CN-122018528-A - Self-assembled unit and combined unmanned aerial vehicle system and scheduling method

CN122018528ACN 122018528 ACN122018528 ACN 122018528ACN-122018528-A

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and discloses a self-assembled unit, a combined unmanned aerial vehicle system and a scheduling method, comprising the following steps of S1, constructing a mechanical structure of an unmanned aerial vehicle suitable for unmanned aerial vehicle connection of two or more units; the method comprises the steps of S2 constructing a variable unmanned aerial vehicle system, S3 constructing a communication routing system among unit unmanned aerial vehicles, S4 constructing an unmanned aerial vehicle flight control system, S5 constructing a unit and combined unmanned aerial vehicle scheduling system based on task allocation and sending instructions to the unit and combined unmanned aerial vehicle scheduling system for remote scheduling, and the system solves the problems that various single unmanned aerial vehicles are fixed in loading and cruising capability and poor in universality, and realizes the self-assembly and dissociation of a plurality of single unmanned aerial vehicles and the flight control and intelligent scheduling of single and combined unmanned aerial vehicles.

Inventors

YANG BOWEN
WANG HAOYU
CAO JIAQI
HU JIAXING
Shou Haipeng
LIU CHAOHUI
Lei Yihang
CHEN CHAOQUN
Cao Lianfang
GUO CHAOYANG
Tong Hongfa
PENG JIAQI

Assignees

华中科技大学

Dates

Publication Date: 20260512
Application Date: 20260413

Claims (10)

