CN111506115A - Unmanned aerial vehicle cluster regulation and control method and device - Google Patents
Unmanned aerial vehicle cluster regulation and control method and device Download PDFInfo
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Abstract
The application provides an unmanned aerial vehicle cluster regulation and control method and device, and relates to the technical field of unmanned aerial vehicles. The method is applied to cluster regulation and control equipment in a cluster regulation and control system, and the cluster regulation and control system further comprises the following steps: the unmanned aerial vehicle cluster that a plurality of unmanned aerial vehicles constitute, this cluster regulation and control equipment exists communication connection with every unmanned aerial vehicle, the method includes: determining a monitoring requirement of at least one monitoring task to be executed; and determining a target unmanned aerial vehicle for executing each monitoring task from the plurality of unmanned aerial vehicles according to the monitoring requirement of each monitoring task and the data acquisition capacity of each unmanned aerial vehicle. By applying the embodiment of the application, no matter how the monitoring demands in the monitoring tasks change, the corresponding target unmanned aerial vehicle can be matched at any time, so that the target unmanned aerial vehicle executes the monitoring tasks, and the efficiency of the unmanned aerial vehicle executing the monitoring tasks is improved.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle cluster regulation and control method and device.
Background
Unmanned aerial vehicles have found wide application in civilian applications, such as in the fields of flight performance, logistics distribution, field surgery investigation, reconnaissance/surveillance, disaster prevention and control, and the like. The method plays a unique role in military fields such as electronic interference, rescue search, relay communication, reconnaissance and attack and the like.
Traditional unmanned aerial vehicle operation adopts the stand-alone mode usually, because service environment is complicated day by day, its operation effect or function are covered and are slightly showing single thin, stand-alone operation has can't satisfy the use target demand better, therefore unmanned aerial vehicle cluster technique is produced by accident. In the existing scheme, for the unmanned aerial vehicles in the unmanned aerial vehicle cluster, a single or limited-function sensor is mostly configured in advance, and a fixed monitoring task can be executed.
However, since the monitoring task may have dynamic changes, the unmanned aerial vehicle with a fixed monitoring task cannot be guaranteed in terms of the task execution efficiency, and the execution effect of the monitoring task is affected.
Disclosure of Invention
An object of the application is to provide a method and a device for regulating and controlling an unmanned aerial vehicle cluster, aiming at the defects in the prior art, so that the task execution efficiency of the unmanned aerial vehicle can be improved, and the execution effect of the monitoring task can be guaranteed.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides an unmanned aerial vehicle cluster regulation and control method, which is applied to a cluster regulation and control device in a cluster regulation and control system, where the cluster regulation and control system further includes: an unmanned aerial vehicle cluster formed by a plurality of unmanned aerial vehicles, wherein the cluster regulation and control equipment is in communication connection with each unmanned aerial vehicle, and the method comprises the following steps:
acquiring the monitoring requirement of at least one monitoring task to be executed;
and determining a target unmanned aerial vehicle for executing each monitoring task from the plurality of unmanned aerial vehicles according to the monitoring requirement of each monitoring task and the data acquisition capacity of each unmanned aerial vehicle.
Optionally, the monitoring requirement of each monitoring task includes: the sensing device corresponds to the target monitoring parameter of each monitoring task; the data acquisition capabilities include: the type of sensing device that the drone is carrying;
according to the monitoring demand of each monitoring task and the data acquisition capacity of each unmanned aerial vehicle, the target unmanned aerial vehicle for executing each monitoring task is determined from the plurality of unmanned aerial vehicles, and the method comprises the following steps:
and determining the unmanned aerial vehicle with the sensing device corresponding to the target monitoring parameter from the plurality of unmanned aerial vehicles as the target unmanned aerial vehicle according to the sensing device corresponding to the target monitoring parameter and the type of the sensing device loaded by each unmanned aerial vehicle.
Optionally, the monitoring requirement of each monitoring task further includes: environmental constraints of the target monitoring parameters; the determining, from the plurality of drones, that the drone having the sensing device corresponding to the target monitoring parameter is the target drone includes:
and determining to have a sensing device corresponding to the target monitoring parameter from the plurality of unmanned aerial vehicles, wherein the unmanned aerial vehicle meeting the environmental constraint condition is the target unmanned aerial vehicle.
Optionally, the method further comprises:
acquiring positioning information of the plurality of unmanned aerial vehicles;
according to the positioning information of the multiple unmanned aerial vehicles, path planning is carried out on the target unmanned aerial vehicle;
and controlling the target unmanned aerial vehicle to execute flight action according to the flight route of the target unmanned aerial vehicle determined by the path planning.
Optionally, the monitoring requirement of each monitoring task further includes: a monitoring area and a monitoring time of each monitoring task; the method further comprises the following steps:
and controlling the target unmanned aerial vehicle to execute a monitoring task in the monitoring area at the monitoring time.
Optionally, the method further comprises:
and in the process that the target unmanned aerial vehicle executes the monitoring tasks, controlling the target unmanned aerial vehicle to execute formation flying action according to the priority of each monitoring task.
Optionally, the cluster regulatory device establishes a communication connection with each drone through a mobile communication network.
