A linkage control method, system and medium for multiple unmanned aerial vehicles

Abstract

The present invention discloses a method, system, and medium for linkage control of multiple unmanned aerial vehicles, wherein the method includes: obtaining flight mission information of the unmanned aerial vehicle; obtaining flight mission point information of the unmanned aerial vehicle according to the flight mission of the unmanned aerial vehicle; numbering the flight mission points of the unmanned aerial vehicle according to a preset numbering rule to obtain numbering information of the flight mission points; matching the numbers of the flight mission points with the preset numbers of the unmanned aerial vehicles to obtain the unmanned aerial vehicle information corresponding to the flight mission points; sending the flight mission points to the corresponding unmanned aerial vehicles according to the coding information for storage, and the unmanned aerial vehicles performing the missions according to the preset flight rules based on the corresponding flight mission points. In this application, by matching the flight mission points with the unmanned aerial vehicles and associating the unmanned aerial vehicles, the linkage control between the unmanned aerial vehicles is facilitated.

Description

Technical Field

[0001] The present application relates to the field of flight control of unmanned aerial vehicles, and more specifically, to a method, system, and medium for the coordinated control of multiple unmanned aerial vehicles. Background Art

[0002] With technological advancements, unmanned aerial vehicles (UAVs) are increasingly being used in a wide range of applications, including information transmission and aerial photography and surveying. Currently, the coordinated control of multiple UAVs is primarily achieved through pre-set programs. This makes adjustments difficult when an UAV makes a mistake or malfunction during flight.

[0003] Therefore, the prior art has defects and needs to be improved urgently. Summary of the Invention

[0004] In view of the above problems, an object of the present invention is to provide a method, system and medium for linkage control of multiple unmanned aerial vehicles, which can more effectively improve the linkage control between multiple unmanned aerial vehicles.

[0005] A first aspect of the present invention provides a method for controlling a plurality of unmanned aerial vehicles in a coordinated manner, comprising:

[0006] Obtaining flight mission information of unmanned aerial vehicles;

[0007] According to the flight mission of the unmanned aerial vehicle, the flight mission point information of the unmanned aerial vehicle is obtained;

[0008] Numbering the flight mission points of the unmanned aerial vehicle according to a preset numbering rule to obtain numbering information of the flight mission points;

[0009] Matching the flight mission point number with the unmanned aerial vehicle preset number to obtain the unmanned aerial vehicle information corresponding to the flight mission point;

[0010] The flight mission point is sent to the corresponding unmanned aerial vehicle for storage according to the coded information, and the unmanned aerial vehicle performs the mission according to the preset flight rules based on the corresponding flight mission point.

[0011] In this solution, the preset numbering rules are specifically as follows:

[0012] A mission point among the flight mission points of the unmanned aerial vehicle is set as a reference point and numbered as d1;

[0013] Connect the reference point and other flight mission points to obtain the distance between the reference point and other flight mission points;

[0014] The flight mission points are numbered in ascending order according to the distance values, and the numbering order is d2, d3, ..., dm , where m represents the total number of flight mission points.

[0015] This plan also includes:

[0016] Obtain information about the same distance value between the reference point and other flight mission points;

[0017] Extract flight mission point information with the same distance value;

[0018] According to the flight mission point and the reference point information with the same distance value, the position information of the flight mission point with the same distance value at the reference point is obtained;

[0019] The flight mission points with the same distance value are numbered according to the preset order.

[0020] In this solution, the preset flight rules are specifically as follows:

[0021] The unmanned aerial vehicles are numbered in the order of f1, f2, ..., f n , where n represents the number of UAVs;

[0022] Interconnecting unmanned aerial vehicles;

[0023] Giving priority to controlling unmanned aerial vehicles with earlier numbers over those with later numbers;

[0024] Based on the unmanned aerial vehicle with the earliest number, flight control of other unmanned aerial vehicles is carried out.

[0025] This plan also includes:

[0026] Obtain the fault information of the unmanned aerial vehicle with the highest number;

[0027] Sending information of the unmanned aerial vehicle numbered before the second to the preset control terminal to replace the unmanned aerial vehicle that has failed;

[0028] The information of the malfunctioning unmanned aerial vehicle is sent to the backup control terminal for independent control.