1. A self-assemblable unit and unmanned aerial vehicle system comprising: the unmanned aerial vehicle mechanical structure is suitable for connection of two or more unit unmanned aerial vehicles and is used for realizing the butt joint among the unit unmanned aerial vehicles, an unmanned aerial vehicle outer frame, a butt joint locking structure among the unit unmanned aerial vehicles and a butt joint guiding device among the unit unmanned aerial vehicles, which are required by stable operation after the butt joint; the unmanned aerial vehicle system is used for realizing independent operation of the single-machine circuit system and combined operation of two or more unmanned aerial vehicle systems; the communication routing system between unmanned aerial vehicles is used for realizing real-time data communication between unmanned aerial vehicles; The unmanned aerial vehicle flight control system is used for realizing single-machine flight control and combined post-flight control tasks of two or more unmanned aerial vehicles; And the unmanned aerial vehicle scheduling system is used for rapidly setting a starting point of a task, a target point and load information required by the task on a graphical interface of the system by a user, automatically distributing a plurality of unmanned aerial vehicles for executing the task according to the transportation distance, the weight and the type of materials, and transmitting an instruction to the unmanned aerial vehicles through a built-in ground station for remote scheduling, so that the rapid scheduling of the unmanned aerial vehicles is realized.
2. A self-assemblable unit and combined unmanned aerial vehicle scheduling method, characterized by employing the self-assemblable unit and combined unmanned aerial vehicle system according to claim 1, comprising the steps of: S1, constructing a mechanical structure of an unmanned aerial vehicle suitable for connecting two or more unit unmanned aerial vehicles, and realizing an outer frame of the unmanned aerial vehicle, a docking locking structure between the unit unmanned aerial vehicles and a docking guiding device between the unit unmanned aerial vehicles, which are required by stable operation after docking; S2, building a variable unmanned aerial vehicle system on the basis of the step S1, and realizing independent operation of the single-machine circuit system and combined operation of two or more unmanned aerial vehicle systems; S3, establishing a communication routing system among the unmanned aerial vehicles on the basis of the step S1 and the step S2, and realizing real-time data communication among the unmanned aerial vehicles; s4, building an unmanned aerial vehicle flight control system on the basis of the step S3, and realizing single-machine flight control and combined flight control tasks of two or more unmanned aerial vehicles; S5, on the basis of the step S4, a unit based on task allocation and a combined unmanned aerial vehicle scheduling system are established, a user rapidly sets a starting point of a task, a target point and load information required by the task on a graphical interface of the system, the system automatically allocates a plurality of unit unmanned aerial vehicles for executing the task according to the transportation distance, the weight and the type of materials, and sends instructions to the unit unmanned aerial vehicles through a built-in ground station to perform remote scheduling, so that rapid scheduling of the unmanned aerial vehicles is realized.
3. The self-assembled unit and unmanned aerial vehicle scheduling method of claim 2, wherein step S1 comprises the steps of: S101, building an unmanned aerial vehicle frame, a shell and hardware equipment, namely building an unmanned aerial vehicle outer frame, wherein the lower end of the unmanned aerial vehicle outer frame is used as a landing leg of the unmanned aerial vehicle; S102, constructing an unmanned aerial vehicle docking guide device, namely installing a docking guide device on each unmanned aerial vehicle frame in the step S101 for guiding the unmanned aerial vehicles to accurately dock when approaching each other, wherein the docking guide device guides the unmanned aerial vehicles to the correct docking positions through gradually reduced guide surfaces so as to ensure that the unmanned aerial vehicles can accurately and autonomously dock in an air flight environment; And S103, building a docking and locking mechanism of the unmanned aerial vehicle, wherein a docking and locking device base is respectively arranged on the unmanned aerial vehicle frame in the step S101, each docking and locking base can provide mounting hole sites for two docking and locking devices, then the docking and locking device base is provided with the docking and locking device which is divided into a cathode device and an anode device, the anode device and the cathode device are correspondingly connected, a control device is arranged on the docking and locking device and connected with a motor, and the unmanned aerial vehicle is automatically locked after being aligned according to a docking guide device in the step S102, so that a self-assembly function is realized.
4. The self-assembled unit and combined unmanned aerial vehicle dispatching method of claim 3, wherein in the step S101, the unmanned aerial vehicle frame is made of carbon fiber composite materials, the unmanned aerial vehicle shell is made of hard engineering plastics, the battery is formed by connecting lithium ion batteries in series, the fixed position of the rotor wing is confirmed by a fluid mechanics simulation experiment, the docking guide device in the step S102 is of a conical structure, the docking locking device in the step S103 is locked in a rotating mode and is connected with the motor through a transmission shaft, and the docking locking mechanism in the step S103 is provided with a manual unlocking device so as to rapidly separate the unmanned aerial vehicle in an emergency.
5. The self-assemblable unit and unmanned aerial vehicle scheduling method of claim 3 or 4, wherein step S2 comprises the steps of: S201, an interface module is established, wherein the interface comprises an anode contact connection interface and a cathode contact connection interface for realizing the battery compartment and the unit unmanned aerial vehicle power supply system in the step S101; s202, a power supply module is established, wherein the power supply module comprises a battery pack which is formed by connecting a plurality of power batteries in series and is arranged in a battery compartment in the step S101, a voltage reduction module which is connected with the battery pack in series, and a parallel module which is connected with the voltage reduction module in series; s203, a communication module is established, namely a point-to-point communication module is built among the unmanned aerial vehicles by adopting a full duplex serial communication architecture, and the communication architecture adopts a TTL serial communication protocol.
