CN108873942A - A kind of method that unmanned plane flight pattern Internet-based is kept - Google Patents
A kind of method that unmanned plane flight pattern Internet-based is kept Download PDFInfo
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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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Abstract
The present invention relates to a kind of method that unmanned plane flight pattern Internet-based is kept, including equipment assembly, flight monitoring keeps rank, terminates five steps such as landing and fault forced landing.One aspect of the present invention is conveyed by the data that internet carries out equipment room, it can effectively realize and more accurate regulation is carried out to unmanned plane, the ultrasonic scanner being equipped with simultaneously is convenient for being scanned region before and after unmanned plane, realize more accurately information collection, the generation of various danger is prevented, it avoids that various accidents occur in flight course, improve the safety of flight course, on the other hand pass through GPS positioning device, it is collected convenient for the information to unmanned plane position and distance, more quickly transmitting is carried out will pass through internet, convenient for unmanned plane queue turn process or other variation when, instruction can be received simultaneously, so as to the holding to unmanned plane queue formation.
Description
Technical field
The present invention relates to a kind of method that unmanned plane flight pattern Internet-based is kept, and belongs to air vehicle technique field.
Background technique
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, is using radio robot and to provide for oneself
The not manned aircraft of presetting apparatus manipulation, or fully or intermittently automatically operated by car-mounted computer.It is existing
Unmanned plane multi-pass is crossed radio and is controlled, and is not easy to collect unmanned plane the transmitting of information, moreover form into columns for unmanned plane
Control not can be carried out more comprehensive control, cannot accurately be believed unmanned plane ambient enviroment if radio is used only
Breath, accident also easy to happen when leading to flight, the factor of Chang Yin distance causes different unmanned planes receptions to refer to when controlling unmanned plane
The time of order is different, is not easy to the control to unmanned plane flight pattern, and for this status, there is an urgent need to develop one kind based on mutual
The method that the unmanned plane flight pattern of networking is kept, to meet the needs of actual use.
Summary of the invention
In order to solve some shortcomings on existing sorting technique, the present invention provides a kind of unmanned plane formation Internet-based
The method that formation is kept.
In order to realize effect above-mentioned, a kind of side that unmanned plane flight pattern Internet-based is kept is proposed
Method comprising following steps：
A kind of method that unmanned plane flight pattern Internet-based is kept, includes the following steps：
The first step, equipment assembly, needs to establish a data processing server, at the same be specially equipped with control room to data at
Reason device regulated and controled, in control room will be equipped with special unmanned plane remote control terminal, by multiple unmanned planes respectively with unmanned plane
Wireless data connection is established between remote control terminal, unmanned plane is equipped with ultrasonic scanner, image collecting device, measuring wind speed
Device, PM2.5 detection device；
Second step, flight monitoring, when multiple unmanned planes take off, need to sweep front and back region by ultrasonic scanner
It retouches, it is long-range to the multiple unmanned planes and the indoor unmanned plane of control that are greater than two by the GPS positioning system on multiple unmanned planes
The distance of controlling terminal is monitored, and is controlled by being wirelessly connected the speed of multiple unmanned planes, so that multiple unmanned planes
Speed it is consistent, if unmanned plane number is odd number, by a unmanned plane by reduction of speed again after the speed-raising of identical speed, be located at nobody
The front end of a group of planes regulates and controls other unmanned planes by the GPS positioning system on unmanned plane, makes its composition is specific to form into columns
Formation, if unmanned plane number is even number, it is only necessary to two unmanned planes be worked as into troop's template, form formation to unmanned plane troop
Afterwards, unmanned plane speed is consistent；
Third step keeps rank, and unmanned plane is formed into columns after traveling a distance, when carrying out turning or other variations, data
After processing server acquires data of the GPS positioning system on unmanned plane to unmanned plane position, data are passed through into internet and are sent out
It is sent to the indoor unmanned plane remote control terminal of control, indoor unmanned plane remote control terminal is controlled and passes through CPU again to nobody
Machine remote control terminal is calculated in each unmanned plane distance, while in the speed for adding unmanned plane, difference different according to distance
Instruction corresponding with multiple unmanned planes is issued in different time, multiple unmanned planes receive its corresponding finger in the same time
It enables, carries out identical operation, while keeping the consistent of unmanned plane queue formation；
4th step terminates landing, after the completion of task, using unmanned plane form into columns in template machine as standard, between unmanned plane
Distance the distance between be set as definite value, or be set as two template machines, its location information is passed through by internet by GPS positioning system
It is sent to the indoor unmanned plane remote control terminal of control, data are handled by CPU, while is remote there are also unmanned plane is added
Then the factor of process control terminal and unmanned plane distance regulates and controls unmanned plane queue according to processing result, specially both ends
Corresponding regulation, so that unmanned plane queue is in same straight line, unmanned plane queue speed is consistent；
5th step, fault forced landing, unmanned fleet is during trip, will be by GPS positioning system by position if breaking down
It sets and the indoor unmanned plane remote control terminal of control is sent to by network, then reduce speed, temporarily force-landed, after landing
All communication apparatus are closed, are only positioned by GPS positioning system, unmanned plane remote control terminal passes through to impaired nobody
Machine is positioned, to quickly be recycled.
