CN110275546A - A kind of unmanned plane is formed into columns search and method for scheduling task - Google Patents
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Abstract
The invention discloses a kind of unmanned plane formation search and method for scheduling task, include the following steps: based on unmanned plane energy consumption model and calculate the geometric distance of initial search point and base station, determine the search subspace of different unmanned planes, discretization is carried out to search subspace and uses breadth-first method, remember in conjunction with acquisition track and carry out unmanned plane search-path layout, carries out the search mission that cooperative scheduling completes object space with neighbours' unmanned plane in unmanned plane energy deficiency.The present invention passes through energy consumption, region of search division, path planning and task schedule, UAV Formation Flight is used in search space, the region of search for dividing difference obtains continuous searching route, task switching is carried out in unmanned plane energy supply deficiency, search time is extended while ensureing search efficiency, unmanned plane can efficiently accomplish the search and scheduler task of target area.
Description
Technical field
The invention belongs to unmanned plane target search technique fields, and in particular to a kind of unmanned plane is formed into columns search and task schedule
Method.
Background technique
Urgent need with people to job tasks such as safety detection, target followings, especially in face of complicated geographical ring
Extreme regions, the mankind such as border, marsh valley, mountains and rivers lake, high and steep mountains, insect disaster area or even toxic radiation are often difficult to
Up to even human health can be endangered, use manual detection efficiency not high, ineffective merely, and there are serious missing inspection and erroneous detections
The case where, to be difficult to achieve the purpose that detect a wide range of scattered target efficient.Therefore must come by advanced machine pair
The region that the mankind can not carry out effective operation carries out efficient detection operation.
Light-weight by means of unmanned plane, small volume is at low cost, the good feature of flexibility, can be real under battery power supply
The compound work of present object detection area, including track is gone around, spot hover, yawing rotation or even vertical lift etc. are dynamic
Make, in conjunction with the visual sensor etc. that unmanned aerial vehicle body carries, can be planted in education and scientific research, inspection of taking photo by plane, military search and rescue, agricultural
The fields such as guarantor, delivery industry are widely applied, efficient to target area, contactless or even comprehensive so as to realize
Detection.
Frequently with artificial remote control mode when unmanned plane scans for operation, pass through operator using separate unit unmanned plane
Manual operation carries out track and determines, target detection is carried out from the image of visual sensor return, to complex work environmental operations
Personnel are even more to need to track the position of unmanned plane at any time, avoid dangerous during unmanned plane during flying and damage lost contact；Meanwhile
The global path planning of search solid region is difficult to set up in unmanned plane path planning, thus in the presence of the repetition to some regions
Invalid search is even more the energy supply for wasting unmanned plane preciousness while reducing search efficiency.With unmanned plane application model
It is more and more to enclose increasingly wider and search target, needs to carry out unmanned plane formation cooperative motion, but primary power supplies phase
Same unmanned plane, in face of consuming different energy when different search missions, to need different to different unmanned plane distribution
Search area, while unmanned plane during flying during need search subspace carry out path planning, when unmanned plane energy supply
When insufficient, need to dispatch neighbours' unmanned plane and carry out collaboratively searching.
Summary of the invention
It is advised to solve the division in extensive search region in the prior art, single unmanned plane in the path of search subspace
It draws and the problems such as energy relay and scheduling strategy when unmanned plane energy supply deficiency, the present invention proposes that a kind of unmanned plane is compiled
Team's search and method for scheduling task, using UAV Formation Flight, the region of search for dividing difference obtains continuous searching route,
Task switching is carried out to the insufficient unmanned plane of energy supply, search time is extended while ensureing search efficiency, to improve
Service ability of the unmanned plane in a wide range of space.
