A kind of unmanned plane avoiding collision based on internetTechnical field
The present invention relates to UAV Communication technical field more particularly to a kind of unmanned plane avoiding collisions based on internet.
Background technology
UAV is to utilize radio remote-controlled telemetry equipment and the presetting apparatus provided for oneself referred to as " unmanned plane "The not manned aircraft manipulated.Without cockpit on machine, but be equipped with navigation and flight control, presetting apparatus and power andThe equipment such as power supply.Ground remote control telemetry station personnel are by equipment such as data-links, to it into line trace, positioning, remote control, telemetering sum numberWord transmits.Compared with manned aircraft, it has small, low cost, spy easy to use, adapting to a variety of flight environment of vehicle requirementsPoint, therefore can be widely used in air remote sensing, meteorological research, agriculture plant seeds by airplane and the prevention and control of plant diseases, pest control, particularly in war moreThere is special advantage, can be widely used for aerial reconnaissance, monitoring, communication, antisubmarine, electronic interferences etc..
At present, the use of unmanned plane is only confined in specific task spatial domain, and potential effect is far from playing.WithThe further genralrlization of unmanned plane application, unmanned plane is likely to enter public spatial domain and is shared with commercial airliner and other general-purpose aircraftsSpatial domain resource, then ensure the flight safety of civil aviaton with regard to particularly important.The anti-collision technique of flight safety must be taken unmanned plane,Prevent unmanned plane from accidents occur with other aircrafts.Existing unmanned plane, is generally all fitted without anticollision device, collision-prevention device, can only be in public affairsSome particular tasks are performed other than spatial domain, it is impossible to enter public spatial domain, can not be shared with commercial airliner and other general-purpose aircrafts altogetherSpatial domain resource.
Invention content
In order to solve the above technical problem, the present invention provides a kind of unmanned plane avoiding collision based on internet, includingFollowing steps：
Obtain the driving trace of currently running all unmanned planes；
Determine the coordinate in the driving trace of currently running all unmanned planes；
The driving trace for the treatment of of unmanned plane to be run is set, and the coordinate of every bit in its driving trace is made to be different from current fortuneCoordinate in the driving trace of capable all unmanned planes.
Further, the driving trace of currently running all unmanned planes is obtained, is included the following steps：
Earthward base station sends the unique ID and changing coordinates of the unmanned plane to the control system of unmanned plane；
The unique ID and changing coordinates of each unmanned plane of ground base station real-time reception, and store it in memory；
The driving trace of currently running all unmanned planes is obtained according to search instruction.
Further, the unmanned plane avoiding collision further includes following steps：
Treat that driving trace runs the unmanned plane according to described；
Driving trace is treated according to running environment is corrected in real time.
Further, it treats driving trace according to running environment is corrected in real time, includes the following steps：
The control system of unmanned plane detects running environment in real time, to detect whether that there are risk of collision；
When there are the coordinate that current driving track is adjusted during risk of collision, until risk of collision is eliminated.
Further, when there are the coordinate that current driving track is adjusted during risk of collision, including the following steps：
When there are during risk of collision, by the Coordinate Adjusting of the current driving track to far from causing the risk of collisionCollide object.
Further, the control system of unmanned plane detects running environment in real time, is detected by ultrasonic wave.
Further, the control system of unmanned plane detects running environment to detect whether there are risk of collision in real time, includingFollowing steps：
The control system of unmanned plane detects whether there are obstacles within a preset range；
When there are during the barrier analyze barrier dimension information, to obtain risk of collision index.
Further, when the risk of collision index is greater than or equal to a default index, determine that there are risk of collision.
Scheme according to the present invention due to unmanned plane before runtime, is just set in advance different from other unmanned planesRunning orbit, the risk hit so as to high degree upper wall surface unmanned plane with other unmanned planes.Meanwhile in the process of running,In order to farthest reduce unmanned plane and other barriers, such as the shock of bird, aircraft, unmanned plane etc., the control of unmanned planeSystem also monitors its running environment in real time, with there are change running orbit during risk of collision in time, and disappear in risk of collisionWhen restore again to original running orbit, further reduce the risk of unmanned plane and barrier impacts.
According to the accompanying drawings to the detailed description of the specific embodiment of the invention, those skilled in the art will be brighterThe above and other objects, advantages and features of the present invention.
Description of the drawings
Some specific embodiments of detailed description of the present invention by way of example rather than limitation with reference to the accompanying drawings hereinafter.Identical reference numeral denotes same or similar component or part in attached drawing.It should be appreciated by those skilled in the art that theseWhat attached drawing was not necessarily drawn to scale.In attached drawing：
Fig. 1 is the flow chart of the unmanned plane avoiding collision according to an embodiment of the invention based on internet.
Specific embodiment
Fig. 1 shows the flow chart of the unmanned plane avoiding collision according to an embodiment of the invention based on internet.Such asShown in Fig. 1, the unmanned plane avoiding collision provided by the invention based on internet includes the following steps：
S100, the driving trace for obtaining currently running all unmanned planes；
S200, coordinate in the driving traces of currently running all unmanned planes is determined；
S300, the driving trace for the treatment of for setting unmanned plane to be run, and it is different from the coordinate of every bit in its driving traceCoordinate in the driving trace of currently running all unmanned planes.
Wherein, in step S100, the driving trace of currently running all unmanned planes is obtained, is included the following steps：
S110, unmanned plane control system earthward base station sends the unique ID and changing coordinates of the unmanned plane；
The unique ID and changing coordinates of S120, each unmanned plane of ground base station real-time reception, and store it in storageIn device；
S130, the driving trace that currently running all unmanned planes are obtained according to search instruction.
Wherein, the unmanned plane avoiding collision further includes following steps：
S400, treat that driving trace runs the unmanned plane according to described；
S500, driving trace is treated according to running environment is corrected in real time.
Wherein, driving trace is treated according to running environment is corrected in real time, include the following steps in S500：
S510, unmanned plane control system detect running environment in real time, to detect whether that there are risk of collision；
S520, when there are the coordinate that current driving track is adjusted during risk of collision, until risk of collision is eliminated.
Wherein, in S520 when there are the coordinate that current driving track is adjusted during risk of collision, including the following steps：
S521, when there are during risk of collision, by the Coordinate Adjusting of the current driving track to far from causing the collisionThe collision object of risk.Wherein, the control system of unmanned plane detects running environment in real time, is detected by ultrasonic wave.
The control system of unmanned plane detects running environment to detect whether there are risk of collision in real time in S510, including such asLower step：
The control system detection whether there are obstacles within a preset range of S511, unmanned plane；
S512, when there are during the barrier analyze barrier dimension information, to obtain risk of collision index.
When the risk of collision index is greater than or equal to a default index, determine that there are risk of collision.
Scheme according to the present invention due to unmanned plane before runtime, is just set in advance different from other unmanned planesRunning orbit, the risk hit so as to high degree upper wall surface unmanned plane with other unmanned planes.Meanwhile in the process of running,In order to farthest reduce unmanned plane and other barriers, such as the shock of bird, aircraft, unmanned plane etc., the control of unmanned planeSystem also monitors its running environment in real time, with there are change running orbit during risk of collision in time, and disappear in risk of collisionWhen restore again to original running orbit, further reduce the risk of unmanned plane and barrier impacts.
So far, although those skilled in the art will appreciate that detailed herein have shown and described multiple showing for the present inventionExample property embodiment, still, without departing from the spirit and scope of the present invention, still can according to the present disclosure directlyDetermine or derive many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizesIt is set to and covers other all these variations or modifications.