Further, in the first step operation, respectively every unmanned plane is equipped with signal receiver and GPG is positioned
System.
Further, in the first step operation, ultrasonic scanner is set to unmanned plane front and back end, described image acquisition
Device is set to underface, and the wind speed measuring device is set to right above unmanned plane, and the PM2.5 detection device is set to unmanned plane two
Side.
Further, in the second step operation, the height of unmanned plane must not be lower than 5 meters, and when unmanned plane during flying needs
It is scanned by region of the ultrasonic scanner to front and back, scanning result will occur to give control indoor nothing by being wirelessly connected
Man-machine remote control terminal, by unmanned plane remote control terminal to can obtain subsequent flight scenario after data monitoring.
Further, in the third step operation, unmanned plane carry out turning or other variation when, turning medial nobody
Machine speed reduces, and the unmanned plane speed in outside of turning increases, and after variation, each unmanned plane speed restores normal.
Further, in the 4th step operation, before unmanned plane queue landing, by ultrasonic scanner to landing
Barrier around position is scanned with birds, and scanning result is sent in unmanned plane remote control terminal by internet, warp
The scheme obtained after CPU processing is landed.
Present system constitutes that structure is simple, and flexible and convenient to use, versatility is good, expansion capability and fault-resistant ability are strong,
High degree of automation is run, is on the one hand conveyed by the data that internet carries out equipment room, can effectively be realized and unmanned plane is carried out
More accurate regulation, while the ultrasonic scanner being equipped with is convenient for being scanned region before and after unmanned plane, realizes more precisely
Information collect, prevented the generation of various danger, avoided that various accidents occur in flight course, improve the safety of flight course
Property, on the other hand by GPS positioning device, collected convenient for the information to unmanned plane position and distance, with will pass through internet into
Row more quickly transmitting, convenient for unmanned plane queue, in the process of turning or other variations, instruction can be received simultaneously, so as to
Holding to unmanned plane queue formation.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments；
Fig. 1 is the method for the present invention flow chart；
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
The method that a kind of unmanned plane flight pattern Internet-based as described in Figure 1 is kept, includes the following steps：
The first step, equipment assembly, needs to establish a data processing server, at the same be specially equipped with control room to data at
Reason device regulated and controled, in control room will be equipped with special unmanned plane remote control terminal, by multiple unmanned planes respectively with unmanned plane
Wireless data connection is established between remote control terminal, unmanned plane is equipped with ultrasonic scanner, image collecting device, measuring wind speed
Device, PM2.5 detection device；
Second step, flight monitoring, when multiple unmanned planes take off, need to sweep front and back region by ultrasonic scanner
It retouches, it is long-range to the multiple unmanned planes and the indoor unmanned plane of control that are greater than two by the GPS positioning system on multiple unmanned planes
The distance of controlling terminal is monitored, and is controlled by being wirelessly connected the speed of multiple unmanned planes, so that multiple unmanned planes
Speed it is consistent, if unmanned plane number is odd number, by a unmanned plane by reduction of speed again after the speed-raising of identical speed, be located at nobody
The front end of a group of planes regulates and controls other unmanned planes by the GPS positioning system on unmanned plane, makes its composition is specific to form into columns
Formation, if unmanned plane number is even number, it is only necessary to two unmanned planes be worked as into troop's template, form formation to unmanned plane troop
Afterwards, unmanned plane speed is consistent；
Third step keeps rank, and unmanned plane is formed into columns after traveling a distance, when carrying out turning or other variations, data
After processing server acquires data of the GPS positioning system on unmanned plane to unmanned plane position, data are passed through into internet and are sent out
It is sent to the indoor unmanned plane remote control terminal of control, indoor unmanned plane remote control terminal is controlled and passes through CPU again to nobody
Machine remote control terminal is calculated in each unmanned plane distance, while in the speed for adding unmanned plane, difference different according to distance
Instruction corresponding with multiple unmanned planes is issued in different time, multiple unmanned planes receive its corresponding finger in the same time
It enables, carries out identical operation, while keeping the consistent of unmanned plane queue formation；
4th step terminates landing, after the completion of task, using unmanned plane form into columns in template machine as standard, between unmanned plane
Distance the distance between be set as definite value, or be set as two template machines, its location information is passed through by internet by GPS positioning system
It is sent to the indoor unmanned plane remote control terminal of control, data are handled by CPU, while is remote there are also unmanned plane is added
Then the factor of process control terminal and unmanned plane distance regulates and controls unmanned plane queue according to processing result, specially both ends
Corresponding regulation, so that unmanned plane queue is in same straight line, unmanned plane queue speed is consistent；
5th step, fault forced landing, unmanned fleet is during trip, will be by GPS positioning system by position if breaking down
It sets and the indoor unmanned plane remote control terminal of control is sent to by network, then reduce speed, temporarily force-landed, after landing
All communication apparatus are closed, are only positioned by GPS positioning system, unmanned plane remote control terminal passes through to impaired nobody
Machine is positioned, to quickly be recycled.
