CN115016523B - Cluster device control system, control method, cluster device and storage medium - Google Patents
Cluster device control system, control method, cluster device and storage medium Download PDFInfo
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Abstract
The invention provides a cluster device control system, a cluster device control method, a cluster device and a storage medium, wherein a control module acquires a planning route and parameter information of the cluster device to form a first data packet, and the first data packet is issued to a data processing module; the parameter information includes a team number of each device, a team type of each team, a number of a master device in each team, and a data calculation command; the data processing module performs team formation on the cluster device based on the team numbers to form one or more teams; the data processing module determines a formation algorithm based on the data calculation instruction; the control module and the data processing module are used for controlling the other devices of the cluster device by controlling the main device, so that the cost of remote network communication is reduced to a great extent, the communication frequency is reduced, the instruction issuing frequency is reduced, the control delay is avoided, the error rate is reduced, the control efficiency is improved, and the technical problems of lower single machine control efficiency and high error rate in the prior art are solved.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle manufacturing, and relates to a cluster control system, in particular to a cluster device control system, a cluster device control method, a cluster device and a storage medium.
Background
Along with the development of modern scientific technology, the technical field of aviation is greatly improved, electronic computers are more and more widely applied in the technical field, unmanned aviation technology is also greatly improved, but all the existing technologies are only limited in a single machine control direction, the control on clustering is less, the existing clustering control is realized based on a control single machine, the function of controlling the whole cluster by issuing an instruction is not provided, the single machine control realizes the team, the team form control has great difficulty and is difficult to realize unified command control, and further the problems of low efficiency, high control cost and high error rate of the existing aircraft control method are caused, and meanwhile, the problems of data loss or untimely instruction response caused by network delay of the existing control method are caused.
Disclosure of Invention
In view of the defects in the prior art, the present invention aims to provide a cluster device control system, a cluster device control method, a cluster device, and a storage medium, and to solve the technical problems of low efficiency and high error rate of single-chip microcomputer control in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
a first aspect of the present invention provides a cluster device control method, including:
the control module acquires a planned route and parameter information of the cluster device to form a first data packet, and the first data packet is issued to the data processing module; the parameter information comprises a team number of each device, a team type of each team, a main device number in each team and a data calculation command;
the data processing module is used for grouping the cluster devices based on the team numbers to form one or more teams;
the data processing module determines a formation algorithm based on the data calculation instruction; and calculating motion information of the cluster device through the formation algorithm based on the first data packet, and sending a second data packet containing the motion information to a main device of a corresponding team in the cluster device for controlling each device in the corresponding team through the main device, wherein the motion information comprises spatial position information, speed information and motion direction information.
The invention also comprises the following technical features:
before the obtaining of the planned route and the parameter information of the cluster device to form the first data packet, the method further includes:
acquiring the flight state and the communication state of a current main device in each team;
judging whether the flight state and the communication state are abnormal or not;
and when the judgment result is abnormal, adjusting the number of the main device based on the position relation between the device in the corresponding team and the current main device and the flight state and the communication state of the device.
Before the obtaining of the planned route and the parameter information of the cluster device to form the first data packet, the method further includes:
acquiring the calculation performance of the current master device in each team;
determining the data computation instruction of a corresponding team based on the computation performance of the current master device;
the data calculation instructions include a full team device calculation instruction that calculates motion information of each device in a team and a team main device calculation instruction that calculates motion information of main devices in a team.
Before the calculating the motion information of the device through the formation algorithm based on the first data packet, the method further comprises the following steps:
acquiring a device category;
and selecting a corresponding formation algorithm type according to the device type.
The second aspect of the present invention also provides a cluster device control system, including:
the control module is used for acquiring a planned route and parameter information of the cluster device to form a first data packet and sending the first data packet to the data processing module, wherein the parameter information comprises a team number of each device, a team form type of each team, a main device number in each team and a data calculation instruction;
the data processing module comprises a team algorithm unit and a team shape algorithm unit;
the team algorithm unit is used for grouping the cluster devices based on the team numbers of the devices to form one or more teams;
the formation algorithm unit determines a formation algorithm based on the data calculation instruction, calculates motion information of the cluster device through the formation algorithm based on the first data packet, and sends a second data packet containing the motion information to a main device of a corresponding formation in the cluster device, wherein the main device is used for controlling each device in the corresponding formation, and the motion information comprises spatial position information, speed information and motion direction information.