In a second aspect, an embodiment of the present application further provides an unmanned aerial vehicle cluster regulation and control device, which is applied to a cluster regulation and control device in a cluster regulation and control system, where the cluster regulation and control system further includes: unmanned aerial vehicle cluster that a plurality of unmanned aerial vehicles constitute, there is communication connection in cluster regulation and control equipment and every unmanned aerial vehicle, the device includes:
the acquisition module is used for acquiring the monitoring requirement of at least one monitoring task to be executed;
and the determining module is used for determining a target unmanned aerial vehicle for executing each monitoring task from the plurality of unmanned aerial vehicles according to the monitoring requirement of each monitoring task and the data acquisition capacity of each unmanned aerial vehicle.
Optionally, the monitoring requirement of each monitoring task includes: the sensing device corresponds to the target monitoring parameter of each monitoring task; the data acquisition capabilities include: the type of sensing device that the drone is carrying;
the determining module is specifically configured to determine, from the multiple unmanned aerial vehicles, an unmanned aerial vehicle having a sensing device corresponding to the target monitoring parameter as the target unmanned aerial vehicle according to the sensing device corresponding to the target monitoring parameter and the type of the sensing device loaded by each unmanned aerial vehicle.
Optionally, the monitoring requirement of each monitoring task further includes: environmental constraints of the target monitoring parameters; the determining module is further specifically configured to determine, from the multiple drones, a sensing device having the target monitoring parameter, and the drone that satisfies the environmental constraint condition is the target drone.
Optionally, the obtaining module is further configured to obtain positioning information of the multiple drones;
unmanned aerial vehicle cluster regulation and control device still includes:
the planning module is used for planning the path of the target unmanned aerial vehicle according to the positioning information of the plurality of unmanned aerial vehicles;
and the first control module is used for controlling the target unmanned aerial vehicle to execute flight action according to the flight route of the target unmanned aerial vehicle determined by the path planning.
Optionally, the monitoring requirement of each monitoring task further includes: a monitoring area and a monitoring time of each monitoring task; the device further comprises:
and the second control module is used for controlling the target unmanned aerial vehicle to execute a monitoring task in the monitoring area at the monitoring time.
Optionally, the apparatus further comprises:
and the third control module is used for controlling the target unmanned aerial vehicle to execute formation flying actions according to the priority of each monitoring task in the process that the target unmanned aerial vehicle executes the monitoring tasks.
Optionally, the cluster regulatory device establishes a communication connection with each drone through a mobile communication network.
In a third aspect, an embodiment of the present application provides a cluster regulation and control device, including: the unmanned aerial vehicle cluster regulation and control device comprises a processor, a storage medium and a bus, wherein the storage medium stores machine readable instructions executable by the processor, when the cluster regulation and control device runs, the processor and the storage medium communicate through the bus, and the processor executes the machine readable instructions to execute the steps of the unmanned aerial vehicle cluster regulation and control method of the first aspect.
In a fourth aspect, an embodiment of the present application provides a storage medium, where the computer program is executed by a processor to perform the steps of the unmanned aerial vehicle cluster regulation and control method of the first aspect.
The beneficial effect of this application is:
the unmanned aerial vehicle cluster regulation and control method and device provided by the embodiment of the application are applied to cluster regulation and control equipment in a cluster regulation and control system, and the cluster regulation and control system further comprises: the unmanned aerial vehicle cluster that a plurality of unmanned aerial vehicles constitute, this cluster regulation and control equipment exists communication connection with every unmanned aerial vehicle, the method includes: determining a monitoring requirement of at least one monitoring task to be executed; and determining a target unmanned aerial vehicle for executing each monitoring task from the plurality of unmanned aerial vehicles according to the monitoring requirement of each monitoring task and the data acquisition capacity of each unmanned aerial vehicle. By adopting the unmanned aerial vehicle cluster regulation and control method provided by the embodiment of the application, the cluster regulation and control equipment is in communication connection with each unmanned aerial vehicle, each monitoring task is decomposed, corresponding monitoring requirements are acquired, the monitoring requirements can be sent to the corresponding target unmanned aerial vehicle according to the characteristics of each unmanned aerial vehicle, namely, no matter how the monitoring requirements in the monitoring tasks change, the corresponding target unmanned aerial vehicle can be matched at any time, the target unmanned aerial vehicle executes the monitoring tasks, the efficiency of the unmanned aerial vehicle for executing the monitoring tasks is further improved, and the task execution effect of the unmanned aerial vehicle is guaranteed.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a cluster regulation and control system provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a method for regulating and controlling an unmanned aerial vehicle cluster according to an embodiment of the present application;
fig. 3 is a schematic flow chart of another unmanned aerial vehicle cluster regulation and control method provided in the embodiment of the present application;
fig. 4 is a schematic structural diagram of an unmanned aerial vehicle cluster regulation and control device provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of another unmanned aerial vehicle cluster regulation and control device provided in the embodiment of the present application;
fig. 6 is a schematic structural diagram of a cluster regulation and control device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The cluster regulation and control method in the following embodiments of the present application may be applied to a cluster regulation and control device in a cluster regulation and control system as shown in fig. 1, where fig. 1 is a schematic structural diagram of a cluster regulation and control system provided in an embodiment of the present application, and the system includes: cluster supervisory equipment, unmanned aerial vehicle, satellite, ground radar station and ground signal station.