In the present embodiment, in the first step operation, respectively every unmanned plane is equipped with signal receiver and GPG is fixed
Position system.
Further, in the first step operation, ultrasonic scanner is set to unmanned plane front and back end, described image acquisition
Device is set to underface, and the wind speed measuring device is set to right above unmanned plane, and the PM2.5 detection device is set to unmanned plane two
Side.
In the present embodiment, in the second step operation, the height of unmanned plane must not be lower than 5 meters, and when unmanned plane during flying needs
It to be scanned by region of the ultrasonic scanner to front and back, scanning result will be indoor to controlling by being wirelessly connected generation
Unmanned plane remote control terminal, by unmanned plane remote control terminal to can obtain subsequent flight scenario after data monitoring.
In the present embodiment, in the third step operation, when unmanned plane carries out turning or other variations, the nothing of turning medial
Man-machine speed reduces, and the unmanned plane speed in outside of turning increases, and after variation, each unmanned plane speed restores normal.
In the present embodiment, in the 4th step operation, before unmanned plane queue landing, by ultrasonic scanner to landing
Position around barrier be scanned with birds, scanning result is sent in unmanned plane remote control terminal by internet,
The scheme obtained after CPU is handled is landed.
Present system constitutes that structure is simple, and flexible and convenient to use, versatility is good, expansion capability and fault-resistant ability are strong,
High degree of automation is run, is on the one hand conveyed by the data that internet carries out equipment room, can effectively be realized and unmanned plane is carried out
More accurate regulation, while the ultrasonic scanner being equipped with is convenient for being scanned region before and after unmanned plane, realizes more precisely
Information collect, prevented the generation of various danger, avoided that various accidents occur in flight course, improve the safety of flight course
Property, on the other hand by GPS positioning device, collected convenient for the information to unmanned plane position and distance, with will pass through internet into
Row more quickly transmitting, convenient for unmanned plane queue, in the process of turning or other variations, instruction can be received simultaneously, so as to
Holding to unmanned plane queue formation.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (6)
1. a kind of method that unmanned plane flight pattern Internet-based is kept, it is characterised in that：Described is Internet-based
The method that unmanned plane flight pattern is kept includes the following steps：
The first step, equipment assembly need to establish a data processing server, while being specially equipped with control room to data processor
Regulated and controled, special unmanned plane remote control terminal is equipped in control room, multiple unmanned planes are long-range with unmanned plane respectively
Wireless data connection is established between controlling terminal, unmanned plane is equipped with ultrasonic scanner, image collecting device, measuring wind speed dress
It sets, PM2.5 detection device；
Second step, flight monitoring, when multiple unmanned planes take off, need to be scanned front and back region by ultrasonic scanner, lead to
The GPS positioning system crossed on multiple unmanned planes remotely controls end with indoor unmanned plane is controlled to multiple unmanned planes greater than two
The distance at end is monitored, and is controlled by being wirelessly connected the speed of multiple unmanned planes, so that the speed of multiple unmanned planes
Unanimously, if unmanned plane number is odd number, by a unmanned plane by reduction of speed again after the speed-raising of identical speed, it is located at unmanned aerial vehicle group
Front end regulates and controls other unmanned planes by the GPS positioning system on unmanned plane, it is made to form specific flight pattern, if
Unmanned plane number is even number, it is only necessary to two unmanned planes are worked as into troop's template, after unmanned plane troop forms formation, nobody
Machine speed is consistent；
Third step keeps rank, and unmanned plane is formed into columns after traveling a distance, when carrying out turning or other variations, data processing
After server acquires data of the GPS positioning system on unmanned plane to unmanned plane position, send data to by internet
Indoor unmanned plane remote control terminal is controlled, controlling indoor unmanned plane remote control terminal, to pass through CPU again remote to unmanned plane