The invention also comprises the following technical features:
further, the system comprises a state acquisition module, a state acquisition module and a communication module, wherein the state acquisition module is used for acquiring the flight state and the communication state of the main device in each team;
the control module is also used for judging whether the flight state and the communication state of the main device are abnormal or not, and adjusting the number of the main device based on the position relation between the device in the corresponding team and the current main device and the flight state and the communication state of the device when the judgment result is abnormal.
Further, the system comprises a calculation performance acquisition module, a calculation performance acquisition module and a calculation performance acquisition module, wherein the calculation performance acquisition module is used for acquiring the calculation performance of the main device in each team;
the control module is further configured to determine the data calculation instruction based on a calculation performance of the master device;
the data calculation instructions include a full team device calculation instruction that calculates motion information of each device in a team and a team main device calculation instruction that calculates motion information of main devices in a team.
Further, the parameter information further includes a device category;
and the formation algorithm unit is also used for selecting a corresponding formation algorithm type according to the device type.
Further, the system also comprises a first data transmission module and/or a second data transmission module;
the first data transmission module is used for receiving the first data packet sent by the control module or receiving third-party data and outputting the third-party data to the data processing module;
and the second data transmission module is used for receiving the second data packet sent by the data processing module and outputting the second data packet to a main device of the cluster device.
The third aspect of the present invention further provides a cluster device for performing corresponding actions based on the control of the cluster device control system, comprising a plurality of teams, each team comprising a plurality of devices, the plurality of devices being divided into a master device and a plurality of slave devices according to received commands,
the main device is used for receiving a second data packet output by the cluster device control system, judging whether motion information of the slave device needs to be calculated according to the motion information contained in the second data packet, and when the judgment result is yes, issuing the motion information to the corresponding slave device in the team after calculation, and when the judgment result is no, issuing the motion information to the corresponding slave device;
slave means for executing the received motion information;
the device comprises a state detection module, a state detection module and a state feedback module, wherein the state detection module is used for detecting the flight state and the communication state of the device when the device is defined as a main device and feeding back the flight state and the communication state to the cluster device control system so as to judge whether the serial number of the main device needs to be adjusted or not;
the device further comprises a calculation performance detection module for detecting the calculation performance of the device when the device is defined as a main device and feeding back the calculation performance to the cluster device control system to determine a data calculation instruction.
The fourth aspect of the present invention also provides a computer-readable storage medium, which stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the cluster device control method is implemented.
Compared with the prior art, the invention has the beneficial technical effects that:
according to the cluster device and the control method thereof, the control module and the data processing module are used for controlling the main device to control the rest devices of the cluster device, so that the cost of remote network communication is reduced to a great extent, the communication frequency is reduced, the instruction issuing frequency is reduced, the control delay is avoided, the error rate is reduced, the control efficiency is effectively improved, and the technical problems of low single machine control efficiency and high error rate in the prior art are solved.
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FIG. 1 is a schematic diagram of a cluster tool control system of the present invention;
fig. 2 is a schematic diagram of a cluster device control system according to another embodiment of the present invention.
The present invention will be explained in further detail with reference to examples.
Detailed Description
All components of the present invention are known in the art and are not specifically described. The following embodiments of the present invention are provided, and it should be noted that the present invention is not limited to the following embodiments, and all equivalent changes based on the technical solutions of the present invention are within the protection scope of the present invention.
"based on" in the present invention means "based at least in part on", that is, if X is based on Y, then X may be a function of Y and any other factors.
The cluster device in the present invention includes, but is not limited to, a cluster of unmanned devices, a cluster of intelligent robots, and a cluster formed by a plurality of other devices that may be the same or different. The unmanned device cluster includes, but is not limited to, unmanned flying devices, unmanned ships, unmanned vehicles.
The invention provides a cluster device control method, which comprises the following steps:
the control module acquires a planned route and parameter information of the cluster device to form a first data packet, and the first data packet is issued to the data processing module; the parameter information comprises a team number of each device, a team type of each team, a main device number in each team and a data calculation command;
the data processing module is used for grouping the cluster devices based on the team numbers to form one or more teams;
the data processing module determines a formation algorithm based on the data calculation instruction; and calculating motion information of the cluster device through the formation algorithm based on the first data packet, and sending a second data packet containing the motion information to a main device of a corresponding team in the cluster device for controlling each device in the corresponding team through the main device, wherein the motion information comprises spatial position information, speed information and motion direction information.
