CN113485426A - Unmanned aerial vehicle cluster reconstruction method and system, storage medium and electronic equipment - Google Patents
Unmanned aerial vehicle cluster reconstruction method and system, storage medium and electronic equipment Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, and provides an unmanned aerial vehicle cluster reconstruction method, an unmanned aerial vehicle cluster reconstruction system, a storage medium and electronic equipment, wherein the method comprises the following steps: obtaining a plurality of stop positions according to the formation to be reconstructed and the position to be reconstructed of the unmanned aerial vehicle cluster; determining the current position of each unmanned aerial vehicle according to the distance between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and each arranged identification pattern and the position of each identification pattern; determining a stop position corresponding to each unmanned aerial vehicle according to each stop position and the current position of each unmanned aerial vehicle; every unmanned aerial vehicle of control flies to the stop position that corresponds, realizes the formation of unmanned aerial vehicle cluster to reconstruct promptly, and need not install positioner on any one unmanned aerial vehicle, greatly the cost is reduced.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle cluster reconstruction method, an unmanned aerial vehicle cluster reconstruction system, a storage medium and electronic equipment.
Background
In recent years, with the gradual maturity of unmanned aerial vehicle technology, the application of unmanned aerial vehicle cluster is more and more extensive. For example, in some large-scale activities, often need a plurality of unmanned aerial vehicles to form an unmanned aerial vehicle cluster and perform, for example, carry out cooperative operation through the unmanned aerial vehicle cluster, often install positioner like big dipper locator or GPS locator etc. on every unmanned aerial vehicle in the unmanned aerial vehicle cluster at present, so that the location information of gathering through the positioner of every unmanned aerial vehicle, accomplish the formation reconfiguration of unmanned aerial vehicle cluster, nevertheless all install positioner on every unmanned aerial vehicle in the unmanned aerial vehicle cluster, then can cause problem with high costs.
Disclosure of Invention
The invention provides a method and a system for reconstructing an unmanned aerial vehicle cluster, a storage medium and electronic equipment, aiming at the defects of the prior art.
The technical scheme of the unmanned aerial vehicle cluster reconstruction method is as follows:
obtaining a plurality of stop positions according to the formation to be reconstructed and the position to be reconstructed of the unmanned aerial vehicle cluster;
determining the current position of each unmanned aerial vehicle according to the distance between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and each arranged identification pattern and the position of each identification pattern, wherein the total number of the identification patterns is at least 3;
determining a stop position corresponding to each unmanned aerial vehicle according to each stop position and the current position of each unmanned aerial vehicle;
and controlling each unmanned aerial vehicle to fly to a corresponding stop position.
The unmanned aerial vehicle cluster reconstruction method has the following beneficial effects:
according to the distance between each unmanned aerial vehicle and each identification pattern laid in the unmanned aerial vehicle cluster, and the position of each identification pattern, can confirm the current position of each unmanned aerial vehicle, and according to the current position of every stop position and every unmanned aerial vehicle, confirm the stop position that every unmanned aerial vehicle corresponds, finally control every unmanned aerial vehicle and fly to the stop position that corresponds, realize the formation reconfiguration of unmanned aerial vehicle cluster, and need not install positioner on any unmanned aerial vehicle, the cost is greatly reduced.
On the basis of the scheme, the unmanned aerial vehicle cluster reconstruction method can be further improved as follows.
Further, still include:
clustering all unmanned aerial vehicles according to the stop position of each unmanned aerial vehicle to obtain a plurality of groups;
the method comprises the steps of carrying out duplicate removal on operation instructions of all unmanned aerial vehicles in any group to obtain at least one target operation instruction, establishing a corresponding relation between each target operation instruction and the unmanned aerial vehicles in any group, and sending the target operation instruction corresponding to any group to any unmanned aerial vehicle in any group, so that any unmanned aerial vehicle in any group correspondingly sends each target operation instruction to each unmanned aerial vehicle in any group according to all target operation instructions and corresponding relations corresponding to any group, and each unmanned aerial vehicle executes the received target operation instruction.
The beneficial effect of adopting the further scheme is that: the number of transmission operation instructions can be reduced.
