CN106802665A - A kind of unmanned plane NOWs - Google Patents
A kind of unmanned plane NOWs Download PDFInfo
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- CN106802665A CN106802665A CN201611207819.0A CN201611207819A CN106802665A CN 106802665 A CN106802665 A CN 106802665A CN 201611207819 A CN201611207819 A CN 201611207819A CN 106802665 A CN106802665 A CN 106802665A
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- 238000004891 communication Methods 0.000 claims description 30
- 239000003921 oil Substances 0.000 description 25
- 238000000034 method Methods 0.000 description 17
- 239000000295 fuel oil Substances 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 239000000446 fuel Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000060 site-specific infrared dichroism spectroscopy Methods 0.000 description 1
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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
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned plane NOWs, including：Ground controller；An at least one unmanned plane group of planes, wherein, each the unmanned plane group of planes at least one unmanned plane group of planes includes：Master control unmanned plane, sets up with the ground controller and communicates to connect；M controlled unmanned plane, is connected with the master control unmanned plane, and M is the integer more than or equal to 1；Wherein, the master control unmanned plane is used to send at least one control instruction to the M controlled unmanned plane, the M controlled unmanned plane is used to receive and perform at least one control instruction, wherein, the instruction generated and sent by the master control unmanned plane is at least included at least one control instruction., there is the more single technical problem of controlled control mode for unmanned plane in solution in the prior art a unmanned plane group of planes in the technical scheme provided by the present invention.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of unmanned plane NOWs.
Background technology
With developing rapidly for Internet of Things and unmanned plane, unmanned plane miscellaneous and a unmanned plane group of planes are occurred in that.At present
Unmanned plane is mainly used in various terminal platforms, by sensor, the controller etc. that set, realizes transmission, detection, remote
Numerous functions such as range monitoring.
In unmanned plane NOWs, mainly comprising unmanned plane-main frame, unmanned plane-slave, ground controller etc., at present, nothing
Man-machine-main frame, unmanned plane-slave are controlled by ground controller, such as：Unmanned plane-main frame is received and performed and controlled by by ground
The control instruction that device processed sends, unmanned plane-slave is received and performed and sent by ground controller or forwarded via unmanned plane-main frame
Control instruction.
It can be seen that, in a unmanned plane group of planes there is the more single technical problem of controlled control mode in unmanned plane in the prior art.
The content of the invention
The embodiment of the present invention provides a kind of unmanned plane NOWs, for solving in a unmanned plane group of planes in the prior art nobody
There is the more single technical problem of controlled control mode in machine, and then reach the technique effect for providing diversified control mode.
On the one hand, the embodiment of the present invention provides a kind of unmanned plane NOWs, including：
Ground controller；
An at least one unmanned plane group of planes, wherein, each the unmanned plane group of planes at least one unmanned plane group of planes includes：
Master control unmanned plane, sets up with the ground controller and communicates to connect；
M controlled unmanned plane, is connected with the master control unmanned plane, and M is the integer more than or equal to 1；
Wherein, the master control unmanned plane is used to send at least one control instruction, the M to the M controlled unmanned plane
Individual controlled unmanned plane is used to receive and perform at least one control instruction, wherein, at least one control instruction extremely
Few instruction for including being generated and sent by the master control unmanned plane.
Optionally, the master control unmanned plane is used for：
Obtain the first distance between the master control unmanned plane and the ground controller, and the M controlled unmanned plane
The second distance between the ground controller；
Determine whether the second distance is all higher than first distance；
If the second distance is all higher than first distance, generates and send at least one to the M controlled unmanned plane
Individual control instruction；Or
If the second distance is all higher than first distance, at least one control that reception is sent by the ground controller
System instruction, at least one control instruction is forwarded to the M controlled unmanned plane.
Optionally, the ground controller is used for：
In the second distance exist less than first distance it is N number of apart from when, to N number of apart from corresponding with described
N number of controlled unmanned plane sends at least one control instruction, and N is the integer less than or equal to M.
