CN108983817A - A kind of multizone searching method and device - Google Patents
A kind of multizone searching method and device Download PDFInfo
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Abstract
The invention discloses and a kind of multizone searching method and device, be related to unmanned control technology field.To provide a kind of implementation method being simple and efficient for multiple no-manned plane multi-region domain search problem.This method comprises: determining the distance between multiple regions of search according to this within the set range, according to the sweep length of unmanned plane, the maximum flying speed of the unmanned plane determines unmanned plane in the search area of unit time；When determining in setting range there are when unappropriated region to be searched, it is determined as the current unmanned plane for completing search mission earliest to distribute unmanned plane, maximum time will distributes to distribution unmanned plane than corresponding region to be searched；The corresponding vertex of region longest edge to be searched is determined as initial search point, the distribution unmanned plane is according to the round-trip way of search of parallel sweep until scan path is by the vertex farthest with longest edge, wherein, the width of parallel sweep is determined according to the sweep length of unmanned plane.
Description
Technical field
The present invention relates to unmanned control technology field, a kind of multizone searching method and device are more particularly related to.
Background technique
The continuous improvement of unmanned plane (Unmanned Aerial Vehicle, UAV) capacity of will and application environment are increasingly
Complexity has made single rack UAV be unable to satisfy the demand of actual task, and Collaborative Control multiple no-manned plane (UAVs) is realized bigger whole
Body efficiency has become the new hot spot of UAV research.As the important research content of more UAV Collaborative Controls, more UAV collaboratively searchings
Refer to that carry out reasonable task distribution to more UAV plans with flight path, searches multiple no-manned plane cooperation high efficiency high quality completion
The process of rope task.Mostly unmanned collaboratively searching has the remarkable advantages such as high-efficient, task fault-tolerance ability is strong, has been widely used in
The fields such as target search, ground mapping and pesticide spraying, multiple no-manned plane cooperate with the trend for having become the following Development of UAV.
Currently, for range searching problem research be concentrated mainly on the path planning of single UAV search continuum with it is more
In the task distribution of UAV collaboratively searching continuum.Single UAV range searching path planning mainly studies region of search shape, interior
The factors such as portion's obstacle, UAV performance are selected searching route starting point and the influence of way of search；More UAV collaboratively searchings continuum
Research include: that the assessment of UAV search performance, region division and distribution and searching route generate；Multiple no-manned plane collaboratively searching multi-region
There are similarity in domain and more UAV search continuum but different from, mainly it is identical in that the two is directed to nobody
The Performance Evaluation of machine and scheduling to task；The main distinction is that continuum search problem is not related to the interregional flight time
Influence to task completion time, and multi-region domain search problem should consider that the search time in region also relates to unmanned plane in area
Flight time cost between domain, mainly optimize purpose be how to scan for region task schedule and path planning make institute whether there is or not
As short as possible the time required to the unmanned plane for completing search mission in man-machine the latest, i.e., the search deadline of all areas is as far as possible
It is early.
In conjunction with unmanned plane search problem present Research it can be seen that single unmanned plane search continuum research in,
The collaboration not being related between unmanned plane isomerism and multiple no-manned plane, searching algorithm and path easily generate；It searches for and connects in multiple no-manned plane
In the research in continuous region, unmanned plane it is not related in interregional flight cost, only using the relative ability of unmanned plane as the area of coverage
The distribution foundation of domain size；And multiple no-manned plane multi-region domain search problem, not only consider the performance difference of unmanned plane, but also to consider
The flight cost and power consumption situation when multiple regions are covered, dispatching algorithm and path planning are more complicated, and this aspect is ground at present
Study carefully relatively fewer.
There is the application demand of a large amount of separated region search in a practical situation.Such as militarily to multiple and different targets
Investigation and search problem；Pesticide spraying, terrain modeling problem in agricultural to mountain land and dispersion terraced fields；It is robbed in the disaster relief
Multiple devastateds are monitored simultaneously in danger, the problem of to understand different regions the condition of a disaster in time, to provide support for correct decisions；
In Eco-environmental Protection Works, synergistic observation etc. is realized to interactional different zones, these application scenarios are directed to more
Unmanned plane multi-region domain search problem.Therefore, multiple no-manned plane multi-region domain search problem is studied, provides a kind of feasible solution for the problem
Certainly scheme has important theoretical and practical significance.
Summary of the invention
The embodiment of the present invention provides a kind of multizone searching method and device, to for multiple no-manned plane multi-region domain search problem
A kind of implementation method being simple and efficient is provided.
