WO2022000578A1 - 自组网无人机失控自动回航到可控范围的方法 - Google Patents

自组网无人机失控自动回航到可控范围的方法 Download PDF

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WO2022000578A1
WO2022000578A1 PCT/CN2020/102531 CN2020102531W WO2022000578A1 WO 2022000578 A1 WO2022000578 A1 WO 2022000578A1 CN 2020102531 W CN2020102531 W CN 2020102531W WO 2022000578 A1 WO2022000578 A1 WO 2022000578A1
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control center
aerial vehicle
unmanned aerial
control
uav
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PCT/CN2020/102531
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French (fr)
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刘万柱
武涛
庞井明
蒋轶
衡刚
陈汝杰
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江苏中利电子信息科技有限公司
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Publication of WO2022000578A1 publication Critical patent/WO2022000578A1/zh

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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  • the invention relates to a method for automatically returning to a controllable range when the self-organizing network UAV is out of control, and is used to control the UAV to return when the self-organizing network UAV is out of control.
  • the patent document with publication number CN109407704A discloses a control system that calculates the optimal route from the drone to the take-off point by collecting the coordinates of the take-off point of the drone and the coordinates of all the way points, and then automatically returns to home through the optimal route.
  • This system collects the number of UAV path position points n in advance, cooperates with the ant algorithm, and counts all the trajectories of m ants returning from the current position of the UAV to the starting point through the determined n position points, and determines the most the optimal route, so as to automatically return to home.
  • the patent document with the publication number CN106658401A discloses a method that when the drone loses the remote control information, it actively sends its own position information to the server, and the server transmits the uncontrollable information of the drone back to the terminal bound to the drone. Then go to the location to retrieve the drone according to the returned location information. Defects of the method and system for the active recovery of uncontrolled drones: This system requires the operator to manually retrieve the drone through the location information returned by the uncontrolled drone, which is not conducive to actual operation, increases labor costs and time costs, and does not With automatic return function.
  • the technical problem to be solved by the present invention is to provide a simple, efficient and accurate method for the self-organizing network unmanned aerial vehicle to automatically return to the controllable range out of control.
  • the ad hoc network control center regularly sends confirmation information to the UAV and receives the UAV information reply to determine whether the UAV is out of control;
  • the UAV When the UAV does not receive the confirmation information sent by the control center within the set time, the UAV confirms that it is an out-of-control UAV and starts the out-of-control return mode until it receives the confirmation from the control center again.
  • the drone keeps the current position to fly; or the drone receives the confirmation message from the control center, but the control center does not receive the confirmation message from the drone, the control center will confirm the drone It is an out-of-control drone, and sends a command to start the return mode to the drone. After the drone receives the command, it starts the return mode until it receives the confirmation information from the control center again.
  • the UAV performs real-time positioning of the UAV through GPS, and records its own position information and the position information of the control center. , and return to the control center.
  • the present invention judges whether the drone is out of control by the control center sending confirmation information to the drone and returning the information.
  • the principle of this method is equivalent to the ordinary shouting response mode, which is simple, efficient, accurate and easy to implement.
  • the present invention does not directly return to the control point (origin) after the self-organized network drone starts the return mode, but keeps the flight on standby when the self-organized network drone receives the confirmation information from the control center again during the returning process.
  • the flight resources of the ad hoc network UAV can be fully utilized, and the UAV can be quickly called again to perform tasks. If the ad hoc network drone never receives the confirmation information from the control center again during the return flight, the drone will always fly back to the control center according to the return route.
  • Figure 1 is a schematic diagram of the information transmission between the control center and the ad hoc network UAV.
  • Figure 2 is a schematic diagram of the self-organized network UAV returning home.
  • the ad hoc network control center regularly sends confirmation information to the UAV and receives the UAV information reply to determine whether the UAV is out of control.
  • the present invention adopts the self-organizing network as the signal receiving and transmitting modules of the UAV and the control center to realize the self-organizing and self-healing functions of the UAV.
  • the UAV When the UAV does not receive the confirmation information sent by the control center within the set time, the UAV confirms that it is an out-of-control UAV and starts the out-of-control return mode until it receives the confirmation from the control center again.
  • the drone keeps the current position to fly; or the drone receives the confirmation message from the control center, but the control center does not receive the confirmation message from the drone, the control center will confirm the drone It is an out-of-control drone, and sends a command to start the return mode to the drone. After the drone receives the command, it starts the return mode until it receives the confirmation information from the control center again.
  • the UAV performs real-time positioning of the UAV through GPS, and records itself as the position information and the position information of the control center.
  • the UAV starts the return mode, according to the current position information of the UAV and the position of the control center information, and return to the control center.
  • the GPS locator uses the GPS locator to locate the drone and its control points in three-dimensional space, the spatial position of the drone relative to the control center can be known in real time.
  • the control center has the function of sending confirmation information.
  • the control center will send confirmation information to all UAVs at certain intervals and wait for a reply. If there is no reply, it will send the UAV to start the return mode. Every time the drone receives a confirmation message, it will generate a corresponding reply message. If it does not receive the confirmation message from the control center within the set time, it will confirm that it is an out-of-control drone and start the return mode.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