Optionally, the master control unmanned plane is used for：
Obtain itself current residual oil mass；
Determine the current residual oil mass whether less than predetermined threshold value；
If the current residual oil mass is less than the predetermined threshold value, determined for replacing from the M controlled unmanned plane
Change the alternative master control unmanned plane of the master control unmanned plane；
Control to set up communication connection between the alternative master control unmanned plane and the ground controller.
Optionally, the master control unmanned plane is used for：
Inquiry request is sent to the M controlled unmanned plane, being comprised at least in the inquiry request has described M of inquiry to receive
The standby coefficient of unmanned plane is controlled, the standby coefficient is calculated by the M itself oil mass of controlled unmanned plane and oil consumption speed
Obtain；
Receive the described standby coefficient being calculated according to the inquiry request sent by the M controlled unmanned plane；
According to the standby coefficient, determine for replacing the standby of the master control unmanned plane from the M controlled unmanned plane
Select master control unmanned plane.
Optionally, the master control unmanned plane is used for：
According to the second distance and the standby coefficient, determined for replacing from the M controlled unmanned plane
State the alternative master control unmanned plane of master control unmanned plane.
Optionally, the master control unmanned plane is additionally operable to：
Broadcast message is sent to the M controlled unmanned plane, notifies that the M controlled unmanned plane automatically switches to alternative master
On control unmanned plane；Include the mark of the alternative master control unmanned plane in the broadcast message.
Optionally, the M controlled unmanned plane is used for：
According to the broadcast message, disconnect and the communication connection between the master control unmanned plane, and automatically switch to described
Alternative master control unmanned plane.
Optionally, the M controlled unmanned plane is used for：
Determine that whether itself disconnects the duration of communication connection beyond preset duration with the master control unmanned plane；
If exceeding the Preset Time, automatic program of making a return voyage is opened；The automatic program of making a return voyage is for controlling the M to receive
Control unmanned plane makes a return voyage to initial takeoff setting from current location.
Said one or multiple technical schemes in the embodiment of the present application, at least imitate with following one or more technology
Really：
First, due to the technical scheme in the embodiment of the present invention, including：Ground controller；An at least one unmanned plane group of planes, its
In, each the unmanned plane group of planes at least one unmanned plane group of planes includes：Master control unmanned plane, builds with the ground controller
Vertical communication connection；M controlled unmanned plane, is connected with the master control unmanned plane, and M is the integer more than or equal to 1；Wherein, the master
Control unmanned plane is used to send at least one control instruction to the M controlled unmanned plane, and the M controlled unmanned plane is used to receive
And perform at least one control instruction, wherein, at least one control instruction at least include by the master control nobody
The instruction that machine generates and sends.I.e. in embodiments of the present invention, M controlled unmanned plane can receive what is sent by ground controller
The control instruction that control instruction, or reception are sent by master control unmanned plane or forwarded by master control unmanned plane, controlled way is more
Sample, thus it is possible to effectively solve in the prior art in a unmanned plane group of planes unmanned plane to there is controlled control mode more single
Technical problem, and then reach the technique effect that diversified control mode is provided.
2nd, due to the technical scheme in the embodiment of the present invention, obtain the master control unmanned plane and the ground controller it
Between the first distance, and M second distances between controlled unmanned plane and the ground controller；Determine the second distance
Whether first distance is all higher than；If the second distance is all higher than first distance, generate and to the M controlled nothing
The control instruction of man-machine transmission at least one；If or the second distance is all higher than first distance, reception is controlled by the ground
At least one control instruction that device processed sends, at least one control instruction is forwarded to the M controlled unmanned plane.I.e. at this
In inventive embodiments, can be determined according to the distance between controlled unmanned plane and ground controller controlled unmanned plane by prosecutor
Formula, and then reach the technique effect for improving control mode flexibility.
