CN108871330B - Unmanned aerial vehicle formation flight path determination method and device - Google Patents
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Abstract
The invention discloses a method and a device for determining formation flight paths of unmanned aerial vehicles, relates to the technical field of unmanned aerial vehicles, and mainly aims to realize formation flight of the unmanned aerial vehicles in formation flight tasks according to various flight paths which are not crossed with each other and have the shortest total path, avoid collision of the unmanned aerial vehicles in the flight process and ensure that the total path of each unmanned aerial vehicle flying to a task point is shortest. The method comprises the following steps: acquiring each position point of each unmanned aerial vehicle in the formation flight task and each task point of the next task; performing region division and pairwise matching on each position point and each task point according to a preset region division matching rule to obtain each flight path which is not crossed and has the shortest total path, wherein each flight path is a path from each position point to the task point matched with each position point; and correspondingly determining each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle. The method is suitable for determining the formation flight path of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a device for determining formation flight paths of unmanned aerial vehicles.
Background
With the continuous development of information technology, unmanned aerial vehicles are emerging, and the unmanned aerial vehicles refer to unmanned aerial vehicles operated by radio remote control equipment and self-contained program control devices. In recent years, unmanned aerial vehicles have been widely used in the fields of aerial photography, power inspection, environmental monitoring, forest fire prevention, disaster patrol, terrorism prevention and life saving, military reconnaissance, battlefield assessment and the like, and along with the well-known and loved unmanned aerial vehicles, unmanned aerial vehicles gradually enter the lives of common people. People usually control unmanned aerial vehicle formation to fly, control unmanned aerial vehicle to fly according to preset flight plan promptly, when flying to the predetermined waypoint position in the plan, carry out light performance, constitute formation flight tasks such as specific aerial pattern. When determining the flight path of the formation of the unmanned aerial vehicles, in order to complete the formation flight mission, the unmanned aerial vehicles in the formation need to reach a predetermined position at a predetermined time point during the flight process, and then reach the next predetermined mission point at the next predetermined time point. Therefore, determining the formation flight path of the unmanned aerial vehicle is very important for completing the formation flight task.
At present, when determining a formation flight path of unmanned aerial vehicles, a task point to be reached by the unmanned aerial vehicles at the next scheduled time point in the formation is generally determined in a random manner, that is, the formation flight path of each unmanned aerial vehicle is determined at random. However, the number of unmanned aerial vehicles in the formation flight task is large, the flight conditions of each unmanned aerial vehicle are different, and if the flight path of each unmanned aerial vehicle formation is determined in the above manner, the unmanned aerial vehicles collide in flight, even some unmanned aerial vehicles need to spend a long time to reach the randomly determined task points, so that the formation flight task is delayed, and the formation flight task cannot be guaranteed to be successfully completed.
Disclosure of Invention
In view of the above, the invention provides a method and a device for determining formation flight paths of unmanned aerial vehicles, and mainly aims to enable the unmanned aerial vehicles in a formation flight task to perform formation flight according to various flight paths which are not crossed with each other and have the shortest total path, avoid collision of the unmanned aerial vehicles in the flight process, and ensure that the total path of each unmanned aerial vehicle flying to a next task point is shortest, so that the formation flight task can be smoothly completed.
According to a first aspect of the invention, a method for determining a formation flight path of unmanned aerial vehicles is provided, which includes:
acquiring each position point of each unmanned aerial vehicle in a formation flight task and each task point of a next task;
performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule to obtain each flight path which is not crossed and has the shortest total path, wherein each flight path is a path from each position point to a task point matched with each position point;
and correspondingly determining each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle.
According to a second aspect of the present invention, there is provided an apparatus for determining a formation flight path of unmanned aerial vehicles, comprising:
the acquiring unit is used for acquiring each position point of each unmanned aerial vehicle in the formation flight task and each task point of the next task;
the matching unit is used for carrying out region division and pairwise matching on each position point and each task point according to a preset region division matching rule to obtain each flight path which is not crossed and has the shortest total path, and each flight path is a path from each position point to the task point matched with each position point;
and the determining unit is used for correspondingly determining each flight path obtained by matching as the formation flight path of each unmanned aerial vehicle.
According to a third aspect of the invention, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
acquiring each position point of each unmanned aerial vehicle in the formation flight task and each task point of the next task;
performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule to obtain each flight path which is not crossed and has the shortest total path, wherein each flight path is a path from each position point to the task point matched with each position point;
and correspondingly determining each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle.