自组网无人机失控自动回航到可控范围的方法，（1）采用自组网控制中心定时向无人机发送确认信息，以及接收无人机信息回复的方式确定无人机是否失去控制；（2）当无人机在设定的时间内没有收到控制中心发送的确认信息，或者无人机虽然收到控制中心的确认信息，但是控制中心没有收到无人机的确认信息回复时，确认无人机为失控无人机，启动回航模式，直到再次收到控制中心的确认信息时；（3）无人机通过GPS对无人机进行实时定位，根据无人机自身的当前位置信息和控制中心位置信息，向控制中心进行回航。自组网无人机失控自动回航到可控范围的方法可以充分利用自组网无人机的飞行资源。

Description

自组网无人机失控自动回航到可控范围的方法 技术领域
本发明涉及一种自组网无人机失控自动回航到可控范围的方法，在自组网无人机失控时，用于控制无人机返航。
背景技术
公开号为CN109407704A的专利文献公开了一种通过搜集无人机起飞点坐标和所有途径点的坐标来计算无人机到起飞点的最优路线，继而通过最优路线进行自动返航的控制系统。此系统通过事先设定采集无人机途径位置点个数n，配合蚂蚁算法,统计m个蚂蚁从无人机当前位置通过确定的n个位置点回到起始点的所有轨迹情况，确定出最优路径，从而进行自动返航。一种智能的无人机返航控制系统中，首先需要在无人机经过的途径中随机确定n个固定位置点，然后再配合蚂蚁算法计算出多条经过所有位置点的路径，再对比选出最优路径。此系统的缺陷：随机确定的n个固定位置点，如果其中多个位置点刚好同时集中于某一区域，这样就会造成对其他地方路线经过次数较少，路线达不到理想效果。
公开号为CN106658401A的专利文献公开了一种当无人机失去遥控信息后，主动发送自身位置信息到服务器，服务器在将无人机失控信息传回到与无人机绑定的终端，操作者再根据传回的位置信息去该位置找回无人机。失控无人机主动找回方法及系统的缺陷：此系统需要操作者通过失控无人机传回的位置信息人为的去找回无人机，不利于实际操作，增加人工成本与时间成本，不具备自动返航功能。
发明内容
本发明所要解决的技术问题是提供一种简单、高效、准确的自组网无人机失控自动回航到可控范围的方法。
为解决上述技术问题，本发明自组网无人机失控自动回航到可控范围的方法：
(1)采用自组网控制中心定时向无人机发送确认信息，以及接收无人机信息回复的方式确定无人机是否失去控制；
(2)当无人机在设定的时间内没有收到控制中心发送的确认信息，该无人机便确认自身为失控无人机，并启动失控回航模式，直到再次收到控制中心的确认信息时，无人机此时保持当前位置飞行；或者无人机虽然收到控制中心的确认信息，但是控制中心没有收到该无人机的确认信息回复时，由控制中心确认该无人机为失控无人机，并向该无人机发送启动回航模式命令，无人机接收到命令后启动回航模式，直到再次收到控制中心的确认信息时，无人机此时保持当前位置飞行；
(3)无人机通过GPS对无人机进行实时定位，并记录自身位置信息及控制中心位置信息，当无人机启动回航模式后，根据无人机自身的当前位置信息和控制中心位置信息，向控制中心进行回航。
本发明通过控制中心向无人机发送确认信息和信息回传的方式判断无人机是否失控，这种方式原理相当于普通的喊话应答模式，简单、高效、准确性高且易于实施。在无人机执行飞行任务时，如果因为暂时失控便直接反回控制点，然后再飞出去执行任务，这样就会耗费大量的时间，以及无人机的电量。本发明在自组网无人机启动回航模式后，并非直接返回控制点(原点)，而是当自组网无人机在回航过程中再次接收到控制中心确认信息后保持原地飞行待命，这样可以充分利用自组网无人机的飞行资源，再次快速的调用无人机进行任务，此方式在多个自组网无人机进行协同作业及多跳作业时优点尤为突出。如果自组网无人机在回航过程中始终没有重新接收到控制中心的确认信息，那么无人机便会一直按照回航路线飞回控制中心。
