CN106802665B - Unmanned aerial vehicle cluster system - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle cluster system, which comprises: a ground controller; at least one drone swarm, wherein each drone swarm of the at least one drone swarm includes: the main control unmanned aerial vehicle establishes communication connection with the ground controller; the M controlled unmanned aerial vehicles are connected with the master control unmanned aerial vehicle, and M is an integer greater than or equal to 1; wherein, master control unmanned aerial vehicle is used for to M controlled unmanned aerial vehicle sends at least one control command, M controlled unmanned aerial vehicle is used for receiving and carrying out the at least one control command, wherein, include at least in the at least one control command by the instruction that master control unmanned aerial vehicle generated and sent. The technical scheme provided by the invention is used for solving the technical problem that the unmanned aerial vehicle in the unmanned aerial vehicle cluster in the prior art has a single controlled control mode.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle cluster system.
Background
Along with the rapid development of the internet of things and unmanned aerial vehicles, various unmanned aerial vehicles and unmanned aerial vehicle clusters appear. At present, unmanned aerial vehicles are mainly applied to various terminal platforms, and a plurality of functions such as transmission, detection and remote monitoring are realized through sensors, controllers and the like arranged.
The unmanned aerial vehicle cluster system mainly comprises an unmanned aerial vehicle-host, an unmanned aerial vehicle-slave, a ground controller and the like, wherein at present, the unmanned aerial vehicle-host and the unmanned aerial vehicle-slave are controlled by the ground controller, such as: the drone-master receives and executes control instructions sent by the ground controller, and the drone-slave receives and executes control instructions sent by the ground controller or forwarded via the drone-master.
Therefore, the unmanned aerial vehicle in the unmanned aerial vehicle cluster in the prior art has the technical problem of single controlled control mode.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle cluster system, which is used for solving the technical problem that an unmanned aerial vehicle in an unmanned aerial vehicle cluster in the prior art has a single controlled control mode, and further achieving the technical effect of providing diversified control modes.
In one aspect, an embodiment of the present invention provides an unmanned aerial vehicle fleet system, including:
a ground controller;
at least one drone swarm, wherein each drone swarm of the at least one drone swarm includes:
the main control unmanned aerial vehicle establishes communication connection with the ground controller;
the M controlled unmanned aerial vehicles are connected with the master control unmanned aerial vehicle, and M is an integer greater than or equal to 1;
wherein, master control unmanned aerial vehicle is used for to M controlled unmanned aerial vehicle sends at least one control command, M controlled unmanned aerial vehicle is used for receiving and carrying out the at least one control command, wherein, include at least in the at least one control command by the instruction that master control unmanned aerial vehicle generated and sent.
Optionally, the master control drone is configured to:
acquiring a first distance between the master control unmanned aerial vehicle and the ground controller and a second distance between the M controlled unmanned aerial vehicles and the ground controller;
determining whether the second distances are both greater than the first distance;
if the second distances are all larger than the first distance, generating and sending at least one control instruction to the M controlled unmanned aerial vehicles; or
If the second distances are larger than the first distances, receiving at least one control instruction sent by the ground controller, and forwarding the at least one control instruction to the M controlled unmanned aerial vehicles.
Optionally, the ground controller is configured to:
and when N distances smaller than the first distance exist in the second distance, sending at least one control instruction to N controlled unmanned aerial vehicles corresponding to the N distances, wherein N is an integer smaller than or equal to M.
Optionally, the master control drone is configured to:
acquiring the current residual oil quantity of the fuel cell;
determining whether the current remaining oil amount is lower than a preset threshold value;
if the current remaining oil amount is lower than the preset threshold value, determining an alternative master control unmanned aerial vehicle for replacing the master control unmanned aerial vehicle from the M controlled unmanned aerial vehicles;
and controlling the standby master control unmanned aerial vehicle to establish communication connection with the ground controller.
