CN111813147A - Method for automatically returning unmanned aerial vehicle out of control to controllable range in ad hoc network - Google Patents
Method for automatically returning unmanned aerial vehicle out of control to controllable range in ad hoc network Download PDFInfo
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- CN111813147A CN111813147A CN202010626840.4A CN202010626840A CN111813147A CN 111813147 A CN111813147 A CN 111813147A CN 202010626840 A CN202010626840 A CN 202010626840A CN 111813147 A CN111813147 A CN 111813147A
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- 238000012790 confirmation Methods 0.000 claims abstract description 32
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention discloses a method for automatically returning an uncontrolled unmanned aerial vehicle to a controllable range by an ad hoc network, (1) determining whether the unmanned aerial vehicle loses control by adopting an ad hoc network control center to regularly send confirmation information to the unmanned aerial vehicle and receiving unmanned aerial vehicle information reply; (2) when the unmanned aerial vehicle does not receive the confirmation information sent by the control center within the set time, or the unmanned aerial vehicle does not receive the confirmation information reply of the unmanned aerial vehicle although the unmanned aerial vehicle receives the confirmation information of the control center, the unmanned aerial vehicle is confirmed to be an out-of-control unmanned aerial vehicle, and a return mode is started until the confirmation information of the control center is received again; (3) the unmanned aerial vehicle carries out real-time positioning on the unmanned aerial vehicle through a GPS (global positioning system), and returns to a control center according to the current position information of the unmanned aerial vehicle and the position information of the control center; the method can fully utilize the flight resources of the ad hoc network unmanned aerial vehicle.
Description
Technical Field
The invention relates to a method for automatically returning an unmanned aerial vehicle of an ad hoc network to a controllable range after the unmanned aerial vehicle of the ad hoc network is out of control, which is used for controlling the unmanned aerial vehicle to return to the controllable range when the unmanned aerial vehicle of the ad hoc network is out of control.
Background
Patent document CN109407704A discloses a control system for calculating an optimal route from an unmanned aerial vehicle to a departure point by collecting coordinates of the departure point of the unmanned aerial vehicle and coordinates of all approach points, and then performing automatic return through the optimal route. The system is used for counting all track conditions that m ants return to an initial point from the current position of the unmanned aerial vehicle through the determined n position points by presetting the number n of the path position points of the unmanned aerial vehicle and matching with an ant algorithm, and determining an optimal path, so that automatic return flight is performed. In an intelligent unmanned aerial vehicle return control system, n fixed position points are randomly determined in a path where an unmanned aerial vehicle passes, then a plurality of paths passing through all the position points are calculated by matching with an ant algorithm, and then an optimal path is selected by comparison. The disadvantages of this system are: if a plurality of randomly determined n fixed position points are just concentrated in a certain area at the same time, the route passes through a small number of times in other places, and the route does not achieve the ideal effect.
Patent document with publication number CN106658401A discloses that when an unmanned aerial vehicle loses remote control information, the server actively sends self position information to the server, the server returns the unmanned aerial vehicle out-of-control information to the terminal bound with the unmanned aerial vehicle, and the operator goes to the position to find back the unmanned aerial vehicle according to the returned position information. The method and the system for actively retrieving the out-of-control unmanned aerial vehicle have the following defects: this system needs the position information that the operator passed back through unmanned aerial vehicle out of control to artificially get for unmanned aerial vehicle back, is unfavorable for actual operation, increases cost of labor and time cost, does not possess automatic function of returning a voyage.
Disclosure of Invention
The invention aims to solve the technical problem of providing a simple, efficient and accurate method for automatically returning the unmanned aerial vehicle of the ad hoc network to a controllable range after the unmanned aerial vehicle is out of control.
In order to solve the technical problem, the method for automatically returning the unmanned aerial vehicle of the ad hoc network to the controllable range after the unmanned aerial vehicle is out of control comprises the following steps:
(1) the method comprises the steps that an ad hoc network control center is adopted to send confirmation information to an unmanned aerial vehicle at regular time, and whether the unmanned aerial vehicle loses control is determined in a mode of receiving unmanned aerial vehicle information reply;
(2) when the unmanned aerial vehicle does not receive the confirmation information sent by the control center within the set time, the unmanned aerial vehicle confirms that the unmanned aerial vehicle is an out-of-control unmanned aerial vehicle and starts an out-of-control homing mode until the unmanned aerial vehicle receives the confirmation information of the control center again, and the unmanned aerial vehicle keeps flying at the current position at the moment; or when the unmanned aerial vehicle receives the confirmation information of the control center but the control center does not receive the reply of the confirmation information of the unmanned aerial vehicle, the control center confirms that the unmanned aerial vehicle is an out-of-control unmanned aerial vehicle and sends a command for starting the return mode to the unmanned aerial vehicle, and the unmanned aerial vehicle starts the return mode after receiving the command until the unmanned aerial vehicle receives the confirmation information of the control center again and keeps flying at the current position;
(3) unmanned aerial vehicle passes through GPS and fixes a position unmanned aerial vehicle in real time to record self positional information and control center positional information, after unmanned aerial vehicle starts the mode of navigating back, according to unmanned aerial vehicle self current position information and control center positional information, navigate back to control center.