The embodiment of the present invention provides a kind of multizone searching method, comprising:
Determine the distance between multiple regions of search according to this within the set range, it is described according to the sweep length of unmanned plane
The maximum flying speed of unmanned plane, limit in described search region maximum flying speed and the unmanned plane difference rectilinear flight away from
From when optimal flying speed, determine the unmanned plane in the search area of unit time；
When determining in the setting range there are when unappropriated region to be searched, search mission is completed earliest by current
The unmanned plane is determined as distributing unmanned plane, will distribute to maximum time than the corresponding region to be searched and described distribute nobody
Machine；
The corresponding vertex of the region longest edge to be searched is determined as initial search point, the distribution unmanned plane is according to flat
The round-trip way of search of row scanning passes through the vertex farthest with the longest edge until scan path, wherein the parallel sweep
Width according to the unmanned plane sweep length determine.
Preferably, by unmanned plane remaining each region to be searched search time and the distribution unmanned plane from
The described search region being currently located fly to the ratio between the flight time in each region to be searched be determined as it is described
Time ratio；
It is described maximum time to distribute to the distribution unmanned plane than the corresponding region to be searched and specifically include:
When multiple regions to be searched search area having the same, there will be most narrow spacing with the distribution unmanned plane
From the region to be searched distribute to the distribution unmanned plane；Or
When between multiple regions to be searched and the distribution unmanned plane it is having the same apart from when, will have and most wantonly search for
Distribute to the distribution unmanned plane in the region to be searched of rope area.
Preferably, determine the unmanned plane in the search area of unit time by following equation:
C=Vopt*W
Wherein, W is the sweep length of unmanned plane, Vopt=min { Vpower(d),Vpermit,Vmax, VpowerThe unmanned plane
Different rectilinear flights apart from when maximum flying speed, VpermitMaximum flying speed, V are limited in described search regionmaxFor nothing
Man-machine maximum flying speed.
Preferably, it is described maximum time will distribute to the distribution unmanned plane than the corresponding region to be searched after,
Further include:
Determine it is described distribution unmanned plane from be currently located described search region fly to the region to be searched first fly
The second flight time that the completion of row time and the distribution unmanned plane in the region to be searched is searched for；
The task completion time of the distribution unmanned plane is updated with the sum of first flight time and second flight time,
Wherein, the task completion time corresponds to the distribution unmanned plane in the third flight of the completion search in described search region
Between.
Preferably, described to determine the distance between multiple regions of search according to this within the set range, it specifically includes:
It is determined between the shape core coordinate in described search region and two neighboring described search region according to following formula respectively
Distance:
Wherein, (xi,yi) be region of search apex coordinate, n be region number of vertices,It is searched for what is be calculated
The centroid coordinate in rope region, dijFor the distance between region i and region j
The embodiment of the invention also provides a kind of multizone searchers, comprising:
Determination unit, for determining the distance between multiple regions of search according to this within the set range, according to unmanned plane
Sweep length, the maximum flying speed of the unmanned plane limit maximum flying speed and the unmanned plane in described search region
Different rectilinear flights apart from when optimal flying speed, determine the unmanned plane in the search area of unit time；
Allocation unit will be currently earliest for when determining in the setting range there are when unappropriated region to be searched
The unmanned plane for completing search mission is determined as distributing unmanned plane, will distribute than the corresponding region to be searched maximum time
To the distribution unmanned plane；
Scanning element, for the corresponding vertex of the region longest edge to be searched to be determined as initial search point, described point
With unmanned plane according to parallel sweep round-trip way of search until scan path pass through the vertex farthest with the longest edge,
In, the width of the parallel sweep is determined according to the sweep length of the unmanned plane.
Preferably, by unmanned plane remaining each region to be searched search time and the distribution unmanned plane from
The described search region being currently located fly to the ratio between the flight time in each region to be searched be determined as it is described
Time ratio；
The allocation unit is specifically used for:
When multiple regions to be searched search area having the same, there will be most narrow spacing with the distribution unmanned plane
From the region to be searched distribute to the distribution unmanned plane；Or
When between multiple regions to be searched and the distribution unmanned plane it is having the same apart from when, will have and most wantonly search for
Distribute to the distribution unmanned plane in the region to be searched of rope area.
Preferably, determine the unmanned plane in the search area of unit time by following equation:
C=Vopt*W
Wherein, W is the sweep length of unmanned plane, Vopt=min { Vpower(d),Vpermit,Vmax, VpowerThe unmanned plane
Different rectilinear flights apart from when maximum flying speed, VpermitMaximum flying speed, V are limited in described search regionmaxFor nothing
Man-machine maximum flying speed.