According to a fourth aspect of the present invention, there is provided a device for determining formation flight paths of unmanned aerial vehicles, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to perform the following steps:
acquiring each position point of each unmanned aerial vehicle in a formation flight task and each task point of a next task;
performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule to obtain each flight path which is not crossed and has the shortest total path, wherein each flight path is a path from each position point to a task point matched with each position point;
and correspondingly determining each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle.
Compared with the prior method for determining the task point which needs to be reached by the next scheduled time point of the unmanned aerial vehicles in the formation in a random mode, namely randomly determining the flight path of each unmanned aerial vehicle formation, the method and the device provided by the invention have the advantages that each position point of each unmanned aerial vehicle in the formation flight task and each task point of the next task are obtained; and performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule, so that each flight path which is not crossed and has the shortest total path can be obtained through matching, and each flight path is a path from each position point to the task point matched with each position point. Meanwhile, each flight path obtained through matching can be correspondingly determined as the formation flight path of each unmanned aerial vehicle, so that the unmanned aerial vehicles in the formation flight tasks can form and fly according to the flight paths which are not crossed with each other and have the shortest total path, collision of the unmanned aerial vehicles in the flight process can be avoided, the shortest total path of each unmanned aerial vehicle flying to the next task point can be ensured, and the formation flight tasks can be smoothly completed.
The above description is only an overview of the technical solutions of the present invention, and the present invention can be implemented in accordance with the content of the description so as to make the technical means of the present invention more clearly understood, and the above and other objects, features, and advantages of the present invention will be more clearly understood.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a flowchart of a method for determining a formation flight path of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 shows a flow chart of another method for determining a formation flight path of unmanned aerial vehicles according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram illustrating an apparatus for determining a formation flight path of unmanned aerial vehicles according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram illustrating another apparatus for determining a formation flight path of unmanned aerial vehicles according to an embodiment of the present invention;
fig. 5 shows an entity structural schematic diagram of an apparatus for determining a formation flight path of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As described in the background art, currently, when determining a formation flight path of unmanned aerial vehicles, a task point that needs to be reached by a next scheduled time point of the unmanned aerial vehicles in the formation is generally determined in a random manner, that is, a formation flight path of each unmanned aerial vehicle is determined randomly. However, the number of unmanned aerial vehicles in the formation flight task is large, the flight conditions of each unmanned aerial vehicle are different, and if the flight path of each unmanned aerial vehicle formation is determined in the above manner, the unmanned aerial vehicles collide in flight, even some unmanned aerial vehicles need to spend a long time to reach the randomly determined task points, so that the formation flight task is delayed, and the formation flight task cannot be guaranteed to be successfully completed.
In order to solve the above technical problem, an embodiment of the present invention provides a method for determining a formation flight path of an unmanned aerial vehicle, where as shown in fig. 1, the method includes:
101. and acquiring each position point of each unmanned aerial vehicle in the formation flight task and each task point of the next task.
Wherein, formation flight task can relate to a plurality of unmanned aerial vehicle, can constitute the formation by a certain amount of unmanned aerial vehicle, flies according to predetermineeing the flight plan, carries out light show, constitutes tasks such as specific aerial pattern when flying to the waypoint position. The formation flight mission thus includes the points in time of the unmanned aerial vehicle concerned, and the points in position to which the respective points in time should be reached. The task point is a position point which needs to be reached by the unmanned aerial vehicle at the next time point.
It should be noted that the device for determining the formation flight path of the unmanned aerial vehicle as the execution subject according to the embodiment of the present invention may be a server, or may be a functional module on the server. According to the embodiment of the invention, the formation flight path of each unmanned aerial vehicle in the formation flight task is determined through the server, so that the completion efficiency of the formation flight task can be improved, and the time synchronism of each unmanned aerial vehicle in the formation flight task can be ensured.
102. And performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule to obtain each flight path which is not crossed and has the shortest total path.
Wherein each flight path may be a path from each position point to a task point matched with each position point. The preset region division matching rule can be a rule that each position point and each task point are subjected to region division according to a straight line formed by connecting the selected position point and the task points selected according to the distance degree, and then whether the selected position point is matched with the selected task point or not is determined according to the number of the position points and the task points in the divided region. The embodiment of the invention matches the task points for all unmanned aerial vehicles by iteratively using the preset region division matching rule until all unmanned aerial vehicles are matched with the corresponding task points, namely after the matched task points are determined for a certain unmanned aerial vehicle, position points are continuously selected from the divided region, the task points are selected according to the distance from the position points, the divided region is continuously subjected to region division according to the straight line connecting the selected position points and the selected task points, and whether the selected position points are matched with the task points is determined. Secondly, the embodiment of the invention continuously divides the position points and the task points into areas, selects the position points in a divided area, and determines the task points matched with the position points, namely the area division and the task point matching for the position points are carried out according to layers, thereby ensuring that the paths from the position points to the matched task points of each unmanned aerial vehicle are not crossed.