Optionally, the master control drone is configured to:
sending query requests to the M controlled unmanned aerial vehicles, wherein the query requests at least comprise standby coefficients for querying the M controlled unmanned aerial vehicles, and the standby coefficients are obtained by calculating the oil quantity and the oil consumption speed of the M controlled unmanned aerial vehicles;
receiving the standby coefficients which are sent by the M controlled unmanned aerial vehicles and calculated according to the query requests;
and determining alternative master unmanned aerial vehicles for replacing the master unmanned aerial vehicle from the M controlled unmanned aerial vehicles according to the standby coefficient.
Optionally, the master control drone is configured to:
and determining an alternative master control unmanned aerial vehicle for replacing the master control unmanned aerial vehicle from the M controlled unmanned aerial vehicles according to the second distance and the standby coefficient.
Optionally, the master control drone is further configured to:
sending broadcast information to the M controlled unmanned aerial vehicles to inform the M controlled unmanned aerial vehicles to automatically switch to alternative master control unmanned aerial vehicles; the broadcast information includes the identifier of the alternative master control unmanned aerial vehicle.
Optionally, the M controlled drones are configured to:
according to the broadcast information, the communication connection between the master control unmanned aerial vehicle and the standby master control unmanned aerial vehicle is disconnected, and the standby master control unmanned aerial vehicle is automatically switched.
Optionally, the M controlled drones are configured to:
determining whether the communication connection disconnection time between the main control unmanned aerial vehicle and the main control unmanned aerial vehicle exceeds a preset time;
if the preset time is exceeded, starting an automatic return program; and the automatic return flight program is used for controlling the M controlled unmanned aerial vehicles to return to the initial takeoff position from the current position.
One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:
firstly, the technical scheme in the embodiment of the invention comprises the following steps: a ground controller; at least one drone swarm, wherein each drone swarm of the at least one drone swarm includes: the main control unmanned aerial vehicle establishes communication connection with the ground controller; the M controlled unmanned aerial vehicles are connected with the master control unmanned aerial vehicle, and M is an integer greater than or equal to 1; wherein, master control unmanned aerial vehicle is used for to M controlled unmanned aerial vehicle sends at least one control command, M controlled unmanned aerial vehicle is used for receiving and carrying out the at least one control command, wherein, include at least in the at least one control command by the instruction that master control unmanned aerial vehicle generated and sent. That is, in the embodiment of the present invention, M controlled drones may receive a control instruction sent by the ground controller, or may receive a control instruction sent by the master drone or forwarded by the master drone, and the controlled modes are diversified, so that the technical problem that the controlled control mode of the drones in the drone swarm is single in the prior art can be effectively solved, and the technical effect of providing diversified control modes is achieved.
Secondly, according to the technical scheme in the embodiment of the invention, a first distance between the master control unmanned aerial vehicle and the ground controller and a second distance between the M controlled unmanned aerial vehicles and the ground controller are obtained; determining whether the second distances are both greater than the first distance; if the second distances are all larger than the first distance, generating and sending at least one control instruction to the M controlled unmanned aerial vehicles; or if the second distances are greater than the first distances, receiving at least one control instruction sent by the ground controller, and forwarding the at least one control instruction to the M controlled unmanned aerial vehicles. Namely, in the embodiment of the invention, the controlled mode of the controlled unmanned aerial vehicle can be determined according to the distance between the controlled unmanned aerial vehicle and the ground controller, so that the technical effect of improving the flexibility of the control mode is achieved.
Thirdly, acquiring the current residual oil amount per se due to the technical scheme of the embodiment of the invention; determining whether the current remaining oil amount is lower than a preset threshold value; if the current remaining oil amount is lower than the preset threshold value, determining an alternative master control unmanned aerial vehicle for replacing the master control unmanned aerial vehicle from the M controlled unmanned aerial vehicles; and controlling the standby master control unmanned aerial vehicle to establish communication connection with the ground controller. Namely, in the embodiment of the invention, when the residual oil amount of the master control unmanned aerial vehicle is lower than the preset threshold value, the alternative master control unmanned aerial vehicle can be automatically determined from the controlled unmanned aerial vehicles, so that the continuous normal work of the unmanned aerial vehicle cluster system is effectively ensured, and the technical effect of improving the reliability of the unmanned aerial vehicle cluster system is further achieved.