3rd, due to the technical scheme of the embodiment of the present invention, itself current residual oil mass is obtained；Determine the current residual oil
Whether amount is less than predetermined threshold value；If the current residual oil mass is less than the predetermined threshold value, from the M controlled unmanned plane really
Make the alternative master control unmanned plane for replacing the master control unmanned plane；The alternative master control unmanned plane is controlled to be controlled with the ground
Communication connection is set up between device processed.I.e. in embodiments of the present invention, when the Fuel Oil Remaining of master control unmanned plane is less than predetermined threshold value, energy
It is enough that alternative master control unmanned plane is determined from controlled unmanned plane automatically, so as to continuing normally for unmanned plane NOWs is effectively ensured
Work, and then reach the technique effect of the reliability for improving unmanned plane NOWs.
Brief description of the drawings
Fig. 1 is a kind of structural representation of unmanned plane NOWs provided in an embodiment of the present invention.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
It is right first below in order to be better understood from technical scheme the present invention relates to unmanned plane NOWs
Unmanned plane group of planes control mode of the prior art is briefly described.
At present, included in unmanned plane NOWs：Ground controller, unmanned plane-main frame, unmanned plane-slave, are specifically controlling
During system, unmanned plane-main frame and unmanned plane-slave are controlled by ground controller, and control mode is more single；Separately, by
It is required to be set up with ground controller in unmanned plane-main frame and unmanned plane-slave and is connected, then to ground control process ability and calculation
Method scheduling requirement is very high, meanwhile, when setting up communication connection between ground controller and each unmanned plane, especially each nobody
Between machine it is closer to the distance in the case of, the interference between each communication link is larger, so as to influence ground controller and unmanned plane
Between communication quality.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of unmanned plane NOWs, Fig. 1 is refer to, including：
Ground controller 101；
An at least one unmanned plane group of planes 102, wherein, each the unmanned plane group of planes bag at least one unmanned plane group of planes
Include：
Master control unmanned plane, sets up with the ground controller and communicates to connect；
M controlled unmanned plane, is connected with the master control unmanned plane, and M is the integer more than or equal to 1；
Wherein, the master control unmanned plane is used to send at least one control instruction, the M to the M controlled unmanned plane
Individual controlled unmanned plane is used to receive and perform at least one control instruction, wherein, at least one control instruction extremely
Few instruction for including being generated and sent by the master control unmanned plane.
In embodiments of the present invention, there is provided a kind of unmanned plane NOWs can be applied to make an inspection tour, remote monitoring or biography
It is defeated to wait application scenarios, or be other application scenarios, here, just no longer schematically illustrating one by one.
In embodiments of the present invention, unmanned plane NOWs comprising ground controller, master control unmanned plane and M it is controlled nobody
Machine, ground controller is mainly used in controlling master control unmanned plane, for distributing task to master control unmanned plane, therefore, ground controller
Be processed without the flying quality to M controlled unmanned planes, therefore, it is possible to simplify its algorithmic dispatching, data throughout will
Ask.
Further, in embodiments of the present invention, unmanned plane NOWs also includes an at least one unmanned plane group of planes, at least one
Each unmanned plane group of planes includes in an individual unmanned plane group of planes：
Master control unmanned plane, for receiving the control instruction sent by ground controller, and performs the control instruction for receiving；
M controlled unmanned plane, in embodiments of the present invention, M controlled unmanned plane can be the unmanned plane of same type, also may be used
Think the unmanned plane of different types, such as：The functional module that each controlled unmanned plane is set in M controlled unmanned plane is different, most
The function of realizing eventually is also differed, specifically, the controlled unmanned plane that numbering is 1 is mainly used in detecting；Numbering be 2 it is controlled nobody
Machine is mainly used in the safety of the controlled unmanned plane for ensureing that numbering is 1；Numbering be 3 controlled unmanned plane be mainly used in projection etc.,
Or be other types, those of ordinary skill in the art can be configured according to actual needs, in embodiments of the present invention not
Make specific restriction.
