A cruising control method for an unmanned aerial vehicle

Abstract

The present invention relates to a method for controlling an unmanned aerial vehicle (UAV), and particularly to a method for cruise control of a UAV. The method includes the following steps: continuously sending an automatic control signal to the UAV to cause the UAV to perform automatic flight when it is determined that the UAV is in a flight state; sending an information acquisition request on a target communication channel to obtain the flight state information of the UAV; generating a manual remote control instruction and parsing it to generate a radio signal; sending a radio control signal to cause the UAV to perform a remote control flight operation; receiving and displaying the cruise state information of the UAV with a target number; retrieving a pre-stored electronic map; generating a flight trajectory route and generating an automatic endurance instruction; parsing the automatic endurance instruction to generate a self-flight radio signal; and causing the UAV to perform an automatic flight operation. The present invention controls the UAV through radio signals and simultaneously performs automated management of a large number of UAVs through preset flight instructions, improving the usage efficiency and safety of the UAV.

Description

Technical Field

[0001] This specification relates to the technical field of unmanned aerial vehicle control, and particularly to a cruise control method for unmanned aerial vehicles. Background Art

[0002] Generally, unmanned aerial vehicles have various communication methods or coding methods, and controlling a single unmanned aerial vehicle requires a dedicated controller; military unmanned aerial vehicles often carry reconnaissance tasks during flight missions. How to give full play to the reconnaissance tasks of unmanned aerial vehicles has become a problem; military unmanned aerial vehicles will experience a series of flight accidents such as flying away and reconnaissance failure during flight missions. How to respond immediately to these flight accidents has become a problem; in the face of these problems, a communication management method for safely and effectively managing multiple unmanned aerial vehicles has become an effective solution. Summary of the Invention

[0003] The present invention provides a cruise control method for unmanned aerial vehicles, which can automatically manage unmanned aerial vehicles safely and efficiently.

[0004] In an embodiment of this specification, a cruise control method for unmanned aerial vehicles is provided, which is applied to a signal processing device. The signal processing device includes a processor, a display device and a storage device circuit-connected to the processor. The method includes the following steps:

[0005] Judge whether the unmanned aerial vehicle is in a flight state. When it is determined that the unmanned aerial vehicle is in a flight state, continuously send an automatic control signal to the unmanned aerial vehicle to make the unmanned aerial vehicle execute the automatic flight step, and continuously judge whether the unmanned aerial vehicle is in a lost connection state. If the unmanned aerial vehicle is in a lost connection state, execute the return step for the lost connection unmanned aerial vehicle;

[0006] In response to the selection operation of the unmanned aerial vehicle with the target number, match the unmanned aerial vehicle type information stored in the storage device according to the target number of the unmanned aerial vehicle to obtain the communication channel corresponding to the type of the unmanned aerial vehicle with the target number, and mark the corresponding communication channel as the target communication channel, where the unmanned aerial vehicle type information includes the unmanned aerial vehicle name, the unmanned aerial vehicle number, and the unmanned aerial vehicle communication channel information;

[0007] Send an information acquisition request through the signal transmitter on the target communication channel to obtain the flight state information of the unmanned aerial vehicle with the target number, where the flight state information includes position information, status information, and image information;

[0008] In response to the touch operation on the signal processing device to generate a manual remote control instruction and parse it to generate a radio signal;

[0009] Transmit the radio control signal on the target communication channel, so that the drone switches from receiving the automatic control signal to the radio control signal, and performs remote control flight operations according to the radio control signal until the manual remote control instruction ends; and

[0010] Continuously receive the cruise status information of the drone with the target number and display it on the display device. The cruise status information includes position coordinates, flight altitude, remaining flight duration, and captured image information.

[0011] The present invention provides a cruise control method for a drone. The method not only provides a manual operation mode to operate drones of different models, but also can perform cruise tasks in the case of unmanned flight, and at the same time has an automatic recall mode, thus avoiding the situation of losing the drone.

[0012] In an embodiment of the present specification, the automatic flight step is specifically as follows:

[0013] Retrieve the pre-stored electronic map;

[0014] Generate a drone flight trajectory route on the electronic map according to a preset task or intelligently generate a drone flight trajectory route according to a temporary flight task, and generate an automatic endurance instruction;

[0015] Analyze the automatic endurance instruction to generate a self-flight radio signal;

[0016] Transmit the self-flight radio signal on the communication channel of the drone with the target number, so that the drone performs automatic flight operations according to the self-flight radio signal.

[0017] This embodiment realizes the autonomous cruise function by temporarily generating a flight trajectory and corresponding flight instructions according to a preset task, thereby reducing manual operations.

[0018] In an embodiment of the present specification, the step of responding to the selection operation of the drone with the target number further includes the following steps:

[0019] Mark the unselected drones in the flight state as candidate drones. When it is analyzed that the number of candidate drones exceeds the first threshold, automatically generate a candidate drone flight cluster instruction, so that all candidate drones execute the candidate drone flight cluster instruction;

[0020] The candidate drone flight cluster instruction is specifically as follows:

[0021] Determine the candidate drone with the highest priority as the first drone according to the preset drone number priority order, set the remaining candidate drones as secondary drones and arrange and number them according to the drone number priority order to form a secondary drone array;

[0022] Analyze and generate the flight trajectory route of the drone;

[0023] Generate the first drone remote control instruction according to the drone flight trajectory route;

[0024] Parse the generated first drone remote control instruction to generate the first drone radio signal;

[0025] Transmit the first drone radio signal on the communication channel of the first drone, so that the first drone performs flight operations according to the first drone remote control instruction, and makes it send a secondary drone radio signal to the secondary drone, so that the secondary drone performs adaptive flight according to the flight state, position information of the first drone and its arrangement number in the secondary drone array, where the secondary drone radio signal includes the flight state and position information of the first drone.

