CN108762294A

CN108762294A - Unmanned plane paths planning method for taking photo by plane and management system

Info

Publication number: CN108762294A
Application number: CN201810407267.0A
Authority: CN
Inventors: 胡华智
Original assignee: Guangzhou Ehang Intelligent Technology Co Ltd
Current assignee: Guangzhou Ehang Intelligent Technology Co Ltd
Priority date: 2018-04-28
Filing date: 2018-04-28
Publication date: 2018-11-06
Anticipated expiration: 2038-04-28
Also published as: CN108762294B; CN117930858A

Abstract

The present invention relates to air vehicle technique field, specifically providing unmanned plane paths planning method and management system, this method for taking photo by plane is：The target point for having subscribed the service of taking photo by plane is grouped first to obtain multiple target collections, then the total distance distance between unmanned plane and each target collection is obtained, the unmanned plane for meeting task condition is chosen again, meet the remaining cruising range that task condition includes unmanned plane be longer than unmanned plane to target collection total distance distance, and unmanned plane fault-free, multiple target collections are finally sent respectively to the corresponding unmanned plane for meeting task condition, so that unmanned plane executes task of taking photo by plane to the target point in target collection.Unmanned plane paths planning method provided by the invention and management system, before distributing unmanned plane execution task, first the target of predetermined service of taking photo by plane is grouped, and meet the unmanned plane of condition according to grouping situation selection, the efficiency that unmanned plane executes task of taking photo by plane is improved, the stand-by period of tourist is shortened.

Description

Unmanned plane paths planning method for taking photo by plane and management system

Technical field

The present invention relates to air vehicle technique fields, more particularly to the unmanned plane paths planning method for being used to take photo by plane and management system System.

Background technology

Unmanned plane has had more answer as high-end technology product emerging in recent years in many different fields With, such as military Drones for surveillance, and the unmanned plane etc. in meteorologic survey as climatic data collecting device.Wherein, Unmanned plane also has more wide application prospect in tour itineraries, for example, tourist can be in interested sight spot or place Predetermined unmanned plane service, unmanned plane can fly to tourist location after the predetermined service of taking photo by plane of tourist according to assignment instructions Point, and the services such as continuous shooting photograph, timing video recording are carried out to tourist according to the scheduled service type of tourist.In general, unmanned plane Execute it is primary take photo by plane task during can take photo by plane to the tourist of multidigit booking service, then make a return voyage.Unmanned plane returns After boat, staff's the data obtained that can will take photo by plane is sent to tourist or photo comes out to tourist.

In the existing scheme taken photo by plane to tourist using unmanned plane, unmanned machine management system is not to predetermined clothes of taking photo by plane The target of business is grouped, but is directly distributed unmanned plane for one or several targets and executed task of taking photo by plane, unmanned plane single The destination number that execution task is taken photo by plane rule of thumb depending on so that unmanned plane execution is taken photo by plane the less efficient of task, is extended The stand-by period of tourist；Distribution simultaneously between unmanned plane and task object is less reasonable, causes unmanned plane to be taken photo by plane in execution and appoints Cruise distance during business is longer, reduces the efficiency that unmanned plane executes task of taking photo by plane.

Invention content

(1) goal of the invention

To overcome above-mentioned at least one defect of the existing technology, the efficiency that unmanned plane executes task of taking photo by plane is improved, contracting The stand-by period of short tourist, the present invention provides the unmanned plane paths planning methods and management system for taking photo by plane.

(2) technical solution

As the first aspect of the present invention, the unmanned plane paths planning method that the present invention provides a kind of for taking photo by plane, packet It includes：

Target point to having subscribed the service of taking photo by plane is grouped, and obtains multiple target collections；

Obtain the total distance distance between each unmanned plane and each target collection；

Choose the unmanned plane for meeting task condition；

The multiple target collection is sent respectively to the corresponding unmanned plane for meeting task condition, so that unmanned plane is to mesh Target point in mark set executes task of taking photo by plane；Wherein,

It is described meet the remaining cruising range that task condition includes unmanned plane be longer than unmanned plane to target collection total distance Distance and unmanned plane fault-free.

As a kind of specific implementation mode in above-mentioned technical proposal, clicked through in the target to having subscribed the service of taking photo by plane Before row grouping obtains multiple target collections, this method further includes：

User terminal obtains the pattern or text information for subscribing service of taking photo by plane；

User terminal scan/key enters the pattern/text information to subscribe the service of taking photo by plane, while uploading self-position conduct The position of target point or user terminal select position of the position as target point from preset plane position.

As a kind of specific implementation mode of above-mentioned technical proposal, carried out in the target point to having subscribed the service of taking photo by plane Before grouping, the target point that the user for subscribing service of taking photo by plane uploads is divided into different batches by the ticket reserving time, and by same batch Interior each target point is as target point to be grouped.

As a kind of specific implementation mode in above-mentioned technical proposal, this method further includes：

The location information, remaining capacity and fault message of all unmanned planes are obtained in real time.

As a kind of specific implementation mode in above-mentioned technical proposal, the target point to having subscribed the service of taking photo by plane carries out Grouping obtains multiple target collections and is specially：

Step 110, the position for obtaining all target points in coverage of taking photo by plane, obtains target point total collection, in institute It states and randomly selects multiple target points in target point total collection as initial point；

Step 120, multiple interim set corresponding with the multiple initial point respectively are established；

Step 130, obtain each non-initial point to each initial point distance, non-initial point to each initial point it is multiple away from From middle selection minimum range, each non-initial point is included into and is faced with the non-initial corresponding initial point of the minimum range of point In Shi Jihe；Wherein, the non-initial point is the target point in addition to multiple initial points in the target point total collection；

Step 140, the spacing of each target point and other target points in same interim set in each interim set is calculated From average value, choose the minimum value in all average values in same interim set, will target corresponding with the minimum value Point centered on point, and then obtain multiple central points；

Step 150, using the central point as new initial point, iterating executes step 120 to step 150, until It is identical as previous obtained central point that this obtains central point, will multiple interim set corresponding with multiple central points as target Set.

As a kind of specific implementation mode in above-mentioned technical proposal, clicked through in the target to having subscribed the service of taking photo by plane Before row grouping, the first iterations are set, the target point for having subscribed the service of taking photo by plane is being grouped and is obtaining multiple targets After set, it is that an object set is combined, and judges to obtain what the object set was combined to record multiple target collections that this is obtained Whether number reaches the first iterations, if not up to the first iterations, in the case where keeping initial point quantity constant Again the target point for having subscribed the service of taking photo by plane is grouped, if reaching the first iterations, middle choosing is combined from each object set One group of target collection is taken to be combined as optimal objective collection.

As a kind of specific implementation mode in above-mentioned technical proposal, secondary iteration is set before setting the first iterations Number is being grouped the target point for having subscribed the service of taking photo by plane and is obtaining after optimal objective collection is combined, recording what this was obtained Optimal objective collection is combined and judges to obtain whether the number that optimal objective collection is combined reaches secondary iteration number, if not up to second Iterations, then change the quantity for choosing initial point and make the initial point quantity currently chosen therewith it is former once choose it is initial Point quantity is all different, and is then grouped again to the target point for having subscribed the service of taking photo by plane, if reaching secondary iteration number, Middle one group of selection is combined from each optimal objective collection to be combined as final goal collection.

As a kind of specific implementation mode in above-mentioned technical proposal, initial point quantity according to target point total quantity and/or Unmanned plane performance parameter is chosen.

As the second aspect of the present invention, the present invention also provides a kind of unmanned machine management systems for taking photo by plane, including Server and Duo Tai unmanned planes；

The server includes：

Targeted packets module obtains multiple target collections for being grouped to the target point for having subscribed the service of taking photo by plane；

Apart from acquisition module, for obtaining the total distance distance between each unmanned plane and each target collection；

Unmanned plane chooses module, for choosing the unmanned plane for meeting task condition；And

First transceiver module, for by include target collection that the targeted packets module obtains mission bit stream point of taking photo by plane It is not sent to the corresponding unmanned plane and chooses the unmanned plane that module is selected, so that unmanned plane holds the target point in target collection Capable task of taking photo by plane；

The unmanned plane includes：

High-definition camera, for carrying out photograph taking and/or image recording to target；And

Second transceiver module, the mission bit stream of taking photo by plane sent for receiving the server, is additionally operable to take the photograph the high definition As the data that head shoots or records are sent to the server；Wherein,

As a kind of specific implementation mode in above-mentioned technical proposal, the server further includes：

Target point acquisition module, position of the self-position as target point for acquiring user terminal uploads, is additionally operable to Acquisition user terminal selects position of the position as target point from preset plane position.

Target point module in batches, for before being grouped to the target point for having subscribed the service of taking photo by plane, reservation to be taken photo by plane The target point that the user of service uploads is divided into different batches by the ticket reserving time, and using each target point in same batch as waiting for point The target point of group.

As a kind of specific implementation mode in above-mentioned technical proposal, the unmanned plane further includes：

Information acquisition module, for acquiring the location information, remaining capacity and fault message of itself；

Second transceiver module is additionally operable to the information that described information acquisition module acquires being sent to the server, institute The first transceiver module is stated to be additionally operable to obtain the location information, remaining capacity and fault message of all unmanned planes in real time.