Further, still include: receiving a plurality of electromagnetic wave signals with different frequencies, wherein when any unmanned aerial vehicle receives a target operation instruction, the electromagnetic wave signals with corresponding frequencies are sent, and the frequency of the electromagnetic wave signals sent by each unmanned aerial vehicle is different;
and determining whether the unmanned aerial vehicle to be sent which does not receive the target operation instruction exists according to the frequency of each received electromagnetic wave signal.
The beneficial effect of adopting the further scheme is that: at present, after an unmanned aerial vehicle receives a target operation instruction, information such as the model and the equipment identification number of the unmanned aerial vehicle is often modulated into an electromagnetic wave signal and returned to a server, the server needs to demodulate the electromagnetic wave signal and determine that the unmanned aerial vehicle determines to receive the target operation instruction.
Further, still include:
controlling each unmanned aerial vehicle to perform self-checking to obtain a self-checking result of each unmanned aerial vehicle;
when judging that arbitrary unmanned aerial vehicle's self-checking result is unusual, control this unmanned aerial vehicle to descend to control and replace unmanned aerial vehicle and fly to this unmanned aerial vehicle's current position, in order to replace arbitrary unmanned aerial vehicle.
The beneficial effect of adopting the further scheme is that: abnormal unmanned aerial vehicles can be found in time and replaced, and formation reconstruction of unmanned aerial vehicle clusters can be guaranteed to be completed.
The technical scheme of the unmanned aerial vehicle cluster reconstruction system is as follows:
the device comprises an acquisition module, a first determination module, a second determination module and a control module;
the acquisition module is used for acquiring a plurality of stop positions according to the formation to be reconstructed and the position to be reconstructed of the unmanned aerial vehicle cluster;
the first determination module is to: determining the current position of each unmanned aerial vehicle according to the distance between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and each arranged identification pattern and the position of each identification pattern, wherein the total number of the identification patterns is at least 3;
the second determination module is to: determining a stop position corresponding to each unmanned aerial vehicle according to each stop position and the current position of each unmanned aerial vehicle;
the control module is used for: and controlling each unmanned aerial vehicle to fly to a corresponding stop position.
The unmanned aerial vehicle cluster reconstruction system has the following beneficial effects:
according to the distance between each unmanned aerial vehicle and each identification pattern laid in the unmanned aerial vehicle cluster, and the position of each identification pattern, can confirm the current position of each unmanned aerial vehicle, and according to the current position of every stop position and every unmanned aerial vehicle, confirm the stop position that every unmanned aerial vehicle corresponds, finally control every unmanned aerial vehicle and fly to the stop position that corresponds, realize the formation reconfiguration of unmanned aerial vehicle cluster, and need not install positioner on any unmanned aerial vehicle, the cost is greatly reduced.
On the basis of the scheme, the unmanned aerial vehicle cluster reconstruction system can be further improved as follows.
Further, the device also comprises an instruction sending module, wherein the instruction sending module is used for:
clustering all unmanned aerial vehicles according to the stop position of each unmanned aerial vehicle to obtain a plurality of groups;
the method comprises the steps of carrying out duplicate removal on operation instructions of all unmanned aerial vehicles in any group to obtain at least one target operation instruction, establishing a corresponding relation between each target operation instruction and the unmanned aerial vehicles in any group, and sending the target operation instruction corresponding to any group to any unmanned aerial vehicle in any group, so that any unmanned aerial vehicle in any group correspondingly sends each target operation instruction to each unmanned aerial vehicle in any group according to all target operation instructions and corresponding relations corresponding to any group, and each unmanned aerial vehicle executes the received target operation instruction.
The beneficial effect of adopting the further scheme is that: the number of transmission operation instructions can be reduced.
Further, the system also comprises an instruction confirmation module, wherein the instruction confirmation module is used for:
receiving a plurality of electromagnetic wave signals with different frequencies, wherein when any unmanned aerial vehicle receives a target operation instruction, the electromagnetic wave signals with corresponding frequencies are sent, and the frequency of the electromagnetic wave signals sent by each unmanned aerial vehicle is different;
and determining whether the unmanned aerial vehicle to be sent which does not receive the target operation instruction exists according to the frequency of all the received electromagnetic wave signals.