[0026] In this embodiment, automatic management is performed on drones that are in a flying state and have no flight tasks and exceed a certain number. When the number exceeds a certain number, they are centrally managed to reduce the execution and management difficulty. Through the automatic management of drones in a flying state and without manual control, the purpose of automatically controlling drones is achieved, and the intelligent level of drones is improved.

[0027] In an embodiment of this specification, the step of generating the drone flight trajectory route on the electronic map according to a preset task or intelligently generating the flight trajectory route according to a temporary flight task specifically is:

[0028] Obtain the destination position selected on the preset electronic map;

[0029] Generate the shortest flight path from the starting point to the destination, and the shortest flight path includes the drone flight trajectory route;

[0030] The step of the drone performing automatic flight operations according to the self-flight radio signal specifically is:

[0031] Perform automatic flight operations according to the self-flight radio signal; and

[0032] Continuously obtain and analyze the flight images generated during the flight, correct the drone flight trajectory route according to the flight images, and fly according to the corrected drone flight trajectory route.

[0033] In this embodiment, the signal processing device identifies the initial point and the destination of the drone, generates the shortest path according to the preset electronic map, and at the same time executes the corresponding flight mission to continuously scan the map situation and generate the corresponding avoidance instructions to enable the drone to perform flight avoidance operations and adjust the flight path, so as to better complete the flight mission while reducing the workload of manually designing the flight path and improving the usage efficiency of the drone.

[0034] In one embodiment of the present specification, after the step of executing the automatic flight, the following steps are further included:

[0035] Mark the drones that are not selected and in the flight state as candidate drones. When it is analyzed that the number of candidate drones exceeds the second threshold, an instruction for the candidate drone flight cluster is automatically generated to enable all candidate drones to execute the instruction for the candidate drone flight cluster, where the second threshold is greater than the first threshold:

[0036] Sort the candidate drone numbers according to the preset drone number list, and sequentially form a drone cluster with the drones with the candidate drone numbers according to the preset number to form a drone group formation;

[0037] Divide the preset electronic map according to the preset flight jurisdiction division and the formation quantity, and allocate it to each drone cluster formation; and

[0038] Control the drone cluster formation to perform flight operations within their respective corresponding flight jurisdiction areas according to the instruction for the candidate drone flight cluster.

[0039] In this embodiment, the second threshold is greater than the first threshold. The drones with the number exceeding the first threshold are centrally managed, and the drones with the number exceeding the second threshold are cluster-managed to avoid too many drones in a certain airspace and reduce potential flight accidents of collisions.

[0040] In one embodiment of the present specification, the specific steps for the drone to perform the automatic flight operation according to the self-flight radio signal are as follows:

[0041] Perform the automatic flight operation according to the self-flight radio signal; and

[0042] Detect the throwable explosives according to the preset object recognition and flight trajectory model;

[0043] The specific steps are as follows:

[0044] Obtain the image information flow captured by the camera of the drone, and match it according to the preset object recognition model to detect whether there are preset throwable explosives;

[0045] If there are any, obtain and display the picture information of the location where the corresponding throwable explosives are located.

[0046] This embodiment improves a reconnaissance mode for throwable explosives. Through image recognition technology and aerial photography technology of drones on the battlefield, the detection radius can be increased, thus avoiding potential casualties.

[0047] In one embodiment of this specification, the drone in a flying state is defined as an on-orbit drone, and the steps for the lost drone to return are specifically as follows:

[0048] Send a response signal to be responded to with adaptive content generated according to the current time at fixed intervals, so that the on-orbit drone returns a primary response success signal. The primary response success signal contains the time information of the primary response signal to be responded to. Mark the on-orbit drone that has returned the primary response success signal as an associated drone;

[0049] When the response success signal of the on-orbit drone is not received within the preset time, it is preliminarily determined that the on-orbit drone is a lost drone, and a primary wake-up signal is sent to each associated drone. Each associated drone generates a detection signal according to the primary wake-up signal and uses the detection signal to detect in the airspace around the associated drone to determine whether there is a lost drone. If the associated drone determines that there is a lost drone around, it sends a tracking signal to determine the position and orientation of the lost drone;

[0050] Control the associated drone to send a secondary wake-up signal to make the on-orbit drone in its surrounding airspace return a secondary response success signal, and send the secondary response success signal to the signal processing device, where the secondary response success signal contains the time information of the primary response signal;

[0051] Judge whether the secondary response success information includes the time information of the latest response information to be responded to. When it is determined that the time information of the latest primary response information to be responded to does not exist in the secondary response success information forwarded by the associated drone, it is determined that the associated drone is a relay drone;

[0052] Send a radio signal for obtaining the status of the lost drone to the relay drone, so that the relay drone sends a radio signal for obtaining the status to obtain the status information of the lost drone;

[0053] Generate a flight instruction for the lost drone according to the position information and status information of the lost drone, and send it to the relay drone, so that the relay drone forwards the radio signal of the lost drone to the lost drone, so that the lost drone performs a return operation.

[0054] In this embodiment, the flight status of the in-orbit UAV is monitored in real time by continuously sending a signal to be responded and making the UAV return a primary response signal in real time; when the primary response signal cannot be obtained within a preset time range, it is regarded that the UAV has lost its flight, and a wake-up signal is sent to the associated UAV in time to make it send a secondary wake-up signal to discover the lost UAV; when a communication relationship is established between the associated UAV and the lost UAV, the signal processing device establishes a communication channel with the associated UAV to communicate with the lost UAV, so as to ensure the communication stability between the signal processing device and the lost UAV even if the lost UAV is not within the communication range of the signal processing device.