[0029] This plan also includes:

[0030] Obtain information on how to match unmanned aerial vehicles and flight mission points;

[0031] According to the matching method of the unmanned aerial vehicle and the flight mission point, the matching status of the unmanned aerial vehicle and the flight mission point is obtained;

[0032] Based on the matching between the unmanned aerial vehicle and the flight mission point, corresponding flight control measures are implemented on the unmanned aerial vehicle or the flight mission point.

[0033] A second aspect of the present invention provides a linkage control system for multiple unmanned aerial vehicles, comprising a memory and a processor. The memory stores a linkage control method program for multiple unmanned aerial vehicles. When the linkage control method program for multiple unmanned aerial vehicles is executed by the processor, the following steps are implemented:

[0034] Obtaining flight mission information of unmanned aerial vehicles;

[0035] According to the flight mission of the unmanned aerial vehicle, the flight mission point information of the unmanned aerial vehicle is obtained;

[0036] Numbering the flight mission points of the unmanned aerial vehicle according to a preset numbering rule to obtain numbering information of the flight mission points;

[0037] Matching the flight mission point number with the unmanned aerial vehicle preset number to obtain the unmanned aerial vehicle information corresponding to the flight mission point;

[0038] The flight mission point is sent to the corresponding unmanned aerial vehicle for storage according to the coded information, and the unmanned aerial vehicle performs the mission according to the preset flight rules based on the corresponding flight mission point.

[0039] In this solution, the preset numbering rules are specifically as follows:

[0040] A mission point among the flight mission points of the unmanned aerial vehicle is set as a reference point and numbered as d1;

[0041] Connect the reference point and other flight mission points to obtain the distance between the reference point and other flight mission points;

[0042] The flight mission points are numbered in ascending order according to the distance values, and the numbering order is d2, d3, ..., d m , where m represents the total number of flight mission points.

[0043] This plan also includes:

[0044] Obtain information about the same distance value between the reference point and other flight mission points;

[0045] Extract flight mission point information with the same distance value;

[0046] According to the flight mission point and the reference point information with the same distance value, the position information of the flight mission point with the same distance value at the reference point is obtained;

[0047] The flight mission points with the same distance value are numbered according to the preset order.

[0048] In this solution, the preset flight rules are specifically as follows:

[0049] The unmanned aerial vehicles are numbered in the order of f1, f2, ..., f n , where n represents the number of UAVs;

[0050] Interconnecting unmanned aerial vehicles;

[0051] Giving priority to controlling unmanned aerial vehicles with earlier numbers over those with later numbers;

[0052] Based on the unmanned aerial vehicle with the earliest number, flight control of other unmanned aerial vehicles is carried out.

[0053] This plan also includes:

[0054] Obtain the fault information of the unmanned aerial vehicle with the highest number;

[0055] Sending information of the unmanned aerial vehicle numbered before the second to the preset control terminal to replace the unmanned aerial vehicle that has failed;

[0056] The information of the malfunctioning unmanned aerial vehicle is sent to the backup control terminal for independent control.

[0057] This plan also includes:

[0058] Obtain information on how to match unmanned aerial vehicles and flight mission points;

[0059] According to the matching method of the unmanned aerial vehicle and the flight mission point, the matching status of the unmanned aerial vehicle and the flight mission point is obtained;

[0060] Based on the matching between the unmanned aerial vehicle and the flight mission point, corresponding flight control measures are implemented on the unmanned aerial vehicle or the flight mission point.

[0061] A third aspect of the present invention provides a computer medium, which stores a program for a method for controlling a plurality of unmanned aerial vehicles in a coordinated manner. When the program for controlling a plurality of unmanned aerial vehicles in a coordinated manner is executed by a processor, the steps of the method for controlling a plurality of unmanned aerial vehicles in a coordinated manner as described above are implemented.

