Unmanned aerial vehicle cluster autonomous flight cooperative communication method

Abstract

The invention relates to an unmanned aerial vehicle cluster autonomous flight cooperative communication method. The method comprises the steps that a sending end sends a connection request to a plurality of receiving ends; when the receiving end receives a plurality of connection requests sent by the plurality of sending ends, the receiving end establishes communication connection with the two sending ends corresponding to the minimum distance value and sends the connection requests to the plurality of receiving ends through the sending ends, and when the receiving end receives the plurality of connection requests sent by the plurality of sending ends, the sending ends send the connection requests to the plurality of receiving ends. And establishing communication connection with the two sending ends corresponding to the minimum distance value, so that communication between the unmanned aerial vehicles can be reduced, the requirement on physical communication equipment is reduced, and the efficiency of the unmanned aerial vehicles in power emergency rescue is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of unmanned aerial vehicle communication technology, and in particular to a method, device and medium for cooperative communication of autonomous flight of a cluster of unmanned aerial vehicles. Background Art

[0002] The transportation of emergency repair materials for power generation is crucial in disaster relief work. In recent years, helicopters have been favored as an effective way to transport emergency repair materials, but their high operating costs, difficulty in operation, long preparation time, and risks of use in mountainous areas are prominent. Multi-rotor drones are suitable for the transportation of emergency repair materials for power generation in disaster areas due to their maneuverability, vertical take-off and landing, and low cost. However, complex mountainous areas usually have more terrain obstructions, which may affect the communication stability between drones and ground control stations, reducing the efficiency of emergency rescue in power generation during emergency repair operations. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a.

[0004] A first aspect of the present disclosure provides a method for autonomous flight cooperative communication of a drone cluster, wherein the drone cluster includes multiple transmitting ends and multiple receiving ends, and the method includes:

[0005] The sender sends connection requests to multiple receivers;

[0006] When receiving multiple connection requests sent by multiple sending ends, the receiving end establishes communication connections with two sending ends corresponding to the smallest distance values.

[0007] Optionally, the connection request includes an identifier, an initial position, and an initial posture of the sender, and when the receiving end receives multiple connection requests sent by multiple senders, establishing a communication connection with two senders corresponding to the smallest distance values ​​includes:

[0008] When receiving multiple connection requests sent by multiple senders, the receiving end calculates multiple distance values ​​according to the initial position of the receiving end and the initial positions of the multiple senders;

[0009] The receiving end records the identification, initial position and initial posture of the two sending ends corresponding to the smallest distance value in a data list, and establishes a communication connection with the two sending ends corresponding to the smallest distance value.

[0010] Optionally, after the receiving end establishes a communication connection with two sending ends corresponding to the smallest distance value when receiving multiple connection requests sent by multiple sending ends, the method further includes:

[0011] The receiving end predicts the standby postures and standby positions of the two sending ends respectively according to the initial positions and initial postures of the two sending ends that establish communication connection with the receiving end;

[0012] The sending end sends state data to the receiving end of the communication connection at a preset trigger time, wherein the state data includes the current posture and current position of the sending end;

[0013] When receiving the status data sent by the sending end, the receiving end adjusts the flight state according to the current attitude, the current position, the standby attitude and the standby position.

[0014] Optionally, adjusting the flight state according to the current attitude, the current position, the standby attitude and the standby position includes:

[0015] The receiving end calculates the posture deviation between the current posture and the standby posture, and the position deviation between the current position and the standby position;

[0016] The receiving end adjusts the flight attitude when the attitude deviation is greater than a preset attitude bias;

[0017] The receiving end adjusts the flight position when the position deviation is greater than the preset position deviation.

[0018] A second aspect of the present disclosure provides a method for autonomous flight cooperative communication of a drone cluster, wherein the drone cluster includes multiple transmitting terminals, and the method includes:

[0019] Send connection requests to multiple receiving ends so that when the receiving end receives multiple connection requests sent by multiple sending ends, it establishes communication connections with two sending ends corresponding to the smallest distance values, and predicts the standby postures and standby positions of the two sending ends respectively according to the initial positions and initial postures of the two sending ends that establish communication connections with the receiving end.