[0055] In one embodiment of this specification, before the step of determining that the associated UAV is a relay UAV when it is determined that the time information of the latest signal to be responded is not included in the secondary response success information, the following steps are further included:

[0056] When there are multiple associated UAVs that can receive the secondary response success signal, a priority rule is determined according to the distance between the position and orientation of the lost UAV and the associated UAV that receives the secondary response success information, and all the associated UAVs that can receive the secondary response success signal are arranged to form a UAV priority sequence according to this priority rule;

[0057] According to the UAV priority sequence, the flight approximation value between the flight directions of multiple associated UAVs and the flight direction of the lost UAV is determined, and the associated UAV in the UAV priority sequence with the largest flight approximation value is determined as the relay UAV, where the flight approximation value is calculated by the following flight approximation formula:

[0058] where P is the flight approximation value, is the average value of the abscissas of the current numbered UAV to be relayed from the first point to the nth point, the average value of the ordinates of the current numbered UAV to be relayed from the first point to the nth point, is the average value of the abscissas of the lost UAV from the first point to the nth point, is the average value of the ordinates of the lost UAV from the first point to the nth point, x 1i is the abscissa of the current numbered UAV to be relayed from the first point to the nth point in the coordinate system of the preset electronic map, x 2i is the abscissa of the lost UAV from the first point to the nth point in the coordinate system of the preset electronic map, where the value of i is 1, 2... n, representing from the first point to the nth point.

[0059] By comprehensively considering the tangent direction and the angle size through this flight approximation formula, a safer and more reliable transfer UAV can be obtained, which will neither cause two UAVs to collide, and through the calculation of this angle and the tangent direction, the signal transmission is made more efficient, the obstacles to signal transmission are eliminated, the flight cumulative error and the distance drift error are reduced, and at the same time, the stability and reliability of the transmitted information are improved.

[0060] In an embodiment of the present specification, a camera is rotatably mounted on the UAV and is loaded with an explosive that can be thrown. The explosive that can be thrown is radio-electrically connected to the processor of the UAV. The specific operation of the UAV to perform automatic flight according to the self-flight radio signal is as follows:

[0061] Perform automatic flight operations according to the self-flight radio signal;

[0062] Obtain the image stream captured by the UAV for analysis and recognition. If there is a suspicious moving target that cannot communicate, generate an avoidance route and perform flight operations according to the avoidance route:

[0063] Use the rotating lens of the UAV camera to take pictures. If the area where the suspicious moving target cannot be detected is determined, there is a field of view blind area;

[0064] If there is no field of view blind area for the suspicious moving target, predict its travel trajectory according to the moving direction and speed of the suspicious target, automatically generate a self-destruction instruction and transmit it to the UAV, so that the UAV can start the timing self-destruction mode according to the self-destruction instruction, and fly along the shortest path towards the suspicious moving target and destroy the suspicious moving target.

[0065] In the embodiment of the present invention, the signal processing device can not only perform unmanned command operations on the UAV by generating preset flight instructions through preset tasks under unmanned operation, but also perform command operations on UAVs of different models under manual operation. On the one hand, the unmanned degree of the UAV is further improved, and at the same time, the versatility of its signal processing device is also improved;

[0066] In the embodiment of the present application, when the UAV is performing a flight mission, if a loss of connection occurs, the signal processing device can recall the lost UAV by setting the connected UAV that can contact the lost UAV as a transfer UAV for transfer communication, reducing the situation where the lost UAV cannot be retrieved; at the same time, a bomb is also installed on the UAV body, and when it is impossible to ensure the safety of the UAV during a military detection mission, it can also self-destruct to expand the military value of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objects and advantages of the present application will become more obvious:

[0068] Figure 1 The flowchart of the steps of the cruise control method of the unmanned aerial vehicle according to an embodiment of this specification is shown;

[0069] Figure 2 The schematic diagram of the internal modules of the signal processing device according to an embodiment of this specification is shown;

[0070] Figure 3 The schematic diagram of the steps of the return of the lost unmanned aerial vehicle according to an embodiment of this specification is shown;

[0071] Figure 4 The schematic diagram of the steps of the return of the lost unmanned aerial vehicle according to an embodiment of this specification is shown;

[0072] Figure 5 The schematic diagram of the steps of the return of the lost unmanned aerial vehicle according to an embodiment of this specification is shown;

[0073] Figure 6 The schematic diagram of the steps of the return of the lost unmanned aerial vehicle according to an embodiment of this specification is shown. Detailed implementation manners

[0074] The technical method of this invention patent will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those skilled in the art based on the embodiments in the present invention without creative efforts belong to the scope protected by the present invention.

[0075] In addition, the accompanying drawings are only schematic diagrams of the present invention and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and thus their repeated descriptions will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. The functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor methods and / or microcontroller methods.

[0076] It should be understood that although terms such as "first", "second", etc. may be used here to describe each unit, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, the first unit can be called the second unit, and similarly the second unit can be called the first unit. The term "and / or" used here includes any and all combinations of one or more of the listed associated items.

[0077] The present invention provides an embodiment. Please refer to Figures 1 to 6 , a cruise control method for an unmanned aerial vehicle (UAV), which is applied to a signal processing device. A processor, a display device, and a storage device circuit-connected to the processor are provided in the signal processing device.