As a kind of specific implementation mode in above-mentioned technical proposal, the targeted packets module includes：

Initial point selection unit, the position for obtaining the target point all in coverage of taking photo by plane obtain target point Total collection, and multiple target points are randomly selected as initial point, the initial point selection unit in the target point total collection It is additionally operable to receive multiple central points as initial point that central point acquiring unit is sent；

Interim set establishes unit, for establishing multiple interim set corresponding with the multiple initial point respectively；

Minimum range selection unit, multiple initial points for being obtained according to the initial point selection unit further obtain Each non-initial point and chooses minimum range to the distance of each initial point in multiple distances of non-initial point to each initial point； Wherein, the non-initial point is the target point in addition to multiple initial points in the target point total collection；

Target point concludes unit, and the minimum range for being chosen according to the minimum range acquiring unit will be each non-initial Point is included into the interim of corresponding with the non-initial minimum range of point initial point and gathers；

Average calculation unit, for calculating each mesh in each interim set that the target point conclusion unit is concluded The average value of distance between other target points in punctuate and same interim set is chosen all average in same interim set Minimum value in value；

The central point acquiring unit, for will the corresponding target point work of the minimum value that be calculated with the average calculation unit Centered on point, obtain multiple central points, and the multiple central point is sent to the interim collection as new initial point and is built jointly Vertical unit iterates, until to obtain central point identical as previous obtained central point for this；And

Gather acquiring unit, multiple central points for obtaining according to the central point acquiring unit further obtain and more The corresponding multiple interim set of a central point, and the multiple interim set is set as target collection.

As a kind of specific implementation mode in above-mentioned technical proposal, the targeted packets module further includes first circulation list Member, the first recording unit, the first judging unit and the first grouped element；

First circulation unit be used for it is described the target point for having subscribed the service of taking photo by plane is grouped before setting first change Generation number is additionally operable to judge to obtain the number that the object set is combined in first judging unit to be not up to the first iterations When make the targeted packets module in the case where keeping initial point quantity constant again to having subscribed the target point of the service of taking photo by plane It is grouped；

First recording unit is for being grouped the target point for having subscribed the service of taking photo by plane and obtaining multiple target collections It is that an object set is combined to record multiple target collections that this is obtained afterwards；

First judging unit is for judging to obtain whether the number that the object set is combined reaches the first iterations；

First grouped element, which is used to judge to obtain the number that the object set is combined in first judging unit, reaches the When one iterations, one group of target collection of middle selection is combined as optimal mesh from each object set of first recording unit records Mark collection is combined.

As a kind of specific implementation mode in above-mentioned technical proposal, the targeted packets module further includes second circulation list Member, the second recording unit, second judgment unit and second packet unit；

Second circulation unit is used to set secondary iteration number before the first circulation unit sets the first iterations, It is additionally operable to, when the second judgment unit judges to obtain the number that optimal objective collection is combined and is not up to secondary iteration number, change It chooses the quantity of initial point and the initial point quantity currently the chosen initial point quantity that predecessor once chooses therewith is made to be all different, Then the targeted packets module is made to be grouped again to the target point for having subscribed the service of taking photo by plane；

Second recording unit is for being grouped the target point for having subscribed the service of taking photo by plane and obtaining optimal objective set The optimal objective collection that this is obtained is recorded after group to be combined；

Second judgment unit is for judging to obtain whether the number that optimal objective collection is combined reaches secondary iteration number；

Second packet unit, which is used to judge to obtain the number that optimal objective collection is combined in the second judgment unit, reaches the When two iterations, it is combined middle one group of selection from each optimal objective collection and is combined as final goal collection.

(3) advantageous effect

Provided by the present invention for the unmanned plane paths planning method and management system taken photo by plane, have the advantages that：

1, before distributing unmanned plane execution task, first the target of predetermined service of taking photo by plane is grouped, and according to grouping Situation selects the unmanned plane for meeting condition, improves the efficiency that unmanned plane executes task of taking photo by plane, shortens the stand-by period of tourist.

2, by the target collection being grouped to target point and iteration obtains, each target point can be returned according to position Closely located target point is included into identity set by class, it is possible to reduce the distance that unmanned plane cruises between each target point carries High unmanned plane single Mission Capability makes unmanned plane that can take photo by plane to the execution of more target points during single sails and appoints Business improves task of taking photo by plane and completes speed, additionally it is possible to save resource；

3, by iteration increase initial point quantity it is identical when simulation be grouped number, so as to get target collection more join The property examined and reasonability increase the considerations of carrying out simulation grouping to target point range and increase the diversity of result, make more The combination of type participates in selecting and eliminating so that finally obtained target collection is more reasonable, and optimization becomes apparent；

4, by the way that total distance distance is subdivided into roundtrip distance and path distance of taking photo by plane, and the two is use up respectively The accurate simulation of amount calculates so that accurate task consumption can be foreseen before distributing unmanned plane, and can be accordingly To select more particularly suitable unmanned plane to execute task of taking photo by plane.

Description of the drawings

It is exemplary below with reference to the embodiment of attached drawing description, it is intended to for the explanation and illustration present invention, and cannot manage Solution is the limitation to protection scope of the present invention.

Fig. 1 is the flow diagram of the one of which embodiment of unmanned plane paths planning method provided by the invention；

Fig. 2 is the flow diagram of another embodiment of unmanned plane paths planning method provided by the invention；

Fig. 3 is the flow diagram of another embodiment of unmanned plane paths planning method provided by the invention；

Fig. 4 is the structure diagram of the one of which embodiment of unmanned machine management system provided by the invention；

Fig. 5 is the structure diagram of another embodiment of unmanned machine management system provided by the invention；

Fig. 6 is the structure diagram of another embodiment of unmanned machine management system provided by the invention.

Specific implementation mode

To keep the purpose, technical scheme and advantage that the present invention is implemented clearer, below in conjunction in the embodiment of the present invention Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.

It should be noted that：In the accompanying drawings, from beginning to end same or similar label indicate same or similar element or Element with the same or similar functions.Described embodiments are some of the embodiments of the present invention, rather than whole implementation Example, in the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.Based in the present invention Embodiment, the every other embodiment that those of ordinary skill in the art are obtained without creative efforts, It shall fall within the protection scope of the present invention.

Herein, " first ", " second " etc. are only used for mutual differentiation, rather than indicate their significance level and sequence Deng.

It is provided by the present invention for the one of which embodiment for the unmanned plane paths planning method taken photo by plane below, is first Embodiment.The unmanned plane paths planning method is used for after multiple tourists subscribe unmanned plane service, to the boat of each unmanned plane It claps path to be made rational planning for and distributed, so that unmanned plane in the shortest time navigates to all tourists for subscribing service of taking photo by plane It claps.Fig. 1 is the flow chart of the present embodiment, as shown in Figure 1, the unmanned plane paths planning method includes the following steps：

Step 100, the target point for having subscribed the service of taking photo by plane is grouped to obtain multiple target collections.

When a tourist subscribed at certain place in scenic spot unmanned plane photograph photography service or a tourist at scenic spot In photograph photography service of the ticket reserving time at reservation place, unmanned plane can fly to the place pair interior unmanned plane of subscribing immediately Tourist carries out the photograph of multi-angle continuous shooting or carries out the image recording of setting duration, but working as has several tourists to have subscribed to respectively differently Point place taking photo by plane service when, it is necessary to more unmanned planes execute task of taking photo by plane, need at this time to every in more unmanned planes nobody The specific task of taking photo by plane of machine is divided, and each place position for subscribing service of taking photo by plane may be scattered, be distributed as without bright The discrete distribution of aobvious rule, it is therefore desirable to will have the place for the service of taking photo by plane to be set as target point in advance, and each target point is divided Group contains one or more target points to obtain multiple target collections in each target collection.The purpose of grouping is to nobody The route of taking photo by plane of machine is made rational planning for so that more unmanned planes completed within the shortest time it is all subscribed take photo by plane appoint Business.

Before the target point for having subscribed the service of taking photo by plane is grouped, user will first subscribe the service of taking photo by plane, and the service of informing Square plane position, therefore as a specific implementation mode in above-mentioned technical proposal, in the target to having subscribed the service of taking photo by plane Further include following steps before point is grouped to obtain multiple target collections：

Step 010, user terminal obtains the pattern or text information for subscribing service of taking photo by plane.

Step 020, user terminal scan/key enters pattern/text information to subscribe the service of taking photo by plane, while uploading self-position Position of the position as target point is selected from preset plane position as the position of target point or user terminal It sets.

The take photo by plane pattern of service of above-mentioned reservation can be the patterns such as Quick Response Code, and user passes through the user terminals such as mobile phone scanning two Code is tieed up into wechat small routine or special handset application program come the service that makes a reservation for take photo by plane, the word of service is taken photo by plane in above-mentioned reservation can be with It is character string, user enters wechat small routine or special handset application program come pre- by the user terminals typing character string such as mobile phone Surely it takes photo by plane service.It also needs to upload aiming spot while service is taken photo by plane in reservation, target point can be that user is currently located Position can also be that user selects from pre-set recommendation plane position or popular plane position as aiming spot One position is as aiming spot.

When multiple users submit the request of predetermined service of taking photo by plane in different time to the management system of control unmanned plane, pipe If reason system thinks that unmanned plane will be made to complete to take photo by plane to multiple target points during task is taken photo by plane in single execution, it is necessary to will The service request of taking photo by plane received is periodically handled, rather than receives the use asked with regard to distributing unmanned plane at once to request Family executes task of taking photo by plane, therefore as a kind of specific implementation mode of above-mentioned technical proposal, in the mesh to having subscribed the service of taking photo by plane Before punctuate is grouped, the target point that the user for subscribing service of taking photo by plane uploads is divided into different batches by the ticket reserving time, and will The target point that each user uploads in same batch is as target point to be grouped.

Specifically, a task scan period can be set, the use for service of taking photo by plane will be subscribed as unit of the scan period The target point that family uploads is divided into different batches by the ticket reserving time, and such as T1 batches, T2 batches etc., interior each batch includes 1 or more The target point that a user uploads, then using each target point in same batch as target point to be grouped.For example, task scan In 1 minute period, after 1 minute, the target point that service of taking photo by plane is subscribed in this 1 minute is when time needs execute task of taking photo by plane Target point.It will distribute primary execute it is also understood that unmanned plane often spends a task scan period and take photo by plane task.

Step 200, the total distance distance between each unmanned plane and each target collection is obtained.