Process control terminal is calculated in each unmanned plane distance, while in the speed for adding unmanned plane, according to distance difference, respectively not
Instruction corresponding with multiple unmanned planes is issued with the time, multiple unmanned planes receive its corresponding instruction in the same time, into
The identical operation of row, while keeping the consistent of unmanned plane queue formation；
4th step terminates landing, after the completion of task, using unmanned plane form into columns in template machine as standard, between unmanned plane away from
From the distance between being set as definite value, or be set as two template machines, its location information is passed through by internet by GPS positioning system and is sent
To indoor unmanned plane remote control terminal is controlled, data are handled by CPU, while remotely being controlled there are also unmanned plane is added
Then the factor of terminal processed and unmanned plane distance regulates and controls unmanned plane queue according to processing result, specially both ends are corresponding
Regulation, so that unmanned plane queue is in same straight line, unmanned plane queue speed is consistent；
5th step, fault forced landing, unmanned fleet, if breaking down, will be led to position by GPS positioning system during trip
It crosses network and is sent to the indoor unmanned plane remote control terminal of control, then reduce speed, temporarily force-landed, closed after landing
All communication apparatus, are only positioned by GPS positioning system, unmanned plane remote control terminal by impaired unmanned plane into
Row positioning, to quickly be recycled.
2. the method that a kind of unmanned plane flight pattern Internet-based according to claim 1 is kept, it is characterised in that：
In the first step operation, respectively every unmanned plane is equipped with signal receiver and GPG positioning system.
3. the method that a kind of unmanned plane flight pattern Internet-based according to claim 1 is kept, it is characterised in that：
In the first step operation, ultrasonic scanner is set to unmanned plane front and back end, and described image acquisition device is set to underface, institute
Wind speed measuring device is stated right above unmanned plane, the PM2.5 detection device is set to unmanned plane two sides.
4. the method that a kind of unmanned plane flight pattern Internet-based according to claim 1 is kept, it is characterised in that：
In the second step operation, the height of unmanned plane must not be lower than 5 meters, and when unmanned plane during flying needs through ultrasonic scanner pair
The region of front and back is scanned, and scanning result will occur to give control indoor unmanned plane remote control terminal by being wirelessly connected,
By unmanned plane remote control terminal to can obtain subsequent flight scenario after data monitoring.
5. the method that a kind of unmanned plane flight pattern Internet-based according to claim 1 is kept, it is characterised in that：
In the third step operation, when unmanned plane carries out turning or other variations, the unmanned plane speed of turning medial reduces, and turning is outer
The unmanned plane speed of side increases, and after variation, each unmanned plane speed restores normal.
6. according to a kind of method that unmanned plane flight pattern Internet-based is kept described in claim 1, it is characterised in that：Institute
In the 4th step operation stated, unmanned plane queue landing before, by ultrasonic scanner to around the position of landing barrier with
Birds are scanned, and scanning result is sent in unmanned plane remote control terminal by internet, the scheme obtained after CPU is handled
Land.
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| CN112711268A (en) * | 2020-12-01 | 2021-04-27 | 一飞智控(天津)科技有限公司 | Forced landing path planning method and system, unmanned aerial vehicle, processing terminal and storage medium |
| CN113282104A (en) * | 2021-06-03 | 2021-08-20 | 一飞(海南)科技有限公司 | Method for airplane GPS data abnormity detection and abnormity confirmation aiming at formation performance |
| CN114530031A (en) * | 2022-02-22 | 2022-05-24 | 深圳市高巨创新科技开发有限公司 | Wind power alarm method and system for formation unmanned aerial vehicle |
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| CN108873942B (en) | 2019-06-28 |
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Effective date of registration: 20201127 Address after: 5F, 8 Xuzhou Road, Heping District, Tianjin Patentee after: Tianjin Bohai IOT Technology Co., Ltd Address before: 528051 Guangdong province Foshan Chancheng District, Temple Street, Chao An Road, harvest Street Patentee before: Bian Xuejing Patentee before: Yin Yuqin Patentee before: Xia Zhaolian Patentee before: Xia Zhaoliang |