ground station 20 corresponding to the drone 10 sends a cooperative instruction to at least another ground station 20, or the control platform 30 sends to at least another ground station 20 sends a cooperative instruction; the ground station 20 that has obtained the cooperative instruction is a cooperative ground station 20.
  • the coordinated ground station 20 adjusts the flight control information of the coordinated ground station 20 corresponding to the drone 10 and the corresponding drone according to the coordinated instruction. 10 According to the adjusted flight control information, the mission is performed within the adjusted area, so that the cooperative ground station 20 adjusts the flight range corresponding to the drone 10 according to the coordinated instruction.
  • the cooperative instruction is generated and transmitted by the control platform 30, or is generated and transmitted by other ground stations 20 among several ground stations 20.
  • the cooperative ground station 20 obtains the cooperative instruction from the control platform 30; in other feasible embodiments, the cooperative ground station 20 obtains the cooperative instruction from other ground stations 20 among the several ground stations 20.
  • the cooperative instruction includes a request for reinforcement or a notification of arrival.
  • a cooperative ground station 20 When a cooperative ground station 20 receives a coordination instruction containing a reinforcement request, it sends reinforcement mission information to the corresponding drone 10 of the cooperative ground station 20 so that the corresponding drone 10 performs the reinforcement mission.
  • Man-machine 10 When a cooperative ground station 20 receives a coordination instruction containing a reinforcement request, it sends reinforcement mission information to the corresponding drone 10 of the cooperative ground station 20 so that the corresponding drone 10 performs the reinforcement mission.
  • the ground station 20 or the control platform 30 corresponding to the second drone 10 Send a cooperative instruction including a reinforcement request to the first ground station 20; when the first ground station 20, that is, the cooperative ground station 20 receives the cooperative instruction, send the first unmanned aerial vehicle 10 corresponding to the first ground station 20 Sending reinforcement mission information to enable the first drone 10 to perform a reinforcement mission, such as making the first drone 10 temporarily monitor a second road segment, that is, a second sub-area.
  • a coordinated ground station 20 When a coordinated ground station 20 receives a coordinated instruction containing a notification, it sends a stop-stop message to the corresponding drone 10 of the coordinated ground station 20 so that the corresponding drone 10 adjusts flight control information.
  • a cooperative instruction is sent to the first ground station 20, and the cooperative instruction includes the second drone 10 And current notifications for.
  • the first ground station 20 When the first ground station 20 receives the cooperative instruction, it sends a stop-stop message to the first drone 10 corresponding to the first ground station 20; if the first drone 10 is away from the second drone at this time
  • the current position of the drone 10 is relatively short. For example, when the first drone 10 flies to 200 meters from the boundary between the second sub-area and the first sub-area, stop flying to the current position of the second drone 10 and adjust The direction flies away from the second drone 10. Therefore, repeated monitoring of a certain position at a certain time is avoided, and energy consumption of the drone 10 is saved.
  • FIG. 6 is a schematic diagram of a first embodiment when a UAV system performs cooperative work.
  • Each drone 10 is also used to analyze whether a collaborative work is required based on the current state data.
  • the drone 10 further includes a first generation unit 15 and a first analysis unit 16.
  • the first generating unit 15 is configured to generate current state data according to the current state of the drone 10.
  • the first analysis unit 16 of the unmanned aerial vehicle 10 is configured to analyze whether the unmanned aerial vehicle 10 needs to work cooperatively according to the current state data.
  • the current state data includes the energy value of the drone 10, the information of the fault, the location information, or the information of the event. If the energy value of the drone 10 does not meet the preset conditions, such as the remaining power is less than 10%, the drone 10 fails, the drone 10 flies to a preset position, or the drone 10 flies to the place where the abnormal event occurs, The drone 10 needs to work together.
  • the drone 10 when the drone 10 photographs a corresponding area and recognizes an abnormal event such as crowd gathering, it needs to work in cooperation to achieve multiple angle monitoring of the abnormal event by multiple drones 10.