Preferably, the allocation unit is also used to:
Determine it is described distribution unmanned plane from be currently located described search region fly to the region to be searched first fly
The second flight time that the completion of row time and the distribution unmanned plane in the region to be searched is searched for；
The task completion time of the distribution unmanned plane is updated with the sum of first flight time and second flight time,
Wherein, the task completion time corresponds to the distribution unmanned plane in the third flight of the completion search in described search region
Between.
Preferably, the determination unit is specifically used for:
It is determined between the shape core coordinate in described search region and two neighboring described search region according to following formula respectively
Distance:
Wherein, (xi,yi) be region of search apex coordinate, n be region number of vertices,It is searched for what is be calculated
The centroid coordinate in rope region, dijFor the distance between region i and region j.
The embodiment of the present invention provides a kind of multizone searching method and device, this includes: to determine according to this within the set range
The distance between multiple regions of search, according to the sweep length of unmanned plane, the maximum flying speed of the unmanned plane, described search
Limited in region maximum flying speed and the unmanned plane difference rectilinear flight apart from when optimal flying speed, determine the nothing
The man-machine search area in the unit time；It, will be current when determining in the setting range there are when unappropriated region to be searched
Earliest complete search mission the unmanned plane be determined as distribute unmanned plane, will maximum time than the corresponding region to be searched
Distribute to the distribution unmanned plane；The corresponding vertex of the region longest edge to be searched is determined as initial search point, described point
With unmanned plane according to parallel sweep round-trip way of search until scan path pass through the vertex farthest with the longest edge,
In, the width of the parallel sweep is determined according to the sweep length of the unmanned plane.This method is by multiple unmanned plane task schedules
It is combined with multiple regions of search, has fully considered the practical application request of multiple no-manned plane collaboratively searching；According to searching for unmanned plane
Rope performance difference proposes unmanned plane in the search area of unit time, and on the basis of the search area of unit time, root
Region of search is determined than preferential according to the time, is able to satisfy the requirement of real-time of dynamic task scheduling, furthermore, the reciprocation type search provided
Method can save search time and retrieval power consumption；Based on this method, provided for multiple no-manned plane multi-region domain search a kind of simple
Efficient method.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of multizone searching method flow diagram provided in an embodiment of the present invention；
Fig. 2 is speed-power consumption profile schematic diagram of different linear distances provided in an embodiment of the present invention；
Fig. 3 is flight linear distance provided in an embodiment of the present invention-optimal velocity relationship matched curve schematic diagram；
Fig. 4 is unmanned plane list region overlay path planning schematic diagram provided in an embodiment of the present invention；
Fig. 5 is the Gantt chart that multiple no-manned plane provided in an embodiment of the present invention completes search mission；
Fig. 6 is multiple no-manned plane searching route schematic diagram provided in an embodiment of the present invention；
Fig. 7 is a kind of multizone searcher structural schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 illustratively shows a kind of multizone searching method flow diagram provided in an embodiment of the present invention, such as Fig. 1
Shown, this method mainly comprises the steps that
Step 101, the distance between multiple regions of search are determined according to this within the set range, it is wide according to the scanning of unmanned plane
It spends, the maximum flying speed of the unmanned plane, it is Bu Tong straight that maximum flying speed and the unmanned plane is limited in described search region
Optimal flying speed when line flying distance determines the unmanned plane in the search area of unit time；
Step 102, it when determining in the setting range there are when unappropriated region to be searched, completes to search earliest by current
The unmanned plane of rope task is determined as distributing unmanned plane, will distribute to than the corresponding region to be searched maximum time described
Distribute unmanned plane；
Step 103, the corresponding vertex of the region longest edge to be searched is determined as initial search point, it is described to distribute nobody
Machine is according to the round-trip way of search of parallel sweep until scan path is by the vertex farthest with the longest edge, wherein described
The width of parallel sweep is determined according to the sweep length of the unmanned plane.
It in embodiments of the present invention, may include having multiple regions of search, and be directed to multiple regions of search in setting range
There can also be multiple unmanned planes, i.e., it, can be with for multiple regions of search in multizone searching method provided in an embodiment of the present invention
It include multiple unmanned planes.
In a step 101, it needs first to establish region of search assessment, i.e., target is completed by the region of search assessment established and searched
The distance between the modeling of rope region and region of search calculate.Specifically, since each unmanned plane is in maximum flying speed, flight is high
Degree, load capacity battery capacity have differences in cruise duration and sweep length etc., appoint in order to convenient to unmanned plane
Business scheduling, in embodiments of the present invention, needs to model the search performance of unmanned plane, passes through searching for quantitative assessment unmanned plane
It can be distributed without hesitation for target search region and foundation is provided.