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Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle fleet system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention relates to an unmanned aerial vehicle cluster system, and firstly, a control mode of an unmanned aerial vehicle cluster in the prior art is briefly described below in order to better understand the technical scheme of the present application.
At present, an unmanned aerial vehicle fleet system comprises: the ground controller, the unmanned aerial vehicle-host computer, the unmanned aerial vehicle-slave computer, in the concrete control process, unmanned aerial vehicle-host computer and unmanned aerial vehicle-slave computer are all controlled by the ground controller, the control mode is comparatively single; in addition, because the unmanned aerial vehicle-host computer and the unmanned aerial vehicle-slave computer need to be connected with the ground controller, the requirements on ground control processing capacity and algorithm scheduling are high, and meanwhile, when communication connection is established between the ground controller and each unmanned aerial vehicle, especially under the condition that the distance between each unmanned aerial vehicle is short, the interference between each communication link is large, so that the communication quality between the ground controller and each unmanned aerial vehicle is influenced.
To solve the above technical problem, an embodiment of the present invention provides an unmanned aerial vehicle fleet system, please refer to fig. 1, including:
a ground controller 101;
at least one drone swarm 102, wherein each drone swarm of the at least one drone swarm includes:
the main control unmanned aerial vehicle establishes communication connection with the ground controller;
the M controlled unmanned aerial vehicles are connected with the master control unmanned aerial vehicle, and M is an integer greater than or equal to 1;
wherein, master control unmanned aerial vehicle is used for to M controlled unmanned aerial vehicle sends at least one control command, M controlled unmanned aerial vehicle is used for receiving and carrying out the at least one control command, wherein, include at least in the at least one control command by the instruction that master control unmanned aerial vehicle generated and sent.
In the embodiment of the present invention, the provided drone swarm system can be applied to application scenarios such as tour, remote monitoring or transmission, or other application scenarios, which are not illustrated herein.
In the embodiment of the invention, the unmanned aerial vehicle cluster system comprises the ground controller, the master control unmanned aerial vehicle and the M controlled unmanned aerial vehicles, wherein the ground controller is mainly used for controlling the master control unmanned aerial vehicle and distributing tasks to the master control unmanned aerial vehicle, so that the ground controller does not need to process flight data of the M controlled unmanned aerial vehicles, and the requirements of algorithm scheduling and data throughput can be simplified.
Further, in this embodiment of the present invention, the drone swarm system further includes at least one drone swarm, where each drone swarm in the at least one drone swarm includes:
the main control unmanned aerial vehicle is used for receiving the control command sent by the ground controller and executing the received control command;
in the embodiment of the present invention, the M controlled drones may be the same type of drone or different types of drone, such as: each of the M controlled unmanned aerial vehicles has different functional modules, and the finally realized functions are different, and specifically, the controlled unmanned aerial vehicle numbered 1 is mainly used for detection; the controlled unmanned aerial vehicle numbered 2 is mainly used for ensuring the safety of the controlled unmanned aerial vehicle numbered 1; the controlled drone numbered 3 is mainly used for projection, etc., or is of another type, and a person skilled in the art can set the drone according to actual needs, and is not particularly limited in the embodiment of the present invention.
In the embodiment of the present invention, the M controlled drones are configured to receive at least one control instruction sent by the master drone, where the sending mode of the at least one control instruction includes, but is not limited to, the following several modes:
1. in this mode, the control command generated and sent by the master drone may be a control command generated based on a ground control command sent by a ground controller, or may be a control command generated and sent by the master drone itself.
2. The M controlled drones are directly controlled by the ground controller, i.e. receive control instructions sent by the ground controller.
3. The M controlled unmanned aerial vehicles are controlled by the ground controller, and the control instructions received by the M controlled unmanned aerial vehicles are the instructions forwarded by the master control unmanned aerial vehicle.
For the above three implementations, one or more combinations of the above three implementations may be selected by those skilled in the art according to actual needs, and are not particularly limited in the embodiments of the present invention.