In the above technical solution, in order to better meet various formation requirements, in an embodiment of the present invention, the parameter information may further include a formation angle, a distance between the devices, and a time interval for starting a motion, so as to more flexibly adjust the formation of the cluster device. In addition, the parameter information can also comprise environment information, prompt information, task information and the like, and the environment information, the prompt information, the task information and the like are used for displaying on a display page, so that a user can more directly view related information.
Formation categories include, but are not limited to, chevrons, diamonds, triangles, wedges, and lines.
When the data calculation instruction is a whole-team device calculation instruction, the determined team shape algorithm calculates the motion information of each device and sends the motion information to the main device of the corresponding team, and the main device sends the motion information to the corresponding team according to the number or IP of each device in the team; when the data calculation command is a team master device calculation command, the determined team shape algorithm calculates only the motion information of the master device in each team, transmits a first data packet corresponding to the motion information and other devices in the team to the master device of the corresponding team, and the master device calculates and distributes the motion information of the other devices in the team.
The second data packet containing the motion information is transmitted to the main device in each team and then is issued by the main device, so that the data issuing times of the data processing module are reduced, the communication efficiency is improved, and the requirement on a data link is lowered. In addition, the invention can also dynamically adjust the data processing mode based on the calculation performance of the main device, thereby improving the reliability of the whole system and simultaneously fully utilizing the calculation resources.
In addition, the second data packet may further include, in addition to the motion information, environment information, prompt information, task information, and the like, which are transmitted to the display module for display, so that a user can view related information more directly, and the display module is configured to receive the second data packet and perform corresponding display according to a data type.
The control module and the data processing module are used for controlling the main device to control other devices of the cluster device, so that the cost of remote network communication is reduced to a great extent, the communication frequency is reduced, the instruction issuing frequency is reduced, the control delay is avoided, the error rate is reduced, the control efficiency is effectively improved, and the technical problems of low single machine control efficiency and high error rate in the prior art are solved.
In one embodiment of the invention, the spatial position information comprises longitude and latitude, altitude for the flying device, and attitude information such as yaw, pitch and roll for the flying device.
Specifically, before the obtaining of the planned route and the parameter information of the cluster device to form the first data packet, the method further includes:
acquiring the flight state and the communication state of a current main device in each team;
judging whether the flight state and the communication state are abnormal or not;
and when the judgment result is abnormal, adjusting the number of the main device based on the position relation between the device in the corresponding team and the current main device and the flight state and the communication state of the device.
In the above technical solution, when it is detected that any one of the flight state and the communication state of the main device is abnormal, the number of the main device in the team needs to be adjusted, at this time, a device closer to the main device is preferentially selected as the adjusted main device from other devices in which both the flight state and the communication state are normal, and the number of the device is transmitted to the data processing module as the number of the main device to perform corresponding team shape calculation.
Specifically, before the obtaining of the planned route and the parameter information of the cluster device to form the first data packet, the method further includes:
acquiring the calculation performance of the current master device in each team;
determining the data computation instruction of a corresponding team based on the computation performance of the current master device;
the data calculation instructions include a full team device calculation instruction that calculates motion information of each device in a team and a team main device calculation instruction that calculates motion information of main devices in a team.
In the technical scheme, the calculation performance can be measured by the CPU occupancy rate of the main device, when the CPU occupancy rate is less than or equal to a preset threshold value, a team main device is adopted to calculate instructions, the data processing module only needs to calculate the motion information of the main device in each team, and the motion information of other devices is calculated by the main device and is distributed to corresponding devices; when the CPU occupancy rate is greater than the preset threshold value, the data processing module needs to complete the calculation of the motion information of each device in the cluster, packages and transmits the motion information of each team to the main device of the corresponding team, and then sends the motion information to the corresponding device by the main device, so that the self-adaptive adjustment based on the current performance of the main device is realized.
The preset threshold of the CPU may be set according to the actual situation of the user, for example, the preset threshold of the CPU may be set to be 50%.
Specifically, before the calculating the motion information of the device based on the first data packet by the formation algorithm, the method further includes:
acquiring a device type;
and selecting a corresponding formation algorithm type according to the device type.