Unmanned plane can wait for next assignment instructions after completion task, while decide whether to fill according to oneself state Accessory is replaced in electricity, maintenance.After obtaining multiple target collections, need to obtain total road between unmanned plane and each target collection Journey distance, for later when choosing unmanned plane as with reference to foundation.The number of the total distance distance of acquisition is for nobody The product of machine quantity and the number of target collection.

Step 300, the unmanned plane for meeting task condition is chosen.

After the object set after being grouped merges and obtains corresponding total distance distance, selection is needed to meet task condition Unmanned plane executes the task of taking photo by plane, wherein meets the remaining cruising range that task condition includes unmanned plane and is longer than unmanned plane to mesh The total distance distance for marking set, further includes unmanned plane fault-free information.Only it is longer than nothing in the remaining cruising range of unmanned plane A1 The total distance of man-machine A1 and target collection g1 apart from when, unmanned plane A1 can complete the task and suitable of taking photo by plane to target collection g1 Profit is maked a return voyage, and otherwise can lose energy supply on the way in execution task.And if unmanned plane is somebody's turn to do there are failure or when needing replacing component Unmanned plane must cannot execute task, and safety accident otherwise can occur.The remaining cruising range of unmanned plane can pass through unmanned plane Remaining capacity conversion obtains, it is to be understood that the remaining cruising range obtained that converts is theoretical value, therefore is appointed choosing to meet When the unmanned plane of business condition, the remaining cruising range of unmanned plane will not only be longer than the total distance distance of target collection, but also usually Some can be reserved apart from allowance, i.e. electricity allowance, if for example, at least above-mentioned target collection of the remaining cruising range of unmanned plane A1 1.1 times or more of the total distance distance of g1 just will be considered that unmanned plane A1 meets the condition that task of taking photo by plane is executed to target collection g1.

As a kind of specific implementation mode in above-mentioned technical proposal, the nothing for meeting task condition is being chosen in step 300 When man-machine, when all unmanned planes cannot be satisfied the task condition of wherein one or more target collections, namely there are one Or multiple target collections, the total distance distance between the one or more target collection and each unmanned plane are longer than each unmanned plane When remaining cruising range, following two strategies can be taken：

The first is：The waiting unmanned plane supplement energy meets task condition until it, chooses the unmanned plane to not being satisfied The target collection of task condition executes task of taking photo by plane.Specifically, for example there is two target collections, all unmanned planes can not expire The task condition of taking photo by plane of foot two target collections, i.e., the remaining cruising ranges of all unmanned planes be shorter than each unmanned plane with this two Total distance distance in a target collection between either objective set, can wait for the unmanned plane to charge fully charged at this time or Electricity is supplemented to the task condition for meeting target collection, after the unmanned plane for the task condition for occurring meeting target collection, is selected The unmanned plane is as the unmanned plane for meeting task condition.It is understood that such situation has a timing to executing the task of taking photo by plane Between delay, but the unmanned plane quantity distributed will not increase.

It is for second：The target collection that above-mentioned all unmanned planes cannot be satisfied task condition is separately disassembled into multiple mesh Subset is marked, obtains the total distance distance between unmanned plane and each destination subset, then choose nobody for meeting task condition again Machine.Specifically, since there are current any unmanned planes, and the target collection for the task of taking photo by plane can not all be individually performed, if then thinking as early as possible Execution task must just decompose task, such as will include that the target collections of 20 target points is divided into 4 subsets, often A subset includes 5 target points, or is divided into the subset of other quantity, the target point that each subset includes according to the position of target point Quantity can not also be identical.Then it is treated obtained destination subset is decomposed as a target collection, obtains target Total distance distance between subset and each unmanned plane chooses the unmanned plane for meeting task condition according to total distance distance.Due to mesh The target point quantity marked in subset is fewer than the target point quantity of target collection before decomposition, therefore executes the total road for required by task of taking photo by plane Journey distance is reduced, and the standard reduced to unmanned plane remaining capacity is equivalent to, so as to disclosure satisfy that the unmanned plane of task condition goes out It is existing, and cost is 1 when needing to distribute more unmanned planes rather than undecomposed task.It is understood that such situation can Task of taking photo by plane is executed as early as possible, but needs to increase the quantity for distributing unmanned plane.It can be according to present case advantageously, doing so It is different and select different countermeasures, increase scheme flexibility.

In step 200 obtain total distance apart from when, the location information for first obtaining unmanned plane is needed, further according to target point Positional information calculation goes out above-mentioned total distance distance, needs the remaining capacity by unmanned plane in step 300 to converse nobody The remaining cruising range of machine, in step 300 when judging whether unmanned plane meets task condition, it is also desirable to obtain unmanned plane Fault message.Therefore as a specific implementation mode in above-mentioned technical proposal, unmanned plane path planning provided by the invention Method further includes obtaining the location information, remaining capacity and fault message of all unmanned planes in real time.By obtaining unmanned plane in real time Various aspects status information in order to paths planning method progress.It is understood that task condition can also include for nobody The other conditions such as the Maximum Endurance distance of machine.For example, unmanned plane has different model, the Maximum Endurance distance of a part of unmanned plane Length, charging time are short, for the execution for task of closely taking photo by plane, the Maximum Endurance distance of some unmanned plane, charging Time is long, for remote and short distance task execution, if the path distance of unmanned plane to target collection is patrolled more than maximum Boat distance, then the target collection, which can only be chosen, can carry out the unmanned plane of remote task execution to execute.

As a kind of specific implementation mode of above-mentioned technical proposal, the place that service of taking photo by plane is subscribed to cope with tourist is answered Polygamy and diversity, while in order to meet take photo by plane demand and the saving energy of tourist as early as possible, scenic spot management side can travel Scenic spot is provided with multiple unmanned plane landings region.When the unmanned plane for meeting task condition selected in step 300 is from multiple Different landing regions, and the unmanned plane quantity for meeting task condition selected be more than target collection quantity when, according to each Meet the unmanned plane quantity of task condition in landing region and respectively meets between the unmanned plane of task condition and each target collection Total distance distance the unmanned plane for meeting task condition further screened and screened after meet task condition Unmanned plane, screening scheme are：Respectively meet task condition unmanned plane execute take photo by plane task the total distance sum of the distance overall situation it is most short.

Specifically, such as altogether 10 unmanned planes for meeting task condition are selected, wherein unmanned plane A1 to A5 is located at landing Region D1, unmanned plane A21 to A25 are located at landing region D2, and target collection quantity is 5, it is assumed that 10 unmanned planes can expire The task condition of any of 5 target collections of foot needs further to filter out 5 unmanned planes point from 10 unmanned planes at this time It is other to take photo by plane task to the execution of 5 target collections, share 252 kinds of schemes, and the execution of this 5 unmanned planes is taken photo by plane total road of task Journey sum of the distance is minimum in all schemes, it is assumed that is obviously risen than distance apart from landing region D1 in 5 target collection locations Drop region D2 closer to, then select 5 unmanned plane A1 to A5 of landing region D1 that the total distance sum of the distance overall situation can be made most short, this Sample not only can complete task of taking photo by plane with most fast speed, but also can save the unmanned plane energy.If the quantity of target collection is 8, Can 4 unmanned planes respectively according to circumstances be sent from two landing regions, can also send 3 from one of landing region, it is another Send all 5 in a landing region.Therefore, the selection result is both according to the unmanned plane quantity for meeting task condition in each landing region It determines, is also influenced by the total distance distance between each unmanned plane for meeting task condition and each target collection.

Advantageously, doing so the stationary point that can disperse unmanned plane, can also be adjusted according to the pouplarity of target point The position in landing region improves nothing so that unmanned plane can be closer from the target point for often being subscribed service of taking photo by plane by tourist Man-machine execution is taken photo by plane the efficiency of task, and the energy has been saved.

Step 400, multiple target collections are sent respectively to meet the unmanned plane of task condition, so that unmanned plane is to target Target point in set executes task of taking photo by plane.

After obtaining object set merging and selecting and meet the unmanned plane of task condition, multiple target collections are sent respectively to select The unmanned plane gone out, unmanned plane can execute task of taking photo by plane according to the target collection received to the target point inside the target collection. It should be noted that the unmanned plane quantity for meeting task condition is likely to the quantity more than target collection, it at this time can be according to feelings Condition distributes task of taking photo by plane.For example, the target collection that grouping obtains has 5, each target collection includes 3 target points, and 10 unmanned planes for meeting task condition are selected in step 310, it at this time can be according to states such as the remaining capacities of 10 unmanned planes The performance parameters such as information and unmanned plane model are determined 5 target collections specifically distributing to wherein which 5 unmanned plane, be determined After 5 unmanned planes for executing task of taking photo by plane, 5 target collections are sent respectively to corresponding 5 unmanned planes, unmanned plane is according to certainly The target collection having received is flown at 3 target points in set, is executed task of taking photo by plane to target point successively, is then maked a return voyage simultaneously The data that will take photo by plane are taken back, and are come out to trip to tourist, or by the photo in data of taking photo by plane by operating personnel's data copy that will take photo by plane Visitor, or carry out wired/unlimited connection with unmanned plane in appointed place by tourist and receive the number of taking photo by plane that unmanned plane is sent automatically According to.So far, unmanned plane completes primary task of completely taking photo by plane.

The unmanned plane paths planning method, before distributing unmanned plane execution task, first to the target of predetermined service of taking photo by plane It is grouped, and meets the unmanned plane of condition according to grouping situation selection, improve the efficiency that unmanned plane executes task of taking photo by plane, contracting The short stand-by period of tourist.

It is provided by the present invention for another embodiment for the unmanned plane paths planning method taken photo by plane below, is second real Apply example.The present embodiment is emphatically to being grouped the target point for having subscribed the service of taking photo by plane in step 100 to obtain multiple object sets Conjunction is further described.