Through the technical scheme provided by the invention, the control modes of the M controlled unmanned aerial vehicles are not single any more, and the M controlled unmanned aerial vehicles have limitations, so that the technical effect of providing multiple control modes is achieved.
In the embodiment of the present invention, a control method for determining M controlled drones according to distances between the M controlled drones and a ground controller is provided, specifically: the master control unmanned aerial vehicle is used for:
acquiring a first distance between the master control unmanned aerial vehicle and the ground controller and a second distance between the M controlled unmanned aerial vehicles and the ground controller;
determining whether the second distances are both greater than the first distance;
if the second distances are all larger than the first distance, generating and sending at least one control instruction to the M controlled unmanned aerial vehicles; or
If the second distances are larger than the first distances, receiving at least one control instruction sent by the ground controller, and forwarding the at least one control instruction to the M controlled unmanned aerial vehicles.
Correspondingly, the ground controller is used for:
and when N distances smaller than the first distance exist in the second distance, sending at least one control instruction to N controlled unmanned aerial vehicles corresponding to the N distances, wherein N is an integer smaller than or equal to M.
In the embodiment of the present invention, the master drone is provided with a distance sensor, an acceleration sensor, or another type of sensor, which is not specifically limited in the embodiment of the present invention.
In the concrete implementation process, the master control unmanned aerial vehicle can measure a first distance between the master control unmanned aerial vehicle and the ground controller and a second distance between the controlled unmanned aerial vehicle and the ground controller through the distance sensor.
In the embodiment of the present invention, M takes 3 as an example, the first distance is 100 meters, and the second distances between 3 controlled drones and the ground controller are 150 meters, 130 meters, and 120 meters as examples, at this time, if the distances between M controlled drones and the ground controller are all greater than the first distance, it indicates that none of the M controlled drones is within the effective communication range of the ground controller, and in this case, the master drone directly generates and sends at least one control instruction, or the master drone forwards the control instruction sent by the ground controller.
In the embodiment of the invention, when the master unmanned aerial vehicle controls the M controlled unmanned aerial vehicles, the requirements of algorithm scheduling and data throughput can be simplified, and the controlled unmanned aerial vehicles are only controlled by the master unmanned aerial vehicle, so that the flight distances of the M controlled unmanned aerial vehicles can be farther, the application scenes of the unmanned aerial vehicle cluster can be expanded, and the technical effect of the usability of the unmanned aerial vehicle cluster is further achieved.
Further, when master control unmanned aerial vehicle controlled M controlled unmanned aerial vehicle, avoid ground controller and every controlled unmanned aerial vehicle to establish communication connection, and then avoid the interference between each communication link, and then reach the technological effect who improves communication instruction.
In a specific implementation process, M takes 3 as an example, the first distance takes 100 meters as an example, the second distances between the 3 controlled drones and the ground controller take 80 meters, 75 meters and 120 meters as examples, at this time, if the distance between the M controlled drones and the ground controller is smaller than the first distance, it indicates that N controlled drones exist in the M controlled drones and are within the communication range of the ground controller, and at this time, the ground controller can directly send at least one control instruction to the N controlled drones.
Of course, in a specific implementation process, in order to simplify algorithm scheduling, a requirement of data throughput, and avoid communication interference between links after a communication link is established, a control instruction may also be sent to the N controlled drones by the master drone, which is not specifically limited in the embodiment of the present invention.
Through the technical scheme provided by the invention, the controlled mode can be selected according to the flying height of the controlled unmanned aerial vehicle, so that the technical effect of improving the flexibility of the control mode is realized.
In the embodiment of the present invention, in the operation process of the drone swarm, in consideration of that the master drone not only needs to communicate with the ground controller, but also needs to communicate with a plurality of controlled drones, in this case, the oil consumption of the master drone inevitably increases, and after the oil consumption of the master drone is lower than a preset threshold, M controlled drones controlled by the master drone may be in an uncontrolled state, which inevitably causes disorder of the operation of the drone swarm system, in order to avoid the above technical problems, the following technical solutions are provided in the present invention, and in the specific implementation process, the master drone is used:
acquiring the current residual oil quantity of the fuel cell;
determining whether the current remaining oil amount is lower than a preset threshold value;
if the current remaining oil amount is lower than the preset threshold value, determining an alternative master control unmanned aerial vehicle for replacing the master control unmanned aerial vehicle from the M controlled unmanned aerial vehicles;
and controlling the standby master control unmanned aerial vehicle to establish communication connection with the ground controller.