In order to achieve the above technical purposes, reach above-mentioned technical effect, the invention is realized by the following technical scheme:
A kind of unmanned plane is formed into columns search and method for scheduling task, comprising:
Obtain dump energy when unmanned plane flies from base station to corresponding preset search subregion；
Dump energy based on unmanned plane redistributes region of search, obtains new search subregion corresponding with unmanned plane；
The path planning that unmanned plane is carried out in new search subregion, obtains continuous searching route；
When unmanned plane executes search mission according to continuous searching route, dump energy is not enough to supply it and continues searching
When returning to base station, then task switching is carried out with neighbours' unmanned plane, until completing the search of entire region of search.
Optionally, dump energy when unmanned plane flies from base station to corresponding preset search subregion, passes through following steps
It obtains:
Determine unmanned plane primary power, and initial search point and base station in corresponding preset search subregion geometry away from
From；
Geometric distance generation by the initial search point in unmanned plane primary power and corresponding preset search subregion, with base station
Enter energy consumption model, calculates dump energy when unmanned plane flies from base station to corresponding preset search subregion.
Optionally, the primary power of unmanned plane is equal.
Optionally, the dump energy based on unmanned plane redistributes region of search, obtains corresponding with unmanned plane new
Subregion is searched for, specifically includes the following steps:
Dump energy when based on unmanned plane during flying to corresponding preset search subregion, distribution and search subregion landform phase
Matched search area, search subregion landform more rugged fluctuating when, unmanned plane searches for that energy consumption is larger, then corresponding distribution is smaller
Search area；When search subregion landform is relatively flat, unmanned plane search energy consumption is smaller, then corresponding to distribute biggish search face
Product forms the non-uniform Distribution formula search area based on Topographic Complex Degree, energy of the balanced unmanned plane in different search subspaces
Amount consumption.
Optionally, the path planning that unmanned plane is carried out in new search subregion, obtains continuous searching route, has
Body the following steps are included:
Establish include height parameter search subregion threedimensional model, turn to three-dimensional point for described search subregion is discrete
Collection；
Breadth-first tree is used based on the three-dimensional point set, so that unmanned plane carries out all standing road to entire search subregion
Diameter planning, obtains continuous searching route.
Optionally, described when unmanned plane executes search mission according to continuous searching route, dump energy is not enough to supply
It answers it to continue searching when returning, then carries out task switching with neighbours' unmanned plane, until the search of entire region of search is completed,
Specifically includes the following steps:
When unmanned plane executes search mission according to searching route, is calculated using energy consumption model and to have been consumed in real time
Gross energy, and then obtain dump energy；
It is continued searching when returning to base station when the dump energy of discovery unmanned plane is not enough to supply it, then scheduling is completed
Neighbours' unmanned plane of search mission scans for task switching, continues to execute search mission by neighbours' unmanned plane, which mentions
Before fly back base station；
When neighbours' unmanned plane does not complete search mission, then energy relay is carried out with apart from nearest neighbours' unmanned plane,
It then proceedes to execute search mission.
Optionally, the gross energy consumed are as follows:
Each three-dimensional point is searched for by unique unmanned plane, and all three-dimensional points in region of search can be searched by unmanned plane
Rope, therefore meet:
In formula, { P1,P2,...,PNBe search space N number of three-dimensional point, M is unmanned plane sum, and i-th unmanned plane is searched
Rope regionIn share NiA three-dimensional point, β are proportionality coefficients；The total power consumption of unmanned plane is E, it is single nobody
Machine energy consumption is Ei,Indicate Searching pointWithBetween Euclidean distance.
Optionally, neighbours' unmanned plane that search mission is completed in the scheduling scans for task switching, specifically:
Neighbours' unmanned plane is calculated from current search pointTo Searching pointM paths energy consumptionIt obtains
Remaining searching route and the gross energy needed for path that makes a return voyageα, γ are respectively residue
The dissipative coefficient of searching route and path of making a return voyage, EkFor the energy needed for path that makes a return voyage；
As required gross energy SiLess than the dump energy of neighbours' unmanned plane, then neighbours' unmanned plane participates in energy relay and search
Task switching；The energy relay, which refers to, supplements energy for the unmanned plane of energy to be supplemented；The switching of described search task refers to and will protect
The searching route deposited, which communicates, gives neighbours' unmanned plane, and neighbours' unmanned plane continues searching the three-dimensional point that do not searched for.