[0062] The present invention discloses a linkage control method, system and medium for multiple unmanned aerial vehicles, which facilitates linkage control between the unmanned aerial vehicles by matching flight mission points with the unmanned aerial vehicles and associating the unmanned aerial vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1A flow chart showing a method for controlling a plurality of unmanned aerial vehicles in a linkage manner according to the present invention is shown;

[0064] Figure 2 A step-by-step diagram showing the relationship between an unmanned aerial vehicle and a flight mission;

[0065] Figure 3 A block diagram of a linkage control method system for multiple unmanned aerial vehicles according to the present invention is shown. DETAILED DESCRIPTION

[0066] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0067] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0068] Figure 1 The flowchart of the linkage control method of multiple unmanned aerial vehicles of the present invention is shown.

[0069] like Figure 1 As shown, the present invention discloses a linkage control method for multiple unmanned aerial vehicles, comprising:

[0070] S102, obtaining flight mission information of the unmanned aerial vehicle;

[0071] S104, obtaining flight mission point information of the unmanned aerial vehicle according to the flight mission of the unmanned aerial vehicle;

[0072] S106, numbering the flight mission points of the unmanned aerial vehicle according to a preset numbering rule to obtain numbering information of the flight mission points;

[0073] S108, matching the flight mission point number with the unmanned aerial vehicle preset number to obtain the unmanned aerial vehicle information corresponding to the flight mission point;

[0074] S110, sending the flight mission point to the corresponding unmanned aerial vehicle according to the coded information for storage, and the unmanned aerial vehicle performs the mission according to the corresponding flight mission point and the preset flight rules.

[0075] It should be noted that the flight mission of the unmanned aerial vehicle is split to obtain multiple flight mission points. For example, the aerial photography mission of the unmanned aerial vehicle can be divided into multiple aerial photography segments, and one aerial photography mission segment is a flight mission point. The matching between unmanned aerial vehicles and flight mission points is divided into four matching situations: one-to-one, one-to-many, many-to-one, and many-to-many. For example, one-to-one means that one unmanned aerial vehicle matches one flight mission point; one-to-many means that one unmanned aerial vehicle matches multiple flight mission points; many-to-one means that multiple unmanned aerial vehicles match one flight mission point; many-to-many means that multiple unmanned aerial vehicles match multiple flight mission points. Unmanned aerial vehicles are associated with each other, and the number of the unmanned aerial vehicle with control rights is sent to the preset control terminal. By controlling the unmanned aerial vehicle with control rights, the linkage control of other unmanned aerial vehicles is achieved.

[0076] According to an embodiment of the present invention, the preset numbering rule is specifically:

[0077] A mission point among the flight mission points of the unmanned aerial vehicle is set as a reference point and numbered as d1;

[0078] Connect the reference point and other flight mission points to obtain the distance between the reference point and other flight mission points;

[0079] The flight mission points are numbered in ascending order of distance values, and the numbering order is d2, d3, ..., d m , where m represents the total number of flight mission points.

[0080] It should be noted that, one of the mission points is set as the reference point, and the reference point is numbered as d1. The other mission points are numbered according to the distance between the reference point and the other mission points. The shorter the distance between the reference point and the other mission points, the higher the priority of the numbering. The order of the numbers is d2, d3, ..., d m , where m represents the total number of flight mission points.

[0081] According to an embodiment of the present invention, the further embodiment includes:

[0082] Obtain information about the same distance value between the reference point and other flight mission points;

[0083] Extract flight mission point information with the same distance value;

[0084] According to the information of the flight mission point and the reference point with the same distance value, the position information of the flight mission point with the same distance value at the reference point is obtained;

[0085] The flight mission points with the same distance value are numbered according to the preset order.

[0086] It should be noted that when the reference point and other flight mission points have the same distance value, they are numbered in the order of preset directions, with the front of the reference point first, followed by the front, back, left and right. The numbers with smaller offset angles are given priority. For example: the existing mission points a, b, c have the same distance value to the reference point, mission point a is in front of the reference point, mission point b is offset 15 degrees to the left of the reference point, and mission point c is offset 15 degrees to the right of the reference point. Then the numbering order of mission points a, b and c is: mission point a, mission point c and mission point b.

