CN110456814B - Triphibian unmanned aerial vehicle cluster control method and system and unmanned aerial vehicle - Google Patents

Abstract

The invention discloses an amphibious unmanned aerial vehicle cluster control method, system and unmanned aerial vehicle. The method includes collecting designated data; forming a communication network through ZigBee; acquiring travel data of a single amphibious unmanned aerial vehicle; Or normal drones, abnormal drones transmit specified data to normal drones along the communication network. The system is used to execute methods. The UAV is characterized in that it includes a structural body, a crawler-type roller, a sensor group, an operation controller and a power source. The embodiment of the present invention performs the collection task by collecting designated data; forms a communication network through ZigBee to realize data intercommunication within the area; obtains the travel data of a single amphibious UAV to judge the individual individually; Normal drones and abnormal drones transmit data along the communication network to normal drones for backup.

Description

A kind of amphibious unmanned aerial vehicle swarm control method, system and unmanned aerial vehicle

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an amphibious unmanned aerial vehicle cluster control method, system and unmanned aerial vehicle.

Background technique

UAVs can replace people in dangerous operations, with high utility. At the same time, the functions that can be performed by individual UAVs are relatively limited. The control of UAVs through swarms to perform functions can expand the use of UAVs. range, reduce human intervention, and reduce operating costs.

One of the functions that drones can achieve is data collection. For example, polar scientific expeditions and other activities have relatively harsh environments and high work risk factors. The operation of drones in blizzards has very high real-time requirements for return management. Although scientists attach great importance to the security of return-to-flight information, the occurrence of data loss accidents is uncertain. Another example is for disaster rescue drones, the loss of emergency data will lead to the failure to reflect the situation of the trapped people in time, and even more accidents will occur. As a result, it will cause the rescue to be untimely or mislead the evacuation direction, which may delay the rescue of life. Therefore, a drone swarm that is resistant to harsh weather environments is needed to complete a data collection task that does not fail as much as possible.

SUMMARY OF THE INVENTION

The embodiments of the present invention aim to solve one of the technical problems in the related art at least to a certain extent. To this end, an object of the embodiments of the present invention is to provide a method, system and UAV for controlling a swarm of amphibious unmanned aerial vehicles.

The technical scheme adopted in the present invention is:

In a first aspect, an embodiment of the present invention provides a method for controlling a swarm of amphibious unmanned aerial vehicles, including: collecting specified data; forming a communication network through ZigBee; acquiring travel data of a single amphibious unmanned aerial vehicle; A normal drone, the abnormal drone transmits the specified data to a normal drone along the communication network.

Preferably, the travel data includes electric power, the electric power is lower than the electric power threshold, and the corresponding amphibious UAV is an abnormal UAV.

Preferably, the travel data includes a geomagnetic vector, an acceleration vector and an angle vector, the values and/or changes of the geomagnetic vector, the acceleration vector and the angle vector exceed the collision threshold, and the corresponding amphibious UAV is an abnormal UAV.

Preferably, the travel data includes positioning information, and an alternate travel route is executed according to the positioning information and the power level.

Preferably, the executing the alternate travel route includes: changing the amphibious state of the amphibious UAV.

In a second aspect, an embodiment of the present invention provides an amphibious UAV swarm control system, including an amphibious UAV and a swarm controller, wherein the amphibious UAV includes a data acquisition module, a ZigBee module and a sensor module, wherein the The data acquisition module collects the specified data; forms a communication network through the ZigBee modules of different amphibious UAVs; obtains the travel data of a single UAV through the sensor module; the cluster controller determines the abnormal UAV or the normal UAV according to the travel data, The abnormal drone transmits the specified data to the normal drone along the communication network.

Preferably, the amphibious UAV includes a power source, the travel data includes an electric quantity of the power source, and the electric quantity is lower than the electric quantity threshold, and the cluster controller marks the corresponding amphibious UAV as an abnormal UAV.

Preferably, the travel data includes a geomagnetic vector, an acceleration vector and an angle vector, the values and/or changes of the geomagnetic vector, the acceleration vector and the angle vector exceed the collision threshold, and the cluster controller marks the corresponding amphibious UAV as Anomalous drone.

Preferably, the travel data includes positioning information, the cluster controller formulates a backup travel route according to the positioning information and the electric quantity, and the amphibious UAV executes the backup travel route.

Preferably, the executing the alternate travel route includes: changing the amphibious state of the amphibious UAV.

In a third aspect, embodiments of the present invention provide an amphibious unmanned aerial vehicle, including a structural body, a crawler-type roller, a sensor group, an operation controller, and a power source, the power source being connected to the crawler-type roller, and the sensor The group is connected to the operation controller, and the structure body is used for accommodating the crawler roller, the sensor group, the operation controller and the power source.

