Multi-unmanned aerial vehicle distributed cluster construction method under unreliable network

Abstract

The invention relates to the technical field of unmanned aerial vehicle distributed cluster construction, and discloses a multi-unmanned aerial vehicle distributed cluster construction method under an unreliable network, and the method comprises the following steps: carrying out the initialization information binding and generating a relation before the cluster is established between all unmanned aerial vehicles; and real-time monitoring can be carried out through the control master station when the unmanned aerial vehicle carries out cluster flight according to the bound information. When network fluctuation occurs in the unmanned aerial vehicle cluster and the control master station, each unmanned aerial vehicle enters an emergency mode, so that when the unmanned aerial vehicle cluster encounters an obstacle, each unmanned aerial vehicle in the unmanned aerial vehicle cluster can be in an emergency mode through the connection established among the chips. According to the unmanned aerial vehicle cluster, the information can be processed through the processing modules in the unmanned aerial vehicles, meanwhile, the unmanned aerial vehicles in the unmanned aerial vehicle cluster can avoid obstacles at the fastest speed, the unmanned aerial vehicle cluster can recover the original cluster state at the fastest speed when avoiding the obstacles, and the unmanned aerial vehicle cluster is suitable for wide application and popularization.

Description

Technical Field

[0001] The present invention belongs to the technical field of building a distributed cluster of unmanned aerial vehicles, and in particular, relates to a method for building a distributed cluster of multiple unmanned aerial vehicles under an unreliable network. Background Art

[0002] With the continuous advancement of technology, drones are being used more and more widely. The cluster application of drones is also becoming the development direction of drone technology. Compared with the application of a single drone, drone clusters can maximize the advantages of drones, improve the overall load capacity and information perception and processing capabilities, and avoid the problem of single drones being attacked or having low mission efficiency when performing tasks. That is, drone clusters have the advantages of strong capabilities, good robustness, high system fault tolerance, and low cost when performing tasks.

[0003] However, when existing drones are flying in clusters, they often establish connections with drones through wireless networks, display the distribution of each drone on a display screen on a control center, and can use satellite and other technologies to see whether there are obstacles ahead of the drone's flight path. If obstacles appear, information can be edited to allow the drone to change its route at this stage. However, when the network fluctuates, the drone's situation is not displayed on the control center. At this time, when the drone encounters an obstacle, it often avoids it by itself, but when its route changes, other drones are unable to receive the information, resulting in the drone remaining in this state until the network fluctuation is restored, making it impossible to maintain the cluster state and achieve the desired effect.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is: A method for constructing a multi-UAV distributed cluster under an unreliable network, comprising the following methods: S1. Before establishing a cluster, each drone binds initial information and establishes a connection; S2. According to the bound information, the control center can conduct real-time monitoring when the drones are flying in clusters; S3, based on the control center, it can revise the information of the problems that occur in the UAV during flight; S4. When the control center experiences network fluctuations due to external or self-influence, when each drone encounters a special situation, the drones will perform initialization information transmission, make revisions based on the information, and maintain the drone cluster state; S5. After the network fluctuation of the control station, each UAV transmits information to the control station, and the control center collects, organizes and processes the information generated during the network fluctuation stage.

[0006] As a preferred embodiment of the present invention, the specific method for initializing information binding between each drone in the above S1 includes: before each drone takes off, a preset information chip is installed in each drone body and activated, so that the loaded chip can be controlled by each drone body, and at the same time, the information of each loaded chip is integrated and connected, so that each drone can establish corresponding connection before taking off.

[0007] As a preferred embodiment of the present invention, a specific method for real-time monitoring by a central control station when each UAV establishes a cluster is based on the above S2: when the UAVs establish mutual contact, the chip loaded on each UAV can connect the information to the central control station through wireless network technology, and the central control station can display the status of each UAV on the display screen through the display screen.