[0087] According to an embodiment of the present invention, the preset flight rules are specifically:

[0088] The unmanned aerial vehicles are numbered in the order of f1, f2, ..., f n , where n represents the number of UAVs;

[0089] Interconnecting unmanned aerial vehicles;

[0090] Giving priority to controlling unmanned aerial vehicles with earlier numbers over those with later numbers;

[0091] Based on the unmanned aerial vehicle with the earliest number, flight control of other unmanned aerial vehicles is carried out.

[0092] It should be noted that the unmanned aerial vehicles are numbered in the order of f1, f2, ..., f n , where n represents the number of UAVs. UAVs with higher numbers have control rights over UAVs with lower numbers. For example, UAV f1 has control rights over UAV f2. This control right allows the corresponding UAV to control flight operations such as altitude, speed, and direction. For example, if UAV f1 controls the flight speed of UAV f2, and if the flight speed is set to decrease, UAV f2 will have a lower flight speed than UAV f1.

[0093] According to an embodiment of the present invention, the further embodiment includes:

[0094] Obtain the fault information of the unmanned aerial vehicle with the highest number;

[0095] Sending information of the unmanned aerial vehicle numbered before the second to the preset control terminal to replace the unmanned aerial vehicle that has failed;

[0096] The information of the malfunctioning unmanned aerial vehicle is sent to the backup control terminal for independent control.

[0097] It should be noted that if the existing numbers of the unmanned aerial vehicles are f1, f2, ..., f n , the number of the unmanned aerial vehicle in front is f1. When the unmanned aerial vehicle numbered f1 fails, the information of the unmanned aerial vehicle numbered f2 is sent to the preset control terminal to replace the unmanned aerial vehicle numbered f1 to control the entire unmanned aerial vehicle formation.

[0098] According to an embodiment of the present invention, the further embodiment includes:

[0099] Obtain information on how to match unmanned aerial vehicles and flight mission points;

[0100] According to the matching method of the unmanned aerial vehicle and the flight mission point, the matching status of the unmanned aerial vehicle and the flight mission point is obtained;

[0101] Based on the matching between the unmanned aerial vehicle and the flight mission point, corresponding flight control measures are implemented on the unmanned aerial vehicle or the flight mission point.

[0102] It should be noted that there are four matching methods for unmanned aerial vehicles and flight mission points: one-to-one, one-to-many, many-to-one, and many-to-many. Based on the matching method, the matching situation of unmanned aerial vehicles and flight mission points is obtained. Specifically, when the number of flight mission points and unmanned aerial vehicles is completely matched and there are no unmanned aerial vehicles left, all unmanned aerial vehicles are controlled to complete the corresponding flight mission at one time; when there are still unmanned aerial vehicles left, the excess unmanned aerial vehicles are set as backup unmanned aerial vehicles; when the number of unmanned aerial vehicles is insufficient, the unmanned aerial vehicle that completes the mission first is matched with the flight mission point for the second time.

[0103] According to an embodiment of the present invention, the further embodiment includes:

[0104] Sending the flight information of the unmanned aerial vehicle to a preset visualization window for display;

[0105] Obtain and adjust unmanned aerial vehicle flight information;

[0106] According to the adjustment of the unmanned aerial vehicle flight information, corresponding adjusted unmanned aerial vehicle information is obtained;

[0107] The corresponding adjusted unmanned aerial vehicle information is sent to the preset adjustment module for adjustment.

[0108] It should be noted that the unmanned aerial vehicle is displayed in real time through a preset visualization window. When the unmanned aerial vehicle needs to be adjusted, the unmanned aerial vehicle that needs to be adjusted is extracted from the unmanned aerial vehicle group, and the information of the unmanned aerial vehicle that needs to be adjusted is sent to the preset adjustment module for adjustment.

[0109] According to an embodiment of the present invention, the preset adjustment module is specifically:

[0110] Separate the UAVs and UAV groups that require adjustment;

[0111] Adjust the unmanned aerial vehicles that need adjustment individually or in groups;

[0112] Re-integrate the adjusted UAV into the UAV group for overall flight control.