103. And correspondingly determining each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle.
For example, a formation flying task relates to 10 unmanned aerial vehicles, the location points of the 10 unmanned aerial vehicles can be A1-a10, and the task points of the next task of the 10 unmanned aerial vehicles can be B1-B10, in the embodiment of the present invention, the preset region division matching rules are A1-a10 and B1-B10 of the 10 unmanned aerial vehicles, and the matched paths can be 10 flying paths of A1-B10, A2-B7, A3-B5, A4-B3, A5-B4, A6-B9, A7-B6, A8-B2, A9-B8, and a10-B1, which are not crossed in pairs and have the shortest total path, so that when the formation flying, the unmanned aerial vehicle 1-unmanned aerial vehicle 10 flies the task points B10, B7, B5, B3, B4, B9, B6, B2, B8, and B1 at the next time point. Compared with the prior art that each unmanned aerial vehicle is randomly matched with one task point and the flight path of the unmanned aerial vehicle is determined, the method and the device can optimize and match the formation flight paths of the unmanned aerial vehicles through the preset region division matching rules, so that the unmanned aerial vehicles perform formation flight according to the various flight paths which are not crossed and have the shortest total path, the unmanned aerial vehicles can be prevented from colliding in the flight process, the shortest total path from each unmanned aerial vehicle to the next task point can be ensured, and the formation flight tasks can be smoothly completed.
The embodiment of the invention provides a method for determining flight paths of formation of unmanned aerial vehicles, which is the same as that the task points to be reached by the next scheduled time point of the unmanned aerial vehicles in the formation are determined in a random mode at present, namely the flight paths of the formation of each unmanned aerial vehicle are determined randomly; and performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule, so that each flight path which is not crossed and has the shortest total path can be obtained through matching, and each flight path is a path from each position point to the task point matched with each position point. Meanwhile, each flight path obtained through matching can be correspondingly determined as the formation flight path of each unmanned aerial vehicle, so that the unmanned aerial vehicles in the formation flight tasks can perform formation flight according to the flight paths which are not crossed with each other and have the shortest total path, collision of the unmanned aerial vehicles in the flight process can be avoided, the fact that the total path of each unmanned aerial vehicle flying to the next task point is the shortest can be guaranteed, and the formation flight tasks can be guaranteed to be completed smoothly.
Further, in order to better explain the process of determining the formation flight path of the unmanned aerial vehicle, as a refinement and an extension to the above embodiment, an embodiment of the present invention provides another method for determining the formation flight path of the unmanned aerial vehicle, as shown in fig. 2, but is not limited thereto, and is specifically shown as follows:
201. and acquiring each position point of each unmanned aerial vehicle in the formation flying task and each task point of the next task.
202. And determining the areas corresponding to the position points and the task points as initial areas.
It should be noted that, in the embodiment of the present invention, a matching manner of a location point and a task point in a special case is supported, and after step 202, the method further includes: detecting whether other position points and other task points exist on a first straight line formed by connecting the selected position point and the task point closest to the selected position point; if the task points exist, selecting the task point which is farthest from the set of other position points from the other task points; and determining the position point closest to the selected task point as the position point matched with the selected task point, and repeating the steps of selecting the task point farthest and determining the position point matched with the selected task point until the other position points are matched with the other task points.
203. Selecting a position point from the initial area, and a task point closest to the selected position point.
For example, a formation flying task relates to 100 unmanned aerial vehicles, the position points of the 100 unmanned aerial vehicles are A1-A100, the task points of the next task of 10 unmanned aerial vehicles are B1-B100, the initial area is the whole area corresponding to the A1-A100 and the B1-B100, specifically, a position point can be randomly selected, and if the selected position point is A1, after traversing the B1-B100, determining that Bj is the task point closest to the A1, the selected task point is Bj.
204. And carrying out region division on the initial region according to a first straight line formed by connecting the selected position point and the task point closest to the selected position point.
205. And determining whether the task point with the closest distance is the task point matched with the selected position point or not by judging whether the number of the position points and the number of the task points in each first divided area are the same or not. If yes, go to step 206a; if not, go to step 206b.