In embodiments of the present invention, M controlled unmanned plane is used to receive at least one control sent by master control unmanned plane
Instruction, the sending method of at least one control instruction includes but is not limited to following several ways, specifically：
1st, M controlled unmanned plane is only controlled by master control unmanned plane, that is, receive the control generated and sent by master control unmanned plane
System instruction, in this approach, the control instruction that master control unmanned plane generates and sends can be sent based on ground controller
Ground control instruction and the control instruction for generating, or the control instruction itself generated and sent by master control unmanned plane.
2nd, M controlled unmanned plane receive the control instruction sent by ground controller directly by ground controller control.
3rd, M controlled unmanned planes are by ground controller control, the control instruction that M controlled unmanned plane is received be by master control without
The instruction of man-machine forwarding.
For above-mentioned three kinds of implementations, those of ordinary skill in the art can select according to actual needs it is above-mentioned a kind of or
Multiple combination, is not especially limited in embodiments of the present invention.
The technical scheme provided by the present invention, the controlled way of M controlled unmanned plane is no longer single, with limitation,
And then reach the technique effect that multiple control modes are provided.
In embodiments of the present invention, one kind is given according to the distance between M controlled unmanned plane and ground controller come really
Determine the M controlled way of controlled unmanned plane, specifically：The master control unmanned plane is used for：
Obtain the first distance between the master control unmanned plane and the ground controller, and the M controlled unmanned plane
The second distance between the ground controller；
Determine whether the second distance is all higher than first distance；
If the second distance is all higher than first distance, generates and send at least one to the M controlled unmanned plane
Individual control instruction；Or
If the second distance is all higher than first distance, at least one control that reception is sent by the ground controller
System instruction, at least one control instruction is forwarded to the M controlled unmanned plane.
Accordingly, the ground controller is used for：
In the second distance exist less than first distance it is N number of apart from when, to N number of apart from corresponding with described
N number of controlled unmanned plane sends at least one control instruction, and N is the integer less than or equal to M.
In embodiments of the present invention, range sensor, acceleration transducer are provided with master control unmanned plane or for other
The sensor of type, is not especially limited in embodiments of the present invention.
During implementing, master control unmanned plane can measure master control unmanned plane and be controlled with ground by range sensor
The first second distance between distance, and controlled unmanned plane and ground controller between device.
In embodiments of the present invention, M is as a example by 3, the first distance with 100 meters, 3 controlled unmanned planes and ground controller it
Between second distance by taking 150,130 meters, 120 meters as an example, at this moment, the distance between M controlled unmanned planes and ground controller are
More than the first distance, then show M controlled unmanned planes not in the range of the efficient communication of ground controller, in this case,
Then directly generated by master control unmanned plane and concurrently send at least one control instruction, or by the forwarding of master control unmanned plane by ground controller
The control instruction of transmission.
In embodiments of the present invention, when M controlled unmanned plane is controlled by master control unmanned plane, it is not only able to simplify
Its algorithmic dispatching, the requirement of data throughout, and controlled unmanned plane are only controlled by master control unmanned plane, then M controlled nothing
Man-machine flying distance can be with farther such that it is able to extends the application scenarios of a unmanned plane group of planes, and then reaches a unmanned plane group of planes
The technique effect of availability.
Further, when master control unmanned plane is controlled to M controlled unmanned plane, it is to avoid ground controller is controlled with each
Unmanned plane sets up communication connection, and then avoids the interference between each communication link, and then reaches the technology for improving communication instruction
Effect.
During implementing, as a example by 3, as a example by 100 meters, 3 controlled unmanned planes are controlled the first distance M with ground
Second distance between device by taking 80 meters, 75 meters, 120 meters as an example, at this moment, in M controlled unmanned planes exist with ground controller it
Between distance be less than the first distance, then show there is communication of N number of controlled unmanned plane in ground controller in M controlled unmanned planes
In the range of, at this moment, at least one control instruction directly can be sent to N number of controlled unmanned plane from ground controller.
Certainly, during implementing, in order to simplify its algorithmic dispatching, the requirement of data throughout and avoid building
After vertical communication link, the Communication Jamming between each bar link, it is also possible to which control is sent to N number of controlled unmanned plane by master control unmanned plane
System instruction, is not especially limited in embodiments of the present invention.
