CN110673646A - Method and system for controlling switching of unmanned aerial vehicle group - Google Patents
Method and system for controlling switching of unmanned aerial vehicle group Download PDFInfo
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Abstract
The invention discloses a method for controlling and switching an unmanned aerial vehicle cluster, wherein the unmanned aerial vehicle cluster comprises a plurality of control modes, a pilot serves as a control center to broadcast the current position of the pilot and the current positions of other unmanned aerial vehicles, the position of a tracking target is identified at the same time, the communication range between the pilot and the other unmanned aerial vehicles is determined to serve as a restricted switching area, and the switching area is positioned between the current position of the pilot and the current positions of the other unmanned aerial vehicles and the position of the tracking target; simultaneously creating a pilot path plan and path plans of other unmanned aerial vehicles in the switching area, wherein the pilot path plan and the path plans of the other unmanned aerial vehicles comprise control switching signposts, and the control switching signposts define a replacement control mode for the pilot and the other unmanned aerial vehicles; and when other unmanned aerial vehicles and the pilot aircraft are located outside the control switching area, executing the control mode switching of the unmanned aerial vehicle cluster.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle multi-cluster safety air route control, in particular to a method and a system for controlling and switching an unmanned aerial vehicle cluster.
Background
As the unmanned aerial vehicle technology has matured, unmanned aerial vehicles have begun to be gradually popularized towards wider application spaces. For example, the unmanned aerial vehicle delivery service test of the three places of the Alibab, Beijing, Shanghai and Guangzhou for 3 days is carried out, and box-packed ginger tea is delivered to customers by using the unmanned aerial vehicle. However, in application the drone does not fly directly to the customer premises, but to the logistics site, the delivery of the "last mile" is still taken care of by the courier. Amazon has unmanned aerial vehicle testing centers in both the united states and the united kingdom abroad, and amazon indicates that it is an objective to deliver packages to millions of customers using unmanned aerial vehicles, and that customers can deliver packages up to half an hour after a single delivery. In addition, the U.S. cable television news network (CNN) has acquired license plates issued by the united states Federal Aviation Administration (FAA), which will test camera equipped drones for news reports. And, mechanisms such as the non-profit organization shadow view fund in the netherlands are using the modified unmanned aerial vehicles to provide key data for protecting endangered species, and the aerial vehicles are already widely used in africa. In which, the environmental protection department in China has started to use unmanned aerial vehicles for aerial photography to directly check the conditions of pollution discharge, desulfurization facility operation and the like of key enterprises such as steel, coking, electric power and the like.
The multiple unmanned aerial vehicles work cooperatively, and the most critical is the self-organizing mechanism of the unmanned aerial vehicle group. In an unmanned aerial vehicle cluster of a small formation, a traditional centralized self-organization mechanism is adopted, namely one or more unmanned aerial vehicles are used as command machines to take a leader role, and other unmanned aerial vehicles take a leader role, so that commands issued by the leader are executed to complete corresponding tasks. Obviously, such a mode has a high requirement on the pilot, and if the pilot has a problem, the whole unmanned aerial vehicle cluster will be affected. The distributed self-organizing mechanism is that each unmanned aerial vehicle independently undertakes tasks, is suitable for a cluster formed by the same unmanned aerial vehicles, and has larger limitation. With the development of network technology and the improvement of unmanned aerial vehicle intellectuality, the cooperation among a plurality of unmanned aerial vehicles increasingly shows the trend of intellectuality, synthesis, but will realize cooperative work, some key technical problems need to be solved.
In the prior art, the cooperative work of the unmanned aerial vehicle cluster generally comprises a plurality of unmanned aerial vehicles which are responsible for various tasks, and an unmanned aerial vehicle ground command control system (a track planning control platform, a formation transformation control platform, a data transmission control platform, a weapon system control platform and an automatic control and automatic control coordination conversion platform).