Preferably, the crawler-type roller includes crawler strips, a crawler strip transmission structure, fan blades arranged between the crawler strips, and a rotating structure connecting the fan blades.

Preferably, the operation controller changes the transmission speed of the crawler strip and the angle of the fan blades according to the value output by the sensor.

The beneficial effects of the embodiments of the present invention are:

The embodiment of the present invention performs the collection task by collecting designated data; forms a communication network through ZigBee to realize data intercommunication within the area; obtains the travel data of a single amphibious UAV to judge the individual individually; determines the abnormal UAV or UAV according to the travel data Normal drones and abnormal drones transmit data along the communication network to normal drones for backup.

Description of drawings

1 is a flowchart of an embodiment of a method for controlling a swarm of amphibious unmanned aerial vehicles;

FIG. 2 is a connection diagram of an embodiment of an amphibious unmanned aerial vehicle swarm control system;

Figure 3 is a schematic diagram of the structure of the amphibious UAV.

Detailed ways

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict.

Example 1.

This embodiment provides the amphibious unmanned aerial vehicle swarm control method as shown in FIG. 1 , including the steps:

S1. Collect specified data;

S2. A communication network is formed through ZigBee;

S3. Obtain the travel data of a single amphibious UAV;

S4. Determine the abnormal drone or the normal drone according to the traveling data, and the abnormal drone transmits the specified data to the normal drone along the communication network.

The amphibious UAV is referred to as UAV for short. Specifically, the designated data is collected through various sensors carried by the UAV and other data collection equipment; among them, the sensors can include temperature sensors, humidity sensors, infrared sensors, etc., and the data collection equipment includes Such as cameras, scanning radar, etc. In this embodiment, it is only necessary to use these instruments to perform their own functions rather than to improve them. Therefore, the types of sensors and data acquisition devices used to acquire specified data are not further described.

The difference between ZigBee and wireless technologies such as wifi and Bluetooth is that ZigBee can realize the ad hoc network of the communication network, which can improve the security of data transmission in the communication process, and can calculate the mutual distance according to the strength of the ZigBee signal, which is beneficial to the When the positioning function of individual drones does not take effect, the positions of the failed drones are calculated from the positions of other drones.

When the UAV is traveling (that is, flying, walking on the road, and walking on the water), it will inevitably generate data related to motion/driving, and the process of collecting these data belongs to the conventional technology in the field. The detailed description of the data acquisition process used, but the description for the specific data acquisition principles and methods. The travel data includes: electric power, positioning information, geomagnetic vector, acceleration vector and angle vector. The electric power is the capacity of the power supply/battery; the positioning information is the specific coordinates obtained based on GPS or Beidou system; the geomagnetic vector is the vector of the earth's magnetic field.

Processing for travel data includes:

When the power of a drone is lower than the power threshold, the corresponding drone is an abnormal drone. delivery and backup.

If the values and/or changes of the geomagnetic vector, acceleration vector, and angle vector exceed the collision threshold, the corresponding amphibious UAV is an abnormal UAV. When a collision accident occurs, it is very likely that the UAV cannot continue to perform the mission. It is necessary to return it or make it stay in place to wait for rescue. Since the status of the drone will change during and after a collision accident, the status of the drone can be judged according to the changes and trends of the above parameters. .

If you want to arrange the return of the drone, you need to know the current position. You can know the current position through the positioning information. If the destination of the return flight is known, you can simply calculate the path, that is, the alternate travel route. Calculation and calculation of complex routes can be implemented according to a third-party digital map or a map carried by itself, and the specific path calculation can be processed by a preset algorithm.

Taking into account the influence of changes in different environments, for example, storm weather is not suitable for flying, you can change the original state to land travel mode or water travel mode; or, in the case of water restrictions, you can change the water travel mode to flight mode or land travel mode. Travel mode, that is, change the amphibious state.

Example 2.

This embodiment provides an amphibious unmanned aerial vehicle swarm control system as shown in Figure 2, including:

The cluster controller 2 and the amphibious UAV 1, the amphibious UAV includes a data acquisition module 11, a ZigBee module 12, a power supply 14 and a sensor module 13, wherein the data acquisition module 13 collects specified data; The ZigBee module 12 forms a communication network; the travel data of a single UAV is obtained through the sensor module 13; the cluster controller 2 determines an abnormal UAV or a normal UAV according to the travel data, and the abnormal UAV transmits the specified data along the communication network. to a normal drone.