It should be noted that the sweep length of above-mentioned unmanned plane is determined according to the sensor that unmanned plane carries.
Specifically, region of search can be expressed as the set of vertex sequence P: P={ v with any convex polygon1,v2,..,
vi, wherein viIt is made of one group of coordinate, inverse clock sequential storage is pressed on the vertex of polygon, and the side on two adjacent vertex is denoted as
ei, length li。
Distance between region of search can be by calculating the centroid coordinate of polygonal region, then according to formula (1) first
The Euclidean distance between convex polygon centroid is calculated as interregional distance by formula (2).
As an example it is assumed that there is 10 regions of search, the spatial distribution coordinate of each region of search is as shown in table 1, according to formula
(1), the range information in (2) available any two block search region is as shown in table 2.
1. region of search vertex point coordinate information of table
Apart from information table between 2. region of search of table
| Number | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | |
| 0 | 0 | ||||||||||
| 1 | 183 | 0 | |||||||||
| 2 | 252 | 158 | 0 | ||||||||
| 3 | 145 | 38 | 165 | 0 | |||||||
| 4 | 114 | 85 | 148 | 54 | 0 | ||||||
| 5 | 180 | 122 | 72 | 113 | 82 | 0 | |||||
| 6 | 274 | 219 | 68 | 218 | 189 | 108 | 0 | ||||
| 7 | 125 | 143 | 132 | 117 | 65 | 64 | 150 | 0 | |||
| 8 | 183 | 178 | 99 | 162 | 118 | 60 | 93 | 62 | 0 | ||
| 9 | 51 | 146 | 200 | 109 | 68 | 129 | 225 | 76 | 137 | 0 | |
| 10 | 240 | 259 | 149 | 243 | 196 | 138 | 100 | 134 | 81 | 201 |
It should be noted that number 0 indicates the initial position of multiple no-manned plane in table 2, default coordinate is (0,0).
Further, after confirmed the distance between multiple regions of search, then sweeping according to each unmanned plane is needed
Retouch width, the maximum flying speed of each unmanned plane, the maximum flight limited in each region of search searches out, and each unmanned plane exists
The optimal flying speed etc. that different rectilinear flight distances are, determines each unmanned plane in the search area of unit time according to this.
In embodiments of the present invention, flight measurement experiment first is carried out to each type of unmanned plane, makes different straight lines and flies
Speed-power consumption scatter plot under row distance, and the speed under fixed straight line flying distance-power consumption is obtained by curve matching and is fitted
Curve, Fig. 2 is speed-power consumption profile schematic diagram of different linear distances provided in an embodiment of the present invention, as shown in Fig. 2, every
Curve indicate given rectilinear flight apart from when speed-power consumption profile, the corresponding speed of minimum value on every curve indicates should
Optimal flying speed under linear distance chooses the search speed when speed is the actual search linear distance.
The rectilinear flight of unmanned plane difference apart from when optimal flying speed can pass through following equation (3) determine:
Wherein, when p (v, d) is represented to boning out flying distance d, the fitting between the flying speed and power consumption of unmanned plane is bent
Line may further measure the corresponding optimal velocity of multiple groups difference d, obtain corresponding between different linear distances and optimal velocity
Relationship, the foundation as the selection of search process optimal velocity.
Further, by the different linear distances of synthesis optimum search speed corresponding with its can draw flight straight line away from
From-optimal velocity relationship matched curve, Fig. 3 is flight linear distance provided in an embodiment of the present invention-optimal velocity relationship fitting
Curve synoptic diagram, Fig. 3 can be used as the rectilinear flight of unmanned plane difference apart from when optimum search speed selection gist.Unmanned plane is different
Rectilinear flight apart from when optimum search speed can pass through following equation (4) determine:
Vopt=min { Vpower(d),Vpermit,Vmax} (4)
Wherein, VpowerIndicate the rectilinear flight of unmanned plane difference apart from when maximum flying speed, VpermitIndicate region of search
Interior restriction maximum flying speed, for example, maximum flying speed when spraying insecticide limits, VmaxFor unmanned plane maximum flying speed,
Vpower(d) for the rectilinear flight of unmanned plane difference apart from when optimal flying speed.
Further, the sensor parameters according to entrained by unmanned plane can obtain the information such as sensor scanning range, knot
The quantitative assessment of speed-power consumption profile and the available unmanned plane search performance of distance-optimum search rate curve is closed as a result, i.e.
Unmanned plane is obtained in the search area of unit time.Search area of the unmanned plane in the unit time can pass through following equation (5)
It determines:
C=Vopt*W (5)
Wherein, W is the sweep length of unmanned plane, VoptFor the rectilinear flight of unmanned plane difference apart from when optimum search speed.