Disclosure of Invention
The present invention is directed to at least solving the problems of the prior art. Therefore, the invention discloses a method for controlling and switching an unmanned aerial vehicle cluster, wherein the unmanned aerial vehicle cluster comprises a plurality of control modes, a pilot serves as a control center to broadcast the current position of the pilot and the current positions of other unmanned aerial vehicles, the position of a tracked target is identified at the same time, the communication range between the pilot and the other unmanned aerial vehicles is determined as a restricted switching area, and the switching area is positioned between the current position of the pilot and the current positions of the other unmanned aerial vehicles and the position of the tracked target; simultaneously creating a pilot path plan and path plans of other unmanned aerial vehicles in the switching area, wherein the pilot path plan and the path plans of the other unmanned aerial vehicles comprise control switching signposts, and the control switching signposts define a replacement control mode for the pilot and the other unmanned aerial vehicles; and when other unmanned aerial vehicles and the pilot aircraft are located outside the control switching area, executing the control mode switching of the unmanned aerial vehicle cluster.
Still further, the plurality of control modes further includes: the unmanned aerial vehicle group is provided with a unique pilot machine as a control center for carrying out flight control, or the ground control center carries out flight control on the unmanned aerial vehicle group, or the unmanned aerial vehicle group is provided with a plurality of pilot machines and a plurality of unmanned aerial vehicles as unmanned aerial vehicles for carrying out flight control in a formation mode.
Furthermore, when the unmanned aerial vehicle cluster has a unique pilot as a control center for flight control, further determining a path planning constraint comprising one or more avoidance areas through the control switching road sign, creating the pilot path plan and the unmanned aerial vehicle path plan according to the path planning constraint, and receiving an initial path plan by other unmanned aerial vehicles between the current position of the pilot and the position of the tracking target; judging whether the initial path plan and the initial unmanned aerial vehicle path plan meet communication range constraints or not; a control switch waypoint for the pilot and control switch waypoints for the other drones is defined based on a location in the initial path plan and the initial drone path plan where one or more of the initial path plan and the initial drone path plan are expected to satisfy the communication range constraint.
Further, before control switching, other drones need to transmit the generated path plan to the ground control center and the pilot.
Furthermore, the space is divided into regions, the flight mode of the unmanned aerial vehicle group in each region is preset, and the unmanned aerial vehicle group changes the control mode of the unmanned aerial vehicle group according to the approach region of the flight waypoint.
Furthermore, the control authority of the ground control center on the unmanned aerial vehicle cluster is set as the highest authority, and the authority comprises: and replacing the pilot, and performing unmanned aerial vehicle formation on the unmanned aerial vehicle cluster.
The invention further discloses an electronic system comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-described method of controlling switching of the drone swarm via execution of the executable instructions.
The invention further discloses a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the above-mentioned method of controlling switching of a drone swarm.
The invention has the characteristics and beneficial effects that: the method has very important significance for the actual verification of the formation flight of the unmanned aerial vehicles. The invention has simple operation and perfect functions, can directly control the formation flight of the multiple unmanned aerial vehicles, controls the unmanned aerial vehicle group by setting multiple control modes, realizes the track planning and formation transformation of the formation of the multiple unmanned aerial vehicles by convenient and rapid operation, avoids the human error of operators in the experimental process to the maximum extent, has convenient and fast human-computer interaction, strong reliability and very high practical value, and is an indispensable part of a formation control system.
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The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. In the drawings, like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a flow chart of a method of controlling a switchover in an unmanned aerial vehicle fleet of the present invention.
Detailed Description
The invention aims to develop a system for controlling and switching the unmanned aerial vehicle cluster aiming at the defects of the prior art, design various control modes, realize real-time data interaction between each unmanned aerial vehicle and a ground command center by means of an unmanned aerial vehicle distributed network, and complete flight decisions such as task allocation, track optimization, cluster control and the like on the basis.
Example one
The embodiment discloses a method for controlling switching of a drone swarm as shown in fig. 1, where the drone swarm includes multiple control modes, a pilot serves as a control center to broadcast a current position of the pilot and current positions of other drones, and simultaneously identify a position of a tracked target, and determine a communication range between the pilot and the other drones as a restricted switching area, where the switching area is located between the current position of the pilot and the current positions of the other drones and the position of the tracked target; simultaneously creating a pilot path plan and path plans of other unmanned aerial vehicles in the switching area, wherein the pilot path plan and the path plans of the other unmanned aerial vehicles comprise control switching signposts, and the control switching signposts define a replacement control mode for the pilot and the other unmanned aerial vehicles; and when other unmanned aerial vehicles and the pilot aircraft are located outside the control switching area, executing the control mode switching of the unmanned aerial vehicle cluster.