The first division region may be a region divided according to a first straight line formed by connecting the selected position point and the task point closest to the selected position point, and the first straight line divides an initial region into 2 division regions, which may be called a left division region and a right division region. Therefore, the step 205 may specifically be: and determining whether the task point with the closest distance is the task point matched with the selected position point or not by judging whether the number of the position points and the task points in the left divided area is the same or not and whether the number of the position points and the task points in the right divided area is the same or not. And if the number of the position points and the number of the task points in the left divided area are the same, and the number of the position points and the number of the task points in the right divided area are the same, determining the task point with the closest distance as the task point matched with the selected position point. Otherwise, the task point closest to the selected position point is not the task point matching the selected position point, and then step 206b may be executed.
206a, determining the task point with the closest distance as the task point matched with the selected position point, and determining each first division area as the initial area.
207b, according to a second straight line formed by connecting the selected position point and the next closest task point, performing region division on the initial region.
208b, determining whether the task point with the next closest distance is the task point matched with the selected position point by judging whether the position points and the number of the task points in each second divided area are the same. If yes, go to step 209ba.
Wherein the second divided region may be a region divided based on a second straight line connecting the selected position point and the task point next closest to the selected position point. It should be noted that, a specific process of determining whether the task point next to the selected position point is the task point matched with the selected position point in the step 208b is the same as the specific process in the step 205, and details are not repeated herein in the embodiment of the present invention. If the task point next to the closest task point is not the task point matched with the selected position point, the embodiment of the present invention may continue to select the task point next to the closest task point to the position point, and traverse each task point according to the same rule as in steps 206b to 208b until the task point matched with the selected position point is determined.
209ba, determining the next closest task point as the task point matching the selected position point, and determining each of the second divided areas as the initial area.
210. And repeating the steps of selecting the position point from the initial area and determining the task point matched with the selected position point until no position point of the unmatched task point exists, so as to obtain all flight paths which are not crossed and have the shortest total path.
In the embodiment of the invention, the position points and the task points are continuously selected from the initial region, the initial region is divided according to the straight lines connected with the selected position points and the task points, and then the task points matched with the position points are determined according to the number of the position points and the task points in the divided region, so that the task points can be divided according to the region of the region and matched for the position points, and the paths from the position points to the matched task points of each unmanned aerial vehicle can be ensured not to be crossed.
For example, the whole area of all the position points and the task points is divided into a left division area and a right division area according to a straight line connecting the position point A1 and the task point Bj closest to the position point A1, and when the number of the position points and the task points in the left division area is the same and the number of the position points and the task points in the right division area is the same, the Bj is determined as the matching task point of the position point A1. Then selecting a position point A3 and a task point Bk closest to A1 in the left divided area, dividing the left divided area into a left 1 divided area and a right 1 divided area according to a straight line A3-Bk, determining that the Bk is a matched task point of the A3 when the number of the position points and the number of the task points in the left 1 divided area are the same and the number of the position points and the number of the task points in the right 1 divided area are the same, then selecting a position point A5 and a task point Bm.
For the embodiment of the present invention, in order to reduce the calculation amount and the matching amount and improve the efficiency of determining the flight path of the formation of the unmanned aerial vehicles, the step 210 may specifically include: repeating the steps of selecting position points from the initial region and determining task points matched with the selected position points until the number of the position points in a certain divided region is less than or equal to a preset threshold value; determining a matching mode with the shortest total route in preset threshold factorial seed matching modes between the residual position points and the residual task points; and determining the residual task point corresponding to the residual position point in the matching mode with the shortest total route as the task point matched with the residual position point.
And the residual position points and the residual task points are respectively unmatched position points and task points. The preset threshold may be set according to a hardware processing capability, or may be set according to a default mode, which is not limited in the embodiments of the present invention. For example, the preset threshold may be 8, and if the preset threshold is 8, there is 8 | between the remaining location point and the remaining task point! In the matching mode, the residual position points are A22, A33, A44, A55, A66, A77, A88 and A99, and the residual task points are B10, B7, B5, B3, B4, B9, B6 and B2. The matching mode with the shortest total distance is A22-B10, A33-B7, A44-B5, A55-B3, A66-B4, A77-B9, A88-B6 and A99-B2, and the task points matched with A22, A33, A44, A55, A66, A77, A88 and A99 are respectively B10, B7, B5, B3, B4, B9, B6 and B2.