Wherein, unmanned aerial vehicle's quantity can be a plurality of, and can include the unmanned aerial vehicle of different categories, the unmanned aerial vehicle cluster that a plurality of unmanned aerial vehicles constitute, this cluster regulation and control equipment can have communication connection with every unmanned aerial vehicle, can adopt like the numbering mode that fig. 1 shows to discern the unmanned aerial vehicle of different categories, can number for (A.1), (A.2) etc. like A type unmanned aerial vehicle, but B type unmanned aerial vehicle numbers for (B.1), (B.2) etc. and the same reason, unmanned aerial vehicle of other categories also can adopt foretell mode to number. Certainly also can adopt other modes to discern unmanned aerial vehicle, this application does not restrict this.
The plurality of drones may include: heterogeneous unmanned aerial vehicle also can include general unmanned aerial vehicle, and wherein, this heterogeneous unmanned aerial vehicle can be the unmanned aerial vehicle that data processing ability is different that different models, different vendors, have different communication interface, perhaps have, and this general unmanned aerial vehicle can be the unmanned aerial vehicle of same classification or have same data processing ability. Of course, classification according to other criteria is also possible, and this is not limited in this application.
Every unmanned aerial vehicle all can load the sensor that matches with land information, topography, and wind speed sensor, temperature sensor, humidity transducer, baroceptor, infrared imaging sensor or other data acquisition function's sensor.
The unmanned aerial vehicle is also provided with a flight control module, a controller, a navigation module, a mounting port of a functional sensor, a mounting port of a visual sensor, a video transmission unit and other auxiliary units. The controller can be respectively connected with the flight control module, the navigation module, the installation port, the video transmission unit and the like in a communication mode. The flight control module comprises a gyroscope, an accelerometer, a geomagnetic sensor, a high-precision radar module, an air pressure sensor, a control circuit and a communication unit. The gyroscope, the accelerometer, the geomagnetic sensor, the high-precision radar module, the air pressure sensor, the control circuit and the communication unit are respectively in communication connection with the controllers. For example, the image resolution supported by the video transmission unit can reach 4K/8K, and the service end-to-end delay can be less than or equal to 200 m/s; controlling the end-to-end time delay to be less than or equal to 20 m/s; the positioning error can be less than or equal to 0.5 m; the coverage height may be <200 m.
Further, the parameters of the drone may also include: the maximum voyage can be more than 50 km; the weight of the light fuselage (including the battery pack) is not more than 20 kg; the minimum load is not less than 10 kg; under the windless environment, the maximum horizontal flying speed is not less than 72 km/h; the maximum bearing wind speed is not more than 8 m/s; the maximum flight altitude is not more than 2000 m; the maximum working energy consumption is not more than 7000 w; the maximum communication distance (FCC mode, corresponding mode of supporting communication network (such as 5G)) is not less than 10 km; the maximum pitch angle is not less than 25 deg.
The specific product form of the cluster monitoring equipment can be equipment such as a computer and a processor which can perform the functions of a cluster regulation and control method, and the frequency range of the communication between the cluster monitoring equipment and the unmanned aerial vehicle can be (2.4GHZ-2.4835 GHZ); at least one communication protocol, such as a WIFI protocol, a bluetooth protocol, a mobile communication network protocol, etc., may be supported. The storage space of the cluster monitoring device comprises a local storage space (such as 1TB), an extensible storage space (6TB) and a cloud storage space. The cluster monitoring equipment can determine a target unmanned aerial vehicle for executing each monitoring task by executing the unmanned aerial vehicle cluster regulation and control method, and carry out formation flight control on the unmanned aerial vehicles.
As mentioned above, the cluster monitoring device and the drone may be respectively provided with a corresponding network signal transceiver chip, which may be a part of the communication unit. For example, if the network signal transceiver chip is a transceiver chip of a 5G network, the unmanned aerial vehicle can smoothly transmit high-capacity high-definition pictures, videos and data collected by other sensors with cluster control equipment when the flight speed is higher than a preset speed, such as 500km/h, so as to achieve a flow density of 10Tbps/km2, a connection number density of 106/km2, an air interface delay of 1ms, a peak speed of 20Gbps and a high reliability close to 100%.
This cluster supervisory equipment accessible ground signal station communicates between with a plurality of unmanned aerial vehicle to unmanned aerial vehicle also can communicate through this ground signal station each other, all loads on every unmanned aerial vehicle and has GPS (Global positioning system)/big dipper module, perhaps bimodulus navigation module, like (GPS + big dipper) module. Each unmanned aerial vehicle can be positioned by combining a GPS module and a satellite, and acquired positioning information is transmitted to the cluster monitoring equipment through the ground signal station.
It can also be seen from fig. 1 that, when monitoring each area, the same area may need a plurality of drones to monitor, and the types of drones may be different, and one drone may also monitor a plurality of areas simultaneously. It should be noted that fig. 1 is only an example, and the present application is not limited thereto.
Fig. 2 is a schematic flow diagram of the unmanned aerial vehicle cluster regulation and control method provided in the embodiment of the present application, where the cluster regulation and control method is applied to a cluster regulation and control device in a cluster regulation and control system, a specific product system of the cluster regulation and control device may be a computer, a processor, or other device capable of performing the functions of the cluster regulation and control method, and the cluster regulation and control system may further include: the unmanned aerial vehicle cluster that a plurality of unmanned aerial vehicles constitute, this cluster regulation and control equipment can have communication connection with every unmanned aerial vehicle. An unmanned aerial vehicle cluster regulation and control platform can be installed on the cluster regulation and control equipment, and the unmanned aerial vehicle cluster regulation and control method provided by the embodiment of the application can be executed by operating the unmanned aerial vehicle cluster regulation and control platform. As shown in fig. 2, the method may include:
s201, acquiring a monitoring requirement of at least one monitoring task to be executed.
