CN107943067A - A kind of unmanned plane formation method, apparatus and system based on clustered control - Google Patents
A kind of unmanned plane formation method, apparatus and system based on clustered control Download PDFInfo
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Abstract
The embodiment of the present invention provides a kind of unmanned plane formation method, apparatus and system based on clustered control.The described method includes：Determine the initial position of the region to be measured of unmanned plane, the radius of investigation of unmanned plane, the quantity N of unmanned plane and N number of unmanned plane；The first region to be measured is split according to the quantity N of unmanned plane, and calculates the first center and the First Speed information in the second region to be measured；After the information of the first center of unmanned plane arrival is got, if the union in the region that first radius of investigation of N number of unmanned plane is covered is more than the first region to be measured, then according to the initial position of N number of unmanned plane, the instruction of the second center and second speed information is sent to corresponding N number of unmanned plane.By the embodiment of the present invention once it is determined that the zone radius that disaster region and aircraft can detect, it is not necessary to which the number of the artificial unmanned plane for determining to add, is effectively improved independence of the aircraft in disaster assistance.
Description
Technical field
The present embodiments relate to clustered control technical field, and in particular to a kind of unmanned plane based on clustered control is formed into columns
Method, apparatus and system.
Background technology
In recent years, the unmanned air vehicle technique field short, fast-growth as an iteration cycle, becomes grinding for countries in the world
Study carefully emphasis.In multiple no-manned plane cotasking self-organizing system, unmanned vehicle carries out information exchange as communication network node.
By swarm algorithm, each unmanned plane can independently complete basic act and simple task.When facing the needing to cooperate of the task,
Unmanned vehicle is published to mission bit stream and resource requirement on the cluster network being made of each unmanned vehicle, each unmanned flight
Device can be responded according to itself current task and resource situation.So multiple no-manned plane system is just by between definite unmanned plane
Information in physics, in logic realizes mutual cooperate with control planning.
In disaster field, the conflict that the formation of disaster assistance unmanned plane can be solved in the confined space between multiple no-manned plane is asked
Inscribe, that is, the unmanned plane in certain area can avoid similar obstacle, keep good orderly air traffic.In addition, mesh
The communication pattern of preceding unmanned plane still in a manner of unit and ground communication based on, information transmission is still centralization.Go to center
The disaster assistance unmanned plane of the change high speed that ad hoc network can be utilized to realize information between unmanned plane of forming into columns is shared, and is improved at the same time
The fault-resistant and self-healing ability of cluster.But under the control model of this decentralization, during use, unmanned plane without
Method covers disaster region comprehensively, if alternatively, comprehensively covering cause the wave of resource, it is necessary to greater number of unmanned plane
Take.Therefore, how the quantity of reasonable distribution unmanned plane, and can to devastated carry out comprehensively covering be badly in need of solution ask
Topic.
The content of the invention
For in the prior art the defects of, an embodiment of the present invention provides a kind of unmanned plane formation side based on clustered control
Method, apparatus and system.
In a first aspect, the embodiment of the present invention provides a kind of unmanned plane formation method based on clustered control, including：
Determine the initial of the region to be measured of unmanned plane, the radius of investigation of unmanned plane, the quantity N of unmanned plane and N number of unmanned plane
Position；
The described first region to be measured is split according to the quantity N of the unmanned plane, and calculates the after each segmentation
First center in two regions to be measured and the First Speed information for the center of flying to, wherein, first area to be measured
The region after the first scale smaller is pressed in domain for the region to be measured, and the first radius of investigation presses institute for the radius of investigation of the unmanned plane
State the radius after the first scale smaller；
Unmanned plane is being got with the information of the first center of the First Speed information arrival second area
Afterwards, if the union in the region that first radius of investigation of N number of unmanned plane is covered is more than the described first region to be measured, basis
The initial position of N number of unmanned plane, by corresponding second center of the N number of unmanned plane and second speed information
Instruction be sent to corresponding N number of unmanned plane, wherein, second center be by first center according to
What first ratio was calculated, the second speed information is according to first ratio according to the First Speed information
It is calculated.
Second aspect, the embodiment of the present invention provide a kind of unmanned plane formation device based on clustered control, including：
Determining module, for determining the region to be measured of unmanned plane, the radius of investigation of unmanned plane, the quantity N of unmanned plane and N number of
The initial position of unmanned plane；
Computing module, splits the described first region to be measured for the quantity N according to the unmanned plane, and calculates every
First center in the second region to be measured after a segmentation and the First Speed information for the center of flying to, wherein, institute
It is the region to be measured by the region after the first scale smaller to state the first region to be measured, and the first radius of investigation is the unmanned plane
Radius of investigation presses the radius after first scale smaller；
Judgment module, in unmanned plane is got with the first of the First Speed information arrival second area
After the information of heart position, if the union in the region that first radius of investigation of N number of unmanned plane is covered is treated more than described first
Survey region, then according to the initial position of N number of unmanned plane, will corresponding second center of the N number of unmanned plane with
The instruction of second speed information is sent to corresponding N number of unmanned plane, wherein, second center is by described
One center is calculated according to first ratio, the second speed information be according to the First Speed information by
It is calculated according to first ratio.