Fig. 2 is the flow chart of step 100 in the present embodiment.As shown in Fig. 2, navigating when there is several tourists to be subscribed in different location After clapping service, the place where subscribing the service of taking photo by plane is set as target point, then needs to click through the target for having subscribed the service of taking photo by plane Row grouping, can obtain multiple target collections, so that unmanned plane can distribute unmanned plane with most reasonable manner executes boat after grouping Bat task so that task execution time is most short and consumption resource is minimum.It should be noted that when target point total quantity is less and divides When cloth is more concentrated, it can judge that can current all target points become an object set and merge only with 1 by other means in advance The task of taking photo by plane can be completed in platform unmanned plane, if being then not necessarily to carry out step 100, but directly chooses the unmanned plane for the condition that meets simultaneously Execution is distributed to take photo by plane task.Because when 1 unmanned plane can single complete to current all target points take photo by plane task when, then this When obtained optimal case, no longer need to by grouping advanced optimized to distributing mode.It is taken photo by plane in step 100 to having subscribed The target point of service, which is grouped to obtain multiple target collections, to be specifically comprised the following steps：

Step 110, the position for obtaining all target points in coverage of taking photo by plane obtains target point total collection, total in target point Multiple target points are randomly selected in set as initial point.

After obtaining tourist and subscribing the information for service of taking photo by plane, task scan period, each task scan period can be set The preplanned mission of taking photo by plane of interior acquisition is divided into same batch task, is then sent to unmanned plane according to each batch task Hair.And can include multiple target points in a collection of subtask, it to distribute unmanned plane and execute task of taking photo by plane, first have to obtain a batch The position of all target points in task obtains the target point total collection of the batch task, this batch is contained in target point total collection All target points in subtask.Multiple target points are randomly selected in target point total collection as initial point, choose initial point Purpose be for the grouping after executing.It is understood that initial point quantity is according to target point total quantity and/or unmanned plane The selections such as performance parameter.Performance parameter may include maximum cruise and Maximum Endurance time of unmanned plane etc..

Step 120, multiple interim set corresponding with multiple initial points respectively are established.

Due to needing to be grouped to target point, it is therefore desirable to first create different groups, be built on the basis of N number of initial point N number of interim set is found, includes 1 initial point in each interim set.

Step 130, obtain each non-initial point to each initial point distance, non-initial point to each initial point it is multiple away from From middle selection minimum range, each non-initial point is included into and is faced with the non-initial corresponding initial point of the minimum range of point In Shi Jihe.Wherein, non-initial point is the target point in addition to multiple initial points in target point total collection.

The target point being selected in target collection is initial point, and unselected point is non-initial point in identity set. It should be noted that initial point can change, therefore the identity of target point can change, and target point currently selected may take For initial point, but follow-up it may become non-initial point again.After the identity of all target points is decided, i.e., target point is initial After the identity of point or non-initial point determines, each non-initial point is obtained to the distance of each initial point, the number of the distance got For the product of the number of the number and initial point of non-initial point.After getting all distances, for each non-initial point, choose Non-initial point is to the minimum range in multiple distances of each initial point, such as currently has 3 initial point F1 to F3, and 12 non-initial Point C1 to C12, then for C1, C1 points just have 3 distances to 3 initial point F1 to F3, and most narrow spacing is selected from this 3 distances From, it is assumed that initial point corresponding with the minimum range is F2, then non-initial point C1 is included into the corresponding interim collection of initial point F2 It closes in T2.Remaining 11 non-initial points and so on, it is included into respectively in the corresponding interim set of initial point, thus obtains 3 A interim set with member.

Step 140, the spacing of each target point and other target points in same interim set in each interim set is calculated From average value, choose the minimum value in all average values in same interim set, target point corresponding with minimum value made Centered on point, and then obtain multiple central points.

After each non-initial point is included into each interim set, need to obtain each central point gathered temporarily, central point is New initial point.Assuming that including 5 non-initial points in the corresponding interim set T1 of initial point F1, initial point F2 is corresponding interim Set T2 includes 3 non-initial points, and the corresponding interim set T3 of initial point F3 include 4 non-initial points.For collecting temporarily T1 is closed, it includes having 5 non-initial points and 1 initial point totally 6 points, calculates in this 6 points and each puts between other 5 points Distance average value, 6 average values can be obtained, select minimum value from this 6 average values, point corresponding with the minimum value can Can be initial point, it is also possible to be non-initial point, which is exactly central point, that is, new initial point.The center of remaining 2 set Point and so on.

Step 150, it using central point as new initial point, iterates and executes step 120 to step 150, until this It is identical as previous obtained central point to obtain central point, will multiple interim set corresponding with multiple central points as object set It closes.

It is substituted into central point as new initial point in step 120 again, and executes step 120 again to step 150, in fact Existing iteration grouping can all obtain N number of initial point after each iteration grouping, all can be to this when obtaining N number of new initial point every time The initial point that obtained new initial point and last iteration is grouped is compared, that is, obtained after being grouped to current iteration The initial point substituted into before new initial point and current iteration grouping is compared, if the new initial point that is obtained after last iteration grouping and The new initial point all same obtained after current iteration grouping, illustrates that currently available new initial point has been optimal.If incite somebody to action this again Secondary obtained new initial point substitutes into step 120, the new initial point phase that the new initial point that next time obtains can also be obtained with this again Together, i.e., after this no matter iteration how many times, as a result will not change again.

After obtaining central point, due to each central point as when belong to some it is interim gather, then in certain is obtained Heart point and stop iteration grouping when, each interim collection corresponding with central point at this time is combined into optimal set, that is, obtained mesh Mark set.The target collection that grouping and iteration through the above steps obtains can sort out each target point according to position, will Closely located target point is included into identity set, it is possible to reduce the distance that unmanned plane cruises between each target point improves nothing Man-machine single Mission Capability makes unmanned plane that can execute task of taking photo by plane to more target points during single sails, It improves task of taking photo by plane and completes speed, additionally it is possible to save resource.

It should be noted that each non-initial point to be included into the minimum range pair with the non-initial point in step 130 After in the interim set for the initial point answered, there may be the interim set that no any non-initial point is included under it, That is during concluding non-initial point to interim set, there are such a initial points so that all non-initial points The distance between the initial point is not minimum range, so all non-initial points have all been included into other interim set In, it is included into the corresponding interim set of the initial point without non-initial point, there was only initial point in the interim set, this is a Target point.In such cases, which just only has this target point of initial point, and unmanned plane is held in the follow-up process Row take photo by plane task when, to the target collection execute take photo by plane task unmanned plane only take photo by plane to a target point, be later It can make a return voyage.

If being only once grouped to target point, obtained target collection may also not be global optimum's set but part Optimal set, therefore in order to make target point be grouped more reasonable, as a kind of specific implementation mode in above-mentioned technical proposal, Before being grouped to the target point for having subscribed the service of taking photo by plane, the first iterations x1 is set first, is taken photo by plane to having subscribed After the target point of service is grouped and obtains n target collection { g1, g2 ..., gn }, this n obtained object set is recorded It is combined into an object set and is combined G1={ g11, g12 ..., g1n }, and judge to obtain object set and be combined the number of G1 whether reach the One iterations x1, if not up to the first iterations x1, is again grouped the target point for having subscribed the service of taking photo by plane, together When keep initial point quantity it is constant, if reaching the first iterations x1, one group of target collection of middle selection is combined from each object set It is combined as optimal objective collection.It is understood that initial point quantity is according to target point total quantity and/or unmanned plane performance parameter Deng selection.Performance parameter may include maximum cruise and Maximum Endurance time of unmanned plane etc..

Specifically, such as the first iterations x1 is 5, then need to carry out 5 times points to the target point for having subscribed the service of taking photo by plane Group, the initial point quantity chosen is consistent when this 5 times groupings, is respectively obtained 5 object sets later and is combined G1 to G5, then from This 5 object sets, which are combined, middle selects one to be combined as optimal objective collection.It should be noted that 5 mesh obtained after iteration 5 times Mark collection is combined respectively contained target collection may be all identical, is equivalent to 5 identical object sets and is combined, if obtained mesh Mark collection is combined not fully identical, then the reasonability that can be combined according to each object set is chosen an optimal objective collection and is combined.? After being combined to optimal objective collection, the total distance distance between unmanned plane and each target collection is obtained, and choose and meet taskbar The unmanned plane of part, the target collection in being finally combined optimal objective collection be sent respectively to it is corresponding meet task condition nobody Machine, so that unmanned plane executes task of taking photo by plane to the target point in target collection.

Since the object set obtained according to above-mentioned technical proposal is combined, the initial point quantity initially chosen is constant, one The diversity for determining to limit grouping in degree, in a disguised form eliminate it is some other may more preferably object set be combined, therefore as upper A kind of specific implementation mode for stating technical solution presets secondary iteration number x2 before setting the first iterations x1, Target point to having subscribed the service of taking photo by plane carries out x1 grouping and obtains after optimal objective collection is combined, record this obtain it is optimal Object set is combined and judges to obtain whether the number that optimal objective collection is combined reaches secondary iteration number x2, if not up to second changing Generation number then changes the quantity for choosing initial point and makes the initial point quantity currently the chosen former initial point once chosen therewith Quantity is all different, and is then grouped again to the target point for having subscribed the service of taking photo by plane, if reaching secondary iteration number x2, Middle one group of selection is combined from each optimal objective collection to be combined as final goal collection.