In the embodiment of the invention, the preset threshold value is that when the current remaining oil quantity of the master control unmanned aerial vehicle cannot be continuously connected with the controlled unmanned aerial vehicle and the controlled unmanned aerial vehicle connected with the master control unmanned aerial vehicle is controlled, the calculated current oil quantity can use an oil quantity value of 3-10 minutes; or the preset threshold value is the residual 10% -20% of the oil quantity value of the main control unmanned aerial vehicle.
In a specific implementation process, when the current remaining oil amount is judged to be lower than a preset threshold value, candidate master control unmanned aerial vehicles for replacing the master control unmanned aerial vehicles are determined from the M controlled unmanned aerial vehicles.
In the embodiment of the present invention, the candidate drone determined to replace the master drone may be actively searched by the current master drone, so as to determine the optimal standby master drone, and the optimal standby master drone may be determined based on the self-state actively initiated by the M controlled drones, that is, the current oil consumption condition, or the standby coefficient, or other parameters.
In the embodiment of the present invention, taking the determination of the alternative master drone through the standby coefficient as an example, in a specific implementation process, the master drone is configured to:
sending query requests to the M controlled unmanned aerial vehicles, wherein the query requests at least comprise standby coefficients for querying the M controlled unmanned aerial vehicles, and the standby coefficients are obtained by calculating the oil quantity and the oil consumption speed of the M controlled unmanned aerial vehicles;
receiving the standby coefficients which are sent by the M controlled unmanned aerial vehicles and calculated according to the query requests;
and determining alternative master unmanned aerial vehicles for replacing the master unmanned aerial vehicle from the M controlled unmanned aerial vehicles according to the standby coefficient.
In the specific implementation process, the master control unmanned aerial vehicle sends notification information to the M controlled unmanned aerial vehicles, the notification information at least comprises the current residual oil quantity of the master control unmanned aerial vehicle, and the master control unmanned aerial vehicle requests to replace other master control unmanned aerial vehicles.
In the embodiment of the present invention, after the M controlled drones receive the notification information, the standby coefficient thereof is calculated according to the remaining oil amount and the fuel consumption rate thereof, for example: the number of the controlled unmanned aerial vehicle is 1, the residual oil amount is 20L, the oil consumption speed is 4L/h, and the standby coefficient of the controlled unmanned aerial vehicle is 5; the number of the controlled unmanned aerial vehicle is 1, the residual oil amount is 50L, the oil consumption speed is 10L/h, and the standby coefficient of the controlled unmanned aerial vehicle is 5; the residual oil quantity of the controlled unmanned aerial vehicle numbered 3 is 30L, the oil consumption speed is 3L/h, and the standby coefficient of the controlled unmanned aerial vehicle is 10.
After the M controlled unmanned aerial vehicles calculate the standby coefficients of the M controlled unmanned aerial vehicles, the standby coefficients are sent to the master control unmanned aerial vehicle.
Correspondingly, the master control unmanned aerial vehicle receives the standby coefficients sent by the M controlled unmanned aerial vehicles, then determines the alternative master control unmanned aerial vehicle according to the standby coefficients, and selects the controlled unmanned aerial vehicle with the highest standby coefficient as the alternative master control unmanned aerial vehicle in the specific implementation process.
In the embodiment of the present invention, since the controlled drone is controlled by the master drone, the flight distance of the controlled drone may exceed the effective communication range with the ground controller, in this case, even if the standby coefficient of the alternative master drone is the highest, since the alternative master drone is not within the communication range of the ground controller, the selection is invalid, and then in the embodiment of the present invention, in order to avoid the above situation, the following technical solutions are provided.