  • the drone 10 is also used to send a collaboration request to the corresponding ground station 20 or control platform 30 when cooperative work is needed.
  • the unmanned aerial vehicle 10 that needs to work cooperatively sends a cooperation request to the corresponding ground station 20, and the corresponding ground station 20 generates and sends a cooperation instruction according to the cooperation request for the corresponding cooperative ground station 20 to obtain.
  • the control module 11 sends corresponding data to the corresponding ground station 20 through the communication unit 12.
  • the ground station 20 obtains the cooperation request through the obtaining unit 21, generates a corresponding cooperation instruction through the instruction generating unit 23, and sends the cooperation instruction through the sending unit 24 for the corresponding cooperative ground station 20.
  • the cooperative ground station 20 is one or more of several ground stations 20.
  • the drone 10 that needs to work in cooperation sends a cooperation request to the control platform 30 through the corresponding ground station 20, and the control platform 30 generates and sends a cooperation instruction according to the cooperation request for the corresponding cooperative ground station 20 Obtain.
  • the distance between the cooperative ground station 20 and the ground station 20 that issues the cooperative instruction or the ground station 20 corresponding to the unmanned aerial vehicle 10 that needs to work cooperatively does not exceed the cooperative distance threshold to achieve the nearest distance.
  • the cooperative ground station 20 obtains the cooperative instruction and adjusts flight control information or application control task information corresponding to the UAV 10 according to the cooperative instruction.
  • the unmanned aerial vehicle 10 corresponding to the cooperative ground station 20 flies according to the adjusted flight control information or performs application tasks according to the adjusted application control task information.
  • FIG. 7 is a schematic diagram of a second embodiment when a UAV system performs cooperative work.
  • the ground station 20 is configured to obtain the current status data from the corresponding drone 10 and analyze whether the drone 10 needs to work cooperatively according to the current status data.
  • the drone 10 further includes a second generating unit 17.
  • the second generating unit 17 is configured to generate current state data according to the current state of the drone 10.
  • the control module 11 is further configured to send the current status data to the corresponding ground station 20 through the communication unit 12.
  • the ground station 20 also includes a second analysis unit 26.
  • the ground station 20 acquires the current status data from the corresponding drone 10 through the acquisition unit 21.
  • the second analysis unit 26 of the ground station 20 is configured to analyze whether the UAV 10 needs to work cooperatively according to the current state data.
  • the ground station 20 sends a cooperation instruction through the sending unit 24 for the corresponding cooperative ground station 20 to obtain.
  • the processing procedure after the coordination instruction is acquired by the cooperative ground station 20 is the same as the foregoing embodiment, and details are not described herein again.
  • the ground station 20 sends a cooperation request to the control platform 30; the control platform 30 generates and sends a cooperation instruction according to the cooperation request to Acquired by the corresponding cooperative ground station 20.
  • the scheduling right for collaborative work is controlled by the control platform 30, and unified scheduling is performed through the control platform 30.
  • the second drone 10 sends current status data, such as power, working status, etc. to the second ground station 20 in real time; if the second ground station 20 is based on the second unmanned
  • the second ground station 20 sends a cooperative instruction to the first ground station 20 directly or through the control platform 30;
  • the cooperative instruction includes position information of the second drone 10 and a reinforcement request.
  • FIG. 8 is a schematic diagram of a third embodiment when the UAV system 100 performs cooperative work.
  • Each ground station 20 is further configured to send the current status data acquired from the corresponding drone 10 to the server 31 of the control platform 30. If the ground station 20 obtains the current status data from the corresponding drone 10, it transmits the current status data to the control platform 30.
  • the server 31 of the control platform 30 is further configured to analyze whether the drone 10 needs to work cooperatively according to the current status data.
  • the server 31 analyzes whether the UAV 10 needs to work cooperatively according to the current status data, and the control platform 30 generates and sends a cooperative instruction for the corresponding cooperative ground station 20 to obtain.
  • Each drone 10 further includes a third generating unit 18.
  • the third generating unit 18 is configured to generate current status data according to the current status of the drone 10.