For example, it is now assumed that having 3 kinds of unmanned planes A, B, C, is obtained according to the Performance Evaluation Model of acquisition and sensor parameters
Search performance assessment result to unmanned plane is as shown in table 3.
3. unmanned plane search performance assessment result of table
| UAV type | A | B | C |
| Flying speed (m/s) | 5 | 5 | 5 |
| The optimal scanning speed of 50m (m/s) | 7 | 9.5 | 12 |
| Sweep length (m) | 1.0 | 0.8 | 0.5 |
| Unit time search area (m2/min) | 420 | 456 | 360 |
Flying speed in table 3 indicates flying speed of the unmanned plane between region of search, only lists linear distance in table 3
Optimal scanning speed when for 50m, sweep length are determined that unit time scan area is most by unmanned plane carry sensors parameter
The product of excellent scanning speed and sweep length.
In a step 102, in order to guaranteeing that all unmanned planes are completed at the same time the search mission of multiple regions of search and most
The late deadline is as early as possible, and in embodiments of the present invention, proposing a kind of high time based on Greedy strategy compares priority scheduling
Algorithm.
Specifically, the initiating task completion moment of multiple unmanned planes is disposed as 0, by the fields of search multiple in setting range
The set in domain is initialized as region of search entirety；After starting distribution, first determine whether in setting range with the presence or absence of unappropriated
Unappropriated region of search is set as region to be searched, into one when determining there are when unappropriated region of search by region of search
Step, it is determined as the current unmanned plane for completing search mission earliest to distribute unmanned plane；Then remaining region to be searched is calculated
Be currently located the time ratio in region relative to distribution unmanned plane, selected from multiple time ratios a maximum time than it is corresponding to
Distribution unmanned plane is distributed in the region to be searched by region of search.
It should be noted that in embodiments of the present invention, by unmanned plane in the search in remaining each region to be searched
Between fly with distribution unmanned plane from the region of search being currently located it is true to the ratio between the flight time in each region to be searched
It is set to time ratio.For example, unmanned plane Ui current search region is A, the time ratio of any region Bi to be searched is defined as unmanned plane
The ratio of Fi the time required to time Ti and unmanned plane Ui needed for Ui completes search to region of search Bi flies from region A to region Bi
Value.The time ratio in region to be searched is bigger, selects the region bigger as the probability of the next region of search of unmanned plane.
In practical applications, the high time overcomes under most short flying distance priority principle than the mode of priority, due to larger
The case where possible final search in region causes multiple no-manned plane finish time to differ greatly, while it is preferential to also overcome Large Search Area domain
Under principle, since distance causes search deadline longer problem between not considering region of search；The high time is more total than priority principle
It is to be intended to select area larger and away from the closer area preference search in unmanned plane current location.For example, away from current unmanned plane
When being equidistant, region area to be searched is bigger, and the zone time ratio is higher, ensure that big area preference is selected；Wait search
When rope region area is identical, closer away from unmanned plane current location distance, the time ratio in the region is higher, ensure that and works as away from unmanned plane
The closer area preference in front position is selected.Therefore, the high time has taken into account big area preference than scheduling strategy and short distance is preferential
The factor of two influence Late Finish, can reach preferable distribution effects.
In step 103, it after maximum time distributing to distribution unmanned plane than corresponding region to be searched, needs to confirm
Distribution unmanned plane treats the searching route of region of search.In embodiments of the present invention, confirm the searching route in region to be searched only
If being each unmanned plane planning department from the initial point in region to be searched to target point according to the specific tasks of each unmanned plane
Can flight path, the superiority and inferiority of search-path layout method directly affects the power consumption of unmanned plane, the coverage rate of search and search mission
Completion quality, it is also most important simultaneously for the flight safety of unmanned plane.
In view of turning process is affected to power consumption, mainly by guaranteeing that search process always turns in the embodiment of the present invention
Curved number is minimum, reduces the flight power consumption of unmanned plane as far as possible.
Specifically, it in the embodiment of the present invention using returning way of search, continues to use parallel with polygonal region longest edge round-trip
Formula searching method generates searching route, at a distance of unmanned plane sensor sweep length between adjacent two parallel paths, searches for road
The generating process of diameter mainly includes the following steps:
1. finding the initial search point in region to be searched: calculate the side length of convex polygon, using vertex where longest edge as
Initial search point, in specific implementation can be polygon by making longest edge be parallel to horizontal axis calculating polygon progress rotation process
Each edge lengths in shape region,.