The third aspect, the embodiment of the present invention provide a kind of unmanned plane fleet system based on clustered control, including：Center control
Platform processed and an at least unmanned plane, wherein, the central control board performs unmanned plane formation method as described above.
Fourth aspect, the embodiment of the present invention additionally provide a kind of computer equipment, including memory and processor, the place
Reason device and the memory complete mutual communication by bus；The memory storage has what can be performed by the processor
Programmed instruction, the processor call described program instruction to be able to carry out following method：
Determine the initial of the region to be measured of unmanned plane, the radius of investigation of unmanned plane, the quantity N of unmanned plane and N number of unmanned plane
Position；
The described first region to be measured is split according to the quantity N of the unmanned plane, and calculates the after each segmentation
First center in two regions to be measured and the First Speed information for the center of flying to, wherein, first area to be measured
The region after the first scale smaller is pressed in domain for the region to be measured, and the first radius of investigation presses institute for the radius of investigation of the unmanned plane
State the radius after the first scale smaller；
Unmanned plane is being got with the information of the first center of the First Speed information arrival second area
Afterwards, if the union in the region that first radius of investigation of N number of unmanned plane is covered is more than the described first region to be measured, basis
The initial position of N number of unmanned plane, by corresponding second center of the N number of unmanned plane and second speed information
Instruction be sent to corresponding N number of unmanned plane, wherein, second center be by first center according to
What first ratio was calculated, the second speed information is according to first ratio according to the First Speed information
It is calculated.
5th aspect, the embodiment of the present invention additionally provide a kind of computer program, including program code, said program code
For performing following operation：
The processor is used to call the logical order in the memory, to perform following method：
Determine the initial of the region to be measured of unmanned plane, the radius of investigation of unmanned plane, the quantity N of unmanned plane and N number of unmanned plane
Position；
The described first region to be measured is split according to the quantity N of the unmanned plane, and calculates the after each segmentation
First center in two regions to be measured and the First Speed information for the center of flying to, wherein, first area to be measured
The region after the first scale smaller is pressed in domain for the region to be measured, and the first radius of investigation presses institute for the radius of investigation of the unmanned plane
State the radius after the first scale smaller；
Unmanned plane is being got with the information of the first center of the First Speed information arrival second area
Afterwards, if the union in the region that first radius of investigation of N number of unmanned plane is covered is more than the described first region to be measured, basis
The initial position of N number of unmanned plane, by corresponding second center of the N number of unmanned plane and second speed information
Instruction be sent to corresponding N number of unmanned plane, wherein, second center be by first center according to
What first ratio was calculated, the second speed information is according to first ratio according to the First Speed information
It is calculated.
6th aspect, the embodiment of the present invention provide a kind of computer-readable recording medium, are stored thereon with computer program,
The method when computer program is executed by processor for storing foregoing computer program.
Unmanned plane formation method, apparatus and system provided in an embodiment of the present invention based on clustered control, pass through Voronoi
Partitioning algorithm splits disaster region, and calculates center and the unmanned plane during flying speed of each segmentation rear region,
Further realize unmanned plane all covering disaster areas.The formation method formation distribution is more effective and rapid, so as to be rescued in disaster
Allow one to understand actual disaster region actual conditions rapidly in helping, improve in disaster assistance the efficiency of task deployment with
Accuracy.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow diagram of the unmanned plane formation method provided in an embodiment of the present invention based on clustered control；
Fig. 2 is the schematic diagram of unmanned plane during flying speed nonlinear change provided in an embodiment of the present invention；
Fig. 3 is the flow diagram for the unmanned plane formation method based on clustered control that yet another embodiment of the invention provides；
Fig. 4 is the flow diagram for the unmanned plane formation method based on clustered control that further embodiment of this invention provides；
Fig. 5 is the structure diagram of the unmanned plane formation device provided in an embodiment of the present invention based on clustered control；
Fig. 6 is the structure diagram of the unmanned plane formation device provided in an embodiment of the present invention based on clustered control；
Fig. 7 is the structure diagram of computer equipment provided in an embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts, belong to the scope of protection of the invention.
Fig. 1 be the unmanned plane formation method provided in an embodiment of the present invention based on clustered control flow diagram, such as Fig. 1
It is shown, the described method includes：
S101, determine the region to be measured of unmanned plane, the radius of investigation of unmanned plane, the quantity N of unmanned plane and N number of unmanned plane
Initial position；
S102, according to the quantity N of the unmanned plane split the described first region to be measured, and after calculating each segmentation
First center in the second region to be measured and the First Speed information for the center of flying to, wherein, described first treats
Survey region and the region after the first scale smaller is pressed for the region to be measured, the first radius of investigation is the radius of investigation of the unmanned plane
By the radius after first scale smaller；
S103, getting unmanned plane with the first center of the First Speed information arrival second area
After information, if the union in the region that first radius of investigation of N number of unmanned plane is covered is more than the described first region to be measured,
According to the initial position of N number of unmanned plane, corresponding second center of the N number of unmanned plane and second speed are believed
The instruction of breath is sent to corresponding N number of unmanned plane, wherein, second center is by first center
It is calculated according to first ratio, the second speed information is according to described first according to the First Speed information
What ratio was calculated.