[0020] Optionally, the method further comprises:

[0021] At a preset trigger time, status data is sent to a receiving end that establishes a communication connection, and the status data includes the current posture and current position of the sending end, so that when the receiving end receives the status data sent by the sending end, it adjusts the flight status of the receiving end according to the current posture, the current position, the standby posture and the standby position.

[0022] A third aspect of the present disclosure provides a method for autonomous flight cooperative communication of a drone cluster, wherein the drone cluster includes multiple receiving ends, and the method includes:

[0023] When multiple connection requests sent by multiple sending ends are received, communication connections are established with two sending ends corresponding to the smallest distance values.

[0024] Optionally, the connection request includes an identifier, an initial position, and an initial posture of the sender, and when the receiving end receives multiple connection requests sent by multiple senders, establishing a communication connection with two senders corresponding to the smallest distance values ​​includes:

[0025] When receiving multiple connection requests sent by multiple senders, the receiving end calculates multiple distance values ​​according to the initial position of the receiving end and the initial positions of the multiple senders;

[0026] The receiving end records the identification, initial position and initial posture of the two sending ends corresponding to the smallest distance value in a data list, and establishes a communication connection with the two sending ends corresponding to the smallest distance value.

[0027] Optionally, after the receiving end establishes a communication connection with two sending ends corresponding to the smallest distance value when receiving multiple connection requests sent by multiple sending ends, the method further includes:

[0028] According to the initial positions and initial postures of the two transmitting ends that establish communication connection with the receiving end, respectively predicting the standby postures and standby positions of the two transmitting ends;

[0029] Receiving status data sent by the sending end at a preset trigger time, the status data including the current posture and current position of the sending end;

[0030] The flight state of the receiving end is adjusted according to the current posture, the current position, the standby posture and the standby position.

[0031] Optionally, adjusting the flight state according to the current attitude, the current position, the standby attitude and the standby position includes:

[0032] Calculating a posture deviation between the current posture and the standby posture, and a position deviation between the current position and the standby position;

[0033] When the attitude deviation is greater than a preset attitude bias, adjusting the flight attitude;

[0034] When the position deviation is greater than the preset position deviation, the flight position is adjusted.

[0035] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: a transmitting end sends a connection request to multiple receiving ends, and when the receiving end receives multiple connection requests sent by multiple transmitting ends, the receiving end establishes a communication connection with two transmitting ends corresponding to the smallest distance value, thereby reducing the communication between drones, thereby reducing the requirements for physical communication equipment and improving the efficiency of drones in power emergency rescue.

[0036] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0038] Figure 1 is a flow chart of a method for autonomous flight cooperative communication of a drone cluster according to an exemplary embodiment;

[0039] Figure 2 The present invention is a flowchart of another method for cooperative communication of autonomous flight of a swarm of unmanned aerial vehicles according to an exemplary embodiment. DETAILED DESCRIPTION

[0040] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Instead, they are merely examples of systems and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0041] Figure 1 is a flow chart of a method for cooperative communication of autonomous flight of a drone cluster according to an exemplary embodiment. Figure 1 As shown, the drone cluster includes multiple sending ends and multiple receiving ends, and the method may include the following steps:

[0042] In step 101, a sending end sends a connection request to multiple receiving ends.

[0043] The connection request may include the identifier, initial position and initial attitude of the sender, and may also include information such as speed, thrust or pitch of the sender. The drone cluster includes multiple drones, each of which can serve as a sender and a receiver.

[0044] It should be noted that each drone can act as a sender and send connection requests to other drones that act as receivers. For example, a drone cluster includes 5 drones. Any drone can be used as a sender to send connection requests to the other 4 drones that act as receivers.

[0045] In step 102, when receiving multiple connection requests sent by multiple sending ends, the receiving end establishes communication connections with two sending ends corresponding to the smallest distance values.

[0046] The specific implementation method of this step may include: when the receiving end receives multiple connection requests sent by multiple sending ends, the receiving end calculates multiple distance values ​​according to the initial position of the receiving end and the initial positions of the multiple sending ends; the receiving end records the identifiers, initial positions and initial postures of the two sending ends corresponding to the smallest distance value in a data list, and establishes a communication connection with the two sending ends corresponding to the smallest distance value.