The beneficial effect of adopting the further scheme is that: at present, after an unmanned aerial vehicle receives a target operation instruction, information such as the model and the equipment identification number of the unmanned aerial vehicle is often modulated into an electromagnetic wave signal and returned to a server, the server needs to demodulate the electromagnetic wave signal and determine that the unmanned aerial vehicle determines to receive the target operation instruction.
Further, still include control self-checking module, control self-checking module is used for:
controlling each unmanned aerial vehicle to perform self-checking to obtain a self-checking result of each unmanned aerial vehicle;
when judging that arbitrary unmanned aerial vehicle's self-checking result is unusual, control this unmanned aerial vehicle to descend to control and replace unmanned aerial vehicle and fly to this unmanned aerial vehicle's current position, in order to replace arbitrary unmanned aerial vehicle.
The beneficial effect of adopting the further scheme is that: abnormal unmanned aerial vehicles can be found in time and replaced, and formation reconstruction of unmanned aerial vehicle clusters can be guaranteed to be completed.
The storage medium of the present invention stores instructions, and when the instructions are read by a computer, the computer is caused to execute a method for reconstructing a cluster of unmanned aerial vehicles as described in any one of the above.
An electronic device of the present invention includes a processor and the storage medium, where the processor executes instructions in the storage medium.
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Fig. 1 is a schematic flow chart of a method for reconstructing an unmanned aerial vehicle cluster according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle cluster reconfiguration system according to an embodiment of the present invention;
Detailed Description
As shown in fig. 1, a method for reconstructing an unmanned aerial vehicle cluster according to an embodiment of the present invention includes the following steps:
s1, obtaining a plurality of stop positions according to the to-be-reconstructed formation and the to-be-reconstructed position of the unmanned aerial vehicle cluster, specifically:
s2, determining the current position of each unmanned aerial vehicle according to the distance between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and each distributed identification pattern and the position of each identification pattern, wherein the total number of the identification patterns is at least 3;
for example: the unmanned aerial vehicle cluster comprises 10 unmanned aerial vehicles, the formation to be reconstructed is a regular decagon, the position to be reconstructed can be on a parallel plane which is 1 kilometer away from any artificially defined reference surface, the side length of the regular decagon is 200 meters, and the position of the central point of the regular decagon is artificially defined, so that the positions of 10 corners of the regular decagon can be obtained, and each stop position can be represented by three-dimensional coordinates such as rectangular coordinates and spherical coordinates;
wherein, can artificially define any mark on the ground, establish the first relative position relation between this mark and the position of the central point of artificially defining the regular decagon, and establish the second relative position between this mark and any recognition pattern in S2, according to first relative position relation and second relative position, establish the third position relation between the position of the central point of artificially defining the regular decagon and any recognition pattern, then:
determining a current position of each unmanned aerial vehicle according to a distance between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and each identification pattern laid, and a position of each identification pattern, that is, the determined current position of each unmanned aerial vehicle is relative to the position of the identification pattern, that is, a fourth positional relationship exists between the determined current position of each unmanned aerial vehicle and the identification pattern, then:
the relative position relationship between the current position of each unmanned aerial vehicle and each stop position can be established according to the third position relationship and the fourth position relationship, that is, the plurality of stop positions of the position to be reconstructed and the current position of each unmanned aerial vehicle can be represented in the same coordinate system, and at the moment, the operation of determining the stop position corresponding to each unmanned aerial vehicle can be carried out only according to the coordinates of the current position of each unmanned aerial vehicle mapped in the same coordinate system and the coordinates of each stop position mapped in the same coordinate system, so that the formation reconstruction of the unmanned aerial vehicle cluster can be realized without installing a GPS on any unmanned aerial vehicle;
any identification pattern can be selected for any mark on the ground by artificial definition, so that the relative position relationship between the identification pattern and the position of the center point of the regular decagon can be established, namely the second relative position is directly obtained, and the calculation amount is greatly reduced.