Among them, the cluster controller 2 can be set on the drone; it can also be set on the ground, that is, the drone can be directly controlled manually. At this time, at least one UAV is provided with a long-range communication device (for example, a communication interface based on satellite communication), and the UAV equipped with the long-range communication device is used as the leader, and the other UAVs are used as wingmen.

Example 3.

This embodiment is specifically used to describe the structure of the amphibious UAV and the implementation details of the specific cluster control process under real conditions.

As shown in Figure 3, the amphibious UAV includes a structural body, a crawler-type roller, a sensor group, an operation controller and a power source. The power source is connected to the crawler-type roller, the sensor group is connected to the operation controller, and the structure body is used to accommodate Track Roller, Sensor Group, Operation Controller and Power Source.

The structural body is an ordinary support structure, which can be a cuboid. Crawler rollers, referred to as rollers for short, are symmetrically arranged on both sides of the cuboid. The fan blades and the rotating structure connecting the fan blades. The principle of its operation is that the front and rear movement of the fan blade is carried out by the crawler strip (relative to the reference object, one direction in the horizontal direction is the front, and the specific reference object can be the bottom of the structure body), and the fan blade is moved through the rotating structure. During the transmission of the crawler strip, due to the different angles of the fan blades between the upper and lower layers of the crawler strip, the air flow can be changed from front to bottom, that is, the air in front of the running is introduced into the bottom, so as to provide lift to achieve flight.

The drive structure of the crawler roller includes the crawler strip transmission structure and the rotation structure of the fan blade, which can be composed of inner and outer sleeve runners and inner and outer pull wires. Among them, based on the sheet-shaped fan blade, the inner cable includes two lines and corresponding inner cable holes, the distance between the inner cable holes is small, and the outer cable includes two lines and the corresponding outer cable holes. The distance between is large. The inner runner pulls the inner wire fixed on the fan blade through the inner teeth of the runner, and the outer runner pulls the outer wire fixed on the fan blade through the outer teeth of the runner, and the phase difference between the inner and outer runners can be changed. The angle of the fan blade. The tension of the cable can be changed by changing the master-slave relationship between the front and rear runners. In the air running state, the upper layer of the cable is in a tight state, and the lower layer of the cable is in a relaxed state. A guide rail can be set to limit the freedom of the fan blade. When the water surface is running, the lower layer is in a tight state, and the upper layer is in a relaxed state, and the freedom of the fan blades is limited by the guide rails. In the ground running state, the lower layer of the cable is in a semi-tight state, and the upper layer of the cable is in a semi-relaxed state, and the freedom of the fan blade is limited by the guide rail. The speed of the crawler can be changed by changing the common rotational speed of the inner and outer runners.

The structural body includes the lift frame, the purpose of which is to keep the rollers off the ground, thereby providing a basis for ascent. Similarly, the bottom of the lifting frame is provided with a structure for providing buoyancy, which can be floated on the water surface, and can specifically be a hollow plastic part. Walking on the ground only requires the normal transmission of the crawler. In addition to lifting and landing, the function of the lifting frame also plays the role of dynamic counterweight balance; specifically, the lifting frame includes multiple legs, and the length of the legs of the front, rear, left, and right lifting frames can be adjusted according to the travel speed of the track and the center of gravity of the drone. Adjustment to offset the rotational momentum generated by the unidirectional rotation of the crawler and the problem of unequal load on the left and right. The ascending and descending order of the feet and the degree of ascending and descending can be obtained from the experiment and written into the corresponding control chip.

The sensor group includes:

The pressure sensor, which is arranged at the bottom of the structure body, is used to measure the pressure. According to the pressure, it can be judged whether the drone is on the ground.

A humidity sensor or liquid probe, which is arranged at the bottom of the structure body or the buoyancy structure, is used to judge whether the drone is on the water surface according to the humidity level and/or the strength of the hydraulic pressure;

The collision early warning device consists of a 3-axis geomagnetic sensor, a 3-axis angle sensor and a 3-axis acceleration sensor.

About the process of judging abnormality:

If the power is lower than the power threshold, it can be judged that the corresponding drone is abnormal;

When the above-mentioned 3-axis sensors have more than 1/3 of the axes within 1/3 of a second, and the repeated changes of more than 1/3 occur, it is determined that the collision exists, and the above-mentioned ZigBee communication network is used to ensure that the data is not lost. The collision threshold is the time, the number of axes, the value of the axis direction, and the change of the value, which belongs to an interval between the maximum value and the minimum value; the specific collision threshold can be set according to the requirements.