Disaster assistance region is detected using unmanned plane, initializing set first is carried out to unmanned plane, unmanned plane starts
Into wait state, user selects corresponding region to be measured, and root according to actual disaster assistance region on central controller
Setting radius of investigation is carried out according to the good radius of investigation of unmanned plane factory setting, and sets the quantity N of unmanned plane.In meanwhile
Centre controller has got the region to be measured of unmanned plane, the radius of investigation of unmanned plane, the quantity N of unmanned plane, it is also desirable to gets N
The initial position of a unmanned plane.
The radius of investigation in selected region to be measured and unmanned plane is proportionally reduced, reduced scale can be according to reality
The demand sets itself on border, it is scaled after region to be measured be the first region to be measured.
According to the quantity N of the unmanned plane, the first region to be measured is split, more sub-regions after being split,
Each sub-regions are the second region to be measured, calculate first center in the second region to be measured and first center of flying to
The First Speed information of position, wherein, first region to be measured and the second region to be measured are not to refer specifically to some region,
It is used only to distinguish and whether is split, second region to be measured is nor it is some region to specify, for segmentation
Subregion afterwards can be indicated with the second region to be measured.
The first center is flown to the First Speed information from initial position when master controller gets unmanned plane
When, then the union in the region covered to the first radius of investigation of N number of unmanned plane judges with the described first region to be measured, if
The union in the region covered of the first radius of investigation covering of N number of unmanned plane is more than the described first region to be measured, then according to institute
The initial position of N number of unmanned plane is stated, by corresponding second center of the N number of unmanned plane and the finger of second speed information
Order is sent to corresponding N number of unmanned plane, wherein, second center is according to institute by first center
State what the first ratio was calculated, the second speed information is according to the first ratio meter according to the First Speed information
Obtain.Wherein, first center and the First Speed information are directed to the first region to be measured after reducing,
The destination locations and flying speed that unmanned plane to be flown to, second center and the second speed information are directed to as not
The region to be measured reduced, the destination locations and flying speed in the actual disaster region to be flown to of unmanned plane.
It is more than the described first area to be measured in the union for meeting region that first radius of investigation of N number of unmanned plane is covered
Under conditions of domain, the first region to be measured after reducing can all be covered by illustrating the quantity of existing unmanned plane, so that, center control
Platform processed will be calculated first center and the second speed information in first ratio, obtain described second
Center and second speed information, and according to the initial position of unmanned plane, second center and the second speed will be carried
The instruction of degree information is sent to corresponding unmanned plane, and corresponding unmanned plane can fly to second center according to second speed information
Position, i.e. actual disaster region need to place the position of unmanned plane.
It should be noted that the quantity of unmanned plane is usually since 1, but can also be set according to actual conditions.
Unmanned plane formation method provided in an embodiment of the present invention based on clustered control, passes through Voronoi partitioning algorithms pair
Disaster region is split, and calculates center and the unmanned plane during flying speed of each segmentation rear region, further realizes
Unmanned plane all covers disaster area.The formation method formation distribution is more effective and rapid, so that so that people in disaster assistance
Can understand actual disaster region actual conditions rapidly, improve the efficiency and accuracy of task deployment in disaster assistance.
Alternatively, the region to be measured of the definite unmanned plane is specially：The area to be measured of unmanned plane is selected on the electronic map
Domain.
On the basis of above-described embodiment, the region to be measured of unmanned plane is determined, can be existed according to actual disaster assistance region
Region to be measured is selected on electronic map.
Unmanned plane formation method provided in an embodiment of the present invention based on clustered control, passes through Voronoi partitioning algorithms pair
Disaster region is split, and calculates center and the unmanned plane during flying speed of each segmentation rear region, further realizes
Unmanned plane all covers disaster area.The formation method formation distribution is more effective and rapid, so that so that people in disaster assistance
Can understand actual disaster region actual conditions rapidly, improve the efficiency and accuracy of task deployment in disaster assistance.
Alternatively, the quantity N according to the unmanned plane splits the described first region to be measured, and calculates each
First center in the second region to be measured after segmentation and the First Speed information for the center of flying to are specially：
First region to be measured is split according to the quantity of Voronoi algorithms and unmanned plane, after being split
Second region to be measured, the center of circle for calculating the circumscribed circle in second region to be measured is first centre bit in the described second region to be measured
Put, and the First Speed information is calculated according to first center.
On the basis of above-described embodiment, central control board is directed to the described first region to be measured after reducing, and in scaling
The heart is the polygon smallest enclosing circle center of circle, using Voronoi partitioning algorithms, the described first region to be measured is split, is obtained
The region to be measured of more sub-regions i.e. second, calculates the minimum ring of encirclement in the region to be measured of each sub-regions i.e. second, calculates minimum
The center of circle of the ring of encirclement, i.e. the first center, calculate the First Speed information, as the following formula according to the first center
It is shown：
Every frame unmanned plane during flying speed is calculated using Voronoi partitioning algorithms：
Wherein,For the speed in X-axis in a certain plane；For the speed in Y-axis in a certain plane；For vertical direction
Speed on Z axis；(CC(Yi1), CC (Yi2), 0) position that is reached for unmanned plane next time, (xi, yi, zi) it is that unmanned plane is actual
Position, i represent the center of circle sequence number；Represent the flying speed of unmanned plane.