Specifically, the cluster regulation and control equipment can call a plurality of monitoring tasks from a preset database, a plurality of monitoring requirements exist in each monitoring task, the number of the monitoring tasks and the types of the monitoring requirements existing in each monitoring task can be set according to actual requirements, and the monitoring requirements are not limited here. Of course, the monitoring task may also be obtained in other manners, such as obtaining information such as a monitoring requirement of the monitoring task input through an input interface of the unmanned aerial vehicle cluster regulation and control platform, or receiving information such as a detection requirement of the detection task sent by other devices such as a control terminal.
Each monitoring task can be any type of monitoring task such as a natural disaster monitoring task, an accident monitoring task, a public health monitoring task, a public transportation monitoring task, a security monitoring task in a preset area and the like. The natural disaster monitoring task can be, for example, a drought and flood disaster monitoring task, a meteorological disaster monitoring task such as a rain and snow monitoring task, an earthquake disaster monitoring task, a geological disaster monitoring task such as a landslide monitoring task, a biological disaster monitoring task such as a crop pest monitoring task, and a forest fire monitoring task. The incident monitoring task may be, for example: a fire accident monitoring task, an industrial accident monitoring task and a traffic accident monitoring task. The public health monitoring task can be an epidemic prevention and control monitoring task and the like. The above are only examples of some possible monitoring tasks and the application is not limited thereto.
It should be noted that, for each monitoring task, there is a corresponding monitoring requirement, and the monitoring requirements of different monitoring tasks may be different.
S202, determining a target unmanned aerial vehicle for executing each monitoring task from the plurality of unmanned aerial vehicles according to the monitoring requirement of each monitoring task and the data acquisition capacity of each unmanned aerial vehicle.
Specifically, the target of each monitoring task may be decomposed in advance to obtain the monitoring requirement corresponding to each monitoring task. For example, if there are multiple monitoring tasks, the multiple monitoring tasks may be numbered, such as monitoring task 1, monitoring task 2, monitoring task 3, etc., and each monitoring requirement may also be numbered, such as requirement a, requirement b, requirement c, etc., and the monitoring tasks and the corresponding monitoring requirements may be stored in a form of a table. If the unmanned aerial vehicle cluster includes different types of unmanned aerial vehicles, at first can use the unmanned aerial vehicle type as the unit, number unmanned aerial vehicle, if A type unmanned aerial vehicle, B type unmanned aerial vehicle, C type unmanned aerial vehicle etc., then number unmanned aerial vehicle in every type, it has 3A type unmanned aerial vehicles altogether to assume in the unmanned aerial vehicle cluster, then unmanned aerial vehicle in the A type unmanned aerial vehicle can number for unmanned aerial vehicle A.1, unmanned aerial vehicle A.2, unmanned aerial vehicle A.3 etc., also can save unmanned aerial vehicle type and the form of table of the unmanned aerial vehicle in this type of affiliated, the same reason, also can carry out above-mentioned number to the unmanned aerial vehicle that belongs to other types. Certainly, the unmanned aerial vehicles in the unmanned aerial vehicle cluster can be numbered directly without taking the type of the unmanned aerial vehicle as a unit.
In this cluster regulation and control device, the task execution capability of each drone may be stored in advance, and it may at least include: data collection capability. The data acquisition capacity of at least one unmanned aerial vehicle can be in the form of a table in advance in the cluster regulation and control equipment through corresponding indication information. The data acquisition capability may include, for example: the data type that unmanned aerial vehicle can gather, perhaps, the information such as the sensor kind that this data type corresponds.
The monitoring demand of every known monitoring task alright obtain the data acquisition demand that this monitoring demand corresponds based on this monitoring demand, based on this data acquisition demand to and each unmanned aerial vehicle's data acquisition ability, confirm the unmanned aerial vehicle that data acquisition ability satisfies this data acquisition demand from these a plurality of unmanned aerial vehicles as the target unmanned aerial vehicle of carrying out this monitoring task. Illustratively, data collection requirements may include, for example: the required sensor kind of this monitoring task can be followed from a plurality of unmanned aerial vehicles then, matches the unmanned aerial vehicle that loads with required sensor kind and regards as target unmanned aerial vehicle. Of course, there may be one or more target drones performing one monitoring task.
In the process that the unmanned aerial vehicle carries out the monitoring task, this cluster regulation and control equipment also can regulate and control the unmanned aerial vehicle in the unmanned aerial vehicle cluster at any time according to the change of the monitoring demand of monitoring task, confirms the target unmanned aerial vehicle that corresponds again, can realize carrying out the dynamic regulation and control of the unmanned aerial vehicle of this monitoring task, if increase the unmanned aerial vehicle of carrying out the monitoring task.