Here, in S2, for example, when there are three identification patterns, the current position of each drone may be determined by a three-point positioning method, and when there are four identification patterns, the current position of each drone may be determined by a four-point positioning method.
S3, determining the stop position corresponding to each unmanned aerial vehicle according to each stop position and the current position of each unmanned aerial vehicle, wherein the stop position corresponding to each unmanned aerial vehicle can be determined through Hungarian algorithm, or all unmanned aerial vehicles select the nearest stop positions in sequence to determine the stop position corresponding to each unmanned aerial vehicle.
S4, controlling each unmanned aerial vehicle to fly to the corresponding stop position, acquiring a flight route between each unmanned aerial vehicle and the corresponding stop position, and controlling each unmanned aerial vehicle to fly according to the flight route so as to enable each unmanned aerial vehicle to fly to the corresponding stop position.
According to the distance between each unmanned aerial vehicle and each identification pattern laid in the unmanned aerial vehicle cluster, and the position of each identification pattern, can confirm the current position of each unmanned aerial vehicle, and according to the current position of every stop position and every unmanned aerial vehicle, confirm the stop position that every unmanned aerial vehicle corresponds, finally control every unmanned aerial vehicle and fly to the stop position that corresponds, realize the formation reconfiguration of unmanned aerial vehicle cluster, and need not install positioner on any unmanned aerial vehicle, the cost is greatly reduced.
Preferably, in the above technical solution, the method further comprises:
s5, clustering all unmanned aerial vehicles according to the stop position of each unmanned aerial vehicle to obtain a plurality of groups;
s6, removing the duplicate of the operation instructions of all the unmanned aerial vehicles in any group to obtain at least one target operation instruction, establishing a corresponding relation between each target operation instruction and the unmanned aerial vehicle in any group, and sending the target operation instruction corresponding to any group to any unmanned aerial vehicle in any group, so that any unmanned aerial vehicle in any group correspondingly sends each target operation instruction to each unmanned aerial vehicle in any group according to all the target operation instructions and the corresponding relation corresponding to any group, and each unmanned aerial vehicle executes the received target operation instruction;
for example, after 20 drones are clustered, 4 groups are obtained, each group includes 5 drones, and the first group is taken as an example for explanation, specifically:
s60, removing the duplicate of the operation instructions of all the unmanned aerial vehicles in the first group, specifically, the first group comprises a first unmanned aerial vehicle, a second unmanned aerial vehicle, a third unmanned aerial vehicle, a fourth unmanned aerial vehicle and a fifth unmanned aerial vehicle, if the operation instructions sent to each unmanned aerial vehicle in the first group are the operation instructions for controlling the unmanned aerial vehicles to ascend for 5 meters, only one operation instruction for controlling the unmanned aerial vehicles to ascend for 5 meters, namely a target operation instruction, needs to be reserved after the duplicate removal;
s61, establishing a corresponding relationship between each target operation instruction and the drones in the first group, and according to the above, it can be known that the target operation instruction needs to be sent to each drone in the first group, that is, the corresponding relationship between the target operation instruction and the drones in the first group is: the target operation instruction corresponds to each unmanned aerial vehicle in the first group;
s62, sending the target operation command, specifically: the target operation instruction is sent to any unmanned aerial vehicle in the first group, for example, to the first unmanned aerial vehicle, and then the first unmanned aerial vehicle sends the target operation instruction to each unmanned aerial vehicle in the first group, so that each unmanned aerial vehicle in the first group receives and executes the received target operation instruction.
When the first group corresponds to a plurality of target operation instructions, the target operation instructions are distributed by referring to S60-S62, and the other groups also refer to S60-S62, so that the number of the operation instructions sent by the server can be reduced, and the computing processing resources of the server are saved.
Preferably, in the above technical solution, the method further comprises:
s7, receiving a plurality of electromagnetic wave signals with different frequencies, wherein when any unmanned aerial vehicle receives a target operation instruction, the unmanned aerial vehicle sends the electromagnetic wave signals with corresponding frequencies, and the frequencies of the electromagnetic wave signals sent by each unmanned aerial vehicle are different;
and S8, determining whether the unmanned aerial vehicle to be sent does not receive the target operation instruction according to the frequency of each received electromagnetic wave signal.