Fig. 2 is the schematic diagram of unmanned plane during flying speed nonlinear change provided in an embodiment of the present invention, as shown in Fig. 2, logical
Cross the speed control signal that the unmanned plane during flying speed being calculated tends not to be directly used in unmanned plane.Such as unmanned plane
Speed is very big in firm start, and unmanned plane is difficult to adjust, easily out of control.And the speed meeting when unmanned plane is close to the circumscribed circle center of circle
It is very small so that unmanned plane is difficult to reach the center of circle.Therefore, it is necessary to carry out as shown in Figure 2 non-linear to the speed being calculated
Conversion.By obtained mapping speed, unmanned plane is controlled, so that speed is not in initial flight for unmanned plane
As for excessive, cause unmanned plane unstable.When that will reach target location, speed will not very little.
Unmanned plane formation method provided in an embodiment of the present invention based on clustered control, passes through Voronoi partitioning algorithms pair
Disaster region is split, and calculates center and the unmanned plane during flying speed of each segmentation rear region, further realizes
Unmanned plane all covers disaster area.The formation method formation distribution is more effective and rapid, so that so that people in disaster assistance
Can understand actual disaster region actual conditions rapidly, improve the efficiency and accuracy of task deployment in disaster assistance.
Alternatively, first centre bit for getting unmanned plane and the second area being reached with the First Speed information
The information put is specially：
Send and instruct to the unmanned plane, described instruction includes the first center and First Speed information；
The information that the unmanned plane is returned by way of GPS positioning device or active beacon is received, described information is nothing
The man-machine positional information that the first center is reached with First Speed information.
On the basis of above-described embodiment, central control board will carry the instruction of the first center and First Speed information
Unmanned plane is handed down to, unmanned plane flies to the first center with First Speed information, and GPS positioning dress is provided with unmanned plane
Put, the positional information that unmanned plane is currently located can be returned by GPS positioning device, can also be returned by way of active beacon
Current positional information is returned, central control board can get the current positional information of unmanned plane, when the current position of unmanned plane
When confidence breath is exactly the first center, the judgement of all standing is made whether.
Disaster assistance unmanned plane positions its own using GPS.Using CUAV-UBLOX series GPS to unmanned plane into
Row positions, and built-in electronic compass is gone back to take one's bearings in GPS module.Can also be determined by using the mode of active beacon its with
The relative position in disaster detection region.Base station is placed on disaster edges of regions, forms convex polygon.Base station can read label
ID, the label by reading obtain the specific location of unmanned plane away from the distance between base station by multipoint positioning algorithm.
The GPS module output voltage is 3.3~5.5V, and normal mode output current is 50mA, is exported under battery saving mode
Electric current 30mA, between -40 DEG C of operating temperature~85 DEG C.
Label information of the locating base station transmission per second, radio transmitted power 4.5dBm, transmitting range are not less than
80m, radio band use 2.4GHz global open microwave frequency bands.
Unmanned plane formation method provided in an embodiment of the present invention based on clustered control, passes through Voronoi partitioning algorithms pair
Disaster region is split, and calculates center and the unmanned plane during flying speed of each segmentation rear region, further realizes
Unmanned plane all covers disaster area.The formation method formation distribution is more effective and rapid, so that so that people in disaster assistance
Can understand actual disaster region actual conditions rapidly, improve the efficiency and accuracy of task deployment in disaster assistance.
Alternatively, it is described to get unmanned plane with the first center of the First Speed information arrival second area
After the information of position, further include：
If the union in the region that first radius of investigation of N number of unmanned plane is covered is less than the described first region to be measured,
The quantity N of unmanned plane is then added 1, and segmentation is re-started to the described first region to be measured according to the quantity N+1 of the unmanned plane
With covering.
On the basis of above-described embodiment, when unmanned plane is according to the first centre bit of First Speed information arrival second area
Postpone, central controller judges union and described first area to be measured in the region that the first radius of investigation of N number of unmanned plane is covered
The size in domain, if the union in the region that the first radius of investigation of N number of unmanned plane is covered is less than the described first region to be measured,
It cannot all cover, then need to increase by 1 in the quantity of original unmanned plane, i.e. the quantity of unmanned plane becomes N+1, central controller
According to the quantity N+1 of unmanned plane carries out segmentation again and covering to the first region to be measured, can be covered until the quantity of unmanned plane
The union in region is all untill the first region to be measured of covering.
Unmanned plane formation method provided in an embodiment of the present invention based on clustered control, passes through Voronoi partitioning algorithms pair
Disaster region is split, and calculates center and the unmanned plane during flying speed of each segmentation rear region, further realizes
Unmanned plane all covers disaster area.The formation method formation distribution is more effective and rapid, so that so that people in disaster assistance
Can understand actual disaster region actual conditions rapidly, improve the efficiency and accuracy of task deployment in disaster assistance.