[0078] Specifically, for example, in one embodiment, the signal processing device, such as a signal station, the cruise control method for the UAV includes the following steps:

[0079] S1. Determine whether the UAV is in a flight state. When it is determined that the UAV is in a flight state, continuously send an automatic control signal to the UAV to enable the UAV to execute an automatic flight step;

[0080] Specifically, for example, when the UAV is in a flight state, continuously send the current flight state of the UAV back to the signal processing device; the signal processing device analyzes whether it is in a flight state by querying whether the current flight state of the UAV is returned;

[0081] S2. In response to the selection operation of the UAV with a target number, match the UAV type information stored in the storage device according to the target number of the UAV to obtain the communication channel corresponding to the UAV type to which the UAV with the target number belongs, and mark the corresponding communication channel as the target communication channel, where the UAV type information includes the UAV name, the UAV number, and the UAV communication channel information;

[0082] Specifically, for example, the signal processing device locally stores the communication channels corresponding to the UAV types of all the connected UAVs. When the user uses the signal processing device, a UAV control interface is generated and all the connected UAVs are displayed for selection;

[0083] S3. Send an information acquisition request through a signal transmitter on the target communication channel to obtain the flight state information of the UAV with the target number, where the flight state information includes position information, status information, and image information;

[0084] Specifically, for example, a GPS system, a battery management system, and a camera are installed on the UAV, and the UAV can obtain its own position, the remaining flight time, and the captured image information in real time;

[0085] S4. Respond to the touch operation on the signal processing device to generate a manual remote control instruction and parse it into a radio signal;

[0086] Specifically, for example, the signal processing device can generate a UAV instruction input page, respond to the touch operation of the user with corresponding flight instructions, such as the selection of the flight directions of up, down, left, and right, rotation, lifting, and the operation of rotating the camera. At the same time, the signal processing device can convert the obtained UAV instructions into corresponding radio information;

[0087] S5. Transmit the radio control signal on the target communication channel so that the drone receives the switch from the automatic control signal to the radio control signal, and perform remote control flight operations according to the radio control signal until the manual remote control instruction ends; and

[0088] Specifically, for example, when the signal processing device sends a manual radio control signal, a radio control signal is automatically added to make the drone switch from the automatic control signal to the radio control signal mode;

[0089] S6. Continuously receive the cruise status information of the drone with the target number and display it on the display device. The cruise status information includes position coordinates, flight altitude, available endurance time, and captured image information;

[0090] Specifically, for example, on the drone status visualization display page of the display device by the signal processing device, the obtained endurance status information of the drone is obtained and visually displayed;

[0091] The present invention provides a cruise control method for a drone. The method not only provides a manual operation mode to operate drones of different models, but also can perform cruise tasks in the case of unmanned flight, and at the same time has an automatic recall mode, thus avoiding the situation of losing the drone.

[0092] The present invention provides an embodiment. The specific steps of the automatic flight are as follows:

[0093] Retrieve the pre-stored electronic map;

[0094] Specifically, for example, plan the automatic flight area of the drone through the Baidu Map interface to generate a preset electronic map;

[0095] Generate a drone flight trajectory route on the electronic map according to a preset task or intelligently generate a drone flight trajectory route according to a temporary flight task, and generate an automatic endurance instruction;

[0096] Specifically, for example, in the patrol flight drone task, the user presets a flight trajectory, and the signal processing device generates an automatic endurance instruction by parsing the preset flight track; for the automatic flight destination task, the user marks the destination on the map, and the signal processing device generates a flight trajectory by parsing the shortest flyable distance between the starting point and the destination, and generates an automatic endurance instruction according to the generated flight trajectory;

[0097] Parse the automatic endurance instruction to generate a self-flying radio signal;

[0098] Transmit the self-flying radio signal on the communication channel of the drone with the target number so that the drone performs automatic flight operations according to the self-flying radio signal.

[0099] The present invention provides an embodiment, and the steps of responding to the selection operation of the UAV with the target number further include the following steps:

[0100] Mark the unselected UAVs in the flight state as candidate UAVs. When it is analyzed that the number of candidate UAVs exceeds the first threshold, automatically generate a candidate UAV flight cluster instruction to enable all candidate UAVs to execute the candidate UAV flight cluster instruction;

[0101] The candidate UAV flight cluster instruction is specifically:

[0102] Determine the candidate UAV with the highest priority as the first UAV according to the preset UAV number priority order, set the remaining candidate UAVs as secondary UAVs and arrange and number them according to the UAV number priority order to form a secondary UAV array;

[0103] Analyze and generate a UAV flight trajectory route;

[0104] Generate a first UAV remote control instruction according to the UAV flight trajectory route;

[0105] Parse the generated first UAV remote control instruction to generate a first UAV radio signal;

[0106] Transmit the first UAV radio signal on the communication channel of the first UAV, so that the first UAV performs flight operations according to the first UAV remote control instruction, and makes it send a secondary UAV radio signal to the secondary UAVs, so that the secondary UAVs perform adaptive flight according to the flight state, position information of the first UAV and their arrangement numbers in the secondary UAV array, where the secondary UAV radio signal includes the flight state and position information of the first UAV.

[0107] Specifically, for example, when it is analyzed that the number of candidate UAVs exceeds two, determine the candidate UAV with the highest priority as the first UAV according to the preset UAV number priority order, set the remaining candidate UAVs as secondary UAVs and make all candidate UAVs fly in formation, where the first UAV is located in the middle position, and the remaining UAVs can fly in a straight line, an inverted V shape or a three-dimensional staggered manner; this cruising method can improve the image acquisition range of the UAV, and at the same time, when a UAV in the formation of UAVs encounters a flight danger, the remaining UAVs can detect the specific situation of the flight danger in the first time.