2. generating the searching route in region to be searched: according to the reciprocation type way of search of parallel sweep, to distribute unmanned plane
Unit time flying distance is that interval generates flight coordinate sequence, and every time scanning, which translates scan line to non-sweep test side, to be passed
Sensor scanning is wide, until scan path terminates by the vertex farthest away from longest edge.
3. generating distribution unmanned plane in the searching route in region to be searched: distributing the multiple wait search of unmanned plane to a frame is belonged to
Rope region scans for path planning in a manner of 1., and these regions to be searched are connected according to search order, obtains every
The complete search path of frame distribution unmanned plane.
For example, the Realization of Simulation is carried out according to the generation method of above-mentioned searching route, obtains certain Convex Polygon Domain
Search-path layout result is as shown in figure 4, Fig. 4 is unmanned plane list region overlay path planning provided in an embodiment of the present invention signal
Figure, in Fig. 4, searching route starting point coordinate is (130,110), and end point coordinate is (150,35), each star represents one
A flight coordinate, the acquisition track of entire unmanned plane are identified by broken line.
Further, after distributing the search mission in unmanned plane completion primary region to be searched, distribution nothing can be confirmed
It is man-machine from previous region of search fly to first flight time in region to be searched, then confirmation distribution unmanned plane is wait search
The second flight time of search mission is completed in rope region, is used to update distribution for the sum of the first flight time and the second flight time
The task completion time of unmanned plane distributes the corresponding distribution unmanned plane of task completion time of unmanned plane in embodiments of the present invention
The third flight time of the completion search mission of a region of search before region to be searched.
It should be noted that in practical applications, when will have the region to be searched of maximum time ratio to distribute to distribution nothing
After man-machine, the region to be searched of maximum time ratio can be deleted out of remaining region to be searched.
In embodiments of the present invention, by the high time than priority task dispatching algorithm obtained every frame distribute unmanned plane to
Region of search realizes the generation to all region overlay paths to be searched according to single range searching paths planning method, herein
On the basis of can will belong to all regions to be searched of same distribution unmanned plane and be sequentially connected according to search order and can obtain each distribution
The fullpath of unmanned plane.
For example, the Realization of Simulation is carried out than preferential region task scheduling algorithm to based on the high time, obtains the field of search
The scheduling result in domain is as shown in table 4, and the Gantt chart that each unmanned plane completes task is as shown in Figure 5.
4. unmanned plane task allocation result of table
| Unmanned plane type | Region of search number | It completes moment (min) |
| A | 0->5->2->10 | 13.47 |
| B | 0->7->6->8 | 13.21 |
| C | 0->9->4->3->1 | 13.45 |
Fig. 5 is the Gantt chart that multiple no-manned plane provided in an embodiment of the present invention completes search mission, as shown in figure 5, white in figure
Color shell of column indicates unmanned plane in the interregional flight time, and column with slant lines segment table shows the time of unmanned plane covering region of search, region
Number is marked by the number in shell of column bracket, and the search time that distribution unmanned plane is completed to treat region of search is T after bracket: after
Field.The cover time in each region relatively to be searched of interregional flight time to be searched is small very as can see from Figure 5
More, this species diversity is more advantageous to the existing body of algorithm effect, and 3 frame unmanned plane approximations are completed at the same time task and are embodying dispatching algorithm just
True property, while can be seen that dispatching algorithm has high efficiency from assigning process.
Fig. 6 is multiple no-manned plane searching route schematic diagram provided in an embodiment of the present invention, as shown in Figure 6, it can be seen that each point
Flight path with unmanned plane is not most short, but can be seen that each distribution unmanned plane from the Gantt chart that distribution unmanned plane completes task
What the finish time of completion task was closest to；For example, the scanning sequency of UAV2 is also not optimal, this is because No. 7 wait search
Rope region, since No. 6 region areas to be searched are much larger than No. 8 regions to be searched, causes i.e. when selecting next region to be searched
Keep No. 8 No. 7 regions to be searched of region distance to be searched closer, still less than No. 6 regions to be searched of time ratio, so in distribution
No. 6 regions to be searched are first assigned with, solving for the problem can be excellent by adjusting the progress of the sequence of same unmanned plane region of search
Change.
In conclusion the embodiment of the present invention provides a kind of multizone searching method, this method is by multiple unmanned plane task tune
Degree is combined with multiple regions of search, has fully considered the practical application request of multiple no-manned plane collaboratively searching；According to unmanned plane
Search performance difference proposes unmanned plane in the search area of unit time, and on the basis of the search area of unit time,
Region of search is determined than preferential according to the time, is able to satisfy the requirement of real-time of dynamic task scheduling, furthermore, the reciprocation type provided is searched
Suo Fangfa can save search time and retrieval power consumption；Based on this method, a kind of letter is provided for multiple no-manned plane multi-region domain search
Single efficient method.