Specifically, such as secondary iteration number x2 is 3, the first iterations x1 is 5, then first to having subscribed the service of taking photo by plane Target point carry out 5 groupings, the initial point quantity chosen is consistent when this 5 times groupings, it is assumed that initial point quantity is 2, Respectively obtain 5 object sets later and be combined G11 to G15, it includes 2 target collections that each object set, which is combined, then from this 5 A object set be combined it is middle select one to be combined as optimal objective collection, complete 5 the first iteration at this time, but only completed 1 time Secondary iteration.It is the 2nd secondary iteration later, i.e., the target point for having subscribed the service of taking photo by plane is grouped again and is changed just Initial point quantity, it is assumed that initial point quantity is 3, to be different from the 1st 2 initial points, then repeats the mistake of above-mentioned first iteration Journey obtains 5 object sets and is combined G21 to G25 again, and it includes 3 target collections that each object set, which is combined, at this time, completes this It is 1 time also surplus since secondary iteration number is 3 times after secondary iteration, so again again to having subscribed the mesh of the service of taking photo by plane Punctuate is grouped and changes initial point quantity, it is assumed that initial point quantity is 4, to be selected in 2 secondary iterations before being different from Then the initial point quantity taken repeats the process of above-mentioned first iteration, obtain 5 object sets again and be combined G31 to G35, at this time It includes 4 target collections that each object set, which is combined,.The 15 optimal objective collection obtained from this 3 secondary iterations are combined middle selection One is combined as final goal collection, and it may include 2 target collections which, which is combined, it is also possible to include 3 or 4 Target collection.Then the total distance distance between unmanned plane and each target collection is obtained, and chooses the nothing for meeting task condition Man-machine, the target collection in being finally combined final goal collection is sent respectively to the corresponding unmanned plane for meeting task condition, with Unmanned plane is set to execute task of taking photo by plane to the target point in target collection.

As a kind of specific implementation mode of above-mentioned technical proposal, initial point quantity is according to target point total quantity and/or nothing The selections such as man-machine performance parameter.Performance parameter may include maximum cruise and Maximum Endurance time of unmanned plane etc..This reality Other steps and embodiment for applying example are identical with the first embodiment, and this will not be repeated here.

By the first iteration increase initial point quantity it is identical when simulation be grouped number, so as to get target collection have more Referential and reasonability, and the variation of initial point quantity is increased by secondary iteration, it increases and simulation point is carried out to target point The considerations of organizing range and the diversity for increasing result make a greater variety of combinations participate in selecting and eliminating so as to finally obtain Object set be combined more rationally, optimization becomes apparent.

It is provided by the present invention for another embodiment for the unmanned plane paths planning method taken photo by plane below, is that third is real Apply example.The total distance distance that the present embodiment is focused between acquisition unmanned plane and the target collection in step 200 has been carried out into one Step description.After being grouped to obtain multiple target collections to the target point for having subscribed the service of taking photo by plane, need to obtain positioned at landing The total distance distance between unmanned plane and each target collection in region, wherein total road between unmanned plane and target collection Journey distance includes two parts, and a part is unmanned plane to the roundtrip distance of target collection center, i.e., roundtrip away from From twice of the path distance for unmanned plane to target collection region center, another part is path distance of taking photo by plane, Path distance of taking photo by plane is the size and shape according to the target point quantity of target collection and the target area comprising all target points What shape calculated.It should be noted that above-mentioned all path distances are calculated theoretical value.

Specifically, such as currently it includes 5 target points P1, P2, P3, P4 to have 3 target collections, wherein target collection g1 And P5,10 unmanned planes are parked in landing region, wherein obtaining First unmanned plane A1 to the total of first aim set g1 When path distance, needs to obtain unmanned plane A1 to the path distance of the central point of target collection g1, which is multiplied by 2 and is obtained To the roundtrip distance between unmanned plane A1 and target collection g1.It also needs to obtain boats of the unmanned plane A1 in target collection g1 Path distance is clapped, contains 5 target points in target collection g1, it is different according to the service item for calculating and subscribing, by 5 mesh Punctuate assigns weight respectively, it is assumed that the weight taken pictures is 2 minutes, and the weight of camera shooting is 5 minutes, 2 mesh in 5 target points Punctuate subscribes the service of taking pictures, and 2 target points subscribe camera services, and remaining 1 reservation is taken pictures plus camera services, has 21 points at this time This is converted into path distance in 21 minutes by clock.

Assuming that target area is a diameter of 200 meters of circles, due to needing to pass through successively when unmanned plane, which executes, takes photo by plane task Each target point is crossed, therefore also to be calculated by way of distance in target collection is taken photo by plane in path distance, and is root by way of distance It is calculated according to the radius of target area.By it is above-mentioned actually carry out taking photo by plane service when the obtained path distance of the time conversion that needs with Unmanned plane in target area by way of distance by algorithm carry out operation obtain path distance of taking photo by plane, the path distance that will take photo by plane with Above-mentioned roundtrip distance carries out operation by algorithm and obtains the total distance distance between unmanned plane A1 and target collection g1.Nobody Total distance distance, remaining 9 unmanned plane in landing region and 3 target collections between machine A1 and remaining 2 target collection Between total distance distance and so on.

Fig. 3 is a kind of specific implementation that the total distance distance between unmanned plane and target collection is obtained in above-mentioned technical proposal Mode.As shown in figure 3, obtaining the total distance distance between the unmanned plane and target collection being located in landing region in step 200 Specifically comprise the following steps：

Step 210, a target area is established, which is the area for including target point all in target collection Minimum circle or regular polygon.

The purpose for establishing target area is the path distance of taking photo by plane of unmanned plane for ease of calculation, and makes the face of target area Product minimum is to make to take photo by plane the estimated result of path distance more acurrate.It is understood that target area can be circle, Can be regular polygons, the shape of target area such as regular quadrangle can choose as the case may be, for example, target point distribution It more concentrates, but the distribution of all target points is integrally triangular in shape, then triangle can be selected in target area.

Step 220, central point of the central point as target collection of target area is obtained.

It should be noted that if target area is circle, then central point is the circular center of circle, if target area is just more Side shape, then central point is the center of circle of the circumscribed circle of target area.

Step 230, it obtains the path distance between unmanned plane and central point and is set as roundtrip by twice of the distance Distance.

After getting the central point of target area, in order to estimate that unmanned plane arrives the distance between target area, set in The distance between heart point and unmanned plane are roundtrip Distance Theory value.It is understood that due to unmanned plane and central point it Between distance be one way distance, and unmanned plane has executed and has also needed to return landing region after the task of taking photo by plane, thus roundtrip away from From twice of the path distance between unmanned plane and central point.It should be noted that above-mentioned path distance is not air line distance, and It is the distance actually cruised, such as on map, A points to air line distance between B are 2 kms, and there are obstacles between A points and B points Object or the signal projector etc. of interference unmanned plane cruise, therefore unmanned plane cruises to B points needs from A points and detours, it is practical to cruise Distance may be 2.5 kms, which is only path distance of the present invention.

Step 240, the diameter or circumscribed circle diameter of the target point quantity and target area that include according to target collection are calculated Go out the required path distance that unmanned plane executes task of taking photo by plane in target area, and the required path distance is set as distance of taking photo by plane Distance.

Unmanned plane is needed to consume electricity, be navigated to tourist when task is taken photo by plane in execution in addition to travelling to and fro between target area Also electricity can be consumed when bat and by way of each target point, that is, can contribute path distance.If in target area includes Target point quantity is more, then unmanned plane can consume more electricity when taking photo by plane to tourist, and unmanned plane is by way of each Also more electricity can be consumed when target point, is both equivalent to and contributes to more path distances, therefore path distance of taking photo by plane It is different and different according to target point quantity.For circular target area, the electricity root that is consumed when unmanned plane is by way of each target point It is calculated by algorithm according to the radius of target area, and for the target area of regular polygon, unmanned plane is by way of each target point When the electricity that consumes be calculated by algorithm according to the circumradius of target area.It should be noted that unmanned plane is remaining Electricity and remaining cruising range are proportional, and the two can convert.

Step 250, it is calculated between unmanned plane and target collection according to roundtrip distance and path distance of taking photo by plane Total distance distance.

Actually will carry out taking photo by plane service when need the path distance theoretical value that the theoretical value of the electricity consumed converts with The path distance theoretical value that unmanned plane converts in the theoretical value of the electricity consumed between each target point by algorithm into Row operation obtains path distance theoretical value of taking photo by plane, and the path distance that will take photo by plane theoretical value passes through with above-mentioned roundtrip Distance Theory value Algorithm carries out operation and obtains the total distance Distance Theory value between unmanned plane and target collection.It should be noted that path distance Between operation be not necessarily simple addition, can also make to make finally obtained total distance Distance Theory by other algorithms It is worth more acurrate truer.Other steps and embodiment of the present embodiment are identical with the first embodiment, and this will not be repeated here.

The total distance distance between unmanned plane and target collection has been obtained through the above steps.Obtain unmanned plane with it is each After total distance distance between target collection, the unmanned plane for meeting task condition is therefrom chosen, and each target collection is sent out respectively The corresponding unmanned plane for meeting task condition is given, so that unmanned plane executes task of taking photo by plane to the target point in target collection.

In addition to the unmanned plane paths planning method referred in above-mentioned technical proposal, the present invention also provides the nothings for taking photo by plane People's machine management system.It is provided by the present invention for the one of which embodiment for the unmanned machine management system taken photo by plane below, is the Four embodiments.The unmanned machine management system is used for after multiple tourists subscribe unmanned plane service, by server to each nothing Man-machine path of taking photo by plane is made rational planning for and is distributed, the trip of service so that unmanned plane in the shortest time takes photo by plane to all reservations Visitor takes photo by plane.Fig. 4 is the structure diagram of the present embodiment, as shown in figure 4, the unmanned machine management system includes server and Duo Tai Unmanned plane.

Server includes targeted packets module, chooses module and the first transceiver module apart from acquisition module, unmanned plane.

Targeted packets module is for being grouped the target point for having subscribed the service of taking photo by plane to obtain multiple target collections.When having Several tourists have subscribed to respectively at different location taking photo by plane service when, it is necessary to the execution of more unmanned planes is taken photo by plane task, is needed at this time The specific task of taking photo by plane of every unmanned plane in more unmanned planes is divided, and each place position for subscribing service of taking photo by plane can It is scattered when energy, it is distributed as the discrete distribution of no evident regularity, it is therefore desirable to will have the place for the service of taking photo by plane to be set as mesh in advance Punctuate, and each target point is grouped by targeted packets module, to obtain multiple target collections, wrapped in each target collection One or more target points are contained.The effect of targeted packets module be make rational planning for the route of taking photo by plane of unmanned plane so that More unmanned planes complete all tasks of taking photo by plane subscribed within the shortest time.The target collection that targeted packets module will obtain Information is sent to apart from acquisition module and the first transceiver module.