  • the control module 11 is further configured to send the current status data to the corresponding ground station 20 through the communication unit 12.
  • the ground station 20 sends the acquired current status data to the server 31 of the control platform 30 through the sending unit 24.
  • the server 31 includes a third analysis unit 33 and an instruction generation unit 34.
  • the third analysis unit 33 analyzes whether the corresponding drone 10 needs to assist the operation according to the acquired current state data. If the corresponding UAV 10 needs to assist the operation, the instruction generating unit 34 generates a corresponding cooperative instruction and sends it for the corresponding cooperative ground station 20 to obtain.
  • the server 31 is further configured to display the current status data of the drone 10 through the terminal 32, so that the user can analyze whether the drone 10 needs to work together and enter a collaboration request when the work is needed; the server 31 It is also used for obtaining a coordination request from the terminal 32, and generating and sending a coordination instruction according to the coordination request for the corresponding cooperative ground station 20 to obtain.
  • the control platform 30 acquires the monitoring data acquired by the corresponding drone 10 from each local station 20 and then displays it by the terminal 32.
  • the monitoring data of a drone 10 when a user determines that an abnormal event such as crowd gathering has occurred in a certain location, a collaboration request is input through the terminal 32; the control platform 30 generates and sends a collaboration instruction according to the collaboration request for the corresponding cooperative ground station 20 to obtain .
  • the unmanned aerial vehicle system provided by the embodiment of the present invention divides the mission area into several sub-areas, and connects the UAV 10 and the ground stations 20 corresponding to each sub-area in a one-to-one correspondence with each other.
  • the execution instruction acquired at 30 is sent to the drone 10 corresponding to the ground station 20, so that the drone 10 controls the corresponding drone 10 to perform tasks in the corresponding sub-area according to the execution instruction; a single drone 10 is exclusively
  • the bandwidth between the corresponding ground stations 20 can fully meet the transmission of a large amount of data, and the area where each drone 10 flies is relatively small, and the dead time is longer; it can better achieve unmanned in the larger mission area Machine 10 tasks such as wide area monitoring.
  • an embodiment of the present invention also provides a drone system control method for performing tasks in a task area; the task area is divided into a number of sub-areas; a number of ground stations 20 are corresponding to a number of sub-areas A number of ground stations 20 are in one-to-one correspondence with a number of unmanned aerial vehicles 10.
  • FIG. 9 is a schematic flowchart of a first embodiment of a UAV system control method.
  • the control method is used to perform tasks in a task area, and the task area is divided into several sub-areas.
  • the drone system includes a number of ground stations 20, a number of drones 10, and a control platform 30.
  • the number of ground stations 20 corresponds to a number of sub-areas, and the number of ground stations 20 and a number of drones 10 correspond to each other.
  • And several ground stations 20 are in communication connection with the control platform 30.
  • the UAV system control method includes the following steps:
  • step S110 the control platform 30 is communicatively connected with several ground stations 20.
  • Step S120 If the control platform 30 obtains the execution request, generate and send an execution instruction. In this way, the ground station 20 that has acquired the execution instruction controls the corresponding drone 10 to perform tasks in the corresponding sub-area according to the execution instruction.
  • the execution instruction includes flight control information, and the flight control information is set according to the corresponding sub-area of the ground station 20; the corresponding UAV 10 performs tasks in the corresponding sub-area, including: the corresponding UAV 10 flies according to the flight control information.
  • the flight control information includes information on a preset flight range; the corresponding drone 10 flies according to the preset flight range in the flight control information, and the distance between the corresponding drone 10 and the corresponding ground station 20 is not greater than The second preset distance.
  • the information of the preset flight range includes at least one of a preset area, a preset flight path, and a preset target position.
  • the preset area is used to indicate the boundary where the drone 10 is flying
  • the preset flight path is used to indicate the route where the drone 10 is flying
  • the preset target position is used to indicate the direction in which the drone 10 is flying.