The method and the system judge whether the unmanned aerial vehicle is out of control or not by sending the confirmation information and the information feedback to the unmanned aerial vehicle through the control center, and the principle of the method is equivalent to that of a common shouting response mode, so that the method and the system are simple, efficient, high in accuracy and easy to implement. When the unmanned aerial vehicle carries out the mission, if just directly return the control point because temporary out of control, then fly out again and go execution task, will consume a large amount of time like this to and unmanned aerial vehicle's electric quantity. According to the invention, after the self-networking unmanned aerial vehicle starts a return mode, the self-networking unmanned aerial vehicle does not directly return to a control point (original point), but keeps on-site flying standby after receiving the control center confirmation information again in the return process, so that the flight resources of the self-networking unmanned aerial vehicle can be fully utilized, and the unmanned aerial vehicle can be quickly called again to perform tasks. If the self-networking unmanned aerial vehicle does not receive the confirmation information of the control center all the time in the return process, the unmanned aerial vehicle always flies back to the control center according to the return route.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic diagram of information transmission between a control center and an ad hoc network unmanned aerial vehicle.
Fig. 2 is a schematic view of an ad hoc network unmanned aerial vehicle returning.
Detailed Description
The method for automatically returning the unmanned aerial vehicle of the ad hoc network to the controllable range after the unmanned aerial vehicle is out of control:
(1) and the ad hoc network control center is adopted to regularly send confirmation information to the unmanned aerial vehicle and receive the mode of unmanned aerial vehicle information reply to determine whether the unmanned aerial vehicle loses control. As shown in fig. 1, the invention adopts the ad hoc network as a signal receiving and transmitting module of the unmanned aerial vehicle and the control center to realize the self-organizing and self-healing functions of the unmanned aerial vehicle.
(2) When the unmanned aerial vehicle does not receive the confirmation information sent by the control center within the set time, the unmanned aerial vehicle confirms that the unmanned aerial vehicle is an out-of-control unmanned aerial vehicle and starts an out-of-control homing mode until the unmanned aerial vehicle receives the confirmation information of the control center again, and the unmanned aerial vehicle keeps flying at the current position at the moment; or when the unmanned aerial vehicle receives the confirmation information of the control center but the control center does not receive the reply of the confirmation information of the unmanned aerial vehicle, the control center confirms that the unmanned aerial vehicle is an out-of-control unmanned aerial vehicle and sends a command for starting the return mode to the unmanned aerial vehicle, and the unmanned aerial vehicle starts the return mode after receiving the command until the unmanned aerial vehicle receives the confirmation information of the control center again and keeps flying at the current position;
(3) unmanned aerial vehicle passes through GPS and fixes a position unmanned aerial vehicle in real time to the record is position information and control center position information itself, starts the mode of navigating back when unmanned aerial vehicle, according to unmanned aerial vehicle self current position information and control center position information, navigates back to control center. The GPS locator is used for carrying out three-dimensional space positioning on the unmanned aerial vehicle and the control point, and the space position of the unmanned aerial vehicle relative to the control center can be known in real time.
The control center has the function of sending confirmation information, the control center can send the confirmation information once to all the unmanned aerial vehicles at intervals of a certain time and wait for the reply, and if no reply exists, the control center sends a starting return mode to the unmanned aerial vehicle. And the unmanned aerial vehicle correspondingly generates a reply message every time the unmanned aerial vehicle receives the confirmation message, if the unmanned aerial vehicle does not receive the confirmation message of the control center within the set time, the unmanned aerial vehicle can confirm that the unmanned aerial vehicle is the unmanned aerial vehicle out of control, and a return mode is started.
As shown in fig. 2, after the self-networking unmanned aerial vehicle starts a homing mode at the point of runaway a, in the homing process, the self-networking unmanned aerial vehicle keeps on-site flying standby after receiving the confirmation information of the control center again at the point B (namely, the confirmation information recovery point B), so that the flight resources of the self-networking unmanned aerial vehicle can be fully utilized, and the unmanned aerial vehicle can be quickly called again to perform a task.
The above embodiments do not limit the present invention in any way, and all technical solutions obtained by means of equivalent substitution or equivalent transformation fall within the protection scope of the present invention.