To sum up, in the unmanned aerial vehicle cluster regulation and control method provided by the present application, the method is applied to a cluster regulation and control device in a cluster regulation and control system, and the cluster regulation and control system further includes: the unmanned aerial vehicle cluster is formed by a plurality of unmanned aerial vehicles, the cluster regulation and control equipment is in communication connection with each unmanned aerial vehicle, and the cluster regulation and control equipment can determine the monitoring requirement of at least one monitoring task to be executed; and determining a target unmanned aerial vehicle for executing each monitoring task from the plurality of unmanned aerial vehicles according to the monitoring requirement of each monitoring task and the data acquisition capacity of each unmanned aerial vehicle. By adopting the unmanned aerial vehicle cluster regulation and control method provided by the embodiment of the application, the cluster regulation and control equipment is in communication connection with each unmanned aerial vehicle, each monitoring task is decomposed, corresponding monitoring requirements are acquired, the monitoring requirements can be sent to the corresponding target unmanned aerial vehicle according to the characteristics of each unmanned aerial vehicle, namely, no matter how the monitoring requirements in the monitoring tasks change, the corresponding target unmanned aerial vehicle can be matched at any time, the target unmanned aerial vehicle executes the monitoring tasks, the efficiency of the unmanned aerial vehicle executing the monitoring tasks is further improved, and the task execution effect of the unmanned aerial vehicle is guaranteed.
Optionally, the monitoring requirement of each monitoring task includes: the sensing device corresponds to the target monitoring parameter of each monitoring task; the data acquisition capability includes: the type of sensing device that the drone is carrying; the step S102 in fig. 1 may include: and determining the unmanned aerial vehicle with the sensing device corresponding to the target monitoring parameter as the target unmanned aerial vehicle from the plurality of unmanned aerial vehicles according to the sensing device corresponding to the target monitoring parameter and the type of the sensing device loaded by each unmanned aerial vehicle.
Specifically, the cluster regulation and control equipment can analyze the sensing device corresponding to the target monitoring parameter from each monitoring task, or a user can directly input the type of the sensing device corresponding to the target monitoring parameter of each monitoring task into the cluster regulation and control equipment, which is not limited in the present application. For example, the monitoring task 1 is: the method comprises the steps of obtaining the terrain, humidity and temperature of a disaster area P, wherein the cruising ability of the unmanned aerial vehicle corresponding to the completion of a monitoring task of the arrival area P is B level, the highest cruising ability can be represented by A level, the corresponding monitoring requirement is that the arrival area P can be obtained, image acquisition can be carried out, and the sensing device comprises a humidity sensor and a temperature sensor, namely the sensing device corresponding to target monitoring parameters comprises an image sensor, a humidity sensor and a temperature sensor. The unmanned aerial vehicle that can reach region P, have image sensor, humidity transducer and temperature sensor is confirmed to the type of unmanned aerial vehicle's sensing device of accessible inquiry prestore. The cruising ability of the unmanned aerial vehicle A.1 is assumed to be C grade, and the unmanned aerial vehicle is provided with a humidity sensor and a temperature sensor; the cruising ability of the unmanned aerial vehicle A.2 is B level, and the unmanned aerial vehicle is provided with a graphic sensor and a humidity sensor; unmanned aerial vehicle A.3's duration is A level, has image sensor, humidity transducer and temperature sensor.
Then, there may be several situations for the target drone matched with the monitoring task 1, where one situation is that the drone a.3 can execute the monitoring task 1, and another situation is that the drone a.2 and the drone a.3 go to the area P together to execute the monitoring task 1. If unmanned aerial vehicle A.2 and unmanned aerial vehicle A.3 are selected to execute the detection task together, specific monitoring demand allocation can be set according to actual demands. When the monitoring demand in the monitoring task 1 increases or decreases, the cluster regulatory device may increase or decrease the number of drones in the area P at any time according to the increased or decreased monitoring demand.
Optionally, the monitoring requirement of each monitoring task further includes: environmental constraints of the target monitoring parameters; confirm that the unmanned aerial vehicle that has the sensing device that this target monitoring parameter corresponds is target unmanned aerial vehicle from a plurality of unmanned aerial vehicles, include: confirm to have the sensing device that this target monitoring parameter corresponds from a plurality of unmanned aerial vehicles, and, the unmanned aerial vehicle that satisfies this environmental constraint condition is target unmanned aerial vehicle.
Specifically, the staff can also obtain the environmental constraint condition of the monitoring area in each monitoring task in real time, and the environmental constraint condition can be stored in the monitoring requirement corresponding to each monitoring task when the unmanned aerial vehicle does not execute the monitoring task. Confirm the unmanned aerial vehicle that can carry out this monitoring task according to all information in this monitoring demand, wherein, every unmanned aerial vehicle will satisfy this environmental constraint condition at least, and, the staff can also be at unmanned aerial vehicle in the in-process of carrying out this monitoring task, this environmental constraint condition is updated in real time in the monitoring demand, in time adjust the unmanned aerial vehicle in carrying out the monitoring task, avoid the change of this environmental constraint condition, make unmanned aerial vehicle on the monitoring area cause the damage, cause economic loss.
For example, the environmental constraint condition may be information such as coverage of a frequency band, weather conditions, etc., and assuming that the current weather condition of the monitoring area P in the monitoring task 1 is storm, the coverage of the frequency band is (f1-f 2). Then the monitoring demand in monitoring task 1 can be changed to: reach the area P, can carry out image acquisition, have humidity sensor and temperature sensor and frequency band coverage reach (f1-f2), have ability to resist the stormy weather. First, the environment constraint condition can be found out: the coverage of the frequency band reaches (f1-f2), the unmanned aerial vehicle with ability of anti storm and reachable area P, such as unmanned aerial vehicle a.3, unmanned aerial vehicle a.4 and unmanned aerial vehicle a.5 satisfy the environmental constraint and reachable area P, and then the unmanned aerial vehicle loaded with the image sensor, the humidity sensor and the temperature sensor is determined from unmanned aerial vehicle a.3, unmanned aerial vehicle a.4 and unmanned aerial vehicle a.5, such as unmanned aerial vehicle a.3, the sensing device loaded on unmanned aerial vehicle a.5 comprises the image sensor, the humidity sensor and the temperature sensor, and then unmanned aerial vehicle a.3 and unmanned aerial vehicle a.5 are finally determined as the target unmanned aerial vehicle executing monitoring task 1.