[0113] It should be noted that the preset adjustment module is divided into two processing units. The first is to reorganize the UAVs that need adjustment. For example, if the UAVs that need adjustment are numbered a, b, and c, and the adjustment of UAVs numbered a and c is the same, then UAVs numbered a and c are reorganized, achieving the goal of simultaneously controlling two UAVs by controlling one UAV. The second is to reorganize the adjusted UAVs into the previous UAV group for overall flight control.

[0114] Figure 2 A step-by-step diagram showing the relationship between an unmanned aerial vehicle and a flight mission.

[0115] As shown in the figure, the one-to-one matching association step diagram between the unmanned aerial vehicle and the flight mission is split into multiple flight mission points, which are set as d1, d2, ..., d m , where m represents the number of flight mission points, and the unmanned aerial vehicles are numbered as f1, f2, ..., f n , where n represents the number of unmanned aerial vehicles, where the flight mission point numbered d1 matches the unmanned aerial vehicle numbered f1, the flight mission point numbered d2 matches the unmanned aerial vehicle numbered f2, and so on.

[0116] Figure 3 A block diagram of a linkage control method system for multiple unmanned aerial vehicles according to the present invention is shown.

[0117] like Figure 3As shown, a second aspect of the present invention provides a linkage control system 3 for multiple unmanned aerial vehicles, including a memory 31 and a processor 32. The memory stores a linkage control method program for multiple unmanned aerial vehicles. When the linkage control method program for multiple unmanned aerial vehicles is executed by the processor, the following steps are implemented:

[0118] Obtaining flight mission information of unmanned aerial vehicles;

[0119] According to the flight mission of the unmanned aerial vehicle, the flight mission point information of the unmanned aerial vehicle is obtained;

[0120] Numbering the flight mission points of the unmanned aerial vehicle according to a preset numbering rule to obtain numbering information of the flight mission points;

[0121] Matching the flight mission point number with the unmanned aerial vehicle preset number to obtain the unmanned aerial vehicle information corresponding to the flight mission point;

[0122] The flight mission point is sent to the corresponding unmanned aerial vehicle for storage according to the coded information, and the unmanned aerial vehicle performs the mission according to the preset flight rules based on the corresponding flight mission point.

[0123] It should be noted that the flight mission of the unmanned aerial vehicle is split to obtain multiple flight mission points. For example, the aerial photography mission of the unmanned aerial vehicle can be divided into multiple aerial photography segments, and one aerial photography mission segment is a flight mission point. The matching between unmanned aerial vehicles and flight mission points is divided into four matching situations: one-to-one, one-to-many, many-to-one, and many-to-many. For example, one-to-one means that one unmanned aerial vehicle matches one flight mission point; one-to-many means that one unmanned aerial vehicle matches multiple flight mission points; many-to-one means that multiple unmanned aerial vehicles match one flight mission point; many-to-many means that multiple unmanned aerial vehicles match multiple flight mission points. Unmanned aerial vehicles are associated with each other, and the number of the unmanned aerial vehicle with control rights is sent to the preset control terminal. By controlling the unmanned aerial vehicle with control rights, the linkage control of other unmanned aerial vehicles is achieved.

[0124] According to an embodiment of the present invention, the preset numbering rule is specifically:

[0125] A mission point among the flight mission points of the unmanned aerial vehicle is set as a reference point and numbered as d1;

[0126] Connect the reference point and other flight mission points to obtain the distance between the reference point and other flight mission points;

[0127] The flight mission points are numbered in ascending order of distance values, and the numbering order is d2, d3, ..., d m , where m represents the total number of flight mission points.

[0128] It should be noted that, one of the mission points is set as the reference point, and the reference point is numbered as d1. The other mission points are numbered according to the distance between the reference point and the other mission points. The shorter the distance between the reference point and the other mission points, the higher the priority of the numbering. The order of the numbers is d2, d3, ..., d m , where m represents the total number of flight mission points.