  • the preset area, the preset flight path, and the preset target position are all set according to the sub-area corresponding to the ground station 20.
  • the preset area, the preset flight path, and the preset target position are located inside a sub-area corresponding to the ground station 20, or a preset distance, such as a place of one kilometer, from the outside of the sub-area corresponding to the ground station 20.
  • the distance between the corresponding UAV 10 and the corresponding ground station 20 is not greater than the second preset distance.
  • the application task control information is used to guide the drone 10 to complete corresponding application tasks, such as monitoring, spraying pesticides, and the like.
  • the mission control information may be input by the user to the control platform 30 through the terminal 32, or automatically sent by the control platform 30 to the corresponding ground station 20 according to preset conditions, such as the control platform 30 sending execution instructions to the corresponding ground station 20 at regular intervals.
  • the application task control information may include the time, dose, and range of spraying pesticides.
  • ground station 20 that obtains the execution instruction controls the corresponding drone 10 to perform tasks in the corresponding sub-area according to the execution instruction.
  • the method for controlling a drone system provided by the embodiment of the present invention solves the problem of a single drone, which is limited by the battery power and cannot extend the flight distance, and is not subject to the connection from multiple drones to a single ground station. Due to the limitation of insufficient bandwidth and flexible networking, it can easily increase the number of drones and achieve full geographical coverage.
  • FIG. 10 is a schematic flowchart of a second embodiment of a UAV system control method.
  • the difference between the UAV system control method of the second embodiment of the present invention and the UAV system control method of the first embodiment is that the UAV system control method includes the following steps:
  • Step S130 If the control platform 30 obtains the cooperation request sent from the corresponding drone 10, the control platform 30 generates and sends a cooperation instruction according to the cooperation request for the cooperative ground station 20 to obtain. Specifically, the drone 10 generates current status data and analyzes the current status data to determine whether the drone 10 needs to work in cooperation. If the drone 10 analyzes that the drone 10 needs to work together according to the current state data, it sends a collaboration request to the control platform 30.
  • the current status data includes the energy value, failure information, location information, or event information of the drone 10. If the energy value of the drone 10 does not meet the preset conditions, the drone 10 fails, the drone 10 flies to a preset position, or the drone 10 flies to the place where the abnormal event occurs, the drone 10 needs to work in coordination.
  • FIG. 11 is a schematic flowchart of a third embodiment of a UAV system control method.
  • the difference between the UAV system control method of the third embodiment and the UAV system control method of the first embodiment is that the UAV system control method includes the following steps:
  • Step S140 If the control platform 30 obtains the cooperation request from the ground station 20, the control platform 30 generates and sends a cooperation instruction according to the cooperation request for the corresponding cooperative ground station 20 to obtain. Specifically, the drone 10 generates current status data and sends the current status data to the corresponding ground station 20. The corresponding ground station 20 analyzes the current status data to determine whether the corresponding drone 10 needs to work in cooperation. If the corresponding ground station 20 analyzes that the corresponding drone 10 needs to work together, it sends a cooperation request to the control platform 30. The method by which the corresponding ground station 20 analyzes whether the corresponding drone 10 needs to work cooperatively is the same as the method for analyzing whether the corresponding drone 10 needs to work cooperatively, and details are not described herein again.
  • FIG. 12 is a schematic flowchart of a fourth embodiment of a UAV system control method.
  • the difference between the UAV system control method of the fourth embodiment and the UAV system control method of the first embodiment is that the UAV system control method includes the following steps:
  • Step S151 If the control platform 30 obtains the current status data of the corresponding drone 10 sent by the ground station 20, the control platform 30 analyzes whether the corresponding drone 10 needs to work cooperatively according to the obtained current status data. Specifically, the drone 10 generates current status data and sends the current status data to the corresponding ground station 20. The corresponding ground station 20 sends the current status data to the control platform 30.
  • the method by which the control platform 30 analyzes whether the corresponding drone 10 needs to work cooperatively is the same as the method for analyzing whether the corresponding drone 10 needs to work cooperatively, and details are not described herein again.