211. And correspondingly determining each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle.
For better understanding of the embodiment of the present invention, the following application scenarios are also provided: the formation flight mission relates to 100 unmanned aerial vehicles, the position points of the 100 unmanned aerial vehicles are A1-A100, the mission points of the next mission of 10 unmanned aerial vehicles are B1-B100, and the step of matching the mission points with each flight path which is not intersected with each other and has the shortest total path can comprise the following steps:
1. selecting a position point A1, traversing task points B1-B100, and selecting a task point Bj which is closest to the position point A1;
2. a1 and Bj are connected into a straight line, and if the number of position points and the number of task points in the left area of the straight line are the same; if the number of the position points and the number of the task points in the right area of the straight line are the same, determining that the matching of A1 and Bj is successful, wherein the Bj is the task point matched with the position point A1;
3. if the number of the position points and the number of the task points in the left area of the straight line are different, or the number of the position points and the number of the task points in the right area of the straight line are different, selecting the task point Bk closest to the A1; similarly, whether the A1 is matched with the Bk is determined according to the step 2, if not, the next closest point is continuously selected for the same traversal until the matching is successful;
4. if the matching is successful, respectively matching and dividing the position point and the task point set in the left area and the position point and the task point set in the right area according to the steps 1-3;
5. when the number of the position points matched to the area on one side of the straight line is less than or equal to a preset threshold value, performing step 6, otherwise, continuing to perform matching and division, wherein the preset threshold value is 6 for example;
6. when the number of the position points is less than or equal to 6, the matching mode between the remaining position points and the remaining task points is 6! The matching method is used for calculating 6! The matching mode with the shortest total route in the matching modes; determining the residual task points corresponding to the residual position points in the matching mode with the shortest total route as the task points matched with the residual position points, and then determining that the matching is completed;
7. if other position points and task points exist on a straight line formed by connecting A1 and Bj, selecting the task point farthest from the position point set; the task point traverses the position points, selects the position point closest to the task point, completes matching the rest position points and the task point, and continues to find out the farthest task point, and the task point matches the position point closest to the task point; and so on until the other position point and the other task point are matched.
Compared with the method for determining the flight path of the formation of the unmanned aerial vehicles, which is adopted in the prior art, the method for determining the flight path of the formation of the unmanned aerial vehicles comprises the steps of obtaining each position point of each unmanned aerial vehicle in the formation flight task and each task point of the next task; and performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule, so that each flight path which is not crossed and has the shortest total path can be obtained through matching, and each flight path is a path from each position point to the task point matched with each position point. Meanwhile, each flight path obtained through matching can be correspondingly determined as the formation flight path of each unmanned aerial vehicle, so that the unmanned aerial vehicles in the formation flight tasks can form and fly according to the flight paths which are not crossed with each other and have the shortest total path, collision of the unmanned aerial vehicles in the flight process can be avoided, the shortest total path of each unmanned aerial vehicle flying to the next task point can be ensured, and the formation flight tasks can be smoothly completed.
Further, as a specific implementation of fig. 1, an embodiment of the present invention provides an apparatus for determining a formation flight path of an unmanned aerial vehicle, where as shown in fig. 3, the apparatus includes: an acquisition unit 31, a matching unit 32 and a determination unit 33.
The acquiring unit 31 may be configured to acquire each position point of each drone in the formation flying task and each task point of the next task. The acquiring unit 31 is a main function module for acquiring each position point of each unmanned aerial vehicle in the formation flying task and each task point of the next task in the device.
The matching unit 32 may be configured to perform region division and pairwise matching on each position point and each task point according to a preset region division matching rule, so as to obtain each flight path that is not intersected with each other and has the shortest total path, where each flight path is a path from each position point to a task point matched with each position point. The matching unit 32 is a main function module in the device, which performs area division and pairwise matching on each position point and each task point according to a preset area division matching rule to obtain each flight path which is not intersected with each other and has the shortest total path.
The determining unit 33 may be configured to correspondingly determine each flight path obtained through matching as a formation flight path of each unmanned aerial vehicle. The determining unit 33 is a main functional module that correspondingly determines each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle in the present apparatus.
For the embodiment of the present invention, in order to obtain, through matching, each flight path that does not intersect with each other and has the shortest total path, the matching unit 32 includes: a determination module 321, a selection module 322, and a region division module 323, as shown in fig. 4.
The determining module 321 may be configured to determine the areas corresponding to the location points and the task points as initial areas.
The selection module 322 may be configured to select a location point from the initial region, and a task point closest to the selected location point.
The area dividing module 323 may be configured to perform area division on the initial area according to a first straight line formed by connecting the selected position point and the task point closest to the selected position point.