[0008] As a preferred embodiment of the present invention, the specific method steps for the control center in S3 to revise the initialization information for problems encountered during the flight of the drone include: when the distribution of each drone in S2 is displayed on the display screen of the control center, the control center can obtain the chip information installed on the drone when the drone is flying, and combine the installed chip information with the flight trajectory of the drone, so as to display the front information on the display screen of the control center through satellite positioning and the camera function of each drone itself. During the display process, when the front flight trajectory of one of the drones in the drone cluster is obstructed, the staff can revise the information data in the chip. When the revision is completed, the staff will place the revised information through the preset flight trajectory system in the control center, and preview it according to whether each drone maintains a cluster state during flight and whether it will be affected by the obstacle; When the pre-flight is successful, the staff will transfer the revised information of each drone to the chip information loaded on each drone by pressing the confirm change button, and delete and replace the corresponding position in the chip to complete the revision of the information; When the pre-flight fails, the previously revised information cannot meet the requirements of maintaining the cluster state and will not be affected by the obstacle. Therefore, the drone may not achieve the expected results during flight and may cause accidents. Therefore, it is judged as a pre-flight failure. At this time, the staff will need to continue to modify the drone initialization information until the pre-flight is successful.

[0009] As a preferred embodiment of the present invention, based on the above S4 when there is a network fluctuation between the drone and the control station, when the drone cluster encounters an obstacle, the specific method of revising the information at this time includes: when there is a network fluctuation between the drone cluster and the control center, each drone will enter the emergency mode. Therefore, when the drone cluster encounters an obstacle, each drone in the drone cluster will use the connection established between the chips to quickly process the information through the processing module in the drone, and at the same time, each drone in the drone cluster can avoid the obstacle at the fastest speed, and when avoiding the obstacle, the drone cluster can restore the original cluster state at the fastest speed.

[0010] As a preferred embodiment of the present invention, based on the above-mentioned S5, when the drone cluster recovers the network after the network is dialed with the control station, the specific method of transmitting the modified information of the drone cluster to the control center includes: when the drone cluster recovers the network connection with the control center, the chip will be able to continue to establish contact with the control center, and reflect the drone status at this time. When the staff needs to determine whether the drone has self-revised during the dialing, the contents of each chip of the drone are extracted, and the original chip content is extracted, and the existing chip and the original chip are compared and analyzed through the processing system of the control center; when the analysis is different, it can be judged that self-revision occurred during the network fluctuation, and the processing system can separately take out the different analysis places, so that the staff can organize, store and process them.

[0011] Compared with the prior art, the present invention has the following beneficial effects: According to the present invention, when network fluctuations occur between the drone cluster and the control center, each drone will enter an emergency mode. Therefore, when the drone cluster encounters an obstacle, each drone in the drone cluster can quickly process information through the processing module in the drone through the connection established between the chips. At the same time, each drone in the drone cluster can avoid the obstacle at the fastest speed, and when avoiding the obstacle, the drone cluster can restore the original cluster state at the fastest speed.

[0012] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In the attached picture: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2A schematic diagram of establishing a network connection for the UAV of the present invention; Figure 3 This is a schematic diagram of the UAV of the present invention under the control of a control station. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0015] like Figures 1 to 3 As shown, a method for constructing a multi-UAV distributed cluster under an unreliable network includes the following methods: S1. Before establishing a cluster, each drone binds initial information and establishes a connection; S2. According to the bound information, the control center can conduct real-time monitoring when the drones are flying in clusters; S3, based on the control center, it can revise the information of the problems that occur in the UAV during flight; S4. When the control center experiences network fluctuations due to external or self-influence, when each drone encounters a special situation, the drones will perform initialization information transmission, make revisions based on the information, and maintain the drone cluster state; S5. After the network fluctuation of the control station, each UAV transmits information to the control station, and the control center collects, organizes and processes the information generated during the network fluctuation stage.

[0016] In a specific implementation, the specific method for initializing information binding between each drone in the above S1 includes: before each drone takes off, a preset information chip is installed in each drone body and activated, so that the loaded chip can be controlled by each drone body, and at the same time, the information between each loaded chip is integrated, so that each drone can establish corresponding connection before taking off.

[0017] Furthermore, based on the specific method of real-time monitoring by the control center when each drone establishes a cluster in S2 above: when the drones establish mutual contact, the chip carried by each drone can connect the information to the control center through wireless network technology, and the control center can display the status of each drone on the display screen.