Fig. 3 is the flow diagram for the unmanned plane formation method based on clustered control that yet another embodiment of the invention provides,
As shown in figure 3, in embodiments of the present invention, unmanned plane positions its own using GPS in real time.When system enters Working mould
After formula, it is necessary first to which systematic parameter is initialized.The parameter for needing to initialize includes at least unmanned plane initial position, nothing
Man-machine initial position can be obtained by the GPS positioning device of unmanned plane, also have the initialization in disaster assistance region.
In the embodiment of the present invention, the disaster region of convex polygon is demarcated first.Specifically comprise the following steps：
(1) the unmanned rack number of disaster assistance and position are initialized, determines unmanned plane investigative range；Unmanned plane uses positioning base
Stand or GPS determines its position；
(2) scaled investigative range；
(3) Voronoi segmentations are carried out to the investigative range after diminution, calculates desired speed and the flight of all unmanned planes
Target；
(4) unmanned plane flies to target location；
(5) after all unmanned planes all reach target location, if unmanned rack number is inadequate, unmanned rack number adds 1,
Repeat (3) (4) two step；If frame number is enough, according to acquired results, aircraft is according to the target flight in actual detection region to mesh
Mark region；
(6) when all unmanned planes all fly to target location, method terminates.
In the above-described embodiments, after the initialization of system terminates, in order to accelerate system convergence speed, by former detecting area
Domain carries out scaled down, and by being emulated in the search coverage after diminution and pre cap, quick experiment is carried out to system.
After experiment terminates, unmanned plane is according to system pre cap as a result, carrying out actual covering to search coverage.
Fig. 4 is the flow diagram for the unmanned plane formation method based on clustered control that further embodiment of this invention provides,
As shown in figure 4, reduce search coverage pre cap in, system first according to the position of disaster assistance unmanned plane to diminution after
Search coverage carries out Voronoi segmentations, determines volume polygon smallest enclosing circle radius after original convex polygon vertex matrix, diminution
With unmanned plane radius of investigation, the smallest enclosing circle of original convex polygon is just pressed out, according to specified smallest enclosing circle radius and reality
Smallest enclosing circle radius calculates scaling, using the actual convex polygon smallest enclosing circle center of circle being calculated as scaling center
Actual area is zoomed in and out, calculates the smallest enclosing circle of the convex polygon after scaling, that is, obtains calculating after segmentation figure picture
The minimum ring of encirclement of each sub-regions.At this time unmanned plane by a calculating speed fly to respective region smallest enclosing circle justify
The heart.After all unmanned planes arrive at point, judge whether unmanned plane can be completely covered search coverage at this time, if not
Search coverage can be completely covered, then add a frame unmanned plane.At this time according to the position of disaster assistance unmanned plane to disaster area
Domain carries out Voronoi segmentations, repeats the above steps, until target acquisition region can be completely covered in unmanned plane.When unmanned plane covers
After lid target acquisition region, by actual detection region, unmanned plane actual detection region of flying to is covered.
Fig. 5 is the flow diagram for the unmanned plane formation method based on clustered control that further embodiment of this invention provides,
As shown in figure 5, system carries out pre cap in the search coverage after diminution when, the frame number of disaster assistance unmanned plane is initialized first
With initial position.Then Voronoi segmentations are carried out to the disaster region after diminution, after then unmanned plane reaches target location, led to
The size in more respective region and its own investigative range is crossed, determines whether unmanned plane can be completely covered search coverage.If
Unmanned plane cannot cover all search coverage, and unmanned plane quantity needs to increase, then further according to the physical location pair of unmanned plane
Disaster region re-starts segmentation and covering.
In addition, the embodiment of the present invention additionally provides necessary rescue aid dropping gear, nominal device is placed in nobody
Below motor spindle video capture device.So as to fulfill disaster assistance unmanned plane necessary rescue is provided to disaster region the wounded
Equipment, the aerial delivery system is simple in structure and dispensing is more effective and rapid, and medical aid capacity of equipment is manually carried so as to solve
It is limited, it is difficult to enter disaster repeating transmission area when physical demands is big, disaster occurs, or take the shortcomings that long.
Disaster assistance unmanned plane cannot obtain gps signal in real time in flight in order to prevent, in the embodiment of the present invention nobody
Machine additionally uses active label and carries out auxiliary positioning to unmanned plane, and when unmanned plane cannot obtain gps signal, unmanned plane is by connecing
Receive the radiofrequency signal sent from the base station for being preset at disaster edges of regions to position its own, this causes disaster assistance
The positioning of unmanned plane becomes relatively reliable.
In addition, the embodiment of the present invention additionally provides a kind of unmanned plane, it includes unmanned plane body and formation as described above
System, wherein unmanned plane are furnished with holder to place digital camera.It is fixed to itself to realize that unmanned plane top also placed GPS
Position.Since the unmanned plane has fleet system as described above so that the unmanned plane hardware configuration is relatively simple and can solve
The situation of disaster localized ground traffic paralysis, causes breakdown lorry to reach disaster region in time, and rescue success rate is low, tradition
Helicopter there are mobility is poor, high, the shortcomings such as first aid success rate is low that are difficult to fast reaction, maintenance and use cost.
