CN112379687A - Method and system for automatically generating numbers for square matrix, storage medium and unmanned aerial vehicle - Google Patents
Method and system for automatically generating numbers for square matrix, storage medium and unmanned aerial vehicle Download PDFInfo
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- CN112379687A CN112379687A CN202011135708.XA CN202011135708A CN112379687A CN 112379687 A CN112379687 A CN 112379687A CN 202011135708 A CN202011135708 A CN 202011135708A CN 112379687 A CN112379687 A CN 112379687A
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The invention belongs to the technical field of unmanned aerial vehicle formation information processing, and discloses a method and a system for automatically generating numbers in a square matrix, a storage medium and an unmanned aerial vehicle, wherein the method comprises the steps of checking the position information of the randomly placed unmanned aerial vehicle, comparing the information of a placement area, reading the position information of the unmanned aerial vehicle, and pre-numbering the unmanned aerial vehicle to obtain pre-numbering information; acquiring information of adjacent unmanned aerial vehicles of each unmanned aerial vehicle according to the pre-numbering information and the position information to obtain linked list information of the unmanned aerial vehicles; automatically generating mapping grid information and mapping grid numbers corresponding to the unmanned aerial vehicles according to the linked list information and the position information of the unmanned aerial vehicles; and adjusting the pre-numbering of the unmanned aerial vehicles according to the mapping grid numbers to obtain the automatic numbering information of each unmanned aerial vehicle. The invention obtains the placement position of the airplane, automatically realizes numbering through an algorithm, can obtain accurate placement information and waypoint mapping information, ensures the accuracy and safety of the flight of the unmanned aerial vehicle, and simultaneously reduces a large amount of early-stage preparation human resources.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle formation information processing, and particularly relates to a method and a system for automatically generating a number for a square matrix, a storage medium and an unmanned aerial vehicle.
Background
At present, the unmanned aerial vehicle formation mode adopts artifical manual serial number in advance, presets the position of taking off with unmanned aerial vehicle according to corresponding the serial number before the performance and puts, and then lets unmanned aerial vehicle satisfy the requirement and realize flying.
The common method in the prior art comprises the following steps: the method for carrying out airplane takeoff and placement by manual numbering has the advantages that as the unmanned planes flying in formation are numerous, all unmanned planes need to be manually placed in a number-checking mode before takeoff, so that a large amount of manual operation exists in the initial flying period, meanwhile, due to the fact that certain placing error probability exists in manual operation, if placing errors occur, the possibility of existence of a fryer after takeoff of the unmanned planes is caused, and the problems of failure in normal performance and even huge property loss and the like can be caused.
Therefore, the design of a method for automatically generating numbering for the formation matrix is a technical problem to be solved urgently in the field.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) the prior art is in the unmanned aerial vehicle formation performance, because formation flight unmanned aerial vehicle is numerous, all unmanned aerial vehicles need to be put in the manual work of taking a seat to number before taking off and lead to there being a large amount of human operations at the flight initial stage, extravagant a large amount of human resources can not guarantee the accuracy and the security that unmanned aerial vehicle flies, and the preparation needs a large amount of human resources in earlier stage moreover.
(2) In the prior art, in the formation performance of unmanned aerial vehicles, due to the fact that certain placing error probability exists in manual operation, absolutely accurate placing information and waypoint mapping information cannot be obtained
(3) In the prior art, in the unmanned aerial vehicle formation performance, certain potential safety hazard problem exists due to the fact that absolutely accurate placing information and waypoint mapping information cannot be guaranteed
The difficulty in solving the above problems and defects is: the invention must provide a method for automatically generating numbers for a square matrix, and the difficulty is that no existing method can be used for reference at present.
The significance of solving the problems and the defects is as follows: the method can make up for the defects brought by the current manual numbering, the airplane placing position is obtained, the numbering is automatically realized through the algorithm, accurate placing information and waypoint mapping information can be obtained, the flying accuracy and safety of the unmanned aerial vehicle are guaranteed, and meanwhile, a large amount of early-stage preparation manpower resources are reduced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method and a system for automatically generating a numbering for a square matrix, a storage medium and an unmanned aerial vehicle, and particularly relates to a method for automatically generating a numbering for a square matrix for unmanned aerial vehicle formation.