  • Step S152 If the control platform 30 analyzes that the corresponding unmanned aerial vehicle 10 needs to work together, the control platform 30 generates and sends a cooperation instruction for the corresponding cooperative ground station 20 to obtain.
  • FIG. 13 is a schematic flowchart of a fifth embodiment of a method for controlling a drone system.
  • the difference between the UAV system control method of the fifth embodiment and the UAV system control method of the first embodiment is that the UAV system control method includes the following steps:
  • Step S161 If the control platform 30 obtains the current status data of the corresponding drone 10 sent by the ground station 20, the control platform 30 displays the current status data of the drone 10 for the user to analyze whether the drone 10 requires collaborative work and input Collaborative request. Specifically, the drone 10 generates current status data and sends the current status data to the corresponding ground station 20. The corresponding ground station 20 sends the current status data to the control platform 30 and displays it. The user analyzes whether the drone 10 needs to work cooperatively according to the current status data displayed by the control platform 30, and if the drone 10 that needs to work cooperatively is analyzed, enters a collaboration request.
  • Step S162 If the control platform 30 receives the cooperation request, the control platform 30 generates and sends a cooperation instruction according to the cooperation request for the corresponding cooperative ground station 20 to obtain.
  • FIG. 14 is a schematic flowchart of a sixth embodiment of a UAV system control method.
  • the difference between the UAV system control method of the sixth embodiment and the UAV system control method of the first embodiment is that the UAV system control method includes the following steps:
  • Step S170 If the control platform 30 receives the cooperation instruction from the ground station 20, the control platform 30 sends the cooperation instruction to the corresponding cooperation ground station 20. Specifically, if the corresponding drone 10 analyzes the need for cooperative work, the corresponding drone 10 generates a collaboration request, and the ground station 20 generates the collaboration instruction according to the collaboration request; or the ground station 20 analyzes the need for the corresponding drone 10 The cooperative work, the ground station 20 generates the cooperative instruction; then the control platform 30 sends the cooperative instruction to the cooperative ground station 20.
  • FIG. 15 is a schematic flowchart of a seventh embodiment of a drone system control method.
  • the drone system control method includes the following steps:
  • step S210 the ground station 20 communicates with the control platform 30.
  • Step S220 If the ground station 20 obtains an execution instruction from the control platform 30, the ground station 20 that has obtained the execution instruction controls the unmanned aerial vehicle 10 corresponding to the ground station 20 to perform tasks in the corresponding sub-region according to the execution instruction.
  • the execution instruction includes flight control information, and the flight control information is set according to the subregion corresponding to the ground station 20.
  • the flight control information includes information on a preset flight range.
  • the information of the preset flight range includes at least one of a preset area, a preset flight path, and a preset target position.
  • the preset area is used to indicate the boundary where the drone 10 is flying
  • the preset flight path is used to indicate the route where the drone 10 is flying
  • the preset target position is used to indicate the direction in which the drone 10 is flying.
  • the preset area, the preset flight path, and the preset target position are all set according to the sub-area corresponding to the ground station 20.
  • the preset area, the preset flight path, and the preset target position are located inside a sub-area corresponding to the ground station 20, or a preset distance, such as a place of one kilometer, from the outside of the sub-area corresponding to the ground station 20.
  • the distance between the corresponding UAV 10 and the corresponding ground station 20 is not greater than the second preset distance.
  • the application task control information is used to guide the drone 10 to complete corresponding application tasks, such as monitoring, spraying pesticides, and the like.
  • the mission control information may be input by the user to the control platform 30 through the terminal 32, or automatically sent by the control platform 30 to the corresponding ground station 20 according to a preset condition, such as the control platform 30 periodically sending execution instructions to the corresponding ground station 20.
  • the application task control information may include the time, dose, and range of spraying pesticides.
  • the method for controlling a drone system provided by the embodiment of the present invention solves the problem of a single drone, which is limited by the battery power and cannot extend the flight distance, and is not subject to the connection from multiple drones to a single ground station. Due to the limitation of insufficient bandwidth and flexible networking, it can easily increase the number of drones and achieve full geographical coverage.