[0108] In this embodiment, drones in a flying state without flight missions exceeding a certain number are automatically managed. When the number exceeds a certain number, they are centrally managed to reduce the execution and management difficulties. Through the automatic management of drones in a flying state without manual control, the purpose of automatically controlling drones is achieved, and the intelligent level of drones is improved.

[0109] The present invention provides an embodiment. The specific implementation of generating a drone flight trajectory route on the electronic map according to a preset task or intelligently generating a flight trajectory route according to a temporary flight task is as follows:

[0110] Obtain the destination location selected on the preset electronic map;

[0111] Generate the shortest flight path from the starting point to the destination, and the shortest flight path includes the drone flight trajectory route;

[0112] The specific steps for the drone to perform automatic flight operations according to the self-flight radio signal are as follows:

[0113] Perform automatic flight operations according to the self-flight radio signal; and

[0114] Continuously obtain and analyze the flight images generated during the flight process, correct the drone flight trajectory route according to the flight images, and fly according to the corrected drone flight trajectory route;

[0115] Specifically, for example, the signal processing device stores an electronic map with a radius of 500 KM. The preset starting point is the drone flight starting point. The user's identification on the map is obtained and identified and marked as the drone end point. First, a connection line between the two points is generated, and detours are made according to the altitude or no-fly identification area between the two points; at the same time, the image information obtained during the flight process is received in real time, and it is identified according to the obstacle recognition model. When an obstacle is determined, an obstacle avoidance flight instruction is generated to make it avoid the obstacle until the drone reaches the drone end point.

[0116] In this embodiment, the signal processing device identifies the initial point and the destination of the drone, generates the shortest path according to the preset electronic map, and at the same time executes the corresponding flight task to continuously scan the map situation and generate the corresponding avoidance instructions to make the drone perform flight avoidance operations and adjust the flight route, so that while better completing the flight task, it reduces the workload of manually designing the flight route and improves the usage efficiency of the drone.

[0117] The present invention provides an embodiment. After the step of performing automatic flight, the following steps are further included:

[0118] Mark the unselected drones in the flight state as candidate drones. When the number of candidate drones exceeds the second threshold, automatically generate a flight cluster instruction for the candidate drones, so that all candidate drones execute the flight cluster instruction for the candidate drones, where the second threshold is greater than the first threshold:

[0119] Sort the candidate drone numbers according to the pre-set drone number list. Sequentially form a drone cluster with the drones corresponding to the candidate drone numbers according to the preset number to form a drone group formation;

[0120] Divide the pre-set electronic map according to the pre-set flight jurisdiction division and formation quantity, and allocate it to each drone cluster formation; and

[0121] Control the drone cluster formation to perform flight operations within their respective corresponding flight jurisdiction areas according to the flight cluster instruction for the candidate drones.

[0122] Specifically, for example, when there are more than 7 drones that do not have flight tasks and are in the flight state, they will be grouped in a five-five grouping method, and the clusters after grouping will be sequentially numbered according to the order of their number list. The numbering method can follow the conventional methods such as Arabic numeral order, alphabetical order, or a custom sequential setting; on the pre-set electronic map, divide the flight airspace according to the total quantity of the divided groups. The division principle is the equal area principle, that is, the airspace under the flight jurisdiction of each group after division has the same area shown on the pre-set electronic map. Set the drone with the earliest number in the drone numbers of the cluster as the first drone in the cluster, and mark it as the first drone of the sequential cluster. The remaining drones fly closer to the first drone of the sequential cluster according to their respective sequential clusters; then perform autonomous flight within the flight jurisdiction airspace;

[0123] Specifically, for example, the drone is the first drone of the first cluster, and the other four drones of the first cluster fly closer to it for flight operations;

[0124] In this embodiment, the second threshold is greater than the first threshold. The drones with the number exceeding the first threshold are centrally managed, and the drones with the number exceeding the second threshold are cluster-managed to avoid too many drones in a certain airspace and reduce potential collision flight accidents.

[0125] The present invention provides an embodiment. The specific steps for the drone to perform automatic flight operations according to the self-flight radio signal are as follows:

[0126] Perform automatic flight operations according to the self-flight radio signal; and

[0127] Detect throwable explosives according to the pre-set object recognition and flight trajectory model;

[0128] Specifically, for example, throwable explosives such as bombs;

[0129] The steps are specifically as follows:

[0130] Obtain the image information flow captured by the camera of the unmanned aerial vehicle (UAV), and match it according to a preset object recognition model to detect whether there is a preset throwable explosive;

[0131] Specifically, for example, the object recognition model is generated by image recognition technology, and a throwable explosive recognition model is generated through prior training to recognize the photo;

[0132] If there is, obtain and display the picture information of the location where the corresponding throwable explosive is located.

[0133] Specifically, for example, when the signal processing device stores the photo taken by the UAV, it will associate and store the location information of the UAV; when displaying the picture information of the location where the corresponding throwable explosive is located, it will simultaneously perform an associated query on the location information of the UAV at the time of shooting and display it.

[0134] This embodiment provides a reconnaissance mode for throwable explosives. Through image recognition technology and the aerial photography technology of UAVs on the battlefield, the detection radius can be increased, thus avoiding potential casualties.