In the above technical solution, the cluster device in the present invention includes, but is not limited to, a cluster of unmanned devices, a cluster of intelligent robots, and a cluster formed by a plurality of other same or different devices, where the cluster of unmanned devices includes, but is not limited to, an unmanned aerial vehicle, an unmanned ship, and an unmanned vehicle.
In the invention, the corresponding formation algorithm type needs to be selected according to the device type, and in addition, when the device is an unmanned flight device, the device clearly belongs to a fixed wing flight device, a rotor wing flight device or a composite wing flight device.
Specifically, the issuing the first data packet to a data processing module includes: receiving a first data packet sent by the control module through a first data transmission module, and transmitting the first data packet to the data processing module; and/or the presence of a gas in the gas,
the master device sending a second data packet containing the motion information to a respective team in a cluster device, comprising: receiving a second data packet sent by the data processing module through a second data transmission module; transmitting the second data packet to master devices of respective teams of the cluster device;
the first data packet is also used for receiving third-party data and transmitting the third-party data to the data processing module.
In the technical scheme, the first data transmission module and the second data transmission module are used for receiving and transmitting data, and are realized through UDP communication in one embodiment of the invention, so that the flexible configuration can be realized, the data transmission and distribution can be realized through different configurations, the access of other modules or third-party applications is facilitated, the data access function of a user-defined interface can be supported, the access of flight parameters, instruction information, airway information and the like is supported, and the compatibility and the expandability of the system are improved.
Taking the unmanned aerial vehicle as an example, the third-party data comprises various external data supported by systems such as aircraft parameters, flight routes, task information, prompt warnings, external commands, environmental parameters and the like, and can support a user-defined interface data access function and access to flight parameters, instruction information, air route information and the like.
The present invention also provides a cluster device control system, as shown in fig. 1, including:
the control module is used for acquiring a planned route and parameter information of the cluster device to form a first data packet and sending the first data packet to the data processing module, wherein the parameter information comprises a team number of each device, a team form type of each team, a main device number in each team and a data calculation instruction;
the data processing module comprises a team algorithm unit and a team shape algorithm unit;
the team algorithm unit is used for grouping the cluster devices based on the team numbers of the devices to form one or more teams;
the formation algorithm unit determines a formation algorithm based on the data calculation instruction, calculates motion information of the cluster device through the formation algorithm based on the first data packet, and sends a second data packet containing the motion information to a main device of a corresponding formation in the cluster device, wherein the main device is used for controlling each device in the corresponding formation, and the motion information comprises spatial position information, speed information and motion direction information.
One embodiment of the present invention is shown in fig. 2, and further includes a state obtaining module, configured to obtain a flight state and a communication state of a master device in each team;
the control module is further used for judging whether the flight state and the communication state of the main device are abnormal or not, and adjusting the number of the main device based on the position relation between the device in the corresponding team and the current main device and the flight state and the communication state of the device when the judgment result is abnormal.
Further, the system comprises a calculation performance acquisition module, a calculation performance acquisition module and a calculation performance acquisition module, wherein the calculation performance acquisition module is used for acquiring the calculation performance of the main device in each team;
the control module is further configured to determine the data calculation instruction based on a calculation performance of the master device;
the data calculation instructions include a full team device calculation instruction that calculates motion information of each device in a team and a team main device calculation instruction that calculates motion information of main devices in a team.
Further, the parameter information further includes a device category;
and the formation algorithm unit is also used for selecting a corresponding formation algorithm type according to the device type.
Further, the system also comprises a first data transmission module and/or a second data transmission module;
the first data transmission module is used for receiving the first data packet sent by the control module or receiving third-party data and outputting the third-party data to the data processing module;
and the second data transmission module is used for receiving the second data packet sent by the data processing module and outputting the second data packet to a main device of the cluster device.
The invention also provides a cluster device, which is used for executing corresponding actions based on the control of the cluster device control system and comprises a plurality of teams, each team comprises a plurality of devices, the devices are divided into a master device and a plurality of slave devices according to received instructions,
the main device is used for receiving a second data packet output by the cluster device control system, judging whether motion information of the slave device needs to be calculated according to the motion information contained in the second data packet, and when the judgment result is yes, issuing the motion information to the corresponding slave device in the team after calculation, and when the judgment result is no, issuing the motion information to the corresponding slave device;
slave means for executing the received motion information;
the device comprises a state detection module, a state adjustment module and a state adjustment module, wherein the state detection module is used for detecting the flight state and the communication state of the device when the device is defined as a main device and feeding the flight state and the communication state back to the cluster device control system so as to judge whether the serial number of the main device needs to be adjusted or not;
the device further comprises a calculation performance detection module for detecting the calculation performance of the device when the device is defined as a main device and feeding back the calculation performance to the cluster device control system to determine a data calculation instruction.