In a specific implementation process, the master control unmanned aerial vehicle is used for:
and determining an alternative master control unmanned aerial vehicle for replacing the master control unmanned aerial vehicle from the M controlled unmanned aerial vehicles according to the second distance and the standby coefficient.
In the embodiment of the invention, the standby coefficient of the controlled unmanned aerial vehicle with the number of 1 is assumed to be 5, and the second distance between the controlled unmanned aerial vehicle and the ground controller is 80 meters; the standby coefficient of the controlled unmanned aerial vehicle numbered 2 is 5, and the second distance between the controlled unmanned aerial vehicle and the ground controller is 75 meters; the controlled drone numbered 3 has a standby factor of 10 and a second distance of 120 meters from the ground controller.
In a specific implementation process, if the standby coefficient is used as a selection basis, the controlled drone numbered 3 with the highest standby coefficient needs to be reselected because the second distance of the controlled drone numbered 3 is greater than the first distance. Since the standby coefficients of the controlled drone numbered 1 and the controlled drone numbered 2 are the same, and the second distance is smaller than the first distance, the controlled drone may be selected from the controlled drone and the controlled drone, which is not specifically limited in the embodiment of the present invention.
In a specific implementation process, it is determined that there may be one, two, or more than two candidate master control unmanned aerial vehicles, and when there are a plurality of candidate master control unmanned aerial vehicles, only one of the candidate master control unmanned aerial vehicles needs to be randomly selected, which is not specifically limited in the embodiment of the present invention.
In the embodiment of the present invention, after the master drone determines the candidate master drone, the M controlled drones are notified. In the specific implementation process, the master control unmanned aerial vehicle is further configured to:
sending broadcast information to the M controlled unmanned aerial vehicles to inform the M controlled unmanned aerial vehicles to automatically switch to alternative master control unmanned aerial vehicles; the broadcast information includes the identifier of the alternative master control unmanned aerial vehicle.
In concrete implementation process, after master control unmanned aerial vehicle determines alternative controlled unmanned aerial vehicle, master control unmanned aerial vehicle then sends broadcast information to M controlled unmanned aerial vehicles, and this broadcast information includes alternative master control unmanned aerial vehicle's unique identifier, if: and the SSID is used for informing the M controlled unmanned aerial vehicles and automatically switching to the alternative master control unmanned aerial vehicle according to the identifier.
Correspondingly, in the embodiment of the present invention, the M controlled drones are configured to:
according to the broadcast information, the communication connection between the master control unmanned aerial vehicle and the standby master control unmanned aerial vehicle is disconnected, and the standby master control unmanned aerial vehicle is automatically switched.
In a specific implementation process, after the M controlled unmanned aerial vehicles receive the broadcast information sent by the master unmanned aerial vehicle, communication connection is established between the standby master unmanned aerial vehicle in the M controlled unmanned aerial vehicles and the ground controller; other controlled drones in the M controlled drones actively establish communication connection with the alternative master drone according to the identifier of the alternative master drone, so as to control the flying height, flying direction, flying speed, and the like of the other controlled drones through the alternative master drone, which is not specifically limited in the embodiment of the present invention.
In the embodiment of the invention, after the M controlled unmanned aerial vehicles are switched to the alternative master control unmanned aerial vehicle, the original master control unmanned aerial vehicle is used as the controlled unmanned aerial vehicle and is controlled by the alternative master control unmanned aerial vehicle and/or the ground controller.
In the embodiment of the invention, when the residual oil quantity of the master control unmanned aerial vehicle is lower than the preset threshold value, the alternative master control unmanned aerial vehicle is determined from the M controlled unmanned aerial vehicles, so that the continuous normal operation of the unmanned aerial vehicle cluster system is ensured, and the technical effect of improving the operation reliability of the unmanned aerial vehicle cluster system is further achieved.