On the basis of any one of the above-described embodiments, the embodiment of the present application may further provide an unmanned aerial vehicle cluster regulation and control method, which is explained with reference to the accompanying drawings as follows. Fig. 3 is a schematic flow chart of another unmanned aerial vehicle cluster regulation and control method provided in the embodiment of the present application, and as shown in fig. 3, the method may further include:
s301, positioning information of the multiple unmanned aerial vehicles is obtained.
S302, planning a path of the target unmanned aerial vehicle according to the positioning information of the unmanned aerial vehicles.
Specifically, all be provided with (GPS + big dipper) navigation orientation module on every unmanned aerial vehicle, this navigation module can acquire affiliated unmanned aerial vehicle's locating information in real time to can transmit this locating information for the cluster regulation and control equipment through data link. The cluster regulation and control equipment knows that the unmanned aerial vehicle information corresponding to each monitoring task is executed, such as unmanned aerial vehicle number and information such as the content of each unmanned aerial vehicle specifically executing the monitoring task. Suppose that there are two monitoring tasks, such as monitoring task 1 and monitoring task 2, the corresponding monitoring area in monitoring task 1 is P, and the corresponding monitoring area in monitoring task 2 is q; the unmanned aerial vehicle serial number that the execution monitoring task 1 corresponds is unmanned aerial vehicle A.1, unmanned aerial vehicle A.2 and unmanned aerial vehicle A.3, and the unmanned aerial vehicle serial number that the execution monitoring task 2 corresponds is unmanned aerial vehicle A.4, unmanned aerial vehicle A.5 and unmanned aerial vehicle A.6. The known monitoring area P and the monitoring area are the position coordinates of q, and the positioning information of the corresponding unmanned aerial vehicle can also be acquired, so that path planning can be carried out on each unmanned aerial vehicle.
And S303, controlling the target unmanned aerial vehicle to execute flight action according to the flight route of the target unmanned aerial vehicle determined by the path planning.
Specifically, each unmanned aerial vehicle has multiple paths from the current position to the position corresponding to the monitoring area, and a path which is nearest and does not conflict with the paths of the unmanned aerial vehicles executing other monitoring tasks can be firstly determined according to preset requirements. When the route has the conflict, can be according to the data that the attitude sensor who loads on the unmanned aerial vehicle gathered, control unmanned aerial vehicle at any time and adjust the height of flight, wherein, the data that this attitude sensor gathered include the data that gyroscope, accelerometer and magnetometer gathered.
Furthermore, each unmanned aerial vehicle in the unmanned aerial vehicle cluster has an autonomous obstacle avoidance function, the obstacle avoidance function can achieve avoidance of various dynamic or static obstacles by the cluster as a whole, and if the unmanned aerial vehicle can estimate and track states of other unmanned aerial vehicles in the surrounding cluster, the unmanned aerial vehicle cluster has local environment perception capability, so that tracking and avoidance of other unmanned aerial vehicles in the cluster are achieved. And, when unmanned aerial vehicle meets dynamic obstacles such as windage, air current at the flight in-process, unmanned aerial vehicle can both make effectual reaction, carries out the change of formation, when passing through the obstacle region after, can carry out formation reconsitution again.
Specifically, unmanned aerial vehicle can be through monitoring whether have other unmanned aerial vehicles in its safety range, if have other unmanned aerial vehicles, then can through with other unmanned aerial vehicle between the data link obtain other unmanned aerial vehicle's locating information, can open the autonomic obstacle avoidance function of self through this locating information, replans the route again, avoids colliding with it. Of course, the positioning information of other unmanned aerial vehicles can also be sent to the unmanned aerial vehicle through the cluster monitoring equipment, and the application does not limit the positioning information.
Optionally, the method further comprises: and in the process of executing the monitoring tasks by the target unmanned aerial vehicle, controlling the target unmanned aerial vehicle to execute formation flight action according to the priority of each monitoring task.
Specifically, for example, in a cluster of drones that are performing monitoring tasks, there is at least a drone a.1 that can perform monitoring task 1, monitoring task 2, and monitoring task 3, and the drone a.1 is provided with a plurality of sensors, such as a1, a2, and a3, that can perform the monitoring tasks; there are also drones b.1 that can perform monitoring tasks 2, 4, 5, on which drone b.1 there are arranged a plurality of sensors such as b1, b2, b3 that can perform the above-mentioned monitoring tasks. Among them, the monitoring task 1 has the highest priority among all the monitoring tasks.