Optionally, the method also includes: after all unmanned planes complete the search mission of entire region of search, formation is returned
Go back to base station.
Optionally, the formation return to base station specifically includes the following steps:
I-th of unmanned plane QiIt is Q in t moment positioni(t)；
Work as Qj(t) close to Qi(t) corresponding Euclidean distance d | | Qj(t)-Qi(t) | | < ε, wherein ε indicates minimizing geometric distance,
Then QiIt is in the t+1 moment direction of motionQkIt is v in the speed of t momentk(t), work as minimum
When within the scope of distance ε without other unmanned planes, unmanned plane Q will be activatedkAnd unmanned plane QiIt is in the t+1 moment direction of motionAs unmanned plane QiInvestigative range in without other unmanned planes exist
When, QiIt is moved by former direction, QiThe direction of motion of subsequent time is Ai(t+ Δ t)=vi(t)。
Compared with prior art, beneficial effects of the present invention:
The present invention proposes that a kind of unmanned plane is formed into columns search and method for scheduling task, according to subaerial relief (i.e. according to the field of search
Topographic map that domain models determines the complexity of landform) with region of search far from having been carried out stroke at a distance from base station to region of search
Point, reasonable energy balance；Meanwhile unmanned plane draws searching route by breadth-first regulation in search space, and saves nothing in real time
Man-machine searching route, avoids repeat search.The distribution of unmanned plane balancing energy is connect with neighbours' unmanned plane progress energy when energy deficiency
Power and search mission switching.After completion task, unmanned plane, which is formed into columns, to be returned, and is shortened time of return, is improved efficiency.Present invention emphasis is searched
The efficiency of rope and the enforceability of task, can make unmanned plane within the shortest time, search target, and return of forming into columns, tool
There is good sustainability.
Detailed description of the invention
In order that the present invention can be more clearly and readily understood, right below according to specific embodiment and in conjunction with attached drawing
The present invention is described in further detail, in which:
Fig. 1 is a kind of unmanned plane formation search of the present invention and method for scheduling task schematic diagram；
Fig. 2 is a kind of unmanned plane formation search of the present invention and task schedule regional planning figure；
Fig. 3 is a kind of unmanned plane formation search of the present invention and task schedule coordinate schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
It limits the scope of protection of the present invention.
Application principle of the invention is explained in detail with reference to the accompanying drawing.
Embodiment 1
The embodiment of the invention provides a kind of unmanned plane formation search and method for scheduling task, specifically includes the following steps:
(1) dump energy when unmanned plane flies from base station to corresponding preset search subregion is obtained；
(2) dump energy based on unmanned plane redistributes region of search, obtains new search sub-district corresponding with unmanned plane
Domain；
(3) path planning that unmanned plane is carried out in new search subregion, obtains continuous searching route；
(4) when unmanned plane executes search mission according to continuous searching route, dump energy is not enough to supply its continuation
Search then carries out task switching with neighbours' unmanned plane when being back to base station, until completing the search of entire region of search.
In a kind of specific embodiment of the embodiment of the present invention, unmanned plane flies from base station to corresponding preset search sub-district
Dump energy when domain is obtained by following steps:
Determine unmanned plane primary power, and initial search point and base station in corresponding preset search subregion geometry away from
From；Preferably, the primary power of unmanned plane is equal；
Geometric distance generation by the initial search point in unmanned plane primary power and corresponding preset search subregion, with base station
Enter energy consumption model, calculates dump energy when unmanned plane flies from base station to corresponding preset search subregion.Described
Energy consumption model is set according to the unmanned plane of actual use, which is the prior art, therefore does not do excessive repeat.