In the embodiment of the invention, in order to ensure that the controlled unmanned aerial vehicle can still normally operate when the communication connection between the controlled unmanned aerial vehicle and the master unmanned aerial vehicle is disconnected for a preset time period and the connection between the controlled unmanned aerial vehicle and the master unmanned aerial vehicle cannot be established. In a specific implementation process, the M controlled drones are configured to:
determining whether the communication connection disconnection time between the main control unmanned aerial vehicle and the main control unmanned aerial vehicle exceeds a preset time;
if the preset time is exceeded, starting an automatic return program; and the automatic return flight program is used for controlling the M controlled unmanned aerial vehicles to return to the initial takeoff position from the current position.
In the concrete implementation process, the duration of disconnection of communication connection of the controlled unmanned aerial vehicle exceeds the preset duration, such as: 2 hours, 3 hours or 5 hours later, still can't with master control unmanned aerial vehicle between reestablishment communication connection, at this moment, then show master control unmanned aerial vehicle or this controlled unmanned aerial vehicle self break down, at this moment, this controlled unmanned aerial vehicle then starts automatic procedure of returning a voyage to initial take-off position.
By the technical scheme provided by the invention, even if the master control unmanned aerial vehicle or the controlled unmanned aerial vehicle breaks down, the controlled unmanned aerial vehicle can still return to the ground intact through the automatic return procedure, and further the technical effect of improving the reliability of the unmanned aerial vehicle cluster system is further achieved.
One or more technical solutions in the embodiments of the present application have at least one or more of the following technical effects:
firstly, the technical scheme in the embodiment of the invention comprises the following steps: a ground controller; at least one drone swarm, wherein each drone swarm of the at least one drone swarm includes: the main control unmanned aerial vehicle establishes communication connection with the ground controller; the M controlled unmanned aerial vehicles are connected with the master control unmanned aerial vehicle, and M is an integer greater than or equal to 1; wherein, master control unmanned aerial vehicle is used for to M controlled unmanned aerial vehicle sends at least one control command, M controlled unmanned aerial vehicle is used for receiving and carrying out the at least one control command, wherein, include at least in the at least one control command by the instruction that master control unmanned aerial vehicle generated and sent. That is, in the embodiment of the present invention, M controlled drones may receive a control instruction sent by the ground controller, or may receive a control instruction sent by the master drone or forwarded by the master drone, and the controlled modes are diversified, so that the technical problem that the controlled control mode of the drones in the drone swarm is single in the prior art can be effectively solved, and the technical effect of providing diversified control modes is achieved.
Secondly, according to the technical scheme in the embodiment of the invention, a first distance between the master control unmanned aerial vehicle and the ground controller and a second distance between the M controlled unmanned aerial vehicles and the ground controller are obtained; determining whether the second distances are both greater than the first distance; if the second distances are all larger than the first distance, generating and sending at least one control instruction to the M controlled unmanned aerial vehicles; or if the second distances are greater than the first distances, receiving at least one control instruction sent by the ground controller, and forwarding the at least one control instruction to the M controlled unmanned aerial vehicles. Namely, in the embodiment of the invention, the controlled mode of the controlled unmanned aerial vehicle can be determined according to the distance between the controlled unmanned aerial vehicle and the ground controller, so that the technical effect of improving the flexibility of the control mode is achieved.
Thirdly, acquiring the current residual oil amount per se due to the technical scheme of the embodiment of the invention; determining whether the current remaining oil amount is lower than a preset threshold value; if the current remaining oil amount is lower than the preset threshold value, determining an alternative master control unmanned aerial vehicle for replacing the master control unmanned aerial vehicle from the M controlled unmanned aerial vehicles; and controlling the standby master control unmanned aerial vehicle to establish communication connection with the ground controller. Namely, in the embodiment of the invention, when the residual oil amount of the master control unmanned aerial vehicle is lower than the preset threshold value, the alternative master control unmanned aerial vehicle can be automatically determined from the controlled unmanned aerial vehicles, so that the continuous normal work of the unmanned aerial vehicle cluster system is effectively ensured, and the technical effect of improving the reliability of the unmanned aerial vehicle cluster system is further achieved.
The above embodiments are only used to describe the technical solutions of the present application in detail, but the above embodiments are only used to help understanding the method and the core idea of the present invention, and should not be construed as limiting the present invention. Those skilled in the art should also appreciate that they can easily conceive of various changes and substitutions within the technical scope of the present disclosure.