The possible collision accidents refer to: the collision between drones and drones; the collision between drones and the ground; the collision between drones and the water surface; the collision between drones and flying birds; The collision of unexpected scenarios such as outbreaks, terrorists, etc.

The UAV is loaded with various data acquisition components and corresponding data processors, and these data acquisition components collect various raw data. Then the data processing can perform signal processing on the original data: signal enhancement, signal segmentation, signal restoration, etc.; the signal can also be characterized by processing, and useful information can be derived from the filter circuit to find the most useful features from many features, In order to reduce the difficulty of subsequent data processing; the template matching method can also be used to identify different features, and notify the corresponding data acquisition components to perform corresponding functions. For example, if the infrared sensor detects infrared signs, it can notify the camera to perform shooting.

The control software required for the operation of the UAV and the hardware and software conditions required for the operation of the data acquisition components belong to the conventional technology in the technical field, and no further improvement is performed in this embodiment, so no further description is given.

The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the described embodiments, and those skilled in the art can also make various equivalent deformations or replacements on the premise that does not violate the spirit of the present invention , these equivalent modifications or substitutions are all included within the scope defined by the claims of the present application.

Claims (3)

1. A triphibian unmanned aerial vehicle cluster control method is characterized by comprising the following steps:

collecting specified data through a data acquisition module, wherein the data acquisition module is arranged in the triphibian unmanned aerial vehicle;

forming a communication network through ZigBee;

acquiring the traveling data of a single triphibian unmanned aerial vehicle; the traveling data comprises electric quantity, the electric quantity is lower than an electric quantity threshold value, the corresponding triphibian unmanned aerial vehicle is marked as an abnormal unmanned aerial vehicle through a cluster controller, and the cluster controller is arranged in the triphibian unmanned aerial vehicle;

determining, by the cluster controller, an abnormal unmanned aerial vehicle or a normal unmanned aerial vehicle according to traveling data, the traveling data including a geomagnetic vector, an acceleration vector, and an angle vector, values and/or variation values of the geomagnetic vector, the acceleration vector, and the angle vector exceeding a collision threshold value, the corresponding triphibian unmanned aerial vehicle being the abnormal unmanned aerial vehicle, wherein the traveling data includes positioning information, executing a standby traveling route according to the positioning information and the electric quantity, the executing the standby traveling route including: transforming the triphibian state of the triphibian unmanned aerial vehicle;

and the abnormal unmanned aerial vehicle transmits the specified data to the normal unmanned aerial vehicle along the communication network.

2. A triphibian unmanned aerial vehicle cluster control system is characterized by comprising a triphibian unmanned aerial vehicle and a cluster controller, wherein the triphibian unmanned aerial vehicle comprises a data acquisition module, a ZigBee module and a sensor module,

the data acquisition module collects specified data, and the data acquisition module is arranged in the triphibian unmanned aerial vehicle;

forming a communication network by ZigBee modules of different triphibian unmanned planes;

acquiring the traveling data of a single unmanned aerial vehicle through a sensor module; the triphibian unmanned aerial vehicle comprises a power supply, the traveling data comprises the electric quantity of the power supply, the electric quantity is lower than an electric quantity threshold value, the cluster controller marks the corresponding triphibian unmanned aerial vehicle as an abnormal unmanned aerial vehicle, and the cluster controller is arranged in the triphibian unmanned aerial vehicle;

the cluster controller determines an abnormal unmanned aerial vehicle or a normal unmanned aerial vehicle according to traveling data, the traveling data comprises a geomagnetic vector, an acceleration vector and an angle vector, values and/or variation values of the geomagnetic vector, the acceleration vector and the angle vector exceed a collision threshold value, the corresponding triphibian unmanned aerial vehicle is the abnormal unmanned aerial vehicle, the traveling data comprises positioning information, the cluster controller formulates a standby traveling route according to the positioning information and the electric quantity, the triphibian unmanned aerial vehicle executes the standby traveling route, and the executing standby traveling route comprises: transforming the triphibious state of the triphibious unmanned aerial vehicle; and the abnormal unmanned aerial vehicle transmits the specified data to the normal unmanned aerial vehicle along the communication network.

3. The utility model provides a triphibian unmanned aerial vehicle, its characterized in that rolls wing, sensor group, operation controller and power supply motor including structure body, crawler-type, the crawler-type rolls the wing and includes crawler belt, track transmission structure, sets up flabellum between the crawler belt and connects the rotating-structure of flabellum, the power supply motor is connected track transmission structure, the sensor group is connected the operation controller, the structure body is used for acceping the crawler-type rolls wing, sensor group, operation controller and power supply motor, the operation controller is according to numerical value change crawler belt transmission speed and flabellum angle of sensor output.

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