[0135] In an embodiment of this specification, the UAV in the flight state is defined as an on-orbit UAV, and the steps for the lost UAV to return are specifically as follows:

[0136] Send a response signal with adaptive content generated according to the current time at a fixed interval, so that the on-orbit UAV returns a primary response success signal. The primary response success signal contains the time information of the primary response signal. Mark the on-orbit UAV that has returned the primary response success signal as an associated UAV;

[0137] Specifically, for example, the fixed interval is 5S. Add the current time to the response signal and send it to the on-orbit UAV, so that the on-orbit UAV adds the response success information to the response information to generate a response success signal and return it to the signal processing device;

[0138] If the response success signal of the on-orbit UAV is not received within the preset time, it is preliminarily determined that the on-orbit UAV is a lost UAV, and a primary wake-up signal is sent to each associated UAV. Each associated UAV generates a detection signal according to the primary wake-up signal and uses the detection signal to detect in the surrounding airspace of the associated UAV to determine whether there is a lost UAV. If the associated UAV determines that there is a lost UAV around, it sends a tracking signal to determine the position and orientation of the lost UAV;

[0139] Control the on - orbit drones within the surrounding airspace of the associated drone to send a secondary wake - up signal and return a secondary response success signal to the signal processing device, where the secondary response success signal contains the time information of the primary response signal;

[0140] Judge whether the secondary response success information includes the time information of the latest information to be responded. When it is determined that the time information of the most recent primary information to be responded does not exist in the secondary response success information forwarded by the associated drone, then determine that the associated drone is a relay drone;

[0141] Specifically, for example, according to Figure 3 and Figure 5 The drones shown emit detection signals to count the number of surrounding drones. At the same time, the signal processing device queries the number of drones within the range on the preset electronic map according to the drone detection signal emission range and transmits it to the drone; after the drones compare, they judge whether there are any lost - connection drones around; if it is determined that there are lost - connection drones around, then send a radio signal again to detect the position information of the surrounding drones, and at the same time send a wake - up signal to the surrounding drones to make them return with a signal to be responded. According to the generation time contained in the signal to be responded and the position information of the drone, the position information of the lost - connection drone is determined, and a communication relationship is established with the lost - connection drone;

[0142] Send a radio signal for obtaining the status of the lost - connection drone to the relay drone, so that the relay drone sends a radio signal for obtaining the status to obtain the status information of the lost - connection drone;

[0143] Generate a flight instruction for the lost - connection drone according to the position information and status information of the lost - connection drone, and send it to the relay drone, so that the relay drone forwards the radio signal of the lost - connection drone to the lost - connection drone, so that the lost - connection drone performs a return operation.

[0144] In this way, the drones that fly out of the communication range of the signal processing device can be recalled in time, thus avoiding the loss of drones.

[0145] Specifically, for example, according to Figure 4 and Figure 6As shown, when a drone loses contact, the signal processing device sends a primary wake-up signal to make the connected drones send secondary wake-up signals to obtain secondary response signals returned by the surrounding drones; by determining whether the secondary response signal contains the time information of the primary response signal, it is determined whether the lost-contact drone is in the vicinity; if it is determined that the secondary response signal does not contain the time information of the primary response signal, the connected drone that obtains the corresponding secondary response signal is made to establish a communication relationship with the lost-contact drone that sends the corresponding secondary response signal; at this time, when multiple connected drones establish a communication relationship with the lost-contact drone, the flight approximation value calculated by the flight approximation formula through the position information of the connected drones and the lost-contact drones that establish the relationship is obtained, and the connected drone with the largest flight approximation value is set as the relay drone, and a return instruction for the lost-contact drone is sent to make the relay drone forward it to the lost-contact drone so that the lost-contact drone performs a return flight operation.

[0146] In an embodiment of the present specification, before the step of determining that the connected drone is the relay drone when it is determined that the secondary response success information does not include the time information of the latest to-be-responded information, the following steps are further included:

[0147] When there are multiple connected drones that can receive the secondary response success signal, a priority rule is determined according to the distance between the position azimuth of the lost-contact drone and the connected drones that receive the secondary response success information, and all the connected drones that can receive the secondary response success signal are arranged to form a drone priority sequence according to the priority rule;

[0148] According to the drone priority sequence, the flight approximation value between the flight directions of multiple connected drones and the flight direction of the lost-contact drone is determined, and the connected drone in the drone priority sequence with the largest flight approximation value is determined as the relay drone for the currently numbered to-be-relayed drone, where the flight approximation value is calculated by the following flight approximation formula:

[0149]

[0150] where P is the flight approximation value, is the average value of the abscissas of the currently numbered to-be-relayed drone from the first point to the nth point, the average value of the ordinates of the currently numbered to-be-relayed drone from the first point to the nth point, is the average value of the abscissas of the lost-contact drone from the first point to the nth point, is the average value of the ordinates of the lost-contact drone from the first point to the nth point, x 1iThe abscissa from the first point to the nth point of the current numbered UAV to be transferred in the coordinate system of the preset electronic map, x 2i The abscissa from the first point to the nth point of the lost UAV in the coordinate system of the preset electronic map, where the value of i is 1, 2... n, representing from the first point to the nth point.

[0151] For example, specifically when i takes 1, the point where the UAV in connection is located when the secondary response success information is successfully received for the first time is the first point.

[0152] By comprehensively considering the tangent direction and the angle size through this flight approximation formula, a safer and more reliable transfer UAV can be obtained, which will neither cause the collision of the two UAVs, and through the calculation of this angle and the tangent direction, the signal transmission is made more efficient, the obstacles to signal transmission are eliminated, the flight cumulative error and the distance drift error are reduced, and at the same time, the stability and reliability of the transmitted information are improved.