[0047] The data list can be used to store the state data of the sender (e.g., position, attitude, speed, thrust or pitch data) and the identifier of the sender. When the receiving drone acts as the sender, it sends the state data to the drone with which the communication connection is established by recording the identifier.

[0048] It should be noted that each drone can act as a receiver, receive connection requests sent by other drones acting as senders, obtain the initial position of the receiver, calculate the difference between the initial position of the receiver and the initial positions of multiple senders, obtain multiple position differences, use the position differences as distance values, obtain multiple distance values, sort the multiple distance values, record the identification, initial position and initial posture of the two senders corresponding to the smallest distance value, and establish a communication connection with the two senders corresponding to the smallest distance value.

[0049] Figure 2 is a flow chart of a method for cooperative communication of autonomous flight of a drone cluster according to an exemplary embodiment. Figure 2 As shown, in Figure 1 After step 102, the method may further include the following steps:

[0050] In step 103, the receiving end predicts the standby postures and standby positions of the two sending ends respectively according to the initial positions and initial postures of the two sending ends that establish communication connections with the receiving end.

[0051] It should be noted that the state of the drone can be predicted by the preset drone state prediction model in the receiving end to obtain the standby posture and standby position of the two sending ends, and the state of the receiving end (for example: position, attitude, speed, thrust or pitch, etc.) can also be obtained.

[0052] In step 104, the sending end sends the status data to the receiving end with which the communication connection is established at a preset trigger time.

[0053] The status data may include the current posture and current position of the transmitter, and may also include the current speed, current pitch and current thrust of the UAV serving as the transmitter.

[0054] It should be noted that a self-triggering coordination control algorithm is preset in the UAV, and a preset trigger time is output through the preset self-triggering coordination control algorithm.

[0055] The preset self-triggering coordinated control algorithm may include:

[0056] The local mission time of each UAV is consistent and they follow their desired path synchronously, i.e. |γ i (t)-γ j (t)|→0. Local task time γ i (t) refers to the path tracking time of different UAVs. γ i (0) = 0, γ i (t) is defined as:

[0057]

[0058] Assume there are n drones, the information interaction between them can be represented by a directed graph in is a non-empty finite set of nodes, representing n drones, is an ordered set of node pairs, called an edge set. j , i ) represents the slave node v j To node v i communication path, which means that the node υ j is the node v i is one of the neighbors of and is defined as:

[0059]

[0060] in It is a directed graph The adjacency matrix of a. ii and a ij Used to represent the communication path between drones. Generally, we define a ii =0, that is, the drone does not have self-feedback, a ij >0 means that the i-th UAV can receive communication from the j-th UAV (i.e., there is a directed edge (j, i) from node j to node i). Contains node υ i All neighbors of UAV i, that is, all other UAVs that can transmit information to UAV i.

[0061] Directed Graph The degree matrix Defined as:

[0062]

[0063] Where diag represents the diagonal matrix function and di is the number of neighbors of the i-th drone.

[0064] Laplacian Matrix (where lij represents the number of edges between node i and node j) is defined as:

[0065]

[0066] The expected path for each drone Only the i-th drone itself knows that it is at the absolute mission time Start the task, If each drone shares an overlapping local mission time, γ i (t) = γ j (t), then multiple drones will follow a given desired path Moving in sync.

[0067] The classic consistency communication protocol of the system is as follows:

[0068]

[0069] Where kc represents the consistency coefficient.

[0070] Obviously, the consensus algorithm requires continuous status information from neighboring drones, but the communication capacity of physical devices in the emergency repair operation environment is limited, and the communication frequency needs to be reduced. Therefore, a discrete communication protocol may be a better choice. If the i-th drone is only in its trigger time (i.e. preset trigger time) broadcasts its status information, then the discrete consistency communication protocol is:

[0071]

[0072] Where k>0, k represents the discrete consistency coefficient, and there is:

[0073]

[0074] When the i-th UAV starts to perform the mission, the first trigger time is determined as Consider a self-triggering method (i.e., a preset self-triggering coordinated control algorithm) to determine the trigger time sequence

[0075]

[0076] in α>0 and β>0.

[0077] In an undirected graph Under the connection of multiple drones, for the multi-drone cooperative transportation system, under the designed self-triggering control law and the determined triggering time sequence, the local mission time γ of each drone i(t) will reach consistency, and there will be no Zeno (i.e., infinite number of triggers in an infinitely short time) behavior.