Based on the same inventive concept, the embodiment of the invention provides a kind of multizone searchers, since the device solves
The principle of technical problem is similar to a kind of multizone searching method, therefore the implementation of the device may refer to the implementation of method, weight
Multiple place repeats no more.
Fig. 7 is a kind of multizone searcher structural schematic diagram provided in an embodiment of the present invention, as shown in fig. 7, the device
Comprise determining that unit 701, allocation unit 702 and scanning element 703.
Determination unit 701, for determining the distance between multiple regions of search according to this within the set range, according to unmanned plane
Sweep length, the maximum flying speed of the unmanned plane, limit in described search region maximum flying speed and it is described nobody
The rectilinear flight of machine difference apart from when optimal flying speed, determine the unmanned plane in the search area of unit time；
Allocation unit 702 will currently most for when determining in the setting range there are when unappropriated region to be searched
The early unmanned plane for completing search mission is determined as distributing unmanned plane, will divide than the corresponding region to be searched maximum time
Unmanned plane is distributed described in dispensing；
Scanning element 703, it is described for the corresponding vertex of the region longest edge to be searched to be determined as initial search point
Distribute unmanned plane according to parallel sweep round-trip way of search until scan path pass through the vertex farthest with the longest edge,
In, the width of the parallel sweep is determined according to the sweep length of the unmanned plane.
Preferably, by unmanned plane remaining each region to be searched search time and the distribution unmanned plane from
The described search region being currently located fly to the ratio between the flight time in each region to be searched be determined as it is described
Time ratio；
The allocation unit 702 is specifically used for:
When multiple regions to be searched search area having the same, there will be most narrow spacing with the distribution unmanned plane
From the region to be searched distribute to the distribution unmanned plane；Or
When between multiple regions to be searched and the distribution unmanned plane it is having the same apart from when, will have and most wantonly search for
Distribute to the distribution unmanned plane in the region to be searched of rope area.
Preferably, determine the unmanned plane in the search area of unit time by following equation:
C=Vopt*W
Wherein, W is the sweep length of unmanned plane, Vopt=min { Vpower(d),Vpermit,Vmax, VpowerThe unmanned plane
Different rectilinear flights apart from when maximum flying speed, VpermitMaximum flying speed, V are limited in described search regionmaxFor nothing
Man-machine maximum flying speed.
Preferably, the allocation unit 702 is also used to:
Determine it is described distribution unmanned plane from be currently located described search region fly to the region to be searched first fly
The second flight time that the completion of row time and the distribution unmanned plane in the region to be searched is searched for；
The task completion time of the distribution unmanned plane is updated with the sum of first flight time and second flight time,
Wherein, the task completion time corresponds to the distribution unmanned plane in the third flight of the completion search in described search region
Between.
Preferably, the determination unit 701 is specifically used for:
It is determined between the shape core coordinate in described search region and two neighboring described search region according to following formula respectively
Distance:
Wherein, (xi,yi) be region of search apex coordinate, n be region number of vertices,It is searched for what is be calculated
The centroid coordinate in rope region, dijFor the distance between region i and region j.
It should be appreciated that one of the above multizone searcher include unit only according to the apparatus realize function
The logical partitioning of progress in practical application, can carry out the superposition or fractionation of said units.And one kind that the embodiment provides
The function and a kind of multizone searching method provided by the above embodiment that multizone searcher is realized correspond, for this
The more detailed process flow that device is realized, has been described in detail in above method embodiment one, herein no longer in detail
Description.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of multizone searching method characterized by comprising
Determine the distance between multiple regions of search according to this within the set range, according to the sweep length of unmanned plane, it is described nobody
The maximum flying speed of machine, limit in described search region maximum flying speed and the unmanned plane difference rectilinear flight apart from when
Optimal flying speed, determine the unmanned plane in the search area of unit time；
When determining in the setting range there are when unappropriated region to be searched, completed current described in search mission earliest
Unmanned plane is determined as distributing unmanned plane, maximum time will distribute to the distribution unmanned plane than the corresponding region to be searched；
The corresponding vertex of the region longest edge to be searched is determined as initial search point, the distribution unmanned plane according to sweeping in parallel
The round-trip way of search retouched passes through the vertex farthest with the longest edge until scan path, wherein the width of the parallel sweep
Degree is determined according to the sweep length of the unmanned plane.