[0129] According to an embodiment of the present invention, the further embodiment includes:

[0130] Obtain information about the same distance value between the reference point and other flight mission points;

[0131] Extract flight mission point information with the same distance value;

[0132] According to the information of the flight mission point and the reference point with the same distance value, the position information of the flight mission point with the same distance value at the reference point is obtained;

[0133] The flight mission points with the same distance value are numbered according to the preset order.

[0134] It should be noted that when the reference point and other flight mission points have the same distance value, they are numbered in the order of preset directions, with the front of the reference point first, followed by the front, back, left and right. The numbers with smaller offset angles are given priority. For example: the existing mission points a, b, c have the same distance value to the reference point, mission point a is in front of the reference point, mission point b is offset 15 degrees to the left of the reference point, and mission point c is offset 15 degrees to the right of the reference point. Then the numbering order of mission points a, b and c is: mission point a, mission point c and mission point b.

[0135] According to an embodiment of the present invention, the preset flight rules are specifically:

[0136] The unmanned aerial vehicles are numbered in the order of f1, f2, ..., f n , where n represents the number of UAVs;

[0137] Interconnecting unmanned aerial vehicles;

[0138] Giving priority to controlling unmanned aerial vehicles with earlier numbers over those with later numbers;

[0139] Based on the unmanned aerial vehicle with the earliest number, flight control of other unmanned aerial vehicles is carried out.

[0140] It should be noted that the unmanned aerial vehicles are numbered in the order of f1, f2, ..., f n , where n represents the number of UAVs. UAVs with higher numbers have control rights over UAVs with lower numbers. For example, UAV f1 has control rights over UAV f2. This control right allows the corresponding UAV to control flight operations such as altitude, speed, and direction. For example, if UAV f1 controls the flight speed of UAV f2, and if the flight speed is set to decrease, UAV f2 will have a lower flight speed than UAV f1.

[0141] According to an embodiment of the present invention, the further embodiment includes:

[0142] Obtain the fault information of the unmanned aerial vehicle with the highest number;

[0143] Sending information of the unmanned aerial vehicle numbered before the second to the preset control terminal to replace the unmanned aerial vehicle that has failed;

[0144] The information of the malfunctioning unmanned aerial vehicle is sent to the backup control terminal for independent control.

[0145] It should be noted that if the existing numbers of the unmanned aerial vehicles are f1, f2, ..., f n , the number of the unmanned aerial vehicle in front is f1. When the unmanned aerial vehicle numbered f1 fails, the information of the unmanned aerial vehicle numbered f2 is sent to the preset control terminal to replace the unmanned aerial vehicle numbered f1 to control the entire unmanned aerial vehicle formation.

[0146] According to an embodiment of the present invention, the further embodiment includes:

[0147] Obtain information on how to match unmanned aerial vehicles and flight mission points;

[0148] According to the matching method of the unmanned aerial vehicle and the flight mission point, the matching status of the unmanned aerial vehicle and the flight mission point is obtained;

[0149] Based on the matching between the unmanned aerial vehicle and the flight mission point, corresponding flight control measures are implemented on the unmanned aerial vehicle or the flight mission point.

[0150] It should be noted that there are four matching methods for unmanned aerial vehicles and flight mission points: one-to-one, one-to-many, many-to-one, and many-to-many. Based on the matching method, the matching situation of unmanned aerial vehicles and flight mission points is obtained. Specifically, when the number of flight mission points and unmanned aerial vehicles is completely matched and there are no unmanned aerial vehicles left, all unmanned aerial vehicles are controlled to complete the corresponding flight mission at one time; when there are still unmanned aerial vehicles left, the excess unmanned aerial vehicles are set as backup unmanned aerial vehicles; when the number of unmanned aerial vehicles is insufficient, the unmanned aerial vehicle that completes the mission first is matched with the flight mission point for the second time.

[0151] According to an embodiment of the present invention, the further embodiment includes:

[0152] Sending the flight information of the unmanned aerial vehicle to a preset visualization window for display;

[0153] Obtain and adjust unmanned aerial vehicle flight information;

[0154] According to the adjustment of the unmanned aerial vehicle flight information, corresponding adjusted unmanned aerial vehicle information is obtained;

[0155] The corresponding adjusted unmanned aerial vehicle information is sent to the preset adjustment module for adjustment.