Since the initial search point of every unmanned plane has different distances, flight to corresponding initial ranging apart from base station
Different energy is consumed when point, and unmanned plane search different area region needs to consume different-energy, for this purpose, implementing in the present invention
In a kind of specific embodiment of example, the dump energy based on unmanned plane redistributes region of search, obtains and unmanned plane
Corresponding new search subregion, specifically includes the following steps:
Dump energy when based on unmanned plane during flying to corresponding preset search subregion, distribution and search subregion landform phase
Matched search area, search subregion landform more rugged fluctuating when, unmanned plane searches for that energy consumption is larger, then corresponding distribution is smaller
Search area, when search subregion is relatively flat, it is smaller that unmanned plane searches for energy consumption, corresponding to distribute biggish search area, shape
At the non-uniform Distribution formula search area based on Topographic Complex Degree, balanced unmanned plane is in different search subspace energy consumptions.
In a kind of specific embodiment of the embodiment of the present invention, the road that unmanned plane is carried out in new search subregion
Diameter is planned, continuous searching route is obtained, specifically includes the following steps:
Establish include height parameter search subregion threedimensional model, turn to three-dimensional point for described search subregion is discrete
Collection；Specifically: unmanned plane, according to actual geographic information, establishes the three-dimensional environment of additional height information in corresponding search subregion
Model, so that the distance of unmanned plane calculates distance caused by changing comprising height relief and increases；
Breadth-first tree is used based on the three-dimensional point set, so that unmanned plane carries out all standing road to entire search subregion
Diameter planning, obtains continuous searching route.
In a kind of specific embodiment of the embodiment of the present invention, since unmanned plane carries out limited power using battery, disappear
The energy of consumption is directly proportional to the Euclidean distance moved, balancing energy measurement is indicated using root mean square method, so that multiple no-manned plane
When searching for target, balancing energy is distributed.It is described when unmanned plane executes search mission according to searching route, dump energy is insufficient
It is continued searching when returning with supplying it, then carries out task switching with neighbours' unmanned plane, until completing entire region of search
Search, specifically includes the following steps:
When unmanned plane executes search mission according to searching route, is calculated using energy consumption model and to have been consumed in real time
Gross energy, and then obtain dump energy；
It is continued searching when returning to base station when the dump energy of discovery unmanned plane is not enough to supply it, then scheduling is completed
Neighbours' unmanned plane of search mission scans for task switching, continues to execute search mission by neighbours' unmanned plane, which mentions
Before fly back base station；
During unmanned plane during flying, the corresponding searching route of every unmanned plane is saved, i.e., what unmanned plane had flown searches
Rope path when for continuing to execute search mission for neighbours' unmanned plane, is continuously searched from the real-time current location according to above-mentioned
In rope path without searching route continue to fly, which flies back base station in advance.Optionally, the total energy consumed
Amount are as follows:
Each three-dimensional point is searched for by unique unmanned plane, and all three-dimensional points in region of search can be searched by unmanned plane
Rope, therefore meet:
In formula, { P1,P2,...,PNBe search space N number of three-dimensional point, M is unmanned plane sum, and i-th unmanned plane is searched
Rope regionIn share NiA three-dimensional point, β are proportionality coefficients, and E is the total power consumption of unmanned plane, EiIt is single
Unmanned plane energy consumption,Indicate Searching pointWithBetween Euclidean distance.
Optionally, neighbours' unmanned plane that search mission is completed in the scheduling scans for task switching, specifically:
Neighbours' unmanned plane is calculated from current search pointTo Searching pointM paths energy consumptionIt obtains
Remaining searching route and the gross energy needed for path that makes a return voyageα, γ are respectively residue
The dissipative coefficient of searching route and path of making a return voyage, EkFor the energy needed for path that makes a return voyage；
As required gross energy SiLess than the dump energy of neighbours' unmanned plane, then neighbours' unmanned plane participates in energy relay and search
Task switching.The energy relay just refers to that a unmanned plane is another supplement energy.This refers to remain when neighbours' unmanned plane
When complementary energy is enough, then the unmanned plane may participate in the link of energy relay and search mission switching；It is subsequent again from may participate in this
Judgement is to execute energy relay or execute search mission switching in a collection of unmanned plane, which specific platform goes to execute；Described search
Task switching refers to that the searching route that will have been saved communicates and gives neighbours' unmanned plane, and neighbours' unmanned plane continues searching the three-dimensional that do not searched for
Point.