Claims (7)
1. An unmanned aerial vehicle fleet system, comprising:
a ground controller;
at least one drone swarm, wherein each drone swarm of the at least one drone swarm includes:
the main control unmanned aerial vehicle establishes communication connection with the ground controller;
the M controlled unmanned aerial vehicles are connected with the master control unmanned aerial vehicle, and M is an integer greater than or equal to 1;
the master unmanned aerial vehicle is used for sending at least one control instruction to the M controlled unmanned aerial vehicles, and the M controlled unmanned aerial vehicles are used for receiving and executing the at least one control instruction, wherein the at least one control instruction at least comprises an instruction generated and sent by the master unmanned aerial vehicle;
wherein, master control unmanned aerial vehicle is used for: acquiring the current residual oil quantity of the fuel cell; determining whether the current remaining oil amount is lower than a preset threshold value; if the current remaining oil amount is lower than the preset threshold value, determining an alternative master control unmanned aerial vehicle for replacing the master control unmanned aerial vehicle from the M controlled unmanned aerial vehicles; controlling the alternative master control unmanned aerial vehicle to establish communication connection with the ground controller;
the master control unmanned aerial vehicle is used for: sending query requests to the M controlled unmanned aerial vehicles, wherein the query requests at least comprise standby coefficients for querying the M controlled unmanned aerial vehicles, and the standby coefficients are obtained by calculating the oil quantity and the oil consumption speed of the M controlled unmanned aerial vehicles; receiving the standby coefficients which are sent by the M controlled unmanned aerial vehicles and calculated according to the query requests; and determining alternative master unmanned aerial vehicles for replacing the master unmanned aerial vehicle from the M controlled unmanned aerial vehicles according to the standby coefficient.
2. The drone swarm system of claim 1, wherein the master drone is to:
acquiring a first distance between the master control unmanned aerial vehicle and the ground controller and a second distance between the M controlled unmanned aerial vehicles and the ground controller;
determining whether the second distances are both greater than the first distance;
if the second distances are all larger than the first distance, generating and sending at least one control instruction to the M controlled unmanned aerial vehicles; or
If the second distances are larger than the first distances, receiving at least one control instruction sent by the ground controller, and forwarding the at least one control instruction to the M controlled unmanned aerial vehicles.
3. The drone swarm system of claim 2, wherein the ground controller is to:
and when N distances smaller than the first distance exist in the second distance, sending at least one control instruction to N controlled unmanned aerial vehicles corresponding to the N distances, wherein N is an integer smaller than or equal to M.
4. The drone swarm system of claim 1, wherein the master drone is to:
and determining an alternative master control unmanned aerial vehicle for replacing the master control unmanned aerial vehicle from the M controlled unmanned aerial vehicles according to the second distance between the M controlled unmanned aerial vehicles and the ground controller and the standby coefficient.
5. The drone swarm system of claim 4, wherein the master drone is further to:
sending broadcast information to the M controlled unmanned aerial vehicles to inform the M controlled unmanned aerial vehicles to automatically switch to alternative master control unmanned aerial vehicles; the broadcast information includes the identifier of the alternative master control unmanned aerial vehicle.
6. The drone swarm system of claim 5, wherein the M controlled drones are to:
according to the broadcast information, the communication connection between the master control unmanned aerial vehicle and the standby master control unmanned aerial vehicle is disconnected, and the standby master control unmanned aerial vehicle is automatically switched.
7. The drone swarm system of any one of claims 1-6, wherein the M controlled drones are to:
determining whether the communication connection disconnection time between the main control unmanned aerial vehicle and the main control unmanned aerial vehicle exceeds a preset time;
if the preset time is exceeded, starting an automatic return program; and the automatic return flight program is used for controlling the M controlled unmanned aerial vehicles to return to the initial takeoff position from the current position.
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| CN107817814B (en) * | 2017-11-10 | 2021-11-26 | 广东工业大学 | Unmanned aerial vehicle group, switching method and device of unmanned aerial vehicle group |
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