When drone a.1 is executing monitoring task 1 and monitoring task 2, and drone b.1 is executing monitoring task 4, one condition is: if the unmanned aerial vehicle a.1 receives the instruction for executing the monitoring task 3 sent by the cluster regulatory device, the load, the cruising ability, and other reasons of the unmanned aerial vehicle a.1 need to be considered to ensure the continuous execution of the monitoring task 1. In order to ensure that drone a.1 continues to perform monitoring task 1, then a command may be sent to drone b.1 to replace performing monitoring task 2, for controlling drone a.1 and drone b.1 to perform formation flight actions from the new. In another case: if unmanned aerial vehicle A.1 needs to go to carry out monitoring task 1 in other regions, withdraw from present unmanned aerial vehicle cluster, then can let unmanned aerial vehicle B.1 open the function of carrying out monitoring task 2 to can control unmanned aerial vehicle A.1 and unmanned aerial vehicle B.2 and carry out formation flight action. Of course, when other situations are met, the target unmanned aerial vehicle can be controlled to execute formation flying action according to the priority of the monitoring task.
Optionally, the cluster regulatory device establishes a communication connection with each drone through a mobile communication network. Specifically, bidirectional communication may be performed between the cluster regulation and control device and each unmanned aerial vehicle through a data link, and the specifically adopted mobile communication network may be a 3G, 4G, or 5G network. This cluster regulation and control equipment sends the regulation and control instruction through this data link and supplies with a plurality of unmanned aerial vehicles that communicate with it, the sensing device who loads among a plurality of unmanned aerial vehicles can gather the data that correspond according to this regulation and control instruction, like image sensor gathers monitoring area's image data in monitoring time, humidity transducer gathers monitoring area's humidity data and temperature sensor gathers monitoring area's temperature data in monitoring time, and the image data that will gather, humidity data and temperature data can feed back to this cluster regulation and control equipment again through this data link. Especially, when the unmanned aerial vehicle collects the pictures, videos and other large-flow data forms and transmits the large-flow data forms to the cluster regulation and control platform, the data link for communication by adopting the 5G network is particularly important.
Optionally, in the scheme provided by any of the above embodiments, when the target drone executing the monitoring task acquires data, in an example, corresponding target transmission information may be selected according to a type of the acquired data, and the acquired data is transmitted to the cluster regulation and control platform based on the target transmission information, where the target transmission information may be, for example, a transmission channel, a transmission mode, or a transmission port. In another example, the target transmission information may be determined according to the type of the collected data and a preset data transmission requirement. In some other possible examples, the target transmission information may be further determined based on information such as the type of the acquired data, a preset data transmission requirement, and a transmission delay corresponding to each piece of transmission information.
Under the general condition, can adopt two different transmission path to transmit the locating data and the image data that target unmanned aerial vehicle gathered, can guarantee like this that this locating data and this image data are uninterrupted in the transmission course, make this cluster regulation and control platform receive this locating data and this image data in real time.
The adopted 5G network has the characteristics of high speed, high reliability, low time delay, low power consumption and the like, and when the flight speed of the unmanned aerial vehicle reaches 500km/h, high-definition pictures, videos and data acquired by other sensors can be smoothly transmitted to the cluster regulation and control equipment, so that the cluster regulation and control equipment timely regulates and controls the unmanned aerial vehicle according to the received data.
On the basis of providing the above unmanned aerial vehicle cluster regulation and control methods, the present application also provides a device, an apparatus, and a storage medium capable of executing the unmanned aerial vehicle cluster regulation and control method, which are explained below. Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle cluster regulation and control device provided in an embodiment of the present application, and as shown in fig. 4, the device may include:
an obtaining module 401 is configured to obtain a monitoring requirement of at least one monitoring task to be executed.
A determining module 402, configured to determine, according to the monitoring requirement of each monitoring task and the data acquisition capability of each drone, a target drone for executing each monitoring task from the multiple drones.
Optionally, the monitoring requirement of each monitoring task includes: the sensing device corresponds to the target monitoring parameter of each monitoring task; the data acquisition capabilities include: the type of sensing device that the drone is carrying;
accordingly, the determining module 402 is specifically configured to:
and determining the unmanned aerial vehicle with the sensing device corresponding to the target monitoring parameter as the target unmanned aerial vehicle from the plurality of unmanned aerial vehicles according to the sensing device corresponding to the target monitoring parameter and the type of the sensing device loaded by each unmanned aerial vehicle.
Optionally, the monitoring requirement of each monitoring task further includes: environmental constraints of the target monitoring parameters; the determining module 402 is specifically configured to:
confirm to have the sensing device that this target monitoring parameter corresponds from a plurality of unmanned aerial vehicles, and, the unmanned aerial vehicle that satisfies this environmental constraint condition is target unmanned aerial vehicle.
On the basis of the unmanned aerial vehicle cluster regulation and control device shown in fig. 4, the acquisition module 401 is further used for acquiring the positioning information of a plurality of unmanned aerial vehicles, and correspondingly, the embodiment of the application further provides an unmanned aerial vehicle cluster regulation and control device. Fig. 5 is a schematic structural diagram of another unmanned aerial vehicle cluster regulation and control device provided in the embodiment of the present application, and as shown in fig. 5, the device may further include:
a planning module 502, configured to perform path planning on the target drone according to the positioning information of the multiple drones.
The first control module 503 is configured to control the target unmanned aerial vehicle to execute a flight action according to the flight route of the target unmanned aerial vehicle determined by the path planning.
Optionally, the monitoring requirement of each monitoring task further includes: monitoring area of each monitoring task, and monitoring time; the device also includes:
and the second control module is used for controlling the target unmanned aerial vehicle to execute the monitoring task in the monitoring area at the monitoring time.
Optionally, the apparatus further comprises:
and the third control module is used for controlling the target unmanned aerial vehicle to execute formation flying action according to the priority of each monitoring task in the process that the target unmanned aerial vehicle executes the monitoring tasks.