The invention also provides a computer readable storage medium, which stores computer readable instructions, and the computer readable instructions are executed by a processor to realize the cluster device control method. In particular, the computer-readable storage medium includes, but is not limited to, a random access memory, a read-only memory, a cache, a hard disk, or a memory card.
For convenience of understanding, a specific embodiment of the present invention is described in detail by taking a common aircraft cluster as an example, and the aircraft cluster control specifically comprises the following steps:
s1, aircraft related parameter setting:
firstly, a flight route and other related parameters of the aircraft, such as a team number, a team Wu Duixing type, a main device number in each team, aircraft parameters, environment information, prompt information and the like, are set through a control module, and set parameter information is packaged to form a first data packet and is sent to a first data transmission module.
S2, data transmission:
and forwarding the first data packet to the data processing module through the first data transmission module. In addition, external third-party data can also be accessed to the first data transmission module, and the third-party data can comprise various types of external data supported by systems such as aircraft parameters, flight routes, task information, prompt warnings, external commands and environmental parameters.
S3, data processing:
and the data processing module analyzes the received first data packet and/or third-party data, calculates according to different instruction classifications, and calculates team, team shape and attitude information.
The team calculation is to perform team calculation according to the team numbers set in S1, determine the scale of each team and the host aircraft information, and form one or more teams.
The formation calculation is to calculate according to the formation requirement set in S1 and the formation calculation result after the formation calculation is finished, and obtain the formation (such as triangle, diamond, wedge, etc.) of the aircraft, the relative position where each aircraft is located in the aircraft formation, and the flight attitude.
The flight attitude calculation mainly calculates the real-time attitude information of the aircraft according to the flight route, namely flight path information, set in the S1, when the calculation capacity of the main aircraft is enough, only the real-time attitude position information of the main aircraft of each team is needed to be calculated, and the attitude information of other aircraft of each team is calculated by the main aircraft of each team according to the respective team shape and then is sent to the corresponding aircraft; when the calculation capacity of the main aircraft is insufficient, the formation algorithm unit calculates the real-time attitude and position information of each aircraft in a unified mode, then the real-time attitude and position information is transmitted to the main aircraft of the corresponding formation, and then the main aircraft sends the real-time attitude and position information to the corresponding aircraft in the formation.
S4, displaying aircraft information:
and packaging the calculated team information, team form information and attitude information, using the team information, the calculated team form information and the calculated attitude information together with the environment information, the calculated warning information, the calculated system log information and the like as a second data packet, and forwarding the second data packet to the main aircraft and the display module of each team through a second data transmission module.
The first data processing module and the second data processing module are mainly used for receiving and forwarding data and mainly completed through UDP communication, and the data forwarding and receiving modules can be flexibly configured. The data forwarding and distribution are realized through different configurations, so that the access of other modules or third-party applications is facilitated, and the expansibility of the system is greatly improved. The access of the third-party data refers to that the external instruction can be received in a specified instruction form or interface form, and the access function of the instruction can be realized through different instruction access rules or interfaces without being limited to the internal instruction of the system.
The first data processing module and the second data processing module are both provided with a data log function and used for recording relevant received and forwarded information, and the data log function stores the received and forwarded information into a file and is used for checking and tracing instruction data.
The display module also comprises an aircraft model display and a team cluster display, wherein the aircraft model display is used for displaying real-time postures of different aircraft models, including latitude, height, speed and direction information, and different aircraft models can be displayed by replacing the aircraft models; the team cluster display is used for displaying different aircraft models according to a designated team or a cluster form after calculation through the algorithm processing module, team cluster information is mainly displayed on a team main aircraft, and the cluster form can be processed through the data processing module to adjust the cluster or the team form in real time.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary hardware. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product or in the implementation process of data migration, which essentially or partially contributes to the prior art. The computer software product may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to perform the method of the embodiments of the present invention.