Furthermore, when the unmanned aerial vehicle cluster has a unique pilot as a control center for flight control, further determining a path planning constraint comprising one or more avoidance areas through the control switching road sign, creating the pilot path plan and the unmanned aerial vehicle path plan according to the path planning constraint, and receiving an initial path plan by other unmanned aerial vehicles between the current position of the pilot and the position of the tracking target; judging whether the initial path plan and the initial unmanned aerial vehicle path plan meet communication range constraints or not; a control switch waypoint for the pilot and control switch waypoints for the other drones is defined based on a location in the initial path plan and the initial drone path plan where one or more of the initial path plan and the initial drone path plan are expected to satisfy the communication range constraint.
What unmanned aerial vehicle in this embodiment chooses is STM32 main control chip: ARM32 bit cortex-M3 CPU; the debugging mode comprises a serial debugging (SWD) interface and a JTAG interface; a 12-channel DMA controller; 3 us-stage A/D converters (16 channels) of 12 bits; a 2-channel 12-bit D/A converter; up to 112 fast I/O ports; up to 11 timers; up to 13 communication interfaces;
serial port WIFI chip ESP 8266: the high-degree on-chip integration comprises a switch antenna, a radio frequency balun, a power amplifier, a low noise receiving amplifier, a filter and a power supply management module. A32-bit processor with a built-in low power Tensilical L106 diamond series and an on-chip RAM with 16 MBROM. WIFI @2.4GHz, a TCP/IP protocol stack is built in, and a WPA/WPA2 security mode is supported;
ZigBee coordinator/routing module: the physical medium adopts microwave of 2.4 GHz-2.483 GHz; adopting a ZigBee protocol of a wireless network protocol based on international standard IEEE802.15.4; the embodiment adopts low-power-consumption mesh networking, and has reliable transmission, high safety and short time delay.
Also, because most tasks are flight planning with the pilot as the only control center, a higher performance master control chip may be preferred for the initial pilot.
Example two
The embodiment further discloses a method for controlling switching of an unmanned aerial vehicle cluster, wherein the unmanned aerial vehicle cluster comprises a plurality of control modes, a pilot serves as a control center to broadcast the current position of the pilot and the current positions of other unmanned aerial vehicles, the position of a tracking target is identified at the same time, the communication range between the pilot and the other unmanned aerial vehicles is determined to serve as a restricted switching area, and the switching area is located between the current position of the pilot and the current positions of the other unmanned aerial vehicles and the position of the tracking target; simultaneously creating a pilot path plan and path plans of other unmanned aerial vehicles in the switching area, wherein the pilot path plan and the path plans of the other unmanned aerial vehicles comprise control switching signposts, and the control switching signposts define a replacement control mode for the pilot and the other unmanned aerial vehicles; and when other unmanned aerial vehicles and the pilot aircraft are located outside the control switching area, executing the control mode switching of the unmanned aerial vehicle cluster.
Still further, the plurality of control modes further includes: the unmanned aerial vehicle group is provided with a unique pilot machine as a control center for carrying out flight control, or the ground control center carries out flight control on the unmanned aerial vehicle group, or the unmanned aerial vehicle group is provided with a plurality of pilot machines and a plurality of unmanned aerial vehicles as unmanned aerial vehicles for carrying out flight control in a formation mode.
Furthermore, when the unmanned aerial vehicle cluster has a unique pilot as a control center for flight control, further determining a path planning constraint comprising one or more avoidance areas through the control switching road sign, creating the pilot path plan and the unmanned aerial vehicle path plan according to the path planning constraint, and receiving an initial path plan by other unmanned aerial vehicles between the current position of the pilot and the position of the tracking target; judging whether the initial path plan and the initial unmanned aerial vehicle path plan meet communication range constraints or not; a control switch waypoint for the pilot and control switch waypoints for the other drones is defined based on a location in the initial path plan and the initial drone path plan where one or more of the initial path plan and the initial drone path plan are expected to satisfy the communication range constraint.
Further, before control switching, other drones need to transmit the generated path plan to the ground control center and the pilot.
