Control method and control device for controlling coordinated flight of multiple pieces of flight equipment

A technology of flight equipment and control method, which is applied in the direction of three-dimensional position/course control, etc., can solve the problem that multiple flight equipment cannot achieve the ideal flight effect, and achieve the effect of avoiding uncertainty and incoordination

Inactive Publication Date: 2015-09-16
高域(北京)智能科技研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the technical problem existing in the prior art that multi-flying equipment cannot achieve ideal flight effects, the present invention provides a contr

Method used

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  • Control method and control device for controlling coordinated flight of multiple pieces of flight equipment
  • Control method and control device for controlling coordinated flight of multiple pieces of flight equipment
  • Control method and control device for controlling coordinated flight of multiple pieces of flight equipment

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0041] Example one

[0042] Such as figure 1 As shown, this embodiment provides a method for controlling coordinated flight of multiple flight devices, including:

[0043] S1, spatial modeling

[0044] Select the space coordinate system to model the airspace where the flight equipment is located; among them, the choice of the space coordinate system can be selected but not limited to the GPS coordinate system or the relative coordinate system, but no matter which specific coordinate system is used, it is necessary to Model the obstacles in the airspace that affect the flight, such as buildings in the airspace, indoor lights, furniture, etc.

[0045] S2, flight equipment modeling

[0046] Model the size and flight parameters of the flight equipment, including but not limited to the following: 1. The physical three-dimensional size of the flight equipment, 2. The maximum linear velocity, maximum acceleration, maximum angular velocity, and maximum angular acceleration of the flight equipm...

Example Embodiment

[0074] Example two

[0075] Such as image 3 As shown, the second embodiment has made the following improvements on the basis of the first embodiment:

[0076] 1. On the basis of implementing steps S1 to S5 to plan the navigation trajectory of flight equipment in the first embodiment, step S3' is further added:

[0077] It is judged whether the flight equipment can execute the flight command, if it can, go to step S4, if not, go back to step S3 to preprocess the flight path again.

[0078] Added S6 to allow flight equipment to execute predefined flight commands:

[0079] Inject the flight command into the flight device controller, and control the flight device to execute the flight command. In this way, the flight device can automatically execute the flight command, and the flight speed and the flight acceleration in the flight command are both vector parameters; thus, the complex coordinated flight effect of multiple flight devices can be better realized. Specifically: each flight de...

Example Embodiment

[0086] Example three

[0087] Such as Figure 4 As shown, the method for controlling coordinated flight of multiple flight devices provided in the third embodiment includes:

[0088] S10, start;

[0089] S11, spatial modeling;

[0090] S12, flight equipment modeling;

[0091] S13, flight equipment pretreatment;

[0092] S14: Determine whether the flight equipment can perform the corresponding flight conditions in the preprocessing process of step S13;

[0093] S15, judge whether there is a conflict in the channel trajectory;

[0094] S16, channel trajectory simulation;

[0095] S17, judge whether the channel trajectory achieves the expected effect;

[0096] S18, change flight command;

[0097] S19, execute the flight command.

[0098] Among them, the space modeling in S11, the flight equipment modeling in S12, the flight equipment preprocessing in S13, the judging whether there is a conflict in the track trajectory in S15, the conversion command in S18, and the first or second embodiment The ...

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Abstract

The invention provides a control method and a control device for controlling coordinated flight of multiple pieces of flight equipment. The control method comprises the following steps: (1) spatially modeling an airspace where flight equipment is located; (2) modeling the size and flight parameters of the flight equipment; (3) preprocessing the course trajectories of the flight equipment, wherein preprocessed information includes the position parameters of the flight equipment in a space coordinate system and the time parameters of the flight equipment at different points of the space coordinate system in the flying process; (4) analyzing whether there is conflict in each course trajectory and between different course trajectories, re-preprocessing the course trajectories of the flight equipment if there is conflict, and executing next step if there is no conflict; and (5) converting the preprocessed course trajectories into flight commands which can be performed by the flight equipment. Therefore, the course trajectory of each piece of flight equipment can be defined in advance, and uncertainty and incompatibility caused by manual operation are avoided.

Description

technical field [0001] The invention relates to the technical field of flight trajectory control of flight equipment, in particular to a control method and a control device for coordinated flight of multiple flight equipment. Background technique [0002] With the advancement of electronic science and technology and the development of the computer industry, unmanned aerial equipment has gradually entered the field of people's lives. For example, in some occasions such as shooting, item delivery, and flight performances, unmanned aerial equipment is often required to perform corresponding tasks. . [0003] For example, in the patent application with the Chinese patent application number CN201410127664.4, a method for indoor positioning and environment modeling of unmanned aerial vehicles is disclosed, which can perform flight trajectory and positioning of unmanned aerial vehicles, and quickly draw indoor three-dimensional environment models; specifically Ground: By construct...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 余江
Owner 高域(北京)智能科技研究院有限公司
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