[0153] The present invention provides an embodiment. A camera is rotatably installed on the UAV and is loaded with a throwable explosive. The throwable explosive is electrically connected to the processor of the UAV by radio. The automatic flight operation performed by the UAV according to the self-flight radio signal is specifically as follows:

[0154] Perform an automatic flight operation according to the self-flight radio signal;

[0155] Obtain the image stream captured by the UAV for analysis and recognition. If there is a suspicious moving target that cannot communicate, generate an avoidance flight path and perform a flight operation according to the avoidance flight path:

[0156] Use the rotating lens of the UAV camera to take pictures. If the area where the suspicious moving target cannot be detected is determined, there is a field of view blind area;

[0157] If there is no field of view blind area for the suspicious moving target, predict its travel trajectory according to the moving direction and speed of the suspicious target, automatically generate a self-destruction instruction and transmit it to the UAV, so that the UAV starts a time-based self-destruction mode according to the self-destruction instruction, and flies along the shortest path towards the suspicious moving target and destroys the suspicious moving target.

[0158] Specifically, for example, a bomb electrically connected to a processor by radio is bound to the body of a drone. During flight, the signal processing device receives the real-time images of the surrounding area captured by the drone and performs identification based on the suspicious moving target recognition model. If a suspicious moving target is identified, the drone flies in the opposite direction according to the relative position of the suspicious moving target in the picture. At the same time, the safety of reducing the flight altitude is judged through image recognition technology. When it is determined that there is no safety problem of collision when reducing the flight altitude, the flight altitude is reduced. And after three minutes, it is judged whether the suspicious moving target appears in the captured image. If it is determined that the suspicious moving target appears in the captured image, the drone is made to approach the suspicious moving target. When the suspicious moving target enters the explosion influence range of the drone bomb, the bomb fuse is activated by radio.

[0159] In the embodiment of the present invention, the signal processing device can not only conduct unmanned command operations on the drone by generating preset flight instructions through preset tasks under unmanned operation conditions, but also conduct command operations on drones of different models under manual operation. On the one hand, the unmanned degree of the drone is further improved, and on the other hand, the versatility of its signal processing device is also improved.

[0160] In the embodiment of the present application, during the flight mission of the drone, if a loss of connection occurs, the signal processing device recalls the lost drone by setting the connected drone that can contact the lost drone as a relay drone for relay communication, reducing the situation where the lost drone cannot be retrieved. At the same time, a bomb is also installed on the drone body. When it is impossible to ensure the safety of the drone during the military detection mission, the military value of the drone can also be expanded by self-destruction.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A cruise control method for an unmanned aerial vehicle, applied to a signal processing device, characterized in that, The signal processing device includes a processor, as well as a display device and a storage device circuit - connected to the processor. The method includes the following steps: Determine whether the drone is in a flight state. When it is determined that the drone is in a flight state, continuously send an automatic control signal to the drone to enable the drone to execute the automatic flight steps. Continuously determine whether the drone is in a lost - connection state. If the drone is in a lost - connection state, execute the return - to - base step for the lost - connection drone; In response to the selection operation of the drone with the target number, match the drone type information stored in the storage device according to the target number of the drone to obtain the communication channel corresponding to the drone type to which the drone with the target number belongs, and mark the corresponding communication channel as the target communication channel, where the drone type information includes the drone name, drone number, and drone communication channel information; Send an information acquisition request on the target communication channel through the signal transmitter to obtain the flight state information of the drone with the target number, where the flight state information includes position information, status information, and image information; In response to the touch operation on the signal processing device to generate a manual remote - control instruction and parse it to generate a radio control signal; Send the radio control signal on the target communication channel, so that the drone switches from receiving the automatic control signal to receiving the radio control signal, and executes the remote - control flight operation according to the radio control signal until the manual remote - control instruction ends; and Continuously receive the cruise state information of the drone with the target number and display it on the display device. The cruise state information includes position coordinates, flight altitude, available endurance time, and captured image information.

2. The cruise control method for an unmanned aerial vehicle according to claim 1, characterized in that, The specific automatic flight steps are as follows: Retrieve the pre - stored electronic map; Generate a drone flight trajectory route on the electronic map according to a preset task or intelligently generate a drone flight trajectory route according to a temporary flight task, and generate an automatic endurance instruction; Parse the automatic endurance instruction to generate a self - flight radio signal; Send the self - flight radio signal on the communication channel of the drone with the target number, so that the drone executes the automatic flight operation according to the self - flight radio signal.

3. The cruise control method for an unmanned aerial vehicle according to claim 1, characterized in that, After the step of responding to the selection operation of the drone with the target number, the following steps are further included: Mark the unselected drones in the flight state as candidate drones. When it is analyzed that the number of candidate drones exceeds the first threshold, automatically generate a candidate - drone flight cluster instruction to enable all candidate drones to execute the candidate - drone flight cluster instruction; The specific candidate - drone flight cluster instruction is as follows: Determine the candidate drone with the highest priority as the first drone according to the pre - set drone number priority order, set the remaining candidate drones as secondary drones and arrange and number them in the drone number priority order to form a secondary - drone array; Analyze and generate a drone flight trajectory route; Generate a first - drone remote - control instruction according to the drone flight trajectory route; Parse the generated first - drone remote - control instruction to generate a first - drone radio signal; Transmit the radio signal of the first unmanned aerial vehicle (UAV) on the communication channel of the first UAV, so that the first UAV performs flight operations according to the first UAV remote control instructions, and makes it send a secondary UAV radio signal to the secondary UAV, so that the secondary UAV performs adaptive flight according to the flight state, position information of the first UAV and its arrangement number in the secondary UAV array, wherein the secondary UAV radio signal includes the flight state and position information of the first UAV.