Claims (1)
1. The method for automatically returning the unmanned aerial vehicle of the ad hoc network to the controllable range after the unmanned aerial vehicle is out of control is characterized in that:
(1) the method comprises the steps that an ad hoc network control center is adopted to send confirmation information to an unmanned aerial vehicle at regular time, and whether the unmanned aerial vehicle loses control is determined in a mode of receiving unmanned aerial vehicle information reply;
(2) when the unmanned aerial vehicle does not receive the confirmation information sent by the control center within the set time, the unmanned aerial vehicle confirms that the unmanned aerial vehicle is an out-of-control unmanned aerial vehicle and starts an out-of-control homing mode until the unmanned aerial vehicle receives the confirmation information of the control center again, and the unmanned aerial vehicle keeps flying at the current position at the moment; or when the unmanned aerial vehicle receives the confirmation information of the control center but the control center does not receive the reply of the confirmation information of the unmanned aerial vehicle, the control center confirms that the unmanned aerial vehicle is an out-of-control unmanned aerial vehicle and sends a command for starting the return mode to the unmanned aerial vehicle, and the unmanned aerial vehicle starts the return mode after receiving the command until the unmanned aerial vehicle receives the confirmation information of the control center again and keeps flying at the current position;
(3) unmanned aerial vehicle passes through GPS and fixes a position unmanned aerial vehicle in real time to the record is position information and control center position information itself, starts the mode of navigating back when unmanned aerial vehicle, according to unmanned aerial vehicle self current position information and control center position information, navigates back to control center.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010626840.4A CN111813147A (en) | 2020-07-01 | 2020-07-01 | Method for automatically returning unmanned aerial vehicle out of control to controllable range in ad hoc network |
| PCT/CN2020/102531 WO2022000578A1 (en) | 2020-07-01 | 2020-07-17 | Method for out-of-control unmanned aerial vehicle in ad hoc network to automatically return to controllable range |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010626840.4A CN111813147A (en) | 2020-07-01 | 2020-07-01 | Method for automatically returning unmanned aerial vehicle out of control to controllable range in ad hoc network |
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| Publication Number | Publication Date |
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| CN111813147A true CN111813147A (en) | 2020-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010626840.4A Pending CN111813147A (en) | 2020-07-01 | 2020-07-01 | Method for automatically returning unmanned aerial vehicle out of control to controllable range in ad hoc network |
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| WO (1) | WO2022000578A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115562353A (en) * | 2022-11-07 | 2023-01-03 | 深圳市中讯网联科技有限公司 | Safety adjustment and interruption control method and system for automatic inspection of security unmanned aerial vehicle |
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| CN106658401A (en) * | 2016-09-29 | 2017-05-10 | 北京宙心科技有限公司 | Out-of-control unmanned aerial vehicle initiative retrieving method and system |
| US20170190420A1 (en) * | 2015-12-30 | 2017-07-06 | Namsung Co., Ltd. | Automatic flight control system and method for unmanned drone |
| CN108496134A (en) * | 2017-05-31 | 2018-09-04 | 深圳市大疆创新科技有限公司 | UAV return path planning method and device |
| CN109074092A (en) * | 2017-07-31 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Unmanned plane asynchronization process method, unmanned plane and UAV system |
| CN109062260A (en) * | 2018-11-05 | 2018-12-21 | 深圳市翔农创新科技有限公司 | Unmanned plane safety control system and method for controlling security |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US9946258B2 (en) * | 2015-07-15 | 2018-04-17 | Chiman KWAN | High performance system with explicit incorporation of ATC regulations to generate contingency plans for UAVs with lost communication |
| US9915945B2 (en) * | 2016-08-04 | 2018-03-13 | International Business Machines Corporation | Lost person rescue drone |
| CN110291010A (en) * | 2018-08-31 | 2019-09-27 | 深圳市大疆创新科技有限公司 | UAV out-of-control protection method, device, UAV system protection method and UAV system |
| CN111142564A (en) * | 2019-12-31 | 2020-05-12 | 唐山坤翼创新科技有限公司 | Communication method for cluster plant protection unmanned aerial vehicle |
-
2020
- 2020-07-01 CN CN202010626840.4A patent/CN111813147A/en active Pending
- 2020-07-17 WO PCT/CN2020/102531 patent/WO2022000578A1/en not_active Ceased
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170190420A1 (en) * | 2015-12-30 | 2017-07-06 | Namsung Co., Ltd. | Automatic flight control system and method for unmanned drone |
| CN106658401A (en) * | 2016-09-29 | 2017-05-10 | 北京宙心科技有限公司 | Out-of-control unmanned aerial vehicle initiative retrieving method and system |
| CN108496134A (en) * | 2017-05-31 | 2018-09-04 | 深圳市大疆创新科技有限公司 | UAV return path planning method and device |
| CN109074092A (en) * | 2017-07-31 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Unmanned plane asynchronization process method, unmanned plane and UAV system |
| CN109062260A (en) * | 2018-11-05 | 2018-12-21 | 深圳市翔农创新科技有限公司 | Unmanned plane safety control system and method for controlling security |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115562353A (en) * | 2022-11-07 | 2023-01-03 | 深圳市中讯网联科技有限公司 | Safety adjustment and interruption control method and system for automatic inspection of security unmanned aerial vehicle |
| CN115562353B (en) * | 2022-11-07 | 2023-05-12 | 深圳市中讯网联科技有限公司 | Security adjustment and interruption control method and system for automatic inspection of security unmanned aerial vehicle |
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| Publication number | Publication date |
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| WO2022000578A1 (en) | 2022-01-06 |
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Application publication date: 20201023 |