[0078] The decision on the communication time does not require the continuous status information of other UAVs, and can ensure that the determined communication time is discontinuous. Therefore, it can greatly reduce the communication requirements of the actual physical system and meet the low communication requirements in the emergency repair operation environment.

[0079] In step 105, when receiving the status data sent by the sending end, the receiving end adjusts the flight status according to the current attitude, the current position, the standby attitude and the standby position.

[0080] A specific implementation method of this step is that the receiving end calculates the attitude deviation between the current attitude and the stand-by attitude, and the position deviation between the current position and the stand-by position; when the attitude deviation is greater than a preset attitude bias, the receiving end adjusts the flight attitude; when the position deviation is greater than a preset position deviation, the receiving end adjusts the flight position.

[0081] Optionally, the receiving end may record the standby posture or standby position in a data list when the posture deviation is greater than a preset posture bias, or the position deviation is greater than a preset position deviation.

[0082] Another specific implementation of this step is that the receiving end records the current position and / or current posture when the posture deviation is less than or equal to the preset posture bias, and / or the position deviation difference is less than or equal to the preset position deviation.

[0083] Optionally, the receiving end may delete the status data recorded in the data list according to a preset time.

[0084] The present disclosure provides a method for autonomous flight cooperative communication of a drone cluster, wherein the drone cluster includes multiple transmitting terminals, and the method includes:

[0085] Send connection requests to multiple receiving ends so that when the receiving end receives multiple connection requests sent by multiple sending ends, it establishes communication connections with two sending ends corresponding to the smallest distance values, and predicts the standby postures and standby positions of the two sending ends respectively according to the initial positions and initial postures of the two sending ends that establish communication connections with the receiving end.

[0086] Optionally, the method further comprises:

[0087] At a preset trigger time, status data is sent to a receiving end that establishes a communication connection, and the status data includes the current posture and current position of the sending end, so that when the receiving end receives the status data sent by the sending end, it adjusts the flight status of the receiving end according to the current posture, the current position, the standby posture and the standby position.

[0088] A third aspect of the present disclosure provides a method for autonomous flight cooperative communication of a drone cluster, wherein the drone cluster includes multiple receiving ends, and the method includes:

[0089] When multiple connection requests sent by multiple sending ends are received, communication connections are established with two sending ends corresponding to the smallest distance values.

[0090] Optionally, the connection request includes an identifier, an initial position, and an initial posture of the sender, and when the receiving end receives multiple connection requests sent by multiple senders, establishing a communication connection with two senders corresponding to the smallest distance values ​​includes:

[0091] When a receiving end receives multiple connection requests sent by multiple sending ends, it calculates multiple distance values ​​according to the initial position of the receiving end and the initial positions of the multiple sending ends; the receiving end records the identifiers, initial positions and initial postures of the two sending ends corresponding to the smallest distance value in a data list, and establishes a communication connection with the two sending ends corresponding to the smallest distance value.

[0092] Optionally, after the receiving end establishes a communication connection with two sending ends corresponding to the smallest distance value when receiving multiple connection requests sent by multiple sending ends, the method further includes:

[0093] According to the initial positions and initial postures of the two transmitting ends that establish communication connection with the receiving end, respectively predicting the standby postures and standby positions of the two transmitting ends;

[0094] Receiving status data sent by the sending end at a preset trigger time, the status data including the current posture and current position of the sending end;

[0095] The flight state of the receiving end is adjusted according to the current posture, the current position, the standby posture and the standby position.

[0096] Optionally, adjusting the flight state according to the current attitude, the current position, the standby attitude and the standby position includes:

[0097] Calculate the attitude deviation between the current attitude and the standby attitude, and the position deviation between the current position and the standby position; when the attitude deviation is greater than a preset attitude bias, adjust the flight attitude; when the position deviation is greater than a preset position deviation, adjust the flight position.

[0098] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0099] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for autonomous flight cooperative communication of drone clusters, characterized in that: The drone cluster includes multiple sending ends and multiple receiving ends, and the method includes: The sender sends connection requests to multiple receivers; When receiving multiple connection requests sent by multiple sending ends, the receiving end establishes communication connections with two sending ends corresponding to the smallest distance values.