The technical scheme provided by the present invention, can select controlled way according to the flying height of controlled unmanned plane, from
And realize the technique effect of the flexibility of raising control mode.
In embodiments of the present invention, in unmanned plane group of planes running, it is contemplated that master control unmanned plane is not only wanted and ground
Communicated between controller, also to be communicated and multiple controlled unmanned planes between, in this case, master control unmanned plane
Fuel consumption will necessarily increase, and after master control unmanned plane fuel consumption is less than predetermined threshold value, M by master control unmanned aerial vehicle (UAV) control is controlled
Unmanned plane can be in no-console condition, the disorder for necessarily causing the unmanned plane NOWs to run, in order to avoid above-mentioned technology is asked
The appearance of topic, following technical scheme is given in the present invention, and during implementing, the master control unmanned plane is used for：
Obtain itself current residual oil mass；
Determine the current residual oil mass whether less than predetermined threshold value；
If the current residual oil mass is less than the predetermined threshold value, determined for replacing from the M controlled unmanned plane
Change the alternative master control unmanned plane of the master control unmanned plane；
Control to set up communication connection between the alternative master control unmanned plane and the ground controller.
In embodiments of the present invention, predetermined threshold value is that current master control unmanned plane Fuel Oil Remaining cannot be further continued for connecting controlled
Unmanned plane, and when controlling connected controlled unmanned plane, the current oil mass for calculating can also use the oil mass value of 3-10 minutes；
Or predetermined threshold is master control unmanned plane residue 10%-20% oil mass values.
During implementing, when judging that current residual oil mass is less than predetermined threshold value, then from M controlled unmanned plane
In determine alternative master control unmanned plane for replacing the master control unmanned plane.
In embodiments of the present invention, it is determined that the alternative unmanned plane for replacing master control unmanned plane can be by the unmanned owner of current master control
It is dynamic to look for, so that it is determined that going out optimal standby master control unmanned plane, determine that optimal standby master control unmanned plane can be based on M
The oneself state that controlled unmanned plane is actively initiated, that is, it is current with oily situation, or standby coefficient, or be other
Parameter, is not especially limited in embodiments of the present invention.
In embodiments of the present invention, as a example by determining alternative master control unmanned plane by standby coefficient, process is being implemented
In, the master control unmanned plane is used for：
Inquiry request is sent to the M controlled unmanned plane, being comprised at least in the inquiry request has described M of inquiry to receive
The standby coefficient of unmanned plane is controlled, the standby coefficient is calculated by the M itself oil mass of controlled unmanned plane and oil consumption speed
Obtain；
Receive the described standby coefficient being calculated according to the inquiry request sent by the M controlled unmanned plane；
According to the standby coefficient, determine for replacing the standby of the master control unmanned plane from the M controlled unmanned plane
Select master control unmanned plane.
During implementing, master control unmanned plane sends announcement information to M controlled unmanned plane, in announcement information at least
Include current self residual low on fuel, other master control unmanned planes are changed in request.
In embodiments of the present invention, after M controlled unmanned plane receives announcement information, then according to self residual oil mass
And oil consumption speed calculates the standby coefficient of itself, such as：Numbering is that the Fuel Oil Remaining of 1 controlled unmanned plane is 20L, and oil consumption speed is
4L/h, the standby coefficient of the controlled unmanned plane is 5；Numbering is that the Fuel Oil Remaining of 1 controlled unmanned plane is 50L, and oil consumption speed is
10L/h, the standby coefficient of the controlled unmanned plane is 5；Numbering is that the Fuel Oil Remaining of 3 controlled unmanned plane is 30L, and oil consumption speed is
3L/h, the standby coefficient of the controlled unmanned plane is 10.
After M controlled unmanned plane calculates the standby coefficient of itself, then standby coefficient is sent to master control unmanned plane.