Embodiment 2
The embodiment of the present invention the difference from embodiment 1 is that: the method also includes:
After all unmanned planes complete the search mission of entire region of search, forms into columns and return to base station, specifically include following step
It is rapid: i-th of unmanned plane QiIt is Q in t moment positioni(t)；
Work as Qj(t) when close to Qi(t) corresponding Euclidean distance d | | Qj(t)-Qi(t) | | < ε, wherein ε indicate minimum geometry away from
From then QiIt is in the t+1 moment direction of motionQkIt is v in the speed of t momentk(t), when
When within the scope of minimum range ε without other unmanned planes, unmanned plane Q will be activatedkAnd unmanned plane QiIt is in the t+1 moment direction of motionAs unmanned plane QiInvestigative range in without other unmanned planes exist
When, QiIt is moved by former direction, QiThe direction of motion of subsequent time is Ai(t+ Δ t)=vi(t)。
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
- Search and method for scheduling task 1. a kind of unmanned plane is formed into columns characterized by comprisingObtain dump energy when unmanned plane flies from base station to corresponding preset search subregion；Dump energy based on unmanned plane redistributes region of search, obtains new search subregion corresponding with unmanned plane；The path planning that unmanned plane is carried out in new search subregion, obtains continuous searching route；When unmanned plane according to continuous searching route execute search mission when, dump energy be not enough to supply its continue searching until When returning to base station, task switching is carried out with neighbours' unmanned plane, until completing the search of entire region of search.
- Search and method for scheduling task 2. a kind of unmanned plane according to claim 1 is formed into columns, it is characterised in that: unmanned plane from Dump energy when base station is flown to corresponding preset search subregion, is obtained by following steps:Determine the initial search point in unmanned plane primary power, and corresponding preset search subregion and the geometric distance of base station；By the initial search point in unmanned plane primary power and corresponding preset search subregion, energy is substituted into the geometric distance of base station Consumption models are measured, dump energy when unmanned plane flies from base station to corresponding preset search subregion is calculated.
- Search and method for scheduling task 3. a kind of unmanned plane according to claim 2 is formed into columns, it is characterised in that: unmanned plane Primary power is equal.
- Search and method for scheduling task 4. a kind of unmanned plane according to claim 2 is formed into columns, it is characterised in that: described to be based on The dump energy of unmanned plane redistributes region of search, obtains new search subregion corresponding with unmanned plane, specifically includes following Step:Dump energy when based on unmanned plane during flying to corresponding preset search subregion, distribution match with search subregion landform Search area, search subregion landform more rugged fluctuating when, unmanned plane searches for that energy consumption is larger, then corresponding distribution is lesser searches Rope area；When search subregion landform is relatively flat, unmanned plane search energy consumption is smaller, then corresponding to distribute biggish search area, The non-uniform Distribution formula search area based on Topographic Complex Degree is formed, balanced unmanned plane disappears in the energy of different search subspaces Consumption.
- Search and method for scheduling task 5. a kind of unmanned plane according to claim 1 is formed into columns, it is characterised in that: described new It searches in subregion and carries out the path planning of unmanned plane, obtain continuous searching route, specifically includes the following steps:Establish include height parameter search subregion threedimensional model, turn to three-dimensional point set for described search subregion is discrete；Complete coverage path planning is carried out to entire search subregion based on the three-dimensional point set, obtains continuous searching route.
- Search and method for scheduling task 6. a kind of unmanned plane according to claim 1 is formed into columns, it is characterised in that: it is described nobody When machine executes search mission according to continuous searching route, dump energy is not enough to supply it and continues searching when returning, then Task switching is carried out with neighbours' unmanned plane, until the search of entire region of search is completed, specifically includes the following steps:When unmanned plane executes search mission according to searching route, the total energy consumed is calculated in real time using energy consumption model Amount, and then obtain dump energy；It is continued searching when returning to base station when the dump energy of discovery unmanned plane is not enough to supply it, then search is completed in scheduling Neighbours' unmanned plane of task scans for task switching, continues to execute search mission by neighbours' unmanned plane, which flies in advance Go back to base station；When neighbours' unmanned plane does not complete search mission, then energy relay is carried out with apart from nearest neighbours' unmanned plane, then Continue to execute search mission.