2. The method according to claim 1, characterized in that The connection request includes an identifier, an initial position, and an initial posture of the sending end. When the receiving end receives multiple connection requests sent by multiple sending ends, the receiving end establishes a communication connection with two sending ends corresponding to the smallest distance values, including: When receiving multiple connection requests sent by multiple senders, the receiving end calculates multiple distance values ​​according to the initial position of the receiving end and the initial positions of the multiple senders; The receiving end records the identification, initial position and initial posture of the two sending ends corresponding to the smallest distance value in a data list, and establishes a communication connection with the two sending ends corresponding to the smallest distance value.

3. The method according to claim 1, characterized in that When the receiving end receives multiple connection requests sent by multiple sending ends, after establishing communication connections with two sending ends corresponding to the smallest distance values, the method further includes: The receiving end predicts the standby postures and standby positions of the two sending ends respectively according to the initial positions and initial postures of the two sending ends that establish communication connection with the receiving end; The sending end sends state data to the receiving end of the communication connection at a preset trigger time, wherein the state data includes the current posture and current position of the sending end; When receiving the status data sent by the sending end, the receiving end adjusts the flight state according to the current attitude, the current position, the standby attitude and the standby position.

4. The method according to claim 3, characterized in that Adjusting the flight state according to the current attitude, the current position, the standby attitude, and the standby position includes: The receiving end calculates the posture deviation between the current posture and the standby posture, and the position deviation between the current position and the standby position; The receiving end adjusts the flight attitude when the attitude deviation is greater than a preset attitude bias; The receiving end adjusts the flight position when the position deviation is greater than the preset position deviation.

5. A method for autonomous flight cooperative communication of a drone cluster, characterized in that: The drone cluster includes multiple sending ends, and the method includes: Send connection requests to multiple receiving ends so that when the receiving end receives multiple connection requests sent by multiple sending ends, it establishes communication connections with two sending ends corresponding to the smallest distance values, and predicts the standby postures and standby positions of the two sending ends respectively according to the initial positions and initial postures of the two sending ends that establish communication connections with the receiving end.

6. The method according to claim 5, characterized in that The method further comprises: At a preset trigger time, status data is sent to a receiving end that establishes a communication connection, and the status data includes the current posture and current position of the sending end, so that when the receiving end receives the status data sent by the sending end, it adjusts the flight status of the receiving end according to the current posture, the current position, the standby posture and the standby position.

7. A method for autonomous flight cooperative communication of drone clusters, characterized in that: The drone cluster includes multiple receiving ends, and the method includes: When multiple connection requests sent by multiple sending ends are received, communication connections are established with two sending ends corresponding to the smallest distance values.

8. The method according to claim 7, characterized in that The connection request includes an identifier, an initial position, and an initial posture of the sending end. When the receiving end receives multiple connection requests sent by multiple sending ends, the receiving end establishes a communication connection with two sending ends corresponding to the smallest distance values, including: When receiving multiple connection requests sent by multiple senders, the receiving end calculates multiple distance values ​​according to the initial position of the receiving end and the initial positions of the multiple senders; The receiving end records the identification, initial position and initial posture of the two sending ends corresponding to the smallest distance value in a data list, and establishes a communication connection with the two sending ends corresponding to the smallest distance value.

9. The method according to claim 7, characterized in that: When the receiving end receives multiple connection requests sent by multiple sending ends, after establishing communication connections with two sending ends corresponding to the smallest distance values, the method further includes: According to the initial positions and initial postures of the two transmitting ends that establish communication connection with the receiving end, respectively predicting the standby postures and standby positions of the two transmitting ends; Receiving status data sent by the sending end at a preset trigger time, the status data including the current posture and current position of the sending end; The flight state of the receiving end is adjusted according to the current posture, the current position, the standby posture and the standby position.

10. The method according to claim 9, characterized in that Adjusting the flight state according to the current attitude, the current position, the standby attitude, and the standby position includes: Calculating a posture deviation between the current posture and the standby posture, and a position deviation between the current position and the standby position; When the attitude deviation is greater than a preset attitude bias, adjusting the flight attitude; When the position deviation is greater than the preset position deviation, the flight position is adjusted.

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