[0018] Furthermore, the specific method steps for the control center in S3 to revise the initialization information for the problems that occur during the flight of the drone include: when the distribution of each drone in S2 is displayed on the display screen of the control center, the control center can obtain the chip information installed on the drone when the drone is flying, and combine the installed chip information with the flight trajectory of the drone, so as to display the front information on the display screen of the control center through satellite positioning and the camera function of each drone itself. During the display process, when the front flight trajectory of one of the drones in the drone cluster is obstructed, the staff can revise the information data in the chip. When the revision is completed, the staff will place the revised information through the preset flight trajectory system in the control center, and preview it according to whether each drone maintains a cluster state during flight and whether it will be affected by the obstacle; When the pre-flight is successful, the staff will transfer the revised information of each drone to the chip information loaded on each drone by pressing the confirm change button, and delete and replace the corresponding position in the chip to complete the revision of the information; When the pre-flight fails, the previously revised information cannot meet the requirements of maintaining the cluster state and will not be affected by the obstacle. Therefore, the drone may not achieve the expected results during flight and may cause accidents. Therefore, it is judged as a pre-flight failure. At this time, the staff will need to continue to modify the drone initialization information until the pre-flight is successful.

[0019] Further, based on the above S4, when there is a network fluctuation between the drone and the control station, when the drone cluster encounters an obstacle, the specific method of revising the information includes: when there is a network fluctuation between the drone cluster and the control center, each drone will enter the emergency mode. Therefore, when the drone cluster encounters an obstacle, each drone in the drone cluster will use the connection established between the chips to quickly process the information through the processing module in the drone, and at the same time, each drone in the drone cluster can avoid the obstacle at the fastest speed, and when avoiding the obstacle, the drone cluster can restore the original cluster state at the fastest speed.

[0020] Furthermore, based on the above S5, when the drone cluster recovers the network after the network is dialed with the control station, the specific method of transmitting the modified information of the drone cluster to the control center includes: when the drone cluster recovers the network connection with the control center, the chip will be able to continue to establish connection with the control center, and reflect the drone status at this time. When the staff needs to determine whether the drone has self-revised during the dialing, the contents of each chip of the drone are extracted, and the original chip contents are extracted, and the existing chip and the original chip are compared and analyzed through the processing system of the control center; when the analysis is different, it can be judged that self-revision occurred during the network fluctuation, and the processing system can separately take out the different analysis parts, so that the staff can organize, store and process them.

[0021] The implementation principle of the method for constructing a distributed cluster of multiple UAVs under an unreliable network of this embodiment is as follows: when the UAVs establish mutual contact, the chip loaded on each UAV can connect the information to the control center through the wireless network technology. At this time, the control center can display the status of each UAV on the display screen through the display screen. Therefore, when the UAV is flying, the control center can obtain the chip information installed on the UAV, and combine the installed chip information with the flight trajectory of the UAV, so as to display the front information on the display screen of the control center through satellite positioning and the camera function of each UAV itself. During the display process, when the front flight trajectory of one of the UAVs in the UAV cluster is obstructed, the staff can revise the information data in the chip. When the revision is completed, the staff will place the revised information through the preset flight trajectory system in the control center, and preview it according to whether each UAV maintains the cluster state during flight and whether it will be affected by the obstacle; when the pre-flight is successful, the staff will The revised information of each drone is transmitted to the chip information loaded on each drone through the confirmation change button, and the corresponding position in the chip is deleted and replaced at the same time, so as to complete the revision of the information; when the pre-flight fails, the previously revised information cannot meet the requirements of maintaining the cluster state, and will not be affected by the obstacle. Therefore, the drone may not achieve the expected effect when flying, and an accident may occur. Therefore, it is judged as the effect of pre-flight failure. At this time, the staff will need to continue to modify the drone initialization information until it is modified to pre-flight success; when the drone cluster and the control center have network fluctuations, each drone will enter the emergency mode. Therefore, when the drone cluster encounters an obstacle, each drone in the drone cluster will use the connection established between the chips to quickly process the information through the processing module in the drone, and at the same time, each drone in the drone cluster can avoid obstacles at the fastest speed, and when avoiding obstacles, the drone cluster can restore the original cluster state at the fastest speed.