Accordingly, master control unmanned plane receives the standby coefficient sent by M controlled unmanned plane, then true according to standby coefficient
Fixed alternative master control unmanned plane, during implementing, select the standby controlled unmanned plane of coefficient highest alternately master control without
It is man-machine.
In embodiments of the present invention, because controlled unmanned plane is controlled by master control unmanned plane, therefore, the flight of controlled unmanned plane
Distance is possible to exceed the efficient communication scope with ground controller, in this case, even if the alternative master control unmanned plane
Standby coefficient highest, because it is not in the communication range of ground controller, causes this selection to be invalid, then, at this
In inventive embodiments, in order to avoid the presence of above-mentioned situation, there is provided following technical scheme.
During implementing, the master control unmanned plane is used for：
According to the second distance and the standby coefficient, determined for replacing from the M controlled unmanned plane
State the alternative master control unmanned plane of master control unmanned plane.
In embodiments of the present invention, it is assumed that numbering be the standby coefficient of 1 controlled unmanned plane for 5, with ground controller it
Between second distance be 80 meters；Numbering be 2 controlled unmanned plane standby coefficient between 5, with ground controller second away from
From being 75 meters；Numbering is the standby coefficient of 3 controlled unmanned plane for the second distance between 10, with ground controller is 120 meters.
During implementing, if with standby coefficient as selection gist, standby coefficient highest be numbering be 3 it is controlled
Unmanned plane, the second distance yet with the controlled unmanned plane that numbering is 3 is more than the first distance, it is therefore desirable to reselect.By
It is identical with the standby coefficient of the controlled unmanned plane that numbering is 2 in the controlled unmanned plane that numbering is 1, and second distance is respectively less than first
Distance, then one is selected among both, is not especially limited in embodiments of the present invention.
During implementing, determine that alternative master control unmanned plane may be for one, or two, or two with
On, when for multiple, as long as randomly choosing one in multiple alternative master control unmanned planes, do not make in embodiments of the present invention
It is specific to limit.
In embodiments of the present invention, after master control unmanned plane determines alternative master control unmanned plane, then to inform that M is individual controlled
Unmanned plane.During implementing, the master control unmanned plane is additionally operable to：
Broadcast message is sent to the M controlled unmanned plane, notifies that the M controlled unmanned plane automatically switches to alternative master
On control unmanned plane；Include the mark of the alternative master control unmanned plane in the broadcast message.
During implementing, after master control unmanned plane determines alternative controlled unmanned plane, master control unmanned plane is then to M
Individual controlled unmanned plane sends broadcast message, and the broadcast message includes the unique identifier of alternative master control unmanned plane, such as：SSID, uses
In M controlled unmanned plane is notified, automatically switched on alternative master control unmanned plane according to identifier.
Accordingly, in embodiments of the present invention, the M controlled unmanned plane is used for：
According to the broadcast message, disconnect and the communication connection between the master control unmanned plane, and automatically switch to described
Alternative master control unmanned plane.
During implementing, after M controlled unmanned plane receives the broadcast message sent by master control unmanned plane, M
Communication connection is set up between alternative master control unmanned plane and ground controller in individual controlled unmanned plane；In M controlled unmanned planes its
Its controlled unmanned plane actively sets up communication connection according to the identifier of alternative master control unmanned plane and alternative master control unmanned plane between, with
By the flying height of alternative other controlled unmanned planes of master control unmanned aerial vehicle (UAV) control, heading or flying speed etc., in this hair
It is not especially limited in bright embodiment.
In embodiments of the present invention, after M controlled unmanned plane switches to alternative master control unmanned plane, former master control unmanned plane
Then as controlled unmanned plane, controlled by alternative master control unmanned plane and/or ground controller.
In embodiments of the present invention, when master control unmanned plane Fuel Oil Remaining is less than predetermined threshold value, from M controlled unmanned plane
Alternative master control unmanned plane is determined, continues normal operation so as to guarantee unmanned plane NOWs, and then reach raising nothing
The technique effect of man-machine NOWs operational reliability.