The determining module 321 may be further configured to determine whether the task point closest to the selected first divided area is a task point matching the selected position point by determining whether the number of the position points and the number of the task points in each first divided area are the same.
The determining module 321 is further configured to determine, if the number of the position points in each first divided area is the same as the number of the task points, the task point closest to the selected position point as the task point matched with the selected position point; and respectively determining each first division area as the initial area, and repeating the steps of selecting a position point from the initial area and determining a task point matched with the selected position point until no position point with an unmatched task point exists in each position point.
The selecting module 322 may be further configured to, if the number of the position points and the number of the task points in each of the first divided areas are different, obtain a task point that is next closest to the selected position point from the initial area.
The area dividing module 323 may be further configured to perform area division on the initial area according to a second straight line formed by connecting the selected position point and the task point that is next closest to the selected position point.
The determining module is further configured to determine whether the next closest task point is a task point matched with the selected position point by judging whether the number of the position points and the number of the task points in each second divided region are the same;
the determining module 321 may be further configured to determine, if the number of the position points and the number of the task points in each second divided region are the same, the next closest task point as the task point matched with the selected position point, respectively determine each second divided region as the initial region, and repeat the steps of selecting a position point from the initial region and determining a task point matched with the selected position point until there is no position point matched with a task point.
In order to reduce the amount of calculation and the amount of matching, and improve the efficiency of determining the formation flight path of the unmanned aerial vehicle, the determining module 321 may be specifically configured to determine each of the first divided areas as the initial area, and repeat the steps of selecting a position point from the initial area and determining a task point matching the selected position point until the number of position points in a certain first divided area is less than or equal to a preset threshold; determining a matching mode with the shortest total route in preset threshold factorial seed matching modes between the residual position points and the residual task points; and determining the residual task point corresponding to the residual position point in the matching mode with the shortest total route as the task point matched with the residual position point.
It should be noted that the embodiment of the present invention further supports a matching method for location points and task points in a special situation, specifically, supports a matching method for multiple location points and multiple task points on a first straight line, where the matching unit 32 may further include: a detection module 324.
The detecting module 324 may be configured to detect whether there are other location points and other task points on a first straight line connecting the selected location point and the task point closest to the selected location point.
The selecting module 322 may be further configured to select, if there are other location points and other task points on a first straight line formed by connecting the selected location point and the task point closest to the selected location point, a task point farthest from the set of other location points from among the other task points.
The determining module 321 may be further configured to determine a position point closest to the selected task point as a position point matching the selected task point, and repeat the steps of selecting the task point farthest from the selected task point and determining a position point matching the selected task point until the other position point is matched with the other task point.
It should be noted that other corresponding descriptions of the functional modules involved in the apparatus for determining a formation flight path of an unmanned aerial vehicle according to the embodiment of the present invention may refer to the corresponding description of the method shown in fig. 1, and are not described herein again.
Based on the method shown in fig. 1, correspondingly, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the following steps: acquiring each position point of each unmanned aerial vehicle in the formation flight task and each task point of the next task; performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule to obtain each flight path which is not crossed and has the shortest total path, wherein each flight path is a path from each position point to the task point matched with each position point; and correspondingly determining each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle.
Based on the above-mentioned method shown in fig. 1 and the embodiment of the apparatus for determining formation flight path of unmanned aerial vehicle shown in fig. 3, the embodiment of the present invention further provides an entity structure diagram of the apparatus for determining formation flight path of unmanned aerial vehicle, as shown in fig. 5, the apparatus includes: a processor 41, a memory 42, and a computer program stored on the memory 42 and executable on the processor, wherein the memory 42 and the processor 41 are each arranged on a bus 43 and the processor 41 implements the following steps when executing the program: acquiring each position point of each unmanned aerial vehicle in a formation flight task and each task point of a next task; performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule to obtain each flight path which is not crossed and has the shortest total path, wherein each flight path is a path from each position point to the task point matched with each position point; and correspondingly determining each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle. The device also includes: a bus 43 configured to couple the processor 41 and the memory 42.