In conclusion disaster assistance unmanned plane provided in an embodiment of the present invention and the fleet system for unmanned plane, lead to
Cross GPS and realize self poisoning, and disaster region is split by Voronoi partitioning algorithms, so as to fulfill unmanned plane calamity
The covering in evil region.The fleet system hardware configuration is simple and distribution of forming into columns is more effective and rapid, so as to solve artificial disaster
During area monitoring, breakdown lorry in time cannot be monitored disaster region, rescue success rate is low, and there are machine for traditional helicopter
Dynamic property is poor, be difficult to fast reaction, maintenance and use cost height, the shortcomings such as first aid success rate is low.
In addition, the UAV system employs high-precision temperature sensor and digital image acquisition device, with realization pair
Effective detection of disaster regional environment.After unmanned plane gets real time environment parameter, data are sent out by data transmission set
Send to terminal.This solves general disaster assistance system and is unable to reach the drawbacks such as transmitting data in real time, causes in disaster assistance
People can understand actual disaster region actual conditions rapidly, improve the efficiency and accuracy of task deployment in disaster assistance.
The embodiment of the present invention is directed to target area problems of too, it is proposed that the method for carrying out reducing search coverage first.This
Sample aircraft in the search coverage of a diminution can more quickly determine quantity and the position of aircraft, effectively improve
Disaster assistance unmanned plane is formed into columns the timeliness of distribution.
The region that the embodiment of the present invention not only can need to detect using GPS to determine disaster assistance unmanned plane to form into columns,
The relative position of unmanned plane and disaster field can be determined using active beacon.This can not only accelerate people to disaster assistance
In task deployment, and add the flexibility of unmanned machine equipment, have a wide range of application.
Fig. 6 is the structure diagram of the unmanned plane formation device provided in an embodiment of the present invention based on clustered control, described
Device includes：Determining module 10, computing module 20 and judgment module 30, wherein,
Determining module 10 determines the region to be measured of unmanned plane, the radius of investigation of unmanned plane, the quantity N of unmanned plane and N number of nothing
Man-machine initial position；
Computing module 20 splits the described first region to be measured according to the quantity N of the unmanned plane, and calculates each
First center in the second region to be measured after segmentation and the First Speed information for the center of flying to, wherein, it is described
The region after the first scale smaller is pressed in first region to be measured for the region to be measured, and the first radius of investigation is the spy of the unmanned plane
Survey radius and press the radius after first scale smaller；
Judgment module 30 is getting unmanned plane with the first center of the First Speed information arrival second area
After the information of position, if the union in the region that first radius of investigation of N number of unmanned plane is covered is to be measured more than described first
Region, then according to the initial position of N number of unmanned plane, by corresponding second center of the N number of unmanned plane and
The instruction of two velocity informations is sent to corresponding N number of unmanned plane, wherein, second center is by described first
Center is calculated according to first ratio, the second speed information be according to the First Speed information according to
What first ratio was calculated.
On the basis of above-described embodiment, disaster assistance region is detected using unmanned plane, determining module 10 is first right
Unmanned plane carries out initializing set, initially enters wait state, is selected according to actual disaster assistance region on central controller
Corresponding region to be measured is selected, and is set according to the good radius of investigation of unmanned plane factory setting, and sets unmanned plane
Quantity, while the initial position of unmanned plane can be got by alignment system.
Computing module 20 proportionally reduces the radius of investigation in selected region to be measured and unmanned plane, reduced scale
Can according to actual demand sets itself, it is scaled after region to be measured be the first region to be measured.
According to the quantity of unmanned plane, the first region to be measured is split, the subregion after being split i.e. second is to be measured
Region, calculates the First Speed information of first center in the second region to be measured and first center of flying to, wherein,
Whether first region to be measured and the second region to be measured are not to refer specifically to some region, be used only to distinguish and carried out point
Cut, second region to be measured can be treated for the subregion after segmentation with second nor it is some region to specify
Region is surveyed to be indicated.
When central control board, which gets unmanned plane, flies to the first center with the First Speed information, judgment module
The union in the region that first radius of investigation of 30 pairs of N number of unmanned planes is covered judges with the described first region to be measured,
If the union in the region that first radius of investigation of N number of unmanned plane is covered is more than the described first region to be measured, according to institute
The initial position of N number of unmanned plane is stated, by corresponding second center of the N number of unmanned plane and the finger of second speed information
Order is sent to corresponding unmanned plane, wherein, second center is according to the described first ratio by first center
What example was calculated, the second speed information is to be calculated according to the First Speed information according to first ratio
's.
Device provided in an embodiment of the present invention is suitable for methods described above, its function specifically can refer to above method reality
Example is applied, details are not described herein again.
Unmanned plane formation device provided in an embodiment of the present invention based on clustered control, passes through Voronoi partitioning algorithms pair
Disaster region is split, and calculates center and the unmanned plane during flying speed of each segmentation rear region, further realizes
Unmanned plane all covers disaster area.The formation method formation distribution is more effective and rapid, so that so that people in disaster assistance
Can understand actual disaster region actual conditions rapidly, improve the efficiency and accuracy of task deployment in disaster assistance.