The division of each module or unit provided by the present invention is only one logical function division, and in actual implementation, there may be another division manner, for example, a plurality of units or modules may be combined or may be integrated into another system, or some features may be omitted, or not executed, for example, each module may be integrated into one processing system, or each module may exist alone physically, or two or more modules may be integrated into one device or system. The integrated device or system can be implemented in the form of hardware, or in the form of hardware plus software functional units. For example, the first data transmission module and the second data transmission module may be implemented in a set of devices or systems.
Although embodiments of the present invention provide the method steps described above, additional or fewer steps may be included based on routine or non-inventive labor. In addition, the step sequence recited in the embodiments of the present invention is only one of the execution sequence of the steps, and does not represent the only execution sequence. When the clock monitoring method is executed, the method according to the embodiment or the drawings may be executed sequentially or in parallel (for example, in the context of a parallel processor or a multi-thread process).
The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. All or portions of the invention are operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet-type devices, mobile communication terminals, multiprocessor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
Claims (9)
1. A cluster device control method, comprising:
the control module acquires a planned route and parameter information of the cluster device to form a first data packet, and the first data packet is issued to the data processing module; the parameter information comprises a team number of each device, a team type of each team, a main device number in each team and a data calculation command;
the data processing module is used for grouping the cluster devices based on the team numbers to form one or more teams;
the data processing module determines a formation algorithm based on the data calculation instruction; calculating motion information of the cluster device through the formation algorithm based on the first data packet, and sending a second data packet containing the motion information to a main device of a corresponding team in the cluster device for controlling each device in the corresponding team through the main device, wherein the motion information comprises spatial position information, speed information and motion direction information;
before the obtaining of the planned route and the parameter information of the cluster device to form the first data packet, the method further includes:
acquiring the calculation performance of the current main device in each team;
determining the data computation instruction of a corresponding team based on the computation performance of the current master device;
the data calculation instructions comprise a whole-team device calculation instruction and a team main device calculation instruction, wherein the whole-team device calculation instruction refers to the movement information of each device in a calculation team, and the team main device calculation instruction refers to the movement information of the main device in the calculation team;
the computing performance is measured by the CPU occupancy rate of the main device, when the CPU occupancy rate is less than or equal to a preset threshold value, a team main device computing instruction is adopted, the data processing module only needs to compute the motion information of the main device in each team, and the motion information of other devices is computed by the main device and is distributed to corresponding devices; when the CPU occupancy rate is greater than the preset threshold value, the data processing module needs to complete the calculation of the motion information of each device in the cluster, packages and transmits the motion information of each team to the main device of the corresponding team, and then sends the motion information to the corresponding device by the main device, so that the self-adaptive adjustment based on the current performance of the main device is realized.
2. The method of claim 1, wherein before the obtaining the planned route and the parameter information of the cluster device to form the first data packet, the method further comprises:
acquiring the flight state and the communication state of a current main device in each team;
judging whether the flight state and the communication state are abnormal or not;
and when the judgment result is abnormal, adjusting the number of the main device based on the position relation between the device in the corresponding team and the current main device and the flight state and the communication state of the device.
3. The method according to claim 1, wherein before calculating the motion information of the device based on the first data packet by the formation algorithm, the method further comprises:
acquiring a device type;
and selecting a corresponding formation algorithm type according to the device type.
4. A cluster device control system, comprising:
the control module is used for acquiring a planned route and parameter information of the cluster device to form a first data packet and sending the first data packet to the data processing module, wherein the parameter information comprises a team number of each device, a team form type of each team, a main device number in each team and a data calculation instruction;
the data processing module comprises a team algorithm unit and a team shape algorithm unit;
the team algorithm unit is used for grouping the cluster devices based on the team numbers of the devices to form one or more teams;
the formation algorithm unit determines a formation algorithm based on the data calculation instruction, calculates motion information of the cluster device through the formation algorithm based on the first data packet, and sends a second data packet containing the motion information to a main device of a corresponding formation in the cluster device, wherein the second data packet is used for controlling each device in the corresponding formation through the main device, and the motion information comprises spatial position information, speed information and motion direction information;
the system also comprises a calculation performance acquisition module used for acquiring the calculation performance of the current main device in each team;
the control module is further configured to determine the data calculation instruction based on a calculation performance of the current master device;
the data calculation instructions comprise a whole-team device calculation instruction and a team main device calculation instruction, wherein the whole-team device calculation instruction refers to the movement information of each device in a calculation team, and the team main device calculation instruction refers to the movement information of the main device in the calculation team;
the