4. The cruise control method for an unmanned aerial vehicle according to claim 2, characterized in that, The specific process of generating the UAV flight trajectory route according to the preset task on the electronic map or intelligently generating the flight trajectory route according to the temporary flight task is as follows: Obtain the destination position selected on the preset electronic map; Generate the shortest flight path from the starting point to the destination, and the shortest flight path includes the UAV flight trajectory route; The specific steps for the UAV to perform automatic flight operations according to the self-flight radio signal are as follows: Perform automatic flight operations according to the self-flight radio signal; and Continuously obtain and analyze the flight images generated during the flight, correct the UAV flight trajectory route according to the flight images, and fly according to the corrected UAV flight trajectory route.

5. The cruise control method for an unmanned aerial vehicle according to claim 3, characterized in that, After the automatic flight step is executed, the following steps are further included: Mark the unselected UAVs in the flight state as candidate UAVs. When it is analyzed that the number of candidate UAVs exceeds the second threshold, automatically generate a candidate UAV flight cluster instruction, so that all candidate UAVs execute the candidate UAV flight cluster instruction, where the second threshold is greater than the first threshold: Sort the candidate UAV numbers according to the preset UAV number list. Sequentially use the UAVs with the candidate UAV numbers as a UAV cluster for sequential formation to form a UAV group formation; Divide the preset electronic map according to the preset flight jurisdiction division and the formation quantity, and allocate it to each UAV cluster formation; and Control the UAV cluster formation to perform flight operations within their respective corresponding flight jurisdiction areas according to the candidate UAV flight cluster instruction.

6. The cruise control method for an unmanned aerial vehicle according to claim 2, characterized in that, The specific steps for the UAV to perform automatic flight operations according to the self-flight radio signal are as follows: Perform automatic flight operations according to the self-flight radio signal; and Detect the throwable explosives according to the preset object recognition and flight trajectory model; The specific steps are as follows: Obtain the image information flow captured by the camera of the UAV, and match it according to the preset object recognition model to detect whether there are preset throwable explosives; If so, obtain and display the picture information of the location of the corresponding throwable explosives.

7. The cruise control method of the drone according to claim 1, wherein, The UAV in the flight state is defined as the on-orbit UAV. The specific steps for the lost UAV to return are as follows: Send a response signal with adaptive content generated according to the current time at a fixed interval, so that the on-orbit UAV returns a primary response success signal. The primary response success signal contains the time information of the primary response signal. Mark the on-orbit UAV that has returned the primary response success signal as the connected UAV; When the response success signal of the on-orbit unmanned aerial vehicle (UAV) is not received within the preset time, it is preliminarily determined that the on-orbit UAV is a lost UAV, and a primary wake-up signal is sent to each associated UAV, so that each associated UAV generates a detection signal according to the primary wake-up signal and uses the detection signal to detect in the surrounding airspace of the associated UAV to determine whether there is a lost UAV. If the associated UAV determines that there is a lost UAV around, a tracking signal is sent to determine the position and orientation of the lost UAV; Control the associated UAV to send a secondary wake-up signal to make the on-orbit UAVs in its surrounding airspace return a secondary response success signal, and send the secondary response success signal to the signal processing device, where the secondary response success signal includes the time information of the primary response signal; Judge whether the secondary response success information includes the time information of the latest information to be responded. When it is determined that the time information of the latest primary information to be responded does not exist in the secondary response success information forwarded by the associated UAV, it is determined that the associated UAV is a relay UAV; Send a radio signal for obtaining the status of the lost UAV to the relay UAV, so that the relay UAV sends a radio signal for obtaining the status to obtain the status information of the lost UAV; Generate a flight instruction for the lost UAV according to the position information and status information of the lost UAV, and send it to the relay UAV, so that the relay UAV forwards the radio signal of the lost UAV to the lost UAV, so that the lost UAV performs a return operation.

8. The cruise control method of the drone according to claim 7, wherein, Before the step of judging whether the secondary response success information includes the time information of the latest information to be responded and determining that the associated UAV is a relay UAV when it is determined that the time information of the latest primary information to be responded does not exist in the secondary response success information forwarded by the associated UAV, the following steps are further included: If there are multiple associated UAVs that can receive the secondary response success signal, determine a priority rule according to the distance between the position and orientation of the lost UAV and the associated UAV that receives the secondary response success information, and arrange all the associated UAVs that can receive the secondary response success signal into a UAV priority sequence according to the priority rule; According to the UAV priority sequence, determine the flight approximation value between the flight directions of the multiple associated UAVs and the flight direction of the lost UAV, and determine the associated UAV in the UAV priority sequence with the largest flight approximation value as the relay UAV.

9. The cruise control method of the drone according to claim 2, wherein, A camera is rotatably installed on the UAV and is loaded with a throwable explosive. The throwable explosive is radio-electrically connected to the processor of the UAV. The specific operation of the UAV for performing automatic flight according to the self-flight radio signal is as follows: Perform automatic flight operations according to the self-flight radio signal; Obtain the image stream captured by the UAV for analysis and recognition. If there is a suspicious moving target that cannot communicate, generate an avoidance flight path and perform flight operations according to the avoidance flight path: Use the rotating lens of the UAV camera to take pictures. If the area where the suspicious moving target cannot be detected is determined, there is a field of view blind area; If there is no blind spot in the field of view of the suspicious moving target, predict its travel trajectory based on the moving direction and speed of the suspicious target, automatically generate a self-destruction instruction and transmit it to the UAV, so that the UAV can activate the timed self-destruction mode according to the self-destruction instruction, fly towards the suspicious moving target along the shortest path and destroy the suspicious moving target.

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