Alternatively, the region to be measured of the definite unmanned plane is specially：The area to be measured of unmanned plane is selected on the electronic map
Domain.
On the basis of above-described embodiment, the region to be measured of unmanned plane is determined, can be existed according to actual disaster assistance region
Region to be measured is selected on electronic map.
Unmanned plane formation device provided in an embodiment of the present invention based on clustered control, passes through Voronoi partitioning algorithms pair
Disaster region is split, and calculates center and the unmanned plane during flying speed of each segmentation rear region, further realizes
Unmanned plane all covers disaster area.The formation method formation distribution is more effective and rapid, so that so that people in disaster assistance
Can understand actual disaster region actual conditions rapidly, improve the efficiency and accuracy of task deployment in disaster assistance.
A kind of unmanned plane fleet system based on clustered control, it is characterised in that including：Central control board and an at least nothing
It is man-machine, wherein, the central control board performs any unmanned plane formation method described above.
The structure diagram of Fig. 7 computer equipments provided in an embodiment of the present invention, as shown in fig. 7, the computer equipment bag
Include：Processor (processor) 601, memory (memory) 602 and bus 603；
Wherein, the processor 601 and the memory 602 complete mutual communication by the bus 603；
The processor 601 is used to call the programmed instruction in the memory 602, to perform above-mentioned each method embodiment
The method provided, such as including：
Determine the initial of the region to be measured of unmanned plane, the radius of investigation of unmanned plane, the quantity N of unmanned plane and N number of unmanned plane
Position；
The described first region to be measured is split according to the quantity N of the unmanned plane, and calculates the after each segmentation
First center in two regions to be measured and the First Speed information for the center of flying to, wherein, first area to be measured
The region after the first scale smaller is pressed in domain for the region to be measured, and the first radius of investigation presses institute for the radius of investigation of the unmanned plane
State the radius after the first scale smaller；
Unmanned plane is being got with the information of the first center of the First Speed information arrival second area
Afterwards, if the union in the region that first radius of investigation of N number of unmanned plane is covered is more than the described first region to be measured, basis
The initial position of N number of unmanned plane, by corresponding second center of the N number of unmanned plane and second speed information
Instruction be sent to corresponding N number of unmanned plane, wherein, second center be by first center according to
What first ratio was calculated, the second speed information is according to first ratio according to the First Speed information
It is calculated.
The embodiment of the present invention discloses a kind of computer program product, and the computer program product includes being stored in non-transient
Computer program on computer-readable recording medium, the computer program include programmed instruction, when described program instructs quilt
When computer performs, computer is able to carry out the method that above-mentioned each method embodiment is provided, such as including：
Determine the initial of the region to be measured of unmanned plane, the radius of investigation of unmanned plane, the quantity N of unmanned plane and N number of unmanned plane
Position；
The described first region to be measured is split according to the quantity N of the unmanned plane, and calculates the after each segmentation
First center in two regions to be measured and the First Speed information for the center of flying to, wherein, first area to be measured
The region after the first scale smaller is pressed in domain for the region to be measured, and the first radius of investigation presses institute for the radius of investigation of the unmanned plane
State the radius after the first scale smaller；
Unmanned plane is being got with the information of the first center of the First Speed information arrival second area
Afterwards, if the union in the region that first radius of investigation of N number of unmanned plane is covered is more than the described first region to be measured, basis
The initial position of N number of unmanned plane, by corresponding second center of the N number of unmanned plane and second speed information
Instruction be sent to corresponding N number of unmanned plane, wherein, second center be by first center according to
What first ratio was calculated, the second speed information is according to first ratio according to the First Speed information
It is calculated.
The embodiment of the present invention provides a kind of non-transient computer readable storage medium storing program for executing, the non-transient computer readable storage
Medium storing computer instructs, and the computer instruction makes the computer perform the side that above-mentioned each method embodiment is provided
Method, such as including：
Determine the initial of the region to be measured of unmanned plane, the radius of investigation of unmanned plane, the quantity N of unmanned plane and N number of unmanned plane
Position；
The described first region to be measured is split according to the quantity N of the unmanned plane, and calculates the after each segmentation
First center in two regions to be measured and the First Speed information for the center of flying to, wherein, first area to be measured
The region after the first scale smaller is pressed in domain for the region to be measured, and the first radius of investigation presses institute for the radius of investigation of the unmanned plane
State the radius after the first scale smaller；
Unmanned plane is being got with the information of the first center of the First Speed information arrival second area
Afterwards, if the union in the region that first radius of investigation of N number of unmanned plane is covered is more than the described first region to be measured, basis
The initial position of N number of unmanned plane, by corresponding second center of the N number of unmanned plane and second speed information
Instruction be sent to corresponding N number of unmanned plane, wherein, second center be by first center according to
What first ratio was calculated, the second speed information is according to first ratio according to the First Speed information
It is calculated.