[0156] It should be noted that the unmanned aerial vehicle is displayed in real time through a preset visualization window. When the unmanned aerial vehicle needs to be adjusted, the unmanned aerial vehicle that needs to be adjusted is extracted from the unmanned aerial vehicle group, and the information of the unmanned aerial vehicle that needs to be adjusted is sent to the preset adjustment module for adjustment.

[0157] According to an embodiment of the present invention, the preset adjustment module is specifically:

[0158] Separate the UAVs and UAV groups that require adjustment;

[0159] Adjust the unmanned aerial vehicles that need adjustment individually or in groups;

[0160] Re-integrate the adjusted UAV into the UAV group for overall flight control.

[0161] It should be noted that the preset adjustment module is divided into two processing units. The first is to reorganize the UAVs that need adjustment. For example, if the UAVs that need adjustment are numbered a, b, and c, and the adjustment of UAVs numbered a and c is the same, then UAVs numbered a and c are reorganized, achieving the goal of simultaneously controlling two UAVs by controlling one UAV. The second is to reorganize the adjusted UAVs into the previous UAV group for overall flight control.

[0162] A third aspect of the present invention provides a computer medium, which stores a program for a method for controlling a plurality of unmanned aerial vehicles in a coordinated manner. When the program for controlling a plurality of unmanned aerial vehicles in a coordinated manner is executed by a processor, the steps of the method for controlling a plurality of unmanned aerial vehicles in a coordinated manner as described above are implemented.

[0163] The present invention discloses a method, system, and medium for linkage control of multiple unmanned aerial vehicles, wherein the method includes: obtaining flight mission information of the unmanned aerial vehicle; obtaining flight mission point information of the unmanned aerial vehicle according to the flight mission of the unmanned aerial vehicle; numbering the flight mission points of the unmanned aerial vehicle according to a preset numbering rule to obtain numbering information of the flight mission points; matching the numbers of the flight mission points with the preset numbers of the unmanned aerial vehicles to obtain the unmanned aerial vehicle information corresponding to the flight mission points; sending the flight mission points to the corresponding unmanned aerial vehicles according to the coding information for storage, and the unmanned aerial vehicles performing the missions according to the preset flight rules based on the corresponding flight mission points. In this application, by matching the flight mission points with the unmanned aerial vehicles and associating the unmanned aerial vehicles, the linkage control between the unmanned aerial vehicles is facilitated.

[0164] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0165] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0166] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0167] Those skilled in the art will appreciate that all or part of the steps of the above-mentioned method embodiments may be implemented by hardware associated with program instructions, and the aforementioned program may be stored in a computer-readable storage medium. When the program is executed, the program executes the steps of the above-mentioned method embodiments. The aforementioned storage medium includes various media that can store program codes, such as mobile storage devices, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0168] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

Claims

1. A method for controlling multiple unmanned aerial vehicles, characterized in that: include: Obtaining flight mission information of unmanned aerial vehicles; According to the flight mission of the unmanned aerial vehicle, the flight mission point information of the unmanned aerial vehicle is obtained; Numbering the flight mission points of the unmanned aerial vehicle according to a preset numbering rule to obtain numbering information of the flight mission points; The preset numbering rules are as follows: Set one of the UAV's flight mission points as the reference point, and set the number as ; Connect the reference point and other flight mission points to obtain the distance between the reference point and other flight mission points; The flight mission points are numbered in ascending order according to the distance values. The numbering order is: , where m represents the total number of flight mission points; Obtain information about the same distance value between the reference point and other flight mission points; Extract flight mission point information with the same distance value; According to the information of the flight mission point and the reference point with the same distance value, the position information of the flight mission point with the same distance value at the reference point is obtained; Determine the number of the flight mission points with the same distance value according to the preset direction sequence; Matching the flight mission point number with the unmanned aerial vehicle preset number to obtain the unmanned aerial vehicle information corresponding to the flight mission point; The flight mission point is sent to the corresponding unmanned aerial vehicle according to the coded information for storage, and the unmanned aerial vehicle performs the mission according to the preset flight rules based on the corresponding flight mission point; Also includes: Obtain information on how to match unmanned aerial vehicles and flight mission points; According to the matching method of the unmanned aerial vehicle and the flight mission point, the matching status of the unmanned aerial vehicle and the flight mission point is obtained; Based on the matching between the unmanned aerial vehicle and the flight mission point, corresponding flight control measures are taken on the unmanned aerial vehicle or the flight mission point; When there are surplus UAVs, the surplus UAVs will be designated as spare UAVs; When the number of unmanned aerial vehicles is insufficient, the unmanned aerial vehicle that completes the mission first will be matched with the second flight mission point.