The invention is realized in such a way that an unmanned aerial vehicle formation square matrix automatic generation numbering method is characterized by comprising the following steps:
checking the position information of the unmanned aerial vehicle placed in disorder, comparing the information of the placement area, and feeding back information to an operator for adjustment if the information exceeds a preset range;
reading the position information of the unmanned aerial vehicle, and pre-numbering the unmanned aerial vehicle to obtain pre-numbered information;
according to the pre-numbering information and the position information, acquiring the information of adjacent unmanned aerial vehicles of each unmanned aerial vehicle through a search algorithm to obtain the information of the linked list of the unmanned aerial vehicles;
according to the linked list information and the position information of the unmanned aerial vehicle, automatically generating mapping grid information and mapping grid numbers corresponding to the unmanned aerial vehicle through an automatic mapping algorithm;
and adjusting the pre-numbering of the unmanned aerial vehicles according to the mapping grid numbers to obtain the automatic numbering information of each unmanned aerial vehicle.
The invention obtains the placement position of the airplane, automatically realizes numbering through an algorithm, can obtain accurate placement information and waypoint mapping information, ensures the accuracy and safety of the flight of the unmanned aerial vehicle, and simultaneously reduces a large amount of early-stage preparation human resources.
Further, the method for checking and analyzing the position information of the unmanned aerial vehicle placed out of order comprises the following steps: and detecting according to the pre-acquired placing area information by traversing the position of each unmanned aerial vehicle, and feeding back error information to an operator for processing if the position of the unmanned aerial vehicle does not meet the placing area requirement.
Further, the method for pre-numbering the unordered unmanned aerial vehicles comprises the following steps: and sequencing according to the position information input by the unmanned aerial vehicle to obtain the pre-numbering sequence of the unmanned aerial vehicle, and outputting the pre-numbering information.
Further, the method for acquiring the information of the adjacent unmanned aerial vehicles linked with each airplane through searching comprises the following steps: through the obtained unmanned aerial vehicle position information, the unmanned aerial vehicle with the minimum distance is searched, the adjacent unmanned aerial vehicle information obtained through searching is stored, and the related unmanned aerial vehicle linked list information is constructed.
Further, the method for generating mapping grid information includes: and carrying out gridding mapping processing according to the positions of the adjacent unmanned aerial vehicles through the obtained linked list information of the adjacent unmanned aerial vehicles of the unmanned aerial vehicles to generate mapping grid information.
Further, the method for automatically acquiring the unmanned aerial vehicle number according to the grid mapping information comprises the following steps: and adjusting the pre-numbering information according to the grid mapping information and the arrangement mode of the demands, and automatically obtaining the final corresponding number of the unmanned aerial vehicle.
Another object of the present invention is to provide an automatic numbering system for forming a square matrix of unmanned aerial vehicles, comprising:
the pre-numbering information acquisition module is used for checking the position information of the unmanned aerial vehicle placed in disorder, comparing the information of the placement area, and feeding back information to an operator for adjustment if the information exceeds a preset range; reading the position information of the unmanned aerial vehicle, and pre-numbering the unmanned aerial vehicle to obtain pre-numbered information;
the chain table information acquisition module is used for acquiring the information of each unmanned aerial vehicle adjacent to the unmanned aerial vehicle through a search algorithm according to the pre-numbering information and the position information to obtain the chain table information of the unmanned aerial vehicle;
the mapping grid number acquisition module is used for automatically generating mapping grid information and mapping grid numbers corresponding to the unmanned aerial vehicles through an automatic mapping algorithm according to the linked list information and the position information of the unmanned aerial vehicles; and adjusting the pre-numbering of the unmanned aerial vehicles according to the mapping grid numbers to obtain the automatic numbering information of each unmanned aerial vehicle.
It is a further object of the invention to provide a computer arrangement comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the method.
It is a further object of the invention to provide a computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, causes the processor to carry out the method.
By combining all the technical schemes, the invention has the advantages and positive effects that: according to the method for automatically generating the serial numbers for the unmanned aerial vehicle formation square matrix, the aircraft placing positions are used for obtaining, the serial numbers are automatically realized through the algorithm, compared with a traditional manual serial number mode, accurate placing information and waypoint mapping information can be obtained, the defect of misoperation caused by manual serial numbers is overcome, the accuracy and safety of unmanned aerial vehicle flight are guaranteed, the explosion rate caused by manual operation is reduced to zero, and meanwhile, a large amount of early preparation human resource waste is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a flowchart of an automatic numbering generation method for a formation matrix of unmanned aerial vehicles according to an embodiment of the present invention.
Fig. 2 is a ground layout view of an airplane provided by an embodiment of the present invention.
Fig. 3 is an enlarged ground layout view of an airplane provided by an embodiment of the present invention.