2. the method as described in claim 1, which is characterized in that by unmanned plane searching in remaining each region to be searched
Rope time and the distribution unmanned plane fly from the described search region being currently located to the flight in each region to be searched
Ratio between time is determined as the time ratio；
It is described maximum time to distribute to the distribution unmanned plane than the corresponding region to be searched and specifically include:
When multiple regions to be searched search area having the same, there will be minimum range with the distribution unmanned plane
Distribute to the distribution unmanned plane in the region to be searched；Or
When between multiple regions to be searched and the distribution unmanned plane it is having the same apart from when, will have maximum search face
Distribute to the distribution unmanned plane in the long-pending region to be searched.
3. the method as described in claim 1, which is characterized in that determine the unmanned plane in the unit time by following equation
Search area:
C=Vopt*W
Wherein, W is the sweep length of unmanned plane, Vopt=min { Vpower(d),Vpermit,Vmax, VpowerIt is different for the unmanned plane
Rectilinear flight apart from when maximum flying speed, VpermitTo limit maximum flying speed, V in described search regionmaxFor nobody
Machine maximum flying speed.
4. the method as described in claim 1, which is characterized in that described to divide than the corresponding region to be searched maximum time
After distribution unmanned plane described in dispensing, further includes:
Determine that the distribution unmanned plane flies from described search region is currently located to when first flight in the region to be searched
Between and it is described distribution unmanned plane the region to be searched completion search the second flight time；
The task completion time of the distribution unmanned plane is updated with the sum of first flight time and second flight time,
In, the task completion time corresponds to the third flight time of completion search of the distribution unmanned plane in described search region.
5. the method as described in claim 1, which is characterized in that it is described determine according to this within the set range multiple regions of search it
Between distance, specifically include:
Respectively according to following formula determine between the shape core coordinate in described search region and two neighboring described search region away from
From:
Wherein, (xi,yi) be region of search apex coordinate, n be region number of vertices,For the field of search being calculated
The centroid coordinate in domain, dijFor the distance between region i and region j.
6. a kind of multizone searcher characterized by comprising
Determination unit, for determining the distance between multiple regions of search according to this within the set range, according to the scanning of unmanned plane
Width, the maximum flying speed of the unmanned plane, maximum flying speed is limited in described search region and the unmanned plane is different
Rectilinear flight apart from when optimal flying speed, determine the unmanned plane in the search area of unit time；
Allocation unit, for will currently complete earliest when determining in the setting range there are when unappropriated region to be searched
The unmanned plane of search mission is determined as distributing unmanned plane, maximum time will distribute to institute than the corresponding region to be searched
State distribution unmanned plane；
Scanning element, for the corresponding vertex of the region longest edge to be searched to be determined as initial search point, the distribution nothing
The man-machine round-trip way of search according to parallel sweep passes through the vertex farthest with the longest edge until scan path, wherein institute
The width for stating parallel sweep is determined according to the sweep length of the unmanned plane.
7. device as claimed in claim 6, which is characterized in that by unmanned plane searching in remaining each region to be searched
Rope time and the distribution unmanned plane fly from the described search region being currently located to the flight in each region to be searched
Ratio between time is determined as the time ratio；
The allocation unit is specifically used for:
When multiple regions to be searched search area having the same, there will be minimum range with the distribution unmanned plane
Distribute to the distribution unmanned plane in the region to be searched；Or
When between multiple regions to be searched and the distribution unmanned plane it is having the same apart from when, will have maximum search face
Distribute to the distribution unmanned plane in the long-pending region to be searched.
8. device as claimed in claim 6, which is characterized in that determine the unmanned plane in the unit time by following equation
Search area:
C=Vopt*W
Wherein, W is the sweep length of unmanned plane, Vopt=min { Vpower(d),Vpermit,Vmax, VpowerThe unmanned plane is different straight
Maximum flying speed when line flying distance, VpermitMaximum flying speed, V are limited in described search regionmaxMost for unmanned plane
Big flying speed.
9. device as claimed in claim 6, which is characterized in that the allocation unit is also used to:
Determine that the distribution unmanned plane flies from described search region is currently located to when first flight in the region to be searched
Between and it is described distribution unmanned plane the region to be searched completion search the second flight time；
The task completion time of the distribution unmanned plane is updated with the sum of first flight time and second flight time,
In, the task completion time corresponds to the third flight time of completion search of the distribution unmanned plane in described search region.
10. device as claimed in claim 6, which is characterized in that the determination unit is specifically used for:
Respectively according to following formula determine between the shape core coordinate in described search region and two neighboring described search region away from
From:
Wherein, (xi,yi) be region of search apex coordinate, n be region number of vertices,For the region of search being calculated
Centroid coordinate, dijFor the distance between region i and region j.
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