- Search and method for scheduling task 7. a kind of unmanned plane according to claim 6 is formed into columns, it is characterised in that: described to have disappeared The gross energy of consumption are as follows:Each three-dimensional point is searched for by unique unmanned plane, and all three-dimensional points in region of search can be searched for by unmanned plane, Therefore meet:In formula, { P1,P2,...,PNBe search space N number of three-dimensional point, M be unmanned plane sum, the field of search of i-th of unmanned plane DomainIn share NiA three-dimensional point, β are proportionality coefficients；The total power consumption of unmanned plane is E, single unmanned function Amount consumption is Ei,Indicate Searching pointWithBetween Euclidean distance.
- Search and method for scheduling task 8. a kind of unmanned plane according to claim 7 is formed into columns, it is characterised in that: the scheduling Neighbours' unmanned plane that search mission is completed scans for task switching, specifically:Neighbours' unmanned plane is calculated from current search pointTo Searching pointM paths energy consumptionObtain residue Searching route and the gross energy needed for path that makes a return voyageα, γ are respectively remaining search The dissipative coefficient in path and path of making a return voyage, EkFor the energy needed for path that makes a return voyage；As required gross energy SiLess than the dump energy of neighbours' unmanned plane, then neighbours' unmanned plane participates in energy relay and search mission Switching；The energy relay, which refers to, supplements energy for the unmanned plane of energy to be supplemented；The switching of described search task refers to and will save Searching route, which communicates, gives neighbours' unmanned plane, and neighbours' unmanned plane continues searching the three-dimensional point that do not searched for.
- Search and method for scheduling task 9. a kind of unmanned plane according to claim 1 or 6 is formed into columns, which is characterized in that described Method further include: after all unmanned planes complete the search mission of entire region of search, form into columns and return to base station.
- Search and method for scheduling task 10. a kind of unmanned plane according to claim 9 is formed into columns, which is characterized in that the volume Team return base station specifically includes the following steps:I-th of unmanned plane QiIt is Q in t moment positioni(t)；Work as Qj(t) close to Qi(t) corresponding Euclidean distance d | | Qj(t)-Qi(t) | | < ε, wherein ε indicates minimizing geometric distance, then Qi It is in the t+1 moment direction of motionQkIt is v in the speed of t momentk(t), work as minimum range When within the scope of ε without other unmanned planes, unmanned plane Q will be activatedkAnd unmanned plane QiIt is in the t+1 moment direction of motionAs unmanned plane QiInvestigative range in without other unmanned planes exist When, QiIt is moved by former direction, QiThe direction of motion of subsequent time is Ai(t+ Δ t)=vi(t)。
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| CN111561934A (en) * | 2020-06-24 | 2020-08-21 | 平湖市中地测绘规划有限公司 | Geological exploration planning method based on unmanned aerial vehicle |
| CN112180723A (en) * | 2020-09-15 | 2021-01-05 | 东北大学 | Unmanned aerial vehicle task planning method and device based on energy analysis |
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| CN113759967A (en) * | 2021-08-30 | 2021-12-07 | 中国人民解放军国防科技大学 | Multi-unmanned aerial vehicle search task energy equalization method based on pre-estimation |
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| CN114872029A (en) * | 2022-06-09 | 2022-08-09 | 深圳市巨龙创视科技有限公司 | Robot vision recognition system |
| CN117474292A (en) * | 2023-12-26 | 2024-01-30 | 中国电信股份有限公司无人科技技术创新中心 | 5G transmission-based scheduling system and scheduling method for network-connected unmanned aerial vehicle |
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