Optionally, the cluster regulatory device establishes a communication connection with each drone through a mobile communication network.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 6 is a schematic structural diagram of a cluster regulatory device provided in an embodiment of the present application, where the cluster regulatory device may have a communication connection with each drone. As shown in fig. 6, the cluster regulatory device may include: the unmanned aerial vehicle cluster regulation and control device comprises a processor 601, a storage medium 602 and a bus 603, wherein the storage medium 602 stores machine-readable instructions executable by the processor 601, when the cluster regulation and control device operates, the processor 601 and the storage medium 602 communicate through the bus 603, and the processor 601 executes the machine-readable instructions to execute the steps of the unmanned aerial vehicle cluster regulation and control method. The specific implementation and technical effects are similar, and are not described herein again.
Optionally, the present application further provides a storage medium, where a computer program is stored on the storage medium, and the computer program is executed by the processor to perform the steps of the unmanned aerial vehicle cluster regulation and control method.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to perform some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. The unmanned aerial vehicle cluster regulation and control method is applied to cluster regulation and control equipment in a cluster regulation and control system, and the cluster regulation and control system further comprises the following steps: an unmanned aerial vehicle cluster formed by a plurality of unmanned aerial vehicles, wherein the cluster regulation and control equipment is in communication connection with each unmanned aerial vehicle, and the method comprises the following steps:
acquiring the monitoring requirement of at least one monitoring task to be executed;
and determining a target unmanned aerial vehicle for executing each monitoring task from the plurality of unmanned aerial vehicles according to the monitoring requirement of each monitoring task and the data acquisition capacity of each unmanned aerial vehicle.
2. The method of claim 1, wherein monitoring requirements of each monitoring task comprises: the sensing device corresponds to the target monitoring parameter of each monitoring task; the data acquisition capabilities include: the type of sensing device that the drone is carrying;
according to the monitoring demand of each monitoring task and the data acquisition capacity of each unmanned aerial vehicle, the target unmanned aerial vehicle for executing each monitoring task is determined from the plurality of unmanned aerial vehicles, and the method comprises the following steps:
and determining the unmanned aerial vehicle with the sensing device corresponding to the target monitoring parameter from the plurality of unmanned aerial vehicles as the target unmanned aerial vehicle according to the sensing device corresponding to the target monitoring parameter and the type of the sensing device loaded by each unmanned aerial vehicle.
3. The method of claim 2, wherein monitoring demand of each monitoring task further comprises: environmental constraints of the target monitoring parameters; the determining, from the plurality of drones, that the drone having the sensing device corresponding to the target monitoring parameter is the target drone includes:
and determining to have a sensing device corresponding to the target monitoring parameter from the plurality of unmanned aerial vehicles, wherein the unmanned aerial vehicle meeting the environmental constraint condition is the target unmanned aerial vehicle.
4. The method of claim 1, further comprising:
acquiring positioning information of the plurality of unmanned aerial vehicles;
according to the positioning information of the multiple unmanned aerial vehicles, path planning is carried out on the target unmanned aerial vehicle;
and controlling the target unmanned aerial vehicle to execute flight action according to the flight route of the target unmanned aerial vehicle determined by the path planning.
5. The method of claim 1, wherein the monitoring requirements of each monitoring task further comprises: a monitoring area and a monitoring time of each monitoring task; the method further comprises the following steps:
and controlling the target unmanned aerial vehicle to execute a monitoring task in the monitoring area at the monitoring time.
6. The method of claim 5, further comprising:
and in the process that the target unmanned aerial vehicle executes the monitoring tasks, controlling the target unmanned aerial vehicle to execute formation flying action according to the priority of each monitoring task.
7. The method of any of claims 1-6, wherein the cluster regulatory device establishes a communication connection with each drone over a mobile communication network.
8. The utility model provides an unmanned aerial vehicle cluster regulation and control device which characterized in that is applied to the cluster regulation and control equipment in the cluster regulation and control system, the cluster regulation and control system still includes: unmanned aerial vehicle cluster that a plurality of unmanned aerial vehicles constitute, there is communication connection in cluster regulation and control equipment and every unmanned aerial vehicle, the device includes:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for determining the monitoring requirement of at least one monitoring task to be executed;
and the determining module is used for determining a target unmanned aerial vehicle for executing each monitoring task from the plurality of unmanned aerial vehicles according to the monitoring requirement of each monitoring task and the data acquisition capacity of each unmanned aerial vehicle.
9. The apparatus of claim 8, wherein the monitoring requirements of each monitoring task comprise: the sensing device corresponds to the target monitoring parameter of each monitoring task; the data acquisition capabilities include: the type of sensing device that the drone is carrying;
the determining module is specifically configured to determine, from the multiple unmanned aerial vehicles, an unmanned aerial vehicle having a sensing device corresponding to the target monitoring parameter as the target unmanned aerial vehicle according to the sensing device corresponding to the target monitoring parameter and the type of the sensing device loaded by each unmanned aerial vehicle.
10. The apparatus of claim 9, wherein the monitoring requirements of each monitoring task further comprises: environmental constraints of the target monitoring parameters;
the determining module is further specifically configured to determine, from the multiple drones, a sensing device having the target monitoring parameter, and the drone that satisfies the environmental constraint condition is the target drone.
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Application publication date: 20200807 |