It is used to obtain the unmanned plane in landing region and the total distance between each target collection apart from acquisition module Distance.After obtaining the target collection information that targeted packets module is sent, need to be located at landing by obtaining apart from acquisition module The total distance distance between unmanned plane and each target collection in region, for conduct when choosing unmanned plane later Reference frame.The total distance range data got is sent to unmanned plane apart from acquisition module and chooses module.

Unmanned plane chooses module for choosing the unmanned plane for meeting task condition.Object set merging after being grouped obtains After taking corresponding total distance distance, selection is needed to meet the unmanned plane of task condition to execute the task of taking photo by plane, wherein to meet task Condition include unmanned plane remaining cruising range be longer than unmanned plane to target collection total distance distance, further include unmanned plane without reason Hinder information.Unmanned plane is chosen module and is received after the total distance range data that acquisition module is sent, and judges the surplus of unmanned plane Whether remaining cruising range is longer than the total distance distance of unmanned plane A1 and target collection g1, only be longer than total distance apart from when nobody Machine A1 can complete task and smoothly to make a return voyage to taking photo by plane for target collection g1, and otherwise can lose the energy on the way in execution task supplies It answers.And if unmanned plane, there are failure or when needing replacing component, which must cannot execute task, and safety otherwise can occur Accident.The remaining cruising range of unmanned plane can be converted by the remaining capacity of unmanned plane and be obtained, it is to be understood that conversion obtains Remaining cruising range be theoretical value, therefore choose meet the unmanned plane of task condition when, the remaining cruising range of unmanned plane Not only to be longer than the total distance distance of target collection, but also some would generally be reserved apart from allowance, i.e. electricity allowance.For example, nothing If 1.1 times or more of the total distance distance of at least above-mentioned target collection g1 of the remaining cruising range of man-machine A1, just will be considered that nothing Man-machine A1 meets the condition that task of taking photo by plane is executed to target collection g1.Unmanned plane chooses the task condition of meeting that module will be selected Unmanned machine information is sent to the first transceiver module.

First transceiver module is used to respectively send out the mission bit stream of taking photo by plane of the target collection obtained comprising targeted packets module It gives corresponding unmanned plane and chooses the unmanned plane that module is selected, appoint so that unmanned plane takes photo by plane to the target point execution in target collection Business.First transceiver module is receiving the unmanned machine information for meeting task condition and target point that unmanned plane selection module is sent After the target collection information sent of group module, according to the unmanned machine information received and the second transceiver module of corresponding unmanned plane into Row communication, and target collection information is sent to corresponding unmanned plane.

Before the target point for having subscribed the service of taking photo by plane is grouped, user will first subscribe the service of taking photo by plane, and the service of informing Square plane position, therefore as a specific implementation mode in above-mentioned technical proposal, server further includes target point acquisition mould Block.Target point acquisition module is used to acquire position of the self-position as target point of user terminal uploads, is additionally operable to acquisition and uses Family terminal selects position of the position as target point from preset plane position.

After user terminal gets pattern or text information for subscribing service of taking photo by plane, which is scanned by camera Subscribe the service of taking photo by plane, or the service of taking photo by plane subscribed by the key-press input text information, reservation take photo by plane service while also on Position of the self-position as target point is passed, or a position is selected from preset plane position when service is taken photo by plane in reservation Set the position as target point.It is understood that aiming spot is sent to the first transmitting-receiving mould of server by user terminal Block.

Pattern for subscribing service of taking photo by plane can be the patterns such as Quick Response Code, and user scans two by user terminals such as mobile phones Code is tieed up into wechat small routine or special handset application program come the service that makes a reservation for take photo by plane, the word of service is taken photo by plane in above-mentioned reservation can be with It is character string, user enters wechat small routine or special handset application program come pre- by the user terminals typing character string such as mobile phone Surely it takes photo by plane service.It also needs to upload aiming spot while service is taken photo by plane in reservation, target point can be that user is currently located Position can also be that user selects from pre-set recommendation plane position or popular plane position as aiming spot One position is as aiming spot.

When multiple users submit the request of predetermined service of taking photo by plane in different time to the management system of control unmanned plane, pipe If reason system thinks that unmanned plane will be made to complete to take photo by plane to multiple target points during task is taken photo by plane in single execution, it is necessary to will The service request of taking photo by plane received is periodically handled, rather than receives the use asked with regard to distributing unmanned plane at once to request Family executes task of taking photo by plane, therefore as a specific implementation mode in above-mentioned technical proposal, and server further includes target point point Criticize module.Module is used for before being grouped to the target point for having subscribed the service of taking photo by plane target point in batches, and reservation is taken photo by plane clothes The target point that the user of business uploads is divided into different batches by the ticket reserving time, and using each target point in same batch as waiting being grouped Target point.

Specifically, a task scan period can be set, the use for service of taking photo by plane will be subscribed as unit of the scan period The target point that family uploads is divided into different batches by the ticket reserving time, and such as T1 batches, T2 batches etc., interior each batch includes 1 or more The target point that a user uploads, then using each target point in same batch as target point to be grouped.For example, task scan In 1 minute period, after 1 minute, the target point that service of taking photo by plane is subscribed in this 1 minute is when time needs execute task of taking photo by plane Target point.It is also understood that the unmanned plane in landing region, which often spends a task scan period, will distribute primary execution It takes photo by plane task.The collected target of target point acquisition module is sent to target point, and module divides batch, target point mould in batches in batches Block is sent to ready-portioned targeted packets module with a batch of target point and is grouped.

Unmanned plane includes high-definition camera and the second transceiver module.

High-definition camera is used to carry out photograph taking and/or image recording to target.It should be noted that above-mentioned image record System includes that video and audio sync are recorded.

Second transceiver module for receiving the mission bit stream of taking photo by plane that server is sent, be additionally operable to high-definition camera shooting or The data of recording are sent to server.Mission bit stream of taking photo by plane includes target collection information, i.e. which position pair unmanned plane needs Which target point carries out which kind of service of taking photo by plane.

Apart from acquisition module obtain total distance apart from when, the location information for first obtaining unmanned plane is needed, further according to target The positional information calculation of point goes out above-mentioned total distance distance, needs the remaining capacity by unmanned plane in unmanned plane selection module to change The remaining cruising range of unmanned plane is calculated, and is needed to obtain the fault message of unmanned plane to judge whether unmanned plane is faulty, Therefore a kind of specific implementation mode as above-mentioned technical proposal, the first transceiver module of server are additionally operable to obtain in real time all Location information, remaining capacity and the fault message of unmanned plane, unmanned plane further include information acquisition module, for acquiring the position of itself Confidence breath, remaining capacity and fault message.Second transceiver module is additionally operable to the information that information acquisition module acquires being sent to clothes Business device.

It is to implement for the 5th provided by the present invention for another embodiment for the unmanned machine management system taken photo by plane below Example.The present embodiment emphatically further describes the component part of targeted packets module.Fig. 5 is the structural frames of the present embodiment Figure, as shown in figure 5, when having several tourists after different location is subscribed and takes photo by plane service, the place where the service of taking photo by plane is subscribed in setting For target point, then needs the target point to having subscribed the service of taking photo by plane to be grouped, multiple target collections can be obtained after grouping, so that Unmanned plane can be distributed unmanned plane with most reasonable manner and execute task of taking photo by plane so that task execution time is most short and consumes resource At least.Targeted packets module in the present embodiment includes initial point selection unit, interim set establishes unit, minimum range is chosen Unit, target point conclude unit, average calculation unit, central point acquiring unit and set acquiring unit.

The position that initial point selection unit is used to obtain target point all in coverage of taking photo by plane obtains target point and always collects It closes, and multiple target points is randomly selected as initial point in target point total collection, initial point selection unit is additionally operable in reception Multiple central points as initial point that heart point acquiring unit is sent.As a kind of specific implementation mode of above-mentioned technical proposal, Initial point quantity is according to the selections such as target point total quantity and/or unmanned plane performance parameter.Performance parameter may include unmanned plane Maximum cruise and Maximum Endurance time etc..It distributes unmanned plane and executes task of taking photo by plane, first have to obtain in a collection of subtask The position of all target points obtains the target point total collection of the batch task, the batch task is contained in target point total collection In all target point.Multiple target points are randomly selected in target point total collection as initial point, choose the purpose of initial point It is for the grouping after executing.The initial point of selection is sent to minimum range selection unit by initial point selection unit.

Interim set establish unit for establish multiple interim set corresponding with multiple initial points respectively.Due to needs pair Target point is grouped, it is therefore desirable to first be created different groups, N number of interim set be established on the basis of N number of initial point, each Include 1 initial point in interim set.

Multiple initial points that minimum range selection unit is used to be obtained according to initial point selection unit further obtain each Non-initial point and chooses minimum range to the distance of each initial point in multiple distances of non-initial point to each initial point.Wherein, Non-initial point is the target point in addition to multiple initial points in target point total collection.Minimum range selection unit is by the minimum of selection Distance is sent to target point and concludes unit.

Target point concludes the minimum range that unit is used to choose according to minimum range acquiring unit and returns each non-initial point In the interim set for entering initial point corresponding with the non-initial minimum range of point.

Average calculation unit is used to calculate each target point in each interim set that target point conclusion unit is concluded The average value of distance between other target points in same interim set is chosen in all average values in same interim set Minimum value.