By the technical scheme, each position point of each unmanned aerial vehicle in the formation flight task and each task point of the next task can be obtained; and performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule, so that each flight path which is not crossed and has the shortest total path can be obtained through matching, and each flight path is a path from each position point to the task point matched with each position point. Meanwhile, each flight path obtained through matching can be correspondingly determined as the formation flight path of each unmanned aerial vehicle, so that the unmanned aerial vehicles in the formation flight tasks can form and fly according to the flight paths which are not crossed with each other and have the shortest total path, collision of the unmanned aerial vehicles in the flight process can be avoided, the shortest total path of each unmanned aerial vehicle flying to the next task point can be ensured, and the formation flight tasks can be smoothly completed.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It will be appreciated that the relevant features of the method and apparatus described above are referred to one another. In addition, "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent merits of the embodiments.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore, may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in a drone according to embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (8)
1. A method for determining flight paths of formation of unmanned aerial vehicles is characterized by comprising the following steps:
acquiring each position point of each unmanned aerial vehicle in a formation flight task and each task point of a next task;
performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule to obtain each flight path which is not crossed and has the shortest total path, wherein each flight path is a path from each position point to a task point matched with each position point;
when the total amount of the position points and the total amount of the task points are the same, performing region division and pairwise matching on each position point and each task point according to a preset region division matching rule until all the position points are matched with the task points; when the total amount of the position points and the total amount of the task points are different, performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule until the number of the position points matched to a certain edge area of a straight line is less than or equal to a preset threshold value, and determining a matching mode with the shortest total path in preset threshold factorial seed matching modes between the remaining position points and the remaining task points; determining the residual task point corresponding to the residual position point in the matching mode with the shortest total route as the task point matched with the residual position point,
correspondingly determining each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle;
the area division and pairwise matching of the position points and the task points according to a preset area division matching rule specifically comprises the following steps:
determining the areas corresponding to the position points and the task points as initial areas;
selecting a position point from the initial region and a task point closest to the selected position point;
according to a first straight line formed by connecting the selected position point and the task point closest to the selected position point, carrying out region division on the initial region;
determining whether the task point with the closest distance is the task point matched with the selected position point by judging whether the number of the position points and the number of the task points in each first divided area are the same, wherein the first divided area is an area obtained by dividing a first straight line formed by connecting the selected position point with the task point with the closest distance;
if the position points and the number of the task points in each first divided area are the same, determining the task point with the closest distance as the task point matched with the selected position point;
and respectively determining each first division area as the initial area, and repeating the steps of selecting a position point from the initial area and determining a task point matched with the selected position point until no position point with an unmatched task point exists in each position point.
2. The method according to claim 1, wherein after determining whether the task point closest to the selected distance is a task point matching the selected position point by determining whether the position points and the number of task points in each first divided area are the same, the method further comprises:
if the number of the position points and the number of the task points in each first divided area are different, the task point which is next closest to the selected position point in the initial area is selected;
according to a second straight line formed by connecting the selected position point and the next closest task point, carrying out region division on the initial region;
determining whether the task point with the second closest distance is a task point matched with the selected position point by judging whether the number of the position points and the task points in each second divided area is the same or not, wherein the second divided area is an area obtained by dividing a second straight line formed by connecting the selected position point with the task point with the second closest distance;
if the number of the position points and the number of the task points in each second divided area are the same, determining the task point with the next closest distance as the task point matched with the selected position point;
and respectively determining the second divided areas as the initial areas, and repeating the steps of selecting a position point from the initial area and determining a task point matched with the selected position point until no position point with an unmatched task point exists.
3. The method according to any one of claims 1 or 2, wherein the determining the respective first divided areas as the initial areas and repeating the steps of selecting a location point from the initial areas and determining a task point matching the selected location point until there is no location point matching an unmatched task point specifically comprises:
determining each first divided area as the initial area, and repeating the steps of selecting a position point from the initial area and determining a task point matched with the selected position point until the number of the position points in a certain first divided area is less than or equal to a preset threshold value;
determining a matching mode with the shortest total route in preset threshold factorial seed matching modes between the residual position points and the residual task points;
and determining the residual task point corresponding to the residual position point in the matching mode with the shortest total route as the task point matched with the residual position point.
4. The method of claim 1, wherein after selecting a location point from the initial region and a task point closest to the selected location point, the method further comprises:
detecting whether other position points and other task points exist on a first straight line formed by connecting the selected position point and the task point closest to the selected position point;
if the task points exist, selecting the task point which is farthest from the set of other position points from the other task points;
and determining the position point closest to the selected task point as the position point matched with the selected task point, and repeating the steps of selecting the task point farthest and determining the position point matched with the selected task point until the other position points are matched with the other task points.