Fig. 4 is a floor layout diagram automatically generating numbers after the method of the present invention is performed according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a method, a system, a storage medium and an unmanned aerial vehicle for automatically generating a number for a square matrix, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method for automatically generating a numbering for a formation matrix of an unmanned aerial vehicle according to an embodiment of the present invention includes:
s101: the position information of the unmanned aerial vehicle placed in disorder is checked, the information of the placement area is compared, and if the information exceeds a preset range, the feedback information is adjusted and processed for an operator.
S102: and reading the position information of the unmanned aerial vehicle, and numbering the unmanned aerial vehicle in advance to obtain pre-numbering information.
S103: and obtaining the information of the adjacent unmanned aerial vehicles of each unmanned aerial vehicle through a search algorithm according to the pre-numbering information and the position information to obtain the information of the linked list of the unmanned aerial vehicles.
S104: and automatically generating mapping grid information and mapping grid numbers corresponding to the unmanned aerial vehicles through an automatic mapping algorithm according to the linked list information and the position information of the unmanned aerial vehicles.
S105: and adjusting the pre-numbering of the unmanned aerial vehicles according to the mapping grid numbers to obtain the automatic numbering information of each unmanned aerial vehicle.
In step S101, the position information of the unmanned aerial vehicle placed out of order is checked and analyzed: and detecting according to the pre-acquired placing area information by traversing the position of each unmanned aerial vehicle, and feeding back error information to an operator for processing if the position of the unmanned aerial vehicle does not meet the placing area requirement.
In step S102, the unordered unmanned aerial vehicles are pre-numbered: and sequencing according to the position information input by the unmanned aerial vehicle to obtain the pre-numbering sequence of the unmanned aerial vehicle, and outputting the pre-numbering information.
In step S103, information of adjacent drones linking each airplane is acquired by searching: through the obtained unmanned aerial vehicle position information, the unmanned aerial vehicle with the minimum distance is searched, the adjacent unmanned aerial vehicle information obtained through searching is stored, and the related unmanned aerial vehicle linked list information is constructed.
In step S104, mapping mesh information is generated: and carrying out gridding mapping processing according to the positions of the adjacent unmanned aerial vehicles through the obtained linked list information of the adjacent unmanned aerial vehicles of the unmanned aerial vehicles to generate mapping grid information.
In step S104, automatically acquiring the unmanned aerial vehicle number according to the grid mapping information: and adjusting the pre-numbering information according to the grid mapping information and the arrangement mode of the demands, and automatically obtaining the final corresponding number of the unmanned aerial vehicle.
The invention also provides an automatic numbering system for the unmanned aerial vehicle formation matrix, which comprises the following steps: the pre-numbering information acquisition module is used for checking the position information of the unmanned aerial vehicle placed in disorder, comparing the information of the placement area, and feeding back information to an operator for adjustment if the information exceeds a preset range; reading the position information of the unmanned aerial vehicle, and pre-numbering the unmanned aerial vehicle to obtain pre-numbered information;
the chain table information acquisition module is used for acquiring the information of each unmanned aerial vehicle adjacent to the unmanned aerial vehicle through a search algorithm according to the pre-numbering information and the position information to obtain the chain table information of the unmanned aerial vehicle;
the mapping grid number acquisition module is used for automatically generating mapping grid information and mapping grid numbers corresponding to the unmanned aerial vehicles through an automatic mapping algorithm according to the linked list information and the position information of the unmanned aerial vehicles; and adjusting the pre-numbering of the unmanned aerial vehicles according to the mapping grid numbers to obtain the automatic numbering information of each unmanned aerial vehicle.
In the unmanned aerial vehicle formation performance trade, the unmanned aerial vehicle formation mode adopts artifical manual serial number in advance at present, presets the position of taking off with unmanned aerial vehicle according to corresponding the serial number before the performance and puts, and then lets unmanned aerial vehicle satisfy the requirement and realize flying. Because formation flight unmanned aerial vehicle is numerous, all unmanned aerial vehicle need to be checked and seat the manual work before taking off and put and lead to having had a large amount of manual operations in the flight initial stage, simultaneously because there is certain wrong probability of putting in manual operation, if the emergence of putting by mistake, will lead to unmanned aerial vehicle to take off the back and have the machine of exploding probably, will lead to normal performance failure and even huge loss of property scheduling problem. Therefore, the design of a method for automatically generating numbering for the formation matrix is a technical problem to be solved urgently in the field.
The technical effects of the present invention will be described in detail with reference to specific experiments.
As shown in figures 2 and 3, an airplane square matrix is obtained by acquiring position information of airplanes placed on site, the airplane square matrix is automatically numbered by using the method, accurate numbering is obtained as shown in figure 4, and manual errors caused by manual numbering are made up.