At present, after receiving a target operation instruction, an unmanned aerial vehicle often modulates information such as a model number and an equipment identification number of the unmanned aerial vehicle into an electromagnetic wave signal and returns the electromagnetic wave signal to a server, and the server needs to demodulate the electromagnetic wave signal to determine that the unmanned aerial vehicle determines to receive the target operation instruction, in this application, it can be determined whether there is an unmanned aerial vehicle to be sent that does not receive the target operation instruction according to the frequency of each received electromagnetic wave signal, specifically:
for example, when the first drone receives a target operation instruction, an electromagnetic wave signal with a frequency corresponding to the first drone is returned to the server, when the server receives the electromagnetic wave signal, the frequency of the electromagnetic wave signal is obtained, the first drone is judged to have received the target operation instruction, if the server does not receive the electromagnetic wave signal with the frequency corresponding to the frequency sent by the first drone, the first drone is judged not to have received the target operation instruction, and at the moment, the server sends the target operation instruction to the first drone;
the process of demodulating the electromagnetic wave signals and acquiring information such as the model number and the equipment identification number of the unmanned aerial vehicle is avoided, the efficiency is higher, and the calculation processing resources of the server can be saved.
It can be understood that the server may set a timing advance for sending the target operation instruction to the drones, so as to ensure that each drone can normally receive and execute the received target operation instruction.
Preferably, in the above technical solution, the method further comprises:
s9, controlling each unmanned aerial vehicle to perform self-checking to obtain a self-checking result of each unmanned aerial vehicle, wherein the self-checking includes self-checking of a camera, a wing, a communication interface, electric quantity and the like of each unmanned aerial vehicle;
s10, when the self-checking result of any unmanned aerial vehicle is judged to be abnormal, for example, the wing is abnormal in rotation, the electric quantity is too low, the self-checking result can be judged to be abnormal, the unmanned aerial vehicle is controlled to land, and a supplementary unmanned aerial vehicle is controlled to fly to the current position of the unmanned aerial vehicle to replace any unmanned aerial vehicle.
The steps S9-S10 are executed before or after any step S1-S8, abnormal unmanned aerial vehicles can be found in time and replaced, and the formation reconstruction of the unmanned aerial vehicle cluster can be guaranteed to be completed.
In the above embodiments, although the steps are numbered as S1, S2, etc., but only the specific embodiments are given in this application, and those skilled in the art may adjust the execution sequence of S1, S2, etc. according to the actual situation, which is also within the protection scope of the present invention, it is understood that some embodiments may include some or all of the above embodiments.
As shown in fig. 2, an unmanned aerial vehicle cluster reconfiguration system 200 according to an embodiment of the present invention includes an obtaining module 210, a first determining module 220, a second determining module 230, and a control module 240;
the obtaining module 210 is configured to obtain a plurality of stop positions according to a formation to be reconstructed and a position to be reconstructed of the unmanned aerial vehicle cluster;
the first determining module 220 is configured to: determining the current position of each unmanned aerial vehicle according to the distance between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and each arranged identification pattern and the position of each identification pattern, wherein the total number of the identification patterns is at least 3;
the second determining module 230 is configured to: determining a stop position corresponding to each unmanned aerial vehicle according to each stop position and the current position of each unmanned aerial vehicle;
the control module 240 is configured to: and controlling each unmanned aerial vehicle to fly to a corresponding stop position.
According to the distance between each unmanned aerial vehicle and each identification pattern laid in the unmanned aerial vehicle cluster, and the position of each identification pattern, can confirm the current position of each unmanned aerial vehicle, and according to the current position of every stop position and every unmanned aerial vehicle, confirm the stop position that every unmanned aerial vehicle corresponds, finally control every unmanned aerial vehicle and fly to the stop position that corresponds, realize the formation reconfiguration of unmanned aerial vehicle cluster, and need not install positioner on any unmanned aerial vehicle, the cost is greatly reduced.