  • FIG. 16 is a schematic flowchart of an eighth embodiment of a drone system control method.
  • the difference between the eighth embodiment drone system control method and the seventh embodiment drone system control method is that the drone The system control method further includes the following steps:
  • Step S230 If the ground station 20 obtains the cooperative instruction, the ground station 20 adjusts the flight control information corresponding to the drone 10 according to the cooperative instruction, and the corresponding drone 10 flies according to the adjusted flight control information.
  • the cooperative instruction is generated and transmitted by the control platform 30, or is generated and transmitted by other ground stations 20 among several ground stations 20.
  • FIG. 17 is a schematic flowchart of a ninth embodiment of a method for controlling a drone system.
  • the difference between the control method of the drone system of the ninth embodiment and the control method of the drone system of the seventh embodiment is that the control method of the drone system further includes the following steps:
  • Step S240 If the ground station 20 obtains the cooperation request sent from the corresponding drone 10, the ground station 20 generates and sends a cooperation instruction according to the cooperation request for the corresponding cooperative ground station 20 to obtain.
  • FIG. 18 is a schematic flowchart of a tenth embodiment of a method for controlling a drone system.
  • the difference between the control method of the tenth embodiment of the drone system and the control method of the seventh embodiment is that the control method of the drone system further includes the following steps:
  • Step S251 If the ground station 20 obtains the current status data from the corresponding drone 10, the ground station 20 analyzes whether the corresponding drone 10 needs to work cooperatively according to the current status data.
  • Step S252 If the ground station 20 analyzes that the corresponding UAV 10 needs to work in cooperation, the ground station 20 generates and sends a cooperation instruction for the corresponding cooperative ground station 20 to obtain.
  • FIG. 19 is a schematic flowchart of an eleventh embodiment of a method for controlling a drone system.
  • the difference between the control method of the drone system of the eleventh embodiment and the control method of the drone system of the seventh embodiment is that the control method of the drone system further includes the following steps:
  • Step S261 If the ground station 20 obtains the current status data from the corresponding UAV 10, the ground station 20 analyzes whether the corresponding UAV 10 needs to work cooperatively according to the current status data.
  • Step S262 If the ground station 20 analyzes that the corresponding drone 10 needs to work together, the ground station 20 generates a cooperation instruction and sends it to the control platform 30, so that the control platform 30 generates and sends a cooperation instruction according to the cooperation request for the corresponding Acquired in cooperation with the ground station 20.
  • FIG. 20 is a schematic flowchart of a twelfth embodiment of a method for controlling a drone system.
  • the difference between the control method of the drone system of the twelfth embodiment and the control method of the drone system of the seventh embodiment is that the control method of the drone system includes the following steps:
  • Step S270 If the ground station 20 obtains the current status data from the corresponding drone 10, transmit the current status data to the control platform 30, so that the control platform 30 analyzes whether the drone 10 needs to work together according to the current status data, and if The drone 10 needs to work together, and the control platform 30 generates and sends a cooperation instruction for the corresponding cooperative ground station 20 to obtain.
  • the UAV system control method provided in the embodiment of the present invention is used to control a number of UAVs 10 to perform tasks in a task area; by dividing the task area into a number of sub-areas, the UAV 10 is corresponding to each sub-area.
  • the ground stations 20 correspond to one-to-one communication connections. Each ground station 20 sends an execution instruction obtained from the control platform 30 to the drone 10 corresponding to the ground station 20, so that the drone 10 controls the corresponding drone according to the execution instruction.
  • a single drone 10 performs tasks in the corresponding sub-area; a single drone 10 exclusively enjoys the bandwidth between the corresponding ground station 20, which can fully meet the transmission of a large amount of data, and the area where each drone 10 flies is relatively small, and the dead time Longer; UAV 10 tasks, such as wide-area monitoring, can be better implemented within a larger mission area.
  • FIG. 21 is a schematic diagram of another embodiment of a ground station.