6. The self-assembled unit and unmanned aerial vehicle scheduling method of claim 5, wherein step S3 comprises the steps of: S301, the master node establishes and discovers an adjacent machine, wherein a ground station randomly designates a certain unmanned aerial vehicle as a master unmanned aerial vehicle, after the master unmanned aerial vehicle is electrified, UART physical interfaces in four directions of front, back, left and right are in a monitoring state, and a broadcasting frame is sent to discover the adjacent machine by taking 0.01 second as a period; S302, establishing a tree route, namely when a docking mechanism of a subordinate slave unmanned aerial vehicle to be accessed is physically aligned and locked with a master unmanned aerial vehicle or an accessed slave unmanned aerial vehicle, corresponding communication interfaces of the docking mechanism and the master unmanned aerial vehicle are physically communicated, the subordinate unmanned aerial vehicle immediately receives a broadcast frame from the other party, and meanwhile, a communication middleware of the subordinate slave unmanned aerial vehicle executes the following steps: a. Recording the unmanned aerial vehicle sending the frame as an upper communication node; b. Replying a lower-level slave unmanned aerial vehicle acknowledgement frame through the physical link, wherein the acknowledgement frame comprises own ID information; c. initializing a self routing table, and setting a superior node as a default gateway; finally forming a tree-like communication network with the main unmanned aerial vehicle as a root node; The method comprises the steps of S303 topology updating and synchronization, wherein a lower unmanned aerial vehicle generates a node joining message after successfully registering to an upper node, the message is uploaded step by step along the upper node until a root node is the main unmanned aerial vehicle, a route management module of the main unmanned aerial vehicle updates a global node list maintained by the main unmanned aerial vehicle after receiving the message and triggers the reconstruction of a control matrix, then the main unmanned aerial vehicle broadcasts a topology updating message to enable all nodes to synchronize the latest network view, and when the nodes leave, the upper node detects link interruption and triggers a similar node leaving message uploading and synchronizing process.
7. The self-assembled unit and unmanned aerial vehicle scheduling method of claim 6, wherein step S4 comprises the steps of: S401, establishing a pose control algorithm of the unmanned aerial vehicle unit, wherein the unmanned aerial vehicle reads the current layout of the unmanned aerial vehicle, calculates the position coordinates of all motors, and calculates a current control matrix according to the position coordinates; Solving a quadratic programming problem in real time by the unmanned aerial vehicle by means of a control matrix, and calculating lifting forces of all motors; the unmanned aerial vehicle sends the lift force data to each motor speed regulator in an analog signal form to control the motors so as to realize the aim of controlling the flight attitude of the single unmanned aerial vehicle; S402, establishing a gesture control algorithm of the combined unmanned aerial vehicle, namely randomly selecting one of a plurality of unit unmanned aerial vehicles to be connected as a master unmanned aerial vehicle and the rest as slave unmanned aerial vehicles before the unit unmanned aerial vehicles start to be rigidly connected, reading a current unmanned aerial vehicle connection structure by the master unmanned aerial vehicle, calculating position coordinates of all motors by combining with the step S301, and calculating a current control matrix; analyzing a data packet from the unmanned aerial vehicle, and sending lift force data to a motor speed regulator in an analog signal form to control a motor so as to realize integral attitude control after rigid connection among the unmanned aerial vehicles; S403, establishing a communication routing system among the slave unmanned aerial vehicles, namely, after the random selection process before connection in the step S302 is carried out, transmitting data in the combined flight process of the master unmanned aerial vehicle and the slave unmanned aerial vehicle, and automatically carrying out topology conversion on the communication routing of the unmanned aerial vehicles in the process of connecting and disconnecting units.
8. The method for scheduling self-assembled units and combined unmanned aerial vehicles according to claim 7, wherein step S403 is specifically that when a communication interface on one side of the master unmanned aerial vehicle is not connected with other unmanned aerial vehicles outside, a signal for searching the unmanned aerial vehicle is continuously sent outwards; When the slave unmanned aerial vehicle is determined by the master unmanned aerial vehicle through the method, the slave unmanned aerial vehicle can continuously send a signal for searching the unmanned aerial vehicle to an unconnected communication port, and the slave unmanned aerial vehicle receives the signal and successfully establishes a communication route at the moment, wherein the slave unmanned aerial vehicle is regarded as a subordinate slave unmanned aerial vehicle of the slave unmanned aerial vehicle; The messages of all levels of slave unmanned aerial vehicles joining the communication system are transmitted back layer by layer and finally transmitted to the master unmanned aerial vehicle, after the master unmanned aerial vehicle receives signals, the new slave unmanned aerial vehicle is brought into flight control attitude calculation and the control matrix is immediately recalculated, and then the master unmanned aerial vehicle performs attitude control according to the new control matrix and transmits the new control matrix to all slave unmanned aerial vehicles for cooperation.
9. The self-assembled unit and unmanned aerial vehicle scheduling method of claim 8, wherein step S5 comprises the steps of: S501, the system reads the starting point and the ending point of the transportation task and the task information set by the user, automatically executes a decision, and obtains an unmanned aerial vehicle executing an instruction; S502, the system sends an instruction to an unmanned aerial vehicle for executing a task, controls the unmanned aerial vehicle to take off and fly to a task starting point, then the unmanned aerial vehicle executes an interconnection instruction, and connects and updates a communication route and a control matrix layer by layer; And S503, after the combined unmanned aerial vehicle connector executes the task, automatically disassembling the combined unmanned aerial vehicle connector, and flying to the respective charging place or standby place to wait for executing the next task.
10. The self-assembled unit and combined unmanned aerial vehicle scheduling method of claim 9, wherein the flight control gesture algorithm in step S4 is developed based on C language in Linux environment, and the unmanned aerial vehicle scheduling system in step S5 is developed based on Python language, and wherein the client graphical interface is developed based on Java and html language.