5. An unmanned aerial vehicle formation flight path determining device, characterized in that includes:
the acquiring unit is used for acquiring each position point of each unmanned aerial vehicle in the formation flight task and each task point of the next task;
the matching unit is used for carrying out region division and pairwise matching on each position point and each task point according to a preset region division matching rule to obtain each flight path which is not crossed and has the shortest total path, and each flight path is a path from each position point to the task point matched with each position point;
the determining unit is used for correspondingly determining each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle;
the matching unit includes:
a determining module, configured to determine, as initial regions, regions corresponding to the location points and the task points;
the selection module is used for selecting a position point from the initial region and a task point which is closest to the selected position point;
the region dividing module is used for performing region division on the initial region according to a first straight line formed by connecting the selected position point and the task point closest to the selected position point;
the determining module is further configured to determine whether the task point closest to the first divided area is a task point matched with the selected position point by determining whether the number of the position points and the number of the task points in each first divided area are the same;
the determining module is further configured to determine the task point closest to the selected position point as the task point matched with the selected position point if the position point in each first divided region is equal to the task point; and respectively determining each first division area as the initial area, and repeating the steps of selecting a position point from the initial area and determining a task point matched with the selected position point until no position point with an unmatched task point exists in each position point.
6. The apparatus of claim 5,
the selection module is further configured to, if the number of the position points and the number of the task points in each first divided region are different, determine a task point that is next closest to the selected position point from the initial region;
the region dividing module is further configured to perform region division on the initial region according to a second straight line formed by connecting the selected position point and the next closest task point;
the determining module is further configured to determine whether the next closest task point is a task point matched with the selected position point by judging whether the number of the position points and the number of the task points in each second divided region are the same; the second divided area is an area obtained by dividing a second straight line formed by connecting the selected position point and the next closest task point;
the determining module is further configured to determine the task point with the second closest distance as the task point matched with the selected position point if the number of the position points and the number of the task points in each second divided region are the same, respectively determine each second divided region as the initial region, and repeat the steps of selecting a position point from the initial region and determining a task point matched with the selected position point until there is no position point with an unmatched task point.
7. A computer-readable storage medium, on which a computer program is stored, which program, when executed by a processor, carries out the steps of:
acquiring each position point of each unmanned aerial vehicle in a formation flight task and each task point of a next task;
performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule to obtain each flight path which is not crossed and has the shortest total path, wherein each flight path is a path from each position point to a task point matched with each position point;
correspondingly determining each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle;
the area division and pairwise matching of the position points and the task points are performed according to a preset area division matching rule, and the method specifically comprises the following steps:
determining the areas corresponding to the position points and the task points as initial areas;
selecting a position point from the initial region and a task point closest to the selected position point;
according to a first straight line formed by connecting the selected position point and the task point closest to the selected position point, carrying out region division on the initial region;
determining whether the task point with the closest distance is the task point matched with the selected position point by judging whether the number of the position points and the number of the task points in each first divided area are the same, wherein the first divided area is an area obtained by dividing a first straight line formed by connecting the selected position point with the task point with the closest distance;
if the position points and the number of the task points in each first divided area are the same, determining the task point with the closest distance as the task point matched with the selected position point;
and respectively determining each first division area as the initial area, and repeating the steps of selecting a position point from the initial area and determining a task point matched with the selected position point until no position point with an unmatched task point exists in each position point.
8. An apparatus for determining a formation flight path of unmanned aerial vehicles, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of:
acquiring each position point of each unmanned aerial vehicle in the formation flight task and each task point of the next task;
performing area division and pairwise matching on each position point and each task point according to a preset area division matching rule to obtain each flight path which is not crossed and has the shortest total path, wherein each flight path is a path from each position point to the task point matched with each position point;
correspondingly determining each flight path obtained by matching as a formation flight path of each unmanned aerial vehicle;
the area division and pairwise matching of the position points and the task points according to a preset area division matching rule specifically comprises the following steps:
determining the areas corresponding to the position points and the task points as initial areas;
selecting a position point from the initial region and a task point closest to the selected position point;
according to a first straight line formed by connecting the selected position point and the task point closest to the selected position point, carrying out region division on the initial region;
determining whether the task point with the closest distance is the task point matched with the selected position point by judging whether the number of the position points and the number of the task points in each first divided area are the same, wherein the first divided area is an area obtained by dividing a first straight line formed by connecting the selected position point with the task point with the closest distance;
if the position points and the number of the task points in each first divided area are the same, determining the task point with the closest distance as the task point matched with the selected position point;
and respectively determining each first division area as the initial area, and repeating the steps of selecting a position point from the initial area and determining a task point matched with the selected position point until no position point with an unmatched task point exists in each position point.
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| CN110347180A (en) * | 2019-08-12 | 2019-10-18 | 南京邮电大学 | The method for calculating the most short tail clearance that unmanned plane cluster is formed into columns again |
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