One of ordinary skill in the art will appreciate that：Realizing all or part of step of above method embodiment can pass through
The relevant hardware of programmed instruction is completed, and foregoing program can be stored in a computer read/write memory medium, the program
Upon execution, the step of execution includes above method embodiment；And foregoing storage medium includes：ROM, RAM, magnetic disc or light
Disk etc. is various can be with the medium of store program codes.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on such understanding, on
The part that technical solution substantially in other words contributes to the prior art is stated to embody in the form of software product, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including some fingers
Order is used so that a computer equipment (can be personal computer, server, or network equipment etc.) performs each implementation
Method described in some parts of example or embodiment.
Device and system embodiment described above is only schematical, wherein described be used as separating component explanation
Unit may or may not be physically separate, may or may not be as the component that unit is shown
Physical location, you can with positioned at a place, or can also be distributed in multiple network unit.Can be according to the actual needs
Some or all of module therein is selected to realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying
In the case of performing creative labour, you can to understand and implement.
Claims (10)
- A kind of 1. unmanned plane formation method based on clustered control, it is characterised in that including：Determine the initial position of the region to be measured of unmanned plane, the radius of investigation of unmanned plane, the quantity N of unmanned plane and N number of unmanned plane；The described first region to be measured is split according to the quantity N of the unmanned plane, and second after each segmentation of calculating is treated First center in region and the First Speed information for the center of flying to are surveyed, wherein, first region to be measured is The region after the first scale smaller is pressed in the region to be measured, the first radius of investigation for the unmanned plane radius of investigation by described the Radius after one scale smaller；After unmanned plane is got with the information of the first center of the First Speed information arrival second area, if The union in the region that first radius of investigation of N number of unmanned plane is covered is more than the described first region to be measured, then according to the N The initial position of a unmanned plane, by the instruction of corresponding second center of the N number of unmanned plane and second speed information Corresponding N number of unmanned plane is sent to, wherein, second center is according to described by first center What the first ratio was calculated, the second speed information is to be calculated according to the First Speed information according to first ratio Obtain.
- 2. according to the method described in claim 1, it is characterized in that, the region to be measured of the definite unmanned plane is specially：In electricity The region to be measured of unmanned plane is selected on sub- map.
- 3. according to the method described in claim 1, it is characterized in that, the quantity N according to the unmanned plane is to described first Region to be measured is split, and calculates first center in the second region to be measured after each segmentation and the centre bit that flies to The First Speed information put is specially：According to Voronoi algorithms and the quantity N of unmanned plane, the described first region to be measured is split, after being split Two regions to be measured, the center of circle for calculating the circumscribed circle in second region to be measured is first centre bit in the described second region to be measured Put, and the First Speed information is calculated according to first center.
- 4. according to the method described in claim 1, it is characterized in that, the unmanned plane that gets is arrived with the First Speed information Information up to the first center of the second area is specially：Send and instruct to the unmanned plane, described instruction includes first center and the First Speed information；The information that the unmanned plane is returned by way of GPS positioning device or active beacon is received, described information is unmanned plane The positional information of the first center is reached with First Speed information.
- 5. according to the method described in claim 1, it is characterized in that, described getting unmanned plane with the First Speed information After the information of the first center for reaching the second area, further include：, will if the union in the region that first radius of investigation of N number of unmanned plane is covered is less than the described first region to be measured The quantity N of unmanned plane adds 1, and segmentation is re-started to the described first region to be measured with covering according to the quantity N+1 of the unmanned plane Lid.
- A kind of 6. unmanned plane formation device based on clustered control, it is characterised in that including：Determining module, for determine the region to be measured of unmanned plane, the radius of investigation of unmanned plane, unmanned plane quantity N and it is N number of nobody The initial position of machine；Computing module, splits the described first region to be measured for the quantity N according to the unmanned plane, and calculates each point First center in the second region to be measured after cutting and the First Speed information for the center of flying to, wherein, described The region after the first scale smaller is pressed in one region to be measured for the region to be measured, and the first radius of investigation is the detection of the unmanned plane Radius presses the radius after first scale smaller；Judgment module, for getting unmanned plane with the first centre bit of the First Speed information arrival second area After the information put, if the union in the region that first radius of investigation of N number of unmanned plane is covered is more than the described first area to be measured Domain, then according to the initial position of N number of unmanned plane, by corresponding second center of the N number of unmanned plane and second The instruction of velocity information is sent to corresponding N number of unmanned plane, wherein, second center is by described first Heart position is calculated according to first ratio, and the second speed information is according to institute according to the First Speed information State what the first ratio was calculated.
- 7. device according to claim 6, it is characterised in that the region to be measured of the definite unmanned plane is specially：In electricity The region to be measured of unmanned plane is selected on sub- map.
- A kind of 8. unmanned plane fleet system based on clustered control, it is characterised in that including：Central control board with least one nobody Machine, wherein, the central control board performs such as claim 1-5 any one of them unmanned plane formation methods.
- 9. a kind of computer equipment, it is characterised in that including memory and processor, the processor and the memory pass through Bus completes mutual communication；The memory storage has the programmed instruction that can be performed by the processor, the processor Described program instruction is called to be able to carry out the method as described in claim 1 to 5 is any.
- 10. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the computer program quilt The method as described in claim 1 to 5 is any is realized when processor performs.
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