In summary, the invention aims to provide a method for automatically generating numbers for formation matrixes, which can solve the problems of manpower waste and potential safety hazard caused by manual number arrangement.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided on a carrier medium such as a disk, CD-or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.
The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The method for automatically generating the numbers of the unmanned aerial vehicle formation matrixes is characterized by comprising the following steps of:
checking the position information of the unmanned aerial vehicle placed in disorder, comparing the information of the placement area, and feeding back information to an operator for adjustment if the information exceeds a preset range;
reading the position information of the unmanned aerial vehicle, and pre-numbering the unmanned aerial vehicle to obtain pre-numbered information;
according to the pre-numbering information and the position information, acquiring the information of adjacent unmanned aerial vehicles of each unmanned aerial vehicle through a search algorithm to obtain the information of the linked list of the unmanned aerial vehicles;
according to the linked list information and the position information of the unmanned aerial vehicle, automatically generating mapping grid information and mapping grid numbers corresponding to the unmanned aerial vehicle through an automatic mapping algorithm;
and adjusting the pre-numbering of the unmanned aerial vehicles according to the mapping grid numbers to obtain the automatic numbering information of each unmanned aerial vehicle.
2. The method for automatically generating numbers for the unmanned aerial vehicle formation matrixes according to claim 1, wherein the method for checking and analyzing the position information of the unmanned aerial vehicles placed out of order comprises the following steps: and detecting according to the pre-acquired placing area information by traversing the position of each unmanned aerial vehicle, and feeding back error information to an operator for processing if the position of the unmanned aerial vehicle does not meet the placing area requirement.
3. The method for automatically generating numbers for unmanned aerial vehicle formation matrices as claimed in claim 1, wherein the method for pre-numbering unordered unmanned aerial vehicles comprises: and sequencing according to the position information input by the unmanned aerial vehicle to obtain the pre-numbering sequence of the unmanned aerial vehicle, and outputting the pre-numbering information.
4. The method for automatically generating numbers for formation matrixes of unmanned aerial vehicles according to claim 1, wherein the method for acquiring information of adjacent unmanned aerial vehicles linked to each airplane through searching comprises the following steps: through the obtained unmanned aerial vehicle position information, the unmanned aerial vehicle with the minimum distance is searched, the adjacent unmanned aerial vehicle information obtained through searching is stored, and the related unmanned aerial vehicle linked list information is constructed.
5. The method for automatically generating numbers for unmanned aerial vehicle formation matrices as claimed in claim 1, wherein the method for generating mapping grid information comprises: and carrying out gridding mapping processing according to the positions of the adjacent unmanned aerial vehicles through the obtained linked list information of the adjacent unmanned aerial vehicles of the unmanned aerial vehicles to generate mapping grid information.
6. The method for automatically generating numbers of unmanned aerial vehicle formation matrixes according to claim 1, wherein the method for automatically acquiring the numbers of the unmanned aerial vehicles according to the grid mapping information comprises the following steps: and adjusting the pre-numbering information according to the grid mapping information and the arrangement mode of the demands, and automatically obtaining the final corresponding number of the unmanned aerial vehicle.
7. The utility model provides an unmanned aerial vehicle formation square matrix automatic generation numbering system which characterized in that, unmanned aerial vehicle formation square matrix automatic generation numbering system includes:
the pre-numbering information acquisition module is used for checking the position information of the unmanned aerial vehicle placed in disorder, comparing the information of the placement area, and feeding back information to an operator for adjustment if the information exceeds a preset range; reading the position information of the unmanned aerial vehicle, and pre-numbering the unmanned aerial vehicle to obtain pre-numbered information;
the chain table information acquisition module is used for acquiring the information of each unmanned aerial vehicle adjacent to the unmanned aerial vehicle through a search algorithm according to the pre-numbering information and the position information to obtain the chain table information of the unmanned aerial vehicle;
the mapping grid number acquisition module is used for automatically generating mapping grid information and mapping grid numbers corresponding to the unmanned aerial vehicles through an automatic mapping algorithm according to the linked list information and the position information of the unmanned aerial vehicles; and adjusting the pre-numbering of the unmanned aerial vehicles according to the mapping grid numbers to obtain the automatic numbering information of each unmanned aerial vehicle.
8. A computer arrangement comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to carry out the method of any one of claims 1 to 6.
9. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the method of any one of claims 1 to 6.
10. A drone for carrying out the method of any one of claims 1 to 6.
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