Central point acquiring unit is used for point centered on target point corresponding with the minimum value that average calculation unit calculates And then multiple central points are obtained, and multiple central points are sent to interim set as new initial point and establish unit progress repeatedly Iteration, until to obtain central point identical as previous obtained central point for this.Central point is sent to as new initial point and is faced Shi Jihe is established in unit, and establishes multiple interim set corresponding with multiple initial points again, realizes iteration grouping, every time repeatedly Can all obtain N number of initial point after generation grouping, when obtaining N number of new initial point every time, the new initial point that this can all be obtained and The initial point that last iteration is grouped is compared, that is, after being grouped to current iteration obtained new initial point and this change The initial point substituted into before generation grouping is compared, if after the new initial point obtained after last iteration grouping and current iteration grouping The new initial point all same arrived illustrates that currently available new initial point has been optimal.If the new initial point for again obtaining this Again it substitutes into interim set and establishes unit, the new initial point that the new initial point that next time obtains can also be obtained with this is identical, i.e., originally It is secondary after no matter iteration how many times, as a result will not change again.

During set acquiring unit is used to further obtain according to multiple central points that central point acquiring unit obtains and is multiple The corresponding multiple interim set of heart point, and multiple interim set are set as target collection.After obtaining central point, due to each center Point as when belong to some it is interim gather, then when obtaining central point at certain and stopping iteration grouping, at this time with central point Corresponding each interim collection is combined into optimal set, that is, obtained target collection.It is grouped by above-mentioned module and iteration obtains Target collection, each target point can be sorted out according to position, closely located target point is included into identity set, can be with The distance that unmanned plane cruises between each target point is reduced, unmanned plane single Mission Capability is improved, makes unmanned plane in single Task of taking photo by plane can be executed to more target points, improve task of taking photo by plane and complete speed, additionally it is possible to save money during sailing Source.

If being only once grouped to target point, obtained target collection may also not be global optimum's set but part Optimal set, therefore in order to make target point be grouped more reasonable, as a kind of specific implementation mode of above-mentioned technical proposal, mesh It further includes first circulation unit, the first recording unit, the first judging unit and the first grouped element to mark grouping module.

First circulation unit before being grouped to the target point for having subscribed the service of taking photo by plane for setting the first iteration time Number, is additionally operable to judge to obtain when the number that object set is combined is not up to the first iterations in the first judging unit to make targeted packets Module is again grouped the target point for having subscribed the service of taking photo by plane in the case where keeping initial point quantity constant.

First recording unit is for being grouped the target point for having subscribed the service of taking photo by plane and obtaining multiple target collections It is that an object set is combined to record multiple target collections that this is obtained afterwards.

First judging unit is for judging to obtain whether the number that object set is combined reaches the first iterations.

First grouped element, which is used to judge to obtain the number that object set is combined in the first judging unit, reaches the first iteration time When number, it is combined one group of target collection of middle selection from each object set of the first recording unit records and is combined as optimal objective collection.

Since the object set obtained according to above-mentioned technical proposal is combined, the initial point quantity initially chosen is constant, one The diversity for determining to limit grouping in degree, in a disguised form eliminate it is some other may more preferably object set be combined, therefore as upper A kind of specific implementation mode of technical solution is stated, targeted packets module further includes second circulation unit, the second recording unit, second Judging unit and second packet unit.

Second circulation unit is used to set secondary iteration number before first circulation unit sets the first iterations, also uses In when second judgment unit judges to obtain the number that optimal objective collection is combined and is not up to secondary iteration number, change choose it is initial The quantity of point simultaneously makes the initial point quantity currently the chosen initial point quantity that predecessor once chooses therewith be all different, and then makes mesh Mark grouping module is again grouped the target point for having subscribed the service of taking photo by plane.

Second recording unit is for being grouped the target point for having subscribed the service of taking photo by plane and obtaining optimal objective set The optimal objective collection that this is obtained is recorded after group to be combined.

Second judgment unit is for judging to obtain whether the number that optimal objective collection is combined reaches secondary iteration number.

Second packet unit, which is used to judge to obtain the number that optimal objective collection is combined in second judgment unit, to be reached second and changes When generation number, it is combined middle one group of selection from each optimal objective collection and is combined as final goal collection.

By the first iteration increase initial point quantity it is identical when simulation be grouped number, so as to get target collection have more Referential and reasonability, and the variation of initial point quantity is increased by secondary iteration, it increases and simulation point is carried out to target point The considerations of organizing range and the diversity for increasing result make a greater variety of combinations participate in selecting and eliminating so as to finally obtain Object set be combined more rationally, optimization becomes apparent.The other components and embodiment of the present embodiment are real with the 4th It is identical to apply example, this will not be repeated here.

It is to implement for the 6th provided by the present invention for another embodiment for the unmanned machine management system taken photo by plane below Example.The present embodiment focus on to adjust the distance component part of acquisition module is further described.Passing through targeted packets module pair The target point for having subscribed the service of taking photo by plane is grouped after obtaining multiple target collections, is needed by being located at apart from acquisition module acquisition The total distance distance between unmanned plane and each target collection in landing region, wherein between unmanned plane and target collection Total distance distance includes two parts, and a part is unmanned plane to the roundtrip distance of target collection center, i.e., round-trip road Journey distance is unmanned plane to twice of path distance of target collection region center, another part for take photo by plane distance away from From, path distance of taking photo by plane be size according to the target point quantity of target collection and the target area comprising all target points and What shape calculated.

Fig. 6 is the structure diagram of the present embodiment, as shown in fig. 6, including that unit is established in region, center is obtained apart from acquisition module Take unit, round-trip distance acquiring unit, distance acquiring unit of taking photo by plane and total distance acquiring unit.

It is to include target all in target collection that unit is established for establishing a target area, the target area in region The circle or regular polygon of the area minimum of point.The purpose for establishing target area is the distance of taking photo by plane of unmanned plane for ease of calculation Distance, and the area minimum of target area is made to be to make to take photo by plane the estimated result of path distance more acurrate.

Center acquiring unit is used to obtain central point of the central point as target collection of target area.It needs to illustrate It is that, if target area is circle, central point is the circular center of circle, if target area is regular polygon, central point is mesh Mark the center of circle of the circumscribed circle in region.

Round-trip distance acquiring unit is used to obtain the path distance between unmanned plane and central point and by twice of the distance It is set as roundtrip distance.After getting the central point of target area, in order to estimate that unmanned plane arrives the distance between target area, Setting is with the distance between central point and unmanned plane for roundtrip Distance Theory value.It is understood that due to unmanned plane with The distance between central point is one way distance, and unmanned plane also needs to return to landing region after having executed the task of taking photo by plane, therefore past Path distance is returned twice of path distance between unmanned plane and central point.

Distance acquiring unit of taking photo by plane be used for according to target collection the target point quantity and target area that include diameter or Circumscribed circle diameter calculates unmanned plane and executes the required path distance for task of taking photo by plane in target area and by the required path distance It is set as path distance of taking photo by plane.After getting the central point of target area, in order to estimate that unmanned plane arrives the distance between target area, Setting is with the distance between central point and unmanned plane for roundtrip Distance Theory value.It is understood that due to unmanned plane with The distance between central point is one way distance, and unmanned plane also needs to return to landing region after having executed the task of taking photo by plane, therefore past Path distance is returned twice of path distance between unmanned plane and central point.It should be noted that unmanned plane remaining capacity and surplus Remaining cruising range is proportional, and the two can convert.

Total distance acquiring unit is used to that unmanned plane and target to be calculated according to roundtrip distance and path distance of taking photo by plane Total distance distance between set.By actually carry out taking photo by plane service when need the theoretical value of the electricity consumed to convert distance The path distance that Distance Theory value and unmanned plane convert in the theoretical value of the electricity consumed between each target point is theoretical Value carries out operation by algorithm and obtains path distance theoretical value of taking photo by plane, the path distance that will take photo by plane theoretical value and above-mentioned roundtrip away from Operation is carried out by algorithm from theoretical value and obtains the total distance Distance Theory value between unmanned plane and target collection.It needs to illustrate It is that the operation between path distance is not necessarily simple addition, can also makes to make by other algorithms finally obtained total Path distance theoretical value is more acurrate truer.

As a kind of specific implementation mode of above-mentioned technical proposal, unmanned plane choose module include unmanned plane selection unit, Third judging unit, delay execution unit and set resolving cell.Unmanned plane chooses module and is choosing the nothing for meeting task condition When man-machine, when all unmanned planes cannot be satisfied the task condition of wherein one or more target collections, namely there are one Or multiple target collections, the total distance distance between the one or more target collection and each unmanned plane are longer than each unmanned plane When remaining cruising range, it can be solved by postponing execution unit or set resolving cell.

Unmanned plane selection unit is for choosing the unmanned plane for meeting task condition.Third judging unit is for judging whether to deposit The target collection of task condition is cannot be satisfied in all unmanned planes.

Delay execution unit is used to, when third judging unit judges to have the target collection for not being satisfied task condition, make Unmanned plane supplements the energy after the energy is full of or has been charged with the energy for the task condition for meeting the target collection to not being satisfied The target collection of task condition executes task of taking photo by plane.It is understood that such situation has certain time to executing the task of taking photo by plane Delay, but the unmanned plane quantity distributed will not increase.

Set resolving cell is used for when third judging unit judges to have the target collection for not being satisfied task condition, will The target collection that all unmanned planes cannot be satisfied task condition is decomposed into multiple destination subsets, makes to obtain position apart from acquisition module In the unmanned plane in landing region and the total distance distance between each destination subset, then unmanned plane selection unit is made to choose again Meet the unmanned plane of task condition.It is understood that such situation can execute the task of taking photo by plane as early as possible, but needs to increase and distribute nothing Man-machine quantity.