Preferably, in the above technical solution, the apparatus further includes an instruction sending module, where the instruction sending module is configured to:
clustering all unmanned aerial vehicles according to the stop position of each unmanned aerial vehicle to obtain a plurality of groups;
the method comprises the steps of carrying out duplicate removal on operation instructions of all unmanned aerial vehicles in any group to obtain at least one target operation instruction, establishing a corresponding relation between each target operation instruction and the unmanned aerial vehicles in any group, and sending the target operation instruction corresponding to any group to any unmanned aerial vehicle in any group, so that any unmanned aerial vehicle in any group correspondingly sends each target operation instruction to each unmanned aerial vehicle in any group according to all target operation instructions and corresponding relations corresponding to any group, and each unmanned aerial vehicle executes the received target operation instruction.
Preferably, in the above technical solution, the apparatus further includes an instruction confirmation module, where the instruction confirmation module is configured to:
receiving a plurality of electromagnetic wave signals with different frequencies, wherein when any unmanned aerial vehicle receives a target operation instruction, the electromagnetic wave signals with corresponding frequencies are sent, and the frequency of the electromagnetic wave signals sent by each unmanned aerial vehicle is different;
and determining whether the unmanned aerial vehicle to be sent which does not receive the target operation instruction exists according to the frequency of all the received electromagnetic wave signals.
At present, after an unmanned aerial vehicle receives a target operation instruction, information such as the model and the equipment identification number of the unmanned aerial vehicle is often modulated into an electromagnetic wave signal and returned to a server, the server needs to demodulate the electromagnetic wave signal and determine that the unmanned aerial vehicle determines to receive the target operation instruction.
Preferably, in the above technical solution, the mobile terminal further includes a control self-test module, where the control self-test module is configured to:
controlling each unmanned aerial vehicle to perform self-checking to obtain a self-checking result of each unmanned aerial vehicle;
when judging that arbitrary unmanned aerial vehicle's self-checking result is unusual, control this unmanned aerial vehicle to descend to control and replace unmanned aerial vehicle and fly to this unmanned aerial vehicle's current position, in order to replace arbitrary unmanned aerial vehicle.
Abnormal unmanned aerial vehicles can be found in time and replaced, and formation reconstruction of unmanned aerial vehicle clusters can be guaranteed to be completed.
The above steps for realizing the corresponding functions of each parameter and each unit module in the unmanned aerial vehicle cluster reconstruction system 200 according to the present invention may refer to each parameter and step in the above embodiment of an unmanned aerial vehicle cluster reconstruction method, which are not described herein again.
In the storage medium of the embodiment of the present invention, instructions are stored, and when a computer reads the instructions, the computer is caused to execute any one of the above described unmanned aerial vehicle cluster reconstruction methods.
An electronic device according to an embodiment of the present invention includes a processor and the storage medium, where the processor executes instructions in the storage medium. The electronic device can be a computer, a mobile phone and the like.
As will be appreciated by one skilled in the art, the present invention may be embodied as a system, method or computer program product.
Accordingly, the present disclosure may be embodied in the form of: may be embodied entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or in a combination of hardware and software, and may be referred to herein generally as a "circuit," module "or" system. Furthermore, in some embodiments, the invention may also be embodied in the form of a computer program product in one or more computer-readable media having computer-readable program code embodied in the medium.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle cluster reconstruction method is characterized by comprising the following steps:
obtaining a plurality of stop positions according to the formation to be reconstructed and the position to be reconstructed of the unmanned aerial vehicle cluster;
determining the current position of each unmanned aerial vehicle according to the distance between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and each arranged identification pattern and the position of each identification pattern, wherein the total number of the identification patterns is at least 3;
determining a stop position corresponding to each unmanned aerial vehicle according to each stop position and the current position of each unmanned aerial vehicle;
and controlling each unmanned aerial vehicle to fly to a corresponding stop position.
2. The method of claim 1, further comprising:
clustering all unmanned aerial vehicles according to the stop position of each unmanned aerial vehicle to obtain a plurality of groups;
the method comprises the steps of carrying out duplicate removal on operation instructions of all unmanned aerial vehicles in any group to obtain at least one target operation instruction, establishing a corresponding relation between each target operation instruction and the unmanned aerial vehicles in any group, and sending the target operation instruction corresponding to any group to any unmanned aerial vehicle in any group, so that any unmanned aerial vehicle in any group correspondingly sends each target operation instruction to each unmanned aerial vehicle in any group according to all target operation instructions and corresponding relations corresponding to any group, and each unmanned aerial vehicle executes the received target operation instruction.