In embodiments of the present invention, it is default in the separated communication connection of controlled unmanned plane and master control unmanned plane in order to ensure
Time period, it is impossible to which when foundation is connected between master control unmanned plane, controlled unmanned plane still is able to normal operation.Implementing process
In, the M controlled unmanned plane is used for：
Determine that whether itself disconnects the duration of communication connection beyond preset duration with the master control unmanned plane；
If exceeding the Preset Time, automatic program of making a return voyage is opened；The automatic program of making a return voyage is for controlling the M to receive
Control unmanned plane makes a return voyage to initial takeoff setting from current location.
During implementing, the duration for disconnecting communication connection in controlled unmanned plane exceeds preset duration, such as：2 hours,
After 3 hours or 5 hours, communication connection cannot be still re-established between master control unmanned plane, at this moment, then show master control unmanned plane or
The controlled unmanned plane itself breaks down, and at this moment, the controlled unmanned plane then starts automatic program of making a return voyage, and is risen with making a return voyage to initial
Fly position.
The technical scheme provided by the present invention, even if when master control unmanned plane or controlled unmanned plane break down, leading to
Program of making a return voyage automatically is crossed, controlled unmanned plane remains to intactly return to ground, and then further up to a raising unmanned plane group of planes
The technique effect of the reliability of system.
Said one or multiple technical schemes in the embodiment of the present application, at least imitate with following one or more technology
Really：
First, due to the technical scheme in the embodiment of the present invention, including：Ground controller；An at least one unmanned plane group of planes, its
In, each the unmanned plane group of planes at least one unmanned plane group of planes includes：Master control unmanned plane, builds with the ground controller
Vertical communication connection；M controlled unmanned plane, is connected with the master control unmanned plane, and M is the integer more than or equal to 1；Wherein, the master
Control unmanned plane is used to send at least one control instruction to the M controlled unmanned plane, and the M controlled unmanned plane is used to receive
And perform at least one control instruction, wherein, at least one control instruction at least include by the master control nobody
The instruction that machine generates and sends.I.e. in embodiments of the present invention, M controlled unmanned plane can receive what is sent by ground controller
The control instruction that control instruction, or reception are sent by master control unmanned plane or forwarded by master control unmanned plane, controlled way is more
Sample, thus it is possible to effectively solve in the prior art in a unmanned plane group of planes unmanned plane to there is controlled control mode more single
Technical problem, and then reach the technique effect that diversified control mode is provided.
2nd, due to the technical scheme in the embodiment of the present invention, obtain the master control unmanned plane and the ground controller it
Between the first distance, and M second distances between controlled unmanned plane and the ground controller；Determine the second distance
Whether first distance is all higher than；If the second distance is all higher than first distance, generate and to the M controlled nothing
The control instruction of man-machine transmission at least one；If or the second distance is all higher than first distance, reception is controlled by the ground
At least one control instruction that device processed sends, at least one control instruction is forwarded to the M controlled unmanned plane.I.e. at this
In inventive embodiments, can be determined according to the distance between controlled unmanned plane and ground controller controlled unmanned plane by prosecutor
Formula, and then reach the technique effect for improving control mode flexibility.
3rd, due to the technical scheme of the embodiment of the present invention, itself current residual oil mass is obtained；Determine the current residual oil
Whether amount is less than predetermined threshold value；If the current residual oil mass is less than the predetermined threshold value, from the M controlled unmanned plane really
Make the alternative master control unmanned plane for replacing the master control unmanned plane；The alternative master control unmanned plane is controlled to be controlled with the ground
Communication connection is set up between device processed.I.e. in embodiments of the present invention, when the Fuel Oil Remaining of master control unmanned plane is less than predetermined threshold value, energy
It is enough that alternative master control unmanned plane is determined from controlled unmanned plane automatically, so as to continuing normally for unmanned plane NOWs is effectively ensured
Work, and then reach the technique effect of the reliability for improving unmanned plane NOWs.