Furthermore, the space is divided into regions, the flight mode of the unmanned aerial vehicle group in each region is preset, and the unmanned aerial vehicle group changes the control mode of the unmanned aerial vehicle group according to the approach region of the flight waypoint.
Furthermore, the control authority of the ground control center on the unmanned aerial vehicle cluster is set as the highest authority, and the authority comprises: and replacing the pilot, and performing unmanned aerial vehicle formation on the unmanned aerial vehicle cluster.
The invention further discloses an electronic system comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above-described method of controlling switching of the drone swarm via execution of the executable instructions.
The invention further discloses a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the above-mentioned method of controlling switching of a drone swarm.
In this embodiment, when a certain unmanned machine cannot work, the information is shared through the ad hoc network, and the system redistributes tasks to ensure the completion of the tasks; when a certain unmanned aerial vehicle loses the condition of completing the task, such as resource exhaustion, but still has the capability of completing the task, the unmanned aerial vehicle can be guided to complete the task nearby through the cooperative system. For example, in a battlefield, the unmanned aerial vehicle locks a target without ammunition, the unmanned aerial vehicle can share target information, and data such as a radar of the unmanned aerial vehicle guides other unmanned aerial vehicles to complete tasks.
In the face of some situations that the pilot is disconnected from the unmanned aerial vehicles, all the unmanned aerial vehicles can be replaced by the pilot optionally.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. It is therefore intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that it is the following claims, including all equivalents, that are intended to define the spirit and scope of this invention. The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (8)
1. A method for controlling switching of an unmanned aerial vehicle cluster is characterized in that the unmanned aerial vehicle cluster comprises a plurality of control modes, a pilot serves as a control center to broadcast the current position of the pilot and the current positions of other unmanned aerial vehicles, the position of a tracking target is identified at the same time, the communication range between the pilot and the other unmanned aerial vehicles is determined to serve as a restricted switching area, and the switching area is located between the current position of the pilot and the current positions of the other unmanned aerial vehicles and the position of the tracking target; simultaneously creating a pilot path plan and path plans of other unmanned aerial vehicles in the switching area, wherein the pilot path plan and the path plans of the other unmanned aerial vehicles comprise control switching signposts, and the control switching signposts define a replacement control mode for the pilot and the other unmanned aerial vehicles; and when other unmanned aerial vehicles and the pilot aircraft are located outside the control switching area, executing the control mode switching of the unmanned aerial vehicle cluster.
2. The method as claimed in claim 1, wherein the plurality of control modes further comprises: the unmanned aerial vehicle group is provided with a unique pilot machine as a control center for carrying out flight control, or the ground control center carries out flight control on the unmanned aerial vehicle group, or the unmanned aerial vehicle group is provided with a plurality of pilot machines and a plurality of unmanned aerial vehicles as unmanned aerial vehicles for carrying out flight control in a formation mode.
3. The method according to claim 2, wherein when the drone swarm has a unique pilot as a control center for flight control, a path planning constraint including one or more avoidance areas is further determined by the control switch signpost, and the pilot path plan and the drone path plan are created according to the path planning constraint, and other drones receive an initial path plan between a current position of the pilot and a position of the tracking target; judging whether the initial path plan and the initial unmanned aerial vehicle path plan meet communication range constraints or not; a control switch waypoint for the pilot and control switch waypoints for the other drones is defined based on a location in the initial path plan and the initial drone path plan where one or more of the initial path plan and the initial drone path plan are expected to satisfy the communication range constraint.
4. The method as claimed in claim 3, wherein other drones need to transmit the generated path plan to the ground control center and the pilot before performing the control switch.
5. The method as claimed in claim 4, wherein the space is divided into regions, a flight mode of the drone swarm in each region is preset, and a control mode of the drone swarm is changed according to a route region of the flight waypoint.
6. The method according to claim 4, wherein the control authority of the ground control center for the drone group is set to be the highest authority, and the authority includes: and replacing the pilot, and performing unmanned aerial vehicle formation on the unmanned aerial vehicle cluster.
7. An electronic system, comprising:
a processor; and the number of the first and second groups,
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of control switching of the drone swarm of any of claims 1-6 via execution of the executable instructions.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of controlling a handover of a drone swarm in accordance with any one of claims 1 to 6.
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Application publication date: 20200110 |