附图说明
下面结合附图和具体实施方式对本发明作进一步详细的说明。
图1为控制中心和自组网无人机信息传输示意图。
图2为自组网无人机返航示意图。
具体实施方式
自组网无人机失控自动回航到可控范围的方法：
(1)采用自组网控制中心定时向无人机发送确认信息，以及接收无人机信息回复的方式确定无人机是否失去控制。如图1所示，本发明采用自组网作为无人机和控制中心的信号接收、发射模块来实现无人机的自组织、自愈合功能。
(2)当无人机在设定的时间内没有收到控制中心发送的确认信息，该无人机便确认自身为失控无人机，并启动失控回航模式，直到再次收到控制中心的确认信息时，无人机此时保持当前位置飞行；或者无人机虽然收到控制中心的确认信息，但是控制中心没有收到该无人机的确认信息回复时，由控制中心确认该无人机为失控无人机，并向该无人机发送启动回航模式命令，无人机接收到命令后启动回航模式，直到再次收到控制中心的确认信息时，无人机此时保持当前位置飞行；
(3)无人机通过GPS对无人机进行实时定位，并记录自身为位置信息及控制中心位置信息，当无人机启动回航模式后，根据无人机自身的当前位置信息和控制中心位置信息，向控制中心进行回航。使用GPS定位仪对无人机及控制点进行三维空间定位，可实时了解无人机相对于控制中心的空间位置。
控制中心具有发送确认信息功能，控制中心会每间隔一定时间对所有无人机发送一次确认信息并等待回复，若无回复，则向该无人机发送启动回航模式。无人机每收到一次确认信息就会相应生成一个回复信息，若设定时间内没有收到控制中心的确认信息，便会确认自身为失控无人机，并启动回航模式。
如图2所示，在自组网无人机在失控点A启动回航模式后，在回航过程中，在B点(即确认信息恢复点B)再次接收到控制中心确认信息后保持原地飞行待命，这样可以充分利用自组网无人机的飞行资源，再次快速的调用无人机进行任务。
上述实施例不以任何方式限制本发明，凡是采用等同替换或等效变换的方式获得的技术方案均落在本发明的保护范围内。

Claims (1)

  1. 自组网无人机失控自动回航到可控范围的方法，其特征在于：
    (1)采用自组网控制中心定时向无人机发送确认信息，以及接收无人机信息回复的方式确定无人机是否失去控制；
    (2)当无人机在设定的时间内没有收到控制中心发送的确认信息，该无人机便确认自身为失控无人机，并启动失控回航模式，直到再次收到控制中心的确认信息时，无人机此时保持当前位置飞行；或者无人机虽然收到控制中心的确认信息，但是控制中心没有收到该无人机的确认信息回复时，由控制中心确认该无人机为失控无人机，并向该无人机发送启动回航模式命令，无人机接收到命令后启动回航模式，直到再次收到控制中心的确认信息时，无人机此时保持当前位置飞行；
    (3)无人机通过GPS对无人机进行实时定位，并记录自身为位置信息及控制中心位置信息，当无人机启动回航模式后，根据无人机自身的当前位置信息和控制中心位置信息，向控制中心进行回航。
PCT/CN2020/102531 2020-07-01 2020-07-17 自组网无人机失控自动回航到可控范围的方法 WO2022000578A1 (zh)

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