3. The method of claim 2, further comprising:
receiving a plurality of electromagnetic wave signals with different frequencies, wherein when any unmanned aerial vehicle receives a target operation instruction, the electromagnetic wave signals with corresponding frequencies are sent, and the frequency of the electromagnetic wave signals sent by each unmanned aerial vehicle is different;
and determining whether the unmanned aerial vehicle to be sent which does not receive the target operation instruction exists according to the frequency of all the received electromagnetic wave signals.
4. The unmanned aerial vehicle cluster reconstruction method of any one of claims 1 to 3, further comprising:
controlling each unmanned aerial vehicle to perform self-checking to obtain a self-checking result of each unmanned aerial vehicle;
when judging that arbitrary unmanned aerial vehicle's self-checking result is unusual, control this unmanned aerial vehicle to descend to control and replace unmanned aerial vehicle and fly to this unmanned aerial vehicle's current position, in order to replace arbitrary unmanned aerial vehicle.
5. An unmanned aerial vehicle cluster reconstruction system is characterized by comprising an acquisition module, a first determination module, a second determination module and a control module;
the acquisition module is used for acquiring a plurality of stop positions according to the formation to be reconstructed and the position to be reconstructed of the unmanned aerial vehicle cluster;
the first determination module is to: determining the current position of each unmanned aerial vehicle according to the distance between each unmanned aerial vehicle in the unmanned aerial vehicle cluster and each arranged identification pattern and the position of each identification pattern, wherein the total number of the identification patterns is at least 3;
the second determination module is to: determining a stop position corresponding to each unmanned aerial vehicle according to each stop position and the current position of each unmanned aerial vehicle;
the control module is used for: and controlling each unmanned aerial vehicle to fly to a corresponding stop position.
6. The unmanned aerial vehicle cluster reconfiguration system of claim 5, further comprising an instruction transmission module, said instruction transmission module configured to:
clustering all unmanned aerial vehicles according to the stop position of each unmanned aerial vehicle to obtain a plurality of groups;
the method comprises the steps of carrying out duplicate removal on operation instructions of all unmanned aerial vehicles in any group to obtain at least one target operation instruction, establishing a corresponding relation between each target operation instruction and the unmanned aerial vehicles in any group, and sending the target operation instruction corresponding to any group to any unmanned aerial vehicle in any group, so that any unmanned aerial vehicle in any group correspondingly sends each target operation instruction to each unmanned aerial vehicle in any group according to all target operation instructions and corresponding relations corresponding to any group, and each unmanned aerial vehicle executes the received target operation instruction.
7. The drone cluster reconfiguration system according to claim 6, further comprising an instruction confirmation module for:
receiving a plurality of electromagnetic wave signals with different frequencies, wherein when any unmanned aerial vehicle receives a target operation instruction, the electromagnetic wave signals with corresponding frequencies are sent, and the frequency of the electromagnetic wave signals sent by each unmanned aerial vehicle is different;
and determining whether the unmanned aerial vehicle to be sent which does not receive the target operation instruction exists according to the frequency of all the received electromagnetic wave signals.
8. An unmanned aerial vehicle cluster reconfiguration system according to any one of claims 5 to 7, further comprising a control self-test module for:
controlling each unmanned aerial vehicle to perform self-checking to obtain a self-checking result of each unmanned aerial vehicle;
when judging that arbitrary unmanned aerial vehicle's self-checking result is unusual, control this unmanned aerial vehicle to descend to control and replace unmanned aerial vehicle and fly to this unmanned aerial vehicle's current position, in order to replace arbitrary unmanned aerial vehicle.
9. A storage medium having stored therein instructions which, when read by a computer, cause the computer to perform a drone cluster reconstruction method according to any one of claims 1 to 4.
10. An electronic device comprising a processor and the storage medium of claim 9, the processor executing instructions in the storage medium.
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