Claims

1. A method for constructing a multi-UAV distributed cluster under an unreliable network, characterized in that: The following methods are included: S1. Before establishing a cluster, each drone binds initial information and establishes a connection; S2. According to the bound information, the control center can conduct real-time monitoring when the drones are flying in clusters; S3, based on the control center, it can revise the information of the problems that occur in the UAV during flight; S4. When the control center experiences network fluctuations due to external or self-influence, when each drone encounters a special situation, the drones will perform initialization information transmission, make revisions based on the information, and maintain the drone cluster state; S5. After the network fluctuation of the control station, each UAV transmits information to the control station, and the control center collects, organizes and processes the information generated during the network fluctuation stage.

2. According to the method for constructing a multi-UAV distributed cluster under an unreliable network in claim 1, it is characterized in that: The specific method for initializing information binding between each drone in the above S1 includes: before each drone takes off, a preset information chip is installed in each drone body and activated, so that the loaded chip can be controlled by each drone body, and at the same time, the information between each loaded chip is integrated, so that each drone can establish corresponding connection before taking off.

3. The method for constructing a multi-UAV distributed cluster under an unreliable network according to claim 1, characterized in that: Based on the specific method of real-time monitoring through the control center when each drone establishes a cluster in S2 above: when the drones establish mutual contact, the chip carried by each drone can connect the information to the control center through wireless network technology, and the control center can display the status of each drone on the display screen.

4. The method for constructing a multi-UAV distributed cluster under an unreliable network according to claim 1, characterized in that: The specific method steps for the control center in S3 to revise the initialization information for the problems encountered in the flight of the drone include: when the distribution of each drone in S2 is displayed on the display screen of the control center, the control center can obtain the chip information installed on the drone when the drone is flying, and combine the installed chip information with the flight trajectory of the drone, so as to display the front information on the display screen of the control center through satellite positioning and the camera function of each drone itself. During the display process, when the front flight trajectory of one of the drones in the drone cluster is obstructed, the staff can revise the information data in the chip. When the revision is completed, the staff will place the revised information through the preset flight trajectory system in the control center, and preview it according to whether each drone maintains a cluster state during flight and whether it will be affected by the obstacle; When the pre-flight is successful, the staff will transfer the revised information of each drone to the chip information loaded on each drone by clicking the confirm change button, and delete and replace the corresponding positions in the chip to complete the revision of the information; When the pre-flight fails, the previously revised information cannot meet the requirements of maintaining the cluster state and will not be affected by the obstacle. Therefore, the drone may not achieve the expected results during flight and may cause accidents. Therefore, it is judged as a pre-flight failure. At this time, the staff will need to continue to modify the drone initialization information until the pre-flight is successful.

5. The method for constructing a multi-UAV distributed cluster under an unreliable network according to claim 1, characterized in that: Based on the above S4, when there is a network fluctuation between the drone and the control station, when the drone cluster encounters an obstacle, the specific method of revising the information at this time includes: when there is a network fluctuation between the drone cluster and the control center, each drone will enter the emergency mode. Therefore, when the drone cluster encounters an obstacle, each drone in the drone cluster will use the connection established between the chips to quickly process the information through the processing module in the drone, and at the same time, each drone in the drone cluster can avoid obstacles at the fastest speed, and when avoiding obstacles, the drone cluster can restore the original cluster state at the fastest speed.

6. The method for constructing a multi-UAV distributed cluster under an unreliable network according to claim 1, characterized in that: Based on the above S5, when the drone cluster recovers the network after the network is dialed with the control station, the specific method of transmitting the modified information of the drone cluster to the control center includes: when the drone cluster recovers the network connection with the control center, the chip will be able to continue to establish contact with the control center, and reflect the drone status at this time. When the staff needs to determine whether the drone has self-revised during the dialing, the content of each chip of the drone is extracted, and the original chip content is extracted, and the existing chip and the original chip are compared and analyzed through the processing system of the control center; when the analysis is different, it can be judged that self-revision occurred during the network fluctuation, and the processing system can separately take out the different analysis parts, so that the staff can organize, store and process them.

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