  • the ground station 20 includes a first processor 110 and a first storage medium 120.
  • the first storage medium 120 is used to store a first program instruction; the first processor 110 is used to execute a first program instruction; if the first processor 110 executes The first program implements the foregoing steps S210 to S270.
  • FIG. 22 is a schematic diagram of another embodiment of the control platform 30.
  • the control platform 30 includes a second processor 210 and a second storage medium 220.
  • the second storage medium 220 is used to store a second program instruction; the second processor 210 is used to execute a second program instruction; if the second processor 210 executes The second program implements the foregoing steps 110 to S170.
  • ground station 20 the control platform 30 in this embodiment, and the method in the foregoing embodiment are based on the aspects that are not used under the same inventive concept.
  • the method implementation process has been described in detail above, so those skilled in the art may follow the foregoing The description clearly understands the structure and implementation process of the ground station 20 and the control platform 30 in this implementation. For the sake of brevity of the description, it will not be repeated here.
  • the present invention can be implemented by means of software plus a necessary universal hardware platform.
  • the technical solution of the present invention in essence or a part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk , Optical discs, etc., including a number of instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute each embodiment of the present invention or a method of some parts of the embodiments, such as:
  • a storage medium is used to store a first computer program; if the first computer program is executed by a processor, the foregoing steps S210 to S270 are implemented.
  • a storage medium is used to store a second computer program; if the second computer program is executed by a processor, the foregoing steps 110 to S170 are implemented.
  • the ground station 20 and the control platform 30 provided in the embodiment of the present invention are used to control a number of UAVs 10 to perform tasks in the task area; by dividing the task area into several sub-areas, the UAV 10 is corresponding to each sub-area
  • the ground station 20 corresponds to the communication connection one by one, and each ground station 20 sends the execution instruction obtained from the control platform 30 to the drone 10 corresponding to the ground station 20, so that the drone 10 controls the corresponding drone according to the execution instruction.
  • the drones 10 perform tasks in the corresponding sub-areas; a single drone 10 has exclusive bandwidth with the corresponding ground station 20, which can fully meet the transmission of a large amount of data, and the area where each drone 10 flies is relatively small and stagnant The time is longer; the UAV 10 tasks, such as wide-area monitoring, can be better implemented in a larger task area.

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Abstract

L'invention concerne un système de véhicule aérien sans pilote et un procédé de commande de système de véhicule aérien sans pilote. Le système de véhicule aérien sans pilote est destiné à exécuter des tâches dans une zone de tâche, la zone de tâche étant divisée en plusieurs sous-zones (M1-M3) ; ledit système comprend plusieurs véhicules aériens sans pilote (10), plusieurs stations au sol (20) et une plateforme de commande (30), les stations au sol (20) étant en correspondance biunivoque avec les sous-zones (M1-M3), et les stations au sol (20) étant en liaison de communication avec les véhicules aériens sans pilote (10) sur une base biunivoque ; les stations au sol (20) acquièrent des instructions d'exécution à partir de la plateforme de commande (30), et les stations au sol (20) acquérant les instructions d'exécution commandent, selon les instructions d'exécution, à un véhicule aérien sans pilote correspondant (10) d'exécuter des tâches dans une sous-zone correspondante (M1-M3). Un seul véhicule aérien sans pilote (10) occupe exclusivement la bande passante entre lui et une station au sol correspondante (20), qui peut satisfaire suffisamment la transmission d'une grande quantité de données ; en outre, la sous-zone (M1-M3) dans laquelle chaque véhicule aérien sans pilote (10) vole est relativement petite, et la durée dans l'air est relativement longue, ce qui permet de mieux réaliser des tâches, telles qu'une surveillance étendue, des véhicules aériens sans pilote (10) dans une plage de zone de tâche plus grande.
PCT/CN2019/106785 2018-09-27 2019-09-19 Système de véhicule aérien sans pilote et procédé de commande de système de véhicule aérien sans pilote WO2020063450A1 (fr)

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