Description

Self-assembled unit and combined unmanned aerial vehicle system and scheduling method Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a self-assembled unit, a combined unmanned aerial vehicle system and a scheduling method. Background In recent years, unmanned aerial vehicle technology has rapidly developed with increasing emphasis on low-altitude economy by society. Unmanned aerial vehicle has extensive application scenario in a plurality of fields such as taking photo by plane, commodity circulation, takeaway, agricultural spraying, environmental monitoring, emergency rescue. However, the load and the cruising ability of the single unmanned aerial vehicle are relatively fixed, only the fixed task types can be completed, and the flexibility and the expandability are lacking. Under the condition, a large number of unmanned aerial vehicles which are used for meeting the requirements of different tasks are invented, so that more resources are wasted while the requirements of various tasks are met, and the development trend of integral cleaning and low carbonization of society is not facilitated. In order to overcome the limitation of single unmanned aerial vehicles, the collaborative operation of a plurality of unmanned aerial vehicles becomes the development trend of industry, and the functions of load sharing, task division, system stability enhancement, redundancy improvement and the like can be realized through flexible connection and cooperation among unmanned aerial vehicles with different functions, so that the operation boundary of the unmanned aerial vehicles is greatly expanded. However, the related research on the combination and cooperation of multiple unmanned planes focuses on the level of theory or control algorithm, and the complicated scheme leads to difficulty in landing on a large scale. The structural design of the unmanned aerial vehicle influences the flight stability, the carrying capacity and the expandability of the unmanned aerial vehicle. The existing unmanned aerial vehicle structure is mostly designed for single task, and cannot be qualified for strength and stability required by cooperation of multiple unmanned aerial vehicles. Mechanical connection structure research for flexible and multidirectional adaptation of units and combined unmanned aerial vehicles is relatively deficient, and the problems of insufficient connection stability, complex disassembly and assembly, poor environmental adaptability and difficulty in realizing multidirectional automatic butt joint exist for the unmanned aerial vehicle cooperation or connection structure. The unmanned aerial vehicle has the advantages that the loading capacity of the unmanned aerial vehicle is inextensible, and if the existing units cannot finish task demands in the same task area, the new types of units can be purchased, so that waste is caused. Unmanned aerial vehicle's circuit and power supply system design influence unmanned aerial vehicle's duration, and current unmanned aerial vehicle circuit is mostly the monomer design, only satisfies single unmanned aerial vehicle independent operation demand, lacks the standardized interface and the collaborative mechanism of multi-machine cooperation, can't realize the electric quantity sharing between unmanned aerial vehicle. The unmanned aerial vehicle has the advantages that the endurance mileage of the unmanned aerial vehicle is fixed, flexible adjustment cannot be performed according to actual task conditions, the operation parameters are difficult to dynamically adjust according to the size of a cluster, and the complete state monitoring and fault early warning capability is lacked. The unmanned aerial vehicle flight control and scheduling system is a core system for controlling the unmanned aerial vehicle to complete tasks. In the unmanned aerial vehicle flight control level, the existing unmanned aerial vehicle cooperative control strategy and a communication network are usually in a preset fixed mode, intelligent and seamless switching of the control strategy and the communication topology can not be realized when the single unmanned aerial vehicle is freely combined and separated, and the flexibility and the reliability of the system are severely restricted. At the dispatching system level, the existing dispatching system is designed for single unmanned aerial vehicles, and the capability of carrying out efficient task allocation and real-time path planning on units and self-assembled unmanned aerial vehicle groups is lacking. To overcome the above drawbacks, the present invention aims to provide a complete solution from bottom level control to top level scheduling. By integrating the autonomous adaptive master-slave control strategy, the dynamic communication topology transformation strategy and the intelligent freight dispatching system, the unmanned aerial vehicle system not only can flexibly reorganize to match d