The above, above example is only used to be described in detail the technical scheme of the application, but implements above
The explanation of example is only intended to help and understands the method for the present invention and its core concept, should not be construed as limiting the invention.This
Those skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in should all be covered
Within protection scope of the present invention.
Claims (9)
1. a kind of unmanned plane NOWs, including：
Ground controller；
An at least one unmanned plane group of planes, wherein, each the unmanned plane group of planes at least one unmanned plane group of planes includes：
Master control unmanned plane, sets up with the ground controller and communicates to connect；
M controlled unmanned plane, is connected with the master control unmanned plane, and M is the integer more than or equal to 1；
Wherein, the master control unmanned plane is used to send at least one control instruction to the M controlled unmanned plane, and the M is received
Control unmanned plane is used to receive and perform at least one control instruction, wherein, at least wrapped at least one control instruction
Include the instruction generated and sent by the master control unmanned plane.
2. unmanned plane NOWs as claimed in claim 2, it is characterised in that the master control unmanned plane is used for：
Obtain the first distance between the master control unmanned plane and the ground controller, and the M controlled unmanned plane and institute
State second distance between ground controller；
Determine whether the second distance is all higher than first distance；
If the second distance is all higher than first distance, generates and send at least one to the M controlled unmanned plane and control
System instruction；Or
If the second distance is all higher than first distance, at least one control that reception is sent by the ground controller refers to
Order, at least one control instruction is forwarded to the M controlled unmanned plane.
3. unmanned plane NOWs as claimed in claim 2, it is characterised in that the ground controller is used for：
In the second distance exist less than first distance it is N number of apart from when, to N number of apart from corresponding N number of with described
Controlled unmanned plane sends at least one control instruction, and N is the integer less than or equal to M.
4. unmanned plane NOWs as claimed in claim 1, it is characterised in that the master control unmanned plane is used for：
Obtain itself current residual oil mass；
Determine the current residual oil mass whether less than predetermined threshold value；
If the current residual oil mass is less than the predetermined threshold value, determined for replacing from the M controlled unmanned plane
State the alternative master control unmanned plane of master control unmanned plane；
Control to set up communication connection between the alternative master control unmanned plane and the ground controller.
5. unmanned plane NOWs as claimed in claim 4, it is characterised in that the master control unmanned plane is used for：
Inquiry request is sent to the M controlled unmanned plane, being comprised at least in the inquiry request has the inquiry M controlled nothing
Man-machine standby coefficient, the standby coefficient is calculated by itself oil mass of the M controlled unmanned plane with oil consumption speed；
Receive the described standby coefficient being calculated according to the inquiry request sent by the M controlled unmanned plane；
According to the standby coefficient, the alternative master for replacing the master control unmanned plane is determined from the M controlled unmanned plane
Control unmanned plane.
6. unmanned plane NOWs as claimed in claim 5, it is characterised in that the master control unmanned plane is used for：
According to the second distance and the standby coefficient, determined for replacing the master from the M controlled unmanned plane
Control the alternative master control unmanned plane of unmanned plane.
7. unmanned plane NOWs as claimed in claim 6, it is characterised in that the master control unmanned plane is additionally operable to：
Send broadcast message to the controlled unmanned planes of the M, notify the M controlled unmanned plane automatically switch to alternative master control without
On man-machine；Include the mark of the alternative master control unmanned plane in the broadcast message.
8. unmanned plane NOWs as claimed in claim 7, it is characterised in that the M controlled unmanned plane is used for：
According to the broadcast message, disconnect and the communication connection between the master control unmanned plane, and automatically switch to described alternative
Master control unmanned plane.
9. the unmanned plane NOWs as described in any claims of claim 1-8, it is characterised in that the M controlled unmanned plane
For：
Determine that whether itself disconnects the duration of communication connection beyond preset duration with the master control unmanned plane；
If exceeding the Preset Time, automatic program of making a return voyage is opened；The automatic program of making a return voyage is for controlling the M controlled nothing
It is man-machine to be maked a return voyage to initial takeoff setting from current location.
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