As a kind of specific implementation mode of above-mentioned technical proposal, it further includes postsearch screening unit that unmanned plane, which chooses module,. In order to cope with the complexity and diversity that tourist subscribes the place for service of taking photo by plane, while in order to meet the demand of taking photo by plane of tourist as early as possible And the energy is saved, scenic spot management side can be provided with multiple unmanned plane landings region in tourist attraction.When unmanned plane chooses mould The unmanned plane of what block selected meet task condition is from multiple and different landing regions, and what is selected meets task condition Unmanned plane quantity be more than target collection quantity when, can be solved by postsearch screening unit.

Postsearch screening unit is used in the unmanned plane for meeting task condition selected from multiple and different landing regions, And when the unmanned plane quantity for meeting task condition selected is more than target collection quantity, appoint according to meeting in each landing region The unmanned plane quantity of business condition and respectively meet total distance distance between the unmanned plane of task condition and each target collection to full The unmanned plane of sufficient task condition further screened and screened after the unmanned plane for meeting task condition, screening scheme For：Respectively meet task condition unmanned plane execute take photo by plane task the total distance sum of the distance overall situation it is most short.The selection result both basis Meet the unmanned plane quantity of task condition in each landing region to determine, also by each unmanned plane for meeting task condition and each mesh Total distance distance between mark set influences.The other components and embodiment of the present embodiment and fourth embodiment phase Together, this will not be repeated here.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any Those familiar with the art in the technical scope disclosed by the present invention, all answer by the change or replacement that can be readily occurred in It is included within the scope of the present invention.Therefore, protection scope of the present invention should be with the scope of the claims It is accurate.

Claims

1. a kind of unmanned plane paths planning method for taking photo by plane, which is characterized in that including：

Choose the unmanned plane for meeting task condition；

The multiple target collection is sent respectively to the corresponding unmanned plane for meeting task condition, so that unmanned plane is to object set Target point in conjunction executes task of taking photo by plane；Wherein,

It is described meet the remaining cruising range that task condition includes unmanned plane be longer than unmanned plane to target collection total distance distance, And unmanned plane fault-free.

2. unmanned plane paths planning method according to claim 1, which is characterized in that described to having subscribed the service of taking photo by plane Target point be grouped to obtain multiple target collections before, this method further includes：

User terminal scan/key enters the pattern/text information to subscribe the service of taking photo by plane, while uploading self-position as target The position or user terminal of point select position of the position as target point from preset plane position.

3. unmanned plane paths planning method according to claim 1 or 2, which is characterized in that taken photo by plane described to having subscribed Before the target point of service is grouped, the target point that the user for subscribing service of taking photo by plane uploads is divided into different batches by the ticket reserving time It is secondary, and using each target point in same batch as target point to be grouped.

4. unmanned plane paths planning method according to claim 1, which is characterized in that this method further includes：

5. unmanned plane paths planning method according to claim 4, which is characterized in that described to having subscribed the service of taking photo by plane Target point is grouped to obtain multiple target collections：

Step 110, the position for obtaining all target points in coverage of taking photo by plane, obtains target point total collection, in the mesh Multiple target points are randomly selected in punctuate total collection as initial point；

Step 130, obtain each non-initial point to each initial point distance, in multiple distances of non-initial point to each initial point Minimum range is chosen, each non-initial point is included into the interim collection of initial point corresponding with the non-initial minimum range of point In conjunction；Wherein, the non-initial point is the target point in addition to multiple initial points in the target point total collection；

Step 140, distance between other target points in each interim set of calculating in each target point and same interim set Average value chooses the minimum value in all average values in same interim set, and target point corresponding with the minimum value is made Centered on point, and then obtain multiple central points；

Step 150, it using the central point as new initial point, iterates and executes step 120 to step 150, until this It is identical as previous obtained central point to obtain central point, will multiple interim set corresponding with multiple central points as object set It closes.

6. unmanned plane paths planning method according to claim 5, which is characterized in that described to having subscribed the service of taking photo by plane Target point be grouped before, set the first iterations, the target point for having subscribed the service of taking photo by plane is being grouped and is being obtained To after multiple target collections, it is that an object set is combined, and judges to obtain the mesh to record multiple target collections that this is obtained Whether the number that mark collection is combined reaches the first iterations, if not up to the first iterations, is keeping initial point quantity not The target point for having subscribed the service of taking photo by plane is grouped again in the case of change, if reaching the first iterations, from each target Collection is combined one group of target collection of middle selection and is combined as optimal objective collection.

7. unmanned plane paths planning method according to claim 6, which is characterized in that set before setting the first iterations Determine secondary iteration number, the target point for having subscribed the service of taking photo by plane is being grouped and is being obtained after optimal objective collection is combined, record This obtained optimal objective collection is combined and judges to obtain whether the number that optimal objective collection is combined reaches secondary iteration number, if Not up to secondary iteration number then changes the quantity for choosing initial point and keeps the initial point quantity currently chosen former primary therewith The initial point quantity of selection is all different, and is then grouped again to the target point for having subscribed the service of taking photo by plane, if reaching second Iterations are then combined middle one group of selection from each optimal objective collection and are combined as final goal collection.

8. the unmanned plane paths planning method according to any claim in claim 5 to 7, which is characterized in that initial Point quantity is chosen according to target point total quantity and/or unmanned plane performance parameter.

9. a kind of unmanned machine management system for taking photo by plane, which is characterized in that including server and Duo Tai unmanned planes；

The server includes：

First transceiver module, for will include that the mission bit stream of taking photo by plane of the target collection that the targeted packets module obtains is sent out respectively It gives the corresponding unmanned plane and chooses the unmanned plane that module is selected, so that unmanned plane executes boat to the target point in target collection Bat task；

The unmanned plane includes：

Second transceiver module, the mission bit stream of taking photo by plane sent for receiving the server, is additionally operable to the high-definition camera Shooting or the data recorded are sent to the server；Wherein,

10. unmanned machine management system according to claim 9, which is characterized in that the server further includes：

Target point acquisition module, position of the self-position as target point for acquiring user terminal uploads, is additionally operable to acquire User terminal selects position of the position as target point from preset plane position.

11. according to unmanned machine management system according to any one of claims 10, which is characterized in that the server further includes：

Target point module in batches, for before being grouped to the target point for having subscribed the service of taking photo by plane, by the reservation service of taking photo by plane The target point that uploads of user be divided into different batches by the ticket reserving time, and using each target point in same batch as to be grouped Target point.

12. unmanned machine management system according to claim 9, which is characterized in that the unmanned plane further includes：

Second transceiver module is additionally operable to the information that described information acquisition module acquires being sent to the server, and described One transceiver module is additionally operable to obtain the location information, remaining capacity and fault message of all unmanned planes in real time.

13. unmanned machine management system according to claim 9, which is characterized in that the targeted packets module includes：

Initial point selection unit, the position for obtaining the target point all in coverage of taking photo by plane obtain target point and always collect It closes, and multiple target points is randomly selected as initial point in the target point total collection, the initial point selection unit is also used In multiple central points as initial point that reception central point acquiring unit is sent；

Minimum range selection unit, multiple initial points for being obtained according to the initial point selection unit further obtain each Non-initial point and chooses minimum range to the distance of each initial point in multiple distances of non-initial point to each initial point；Wherein, The non-initial point is the target point in addition to multiple initial points in the target point total collection；

Target point concludes unit, and the minimum range for being chosen according to the minimum range acquiring unit returns each non-initial point In the interim set for entering initial point corresponding with the non-initial minimum range of point；

Average calculation unit, for calculating each target point in each interim set that the target point conclusion unit is concluded The average value of distance between other target points in same interim set is chosen in all average values in same interim set Minimum value；

The central point acquiring unit, for target point that the minimum value calculated with the average calculation unit is corresponding as in Heart point obtains multiple central points, and the multiple central point is sent to the interim set as new initial point and establishes list Member iterates, until to obtain central point identical as previous obtained central point for this；And

Gather acquiring unit, during multiple central points for being obtained according to the central point acquiring unit further obtain and is multiple The corresponding multiple interim set of heart point, and the multiple interim set is set as target collection.

14. unmanned machine management system according to claim 13, which is characterized in that the targeted packets module further includes One cycling element, the first recording unit, the first judging unit and the first grouped element；

First circulation unit be used for it is described the target point for having subscribed the service of taking photo by plane is grouped before set the first iteration time Number, is additionally operable to judge to obtain when the number that the object set is combined is not up to the first iterations in first judging unit to make The targeted packets module again carries out the target point for having subscribed the service of taking photo by plane in the case where keeping initial point quantity constant Grouping；

First recording unit is for being grouped the target point for having subscribed the service of taking photo by plane and obtaining multiple target collection postscripts It is that an object set is combined to record multiple target collections that this is obtained；

First grouped element, which is used to judge to obtain the number that the object set is combined in first judging unit, to be reached first and changes When generation number, one group of target collection of middle selection is combined as optimal objective collection from each object set of first recording unit records It is combined.

15. unmanned machine management system according to claim 14, which is characterized in that the targeted packets module further includes Two cycling elements, the second recording unit, second judgment unit and second packet unit；

Second circulation unit is used to set secondary iteration number before the first circulation unit sets the first iterations, also uses In when the second judgment unit judges to obtain the number that optimal objective collection is combined and is not up to secondary iteration number, changes and choose The quantity of initial point simultaneously makes the initial point quantity currently the chosen initial point quantity that predecessor once chooses therewith be all different, then The targeted packets module is set to be grouped again to the target point for having subscribed the service of taking photo by plane；

Second recording unit is used to be grouped the target point for having subscribed the service of taking photo by plane and obtain after optimal objective collection is combined The optimal objective collection that this is obtained is recorded to be combined；

Second packet unit, which is used to judge to obtain the number that optimal objective collection is combined in the second judgment unit, to be reached second and changes When generation number, it is combined middle one group of selection from each optimal objective collection and is combined as final goal collection.

16. the unmanned machine management system according to any claim in claim 13 to 15, which is characterized in that initial point Quantity is chosen according to target point total quantity and/or unmanned plane performance parameter.