2. The method for controlling multiple unmanned aerial vehicles in a coordinated manner according to claim 1, wherein: The preset flight rules are specifically as follows: The unmanned aerial vehicles are numbered in the following order: , where n represents the number of unmanned aerial vehicles; Interconnecting unmanned aerial vehicles; Giving priority to controlling unmanned aerial vehicles with earlier numbers over those with later numbers; Based on the unmanned aerial vehicle with the earliest number, flight control of other unmanned aerial vehicles is carried out.

3. The method for controlling a plurality of unmanned aerial vehicles in a coordinated manner according to claim 2, wherein: Also includes: Obtain the fault information of the unmanned aerial vehicle with the highest number; Sending information of the unmanned aerial vehicle numbered before the second to the preset control terminal to replace the unmanned aerial vehicle that has failed; The information of the malfunctioning unmanned aerial vehicle is sent to the backup control terminal for independent control.

4. A linkage control system for multiple unmanned aerial vehicles, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a program for a method for controlling a plurality of unmanned aerial vehicles in a coordinated manner, and when the program is executed by the processor, the following steps are implemented: Obtaining flight mission information of unmanned aerial vehicles; According to the flight mission of the unmanned aerial vehicle, the flight mission point information of the unmanned aerial vehicle is obtained; Numbering the flight mission points of the unmanned aerial vehicle according to a preset numbering rule to obtain numbering information of the flight mission points; The preset numbering rules are as follows: Set one of the UAV's flight mission points as the reference point, and set the number as ; Connect the reference point and other flight mission points to obtain the distance between the reference point and other flight mission points; The flight mission points are numbered in ascending order according to the distance values. The numbering order is: , where m represents the total number of flight mission points; Obtain information about the same distance value between the reference point and other flight mission points; Extract flight mission point information with the same distance value; According to the information of the flight mission point and the reference point with the same distance value, the position information of the flight mission point with the same distance value at the reference point is obtained; Determine the number of the flight mission points with the same distance value according to the preset direction sequence; Matching the flight mission point number with the unmanned aerial vehicle preset number to obtain the unmanned aerial vehicle information corresponding to the flight mission point; The flight mission point is sent to the corresponding unmanned aerial vehicle according to the coded information for storage, and the unmanned aerial vehicle performs the mission according to the preset flight rules based on the corresponding flight mission point; Also includes: Obtain information on how to match unmanned aerial vehicles and flight mission points; According to the matching method of the unmanned aerial vehicle and the flight mission point, the matching status of the unmanned aerial vehicle and the flight mission point is obtained; Based on the matching between the unmanned aerial vehicle and the flight mission point, corresponding flight control measures are taken on the unmanned aerial vehicle or the flight mission point; When there are surplus UAVs, the surplus UAVs will be designated as spare UAVs; When the number of unmanned aerial vehicles is insufficient, the unmanned aerial vehicle that completes the mission first will be matched with the second flight mission point.

5. A computer medium, characterized in that The computer medium stores a program for a method for controlling a plurality of unmanned aerial vehicles in a coordinated manner. When the program is executed by a processor, the steps of the method for controlling a plurality of unmanned aerial vehicles in a coordinated manner as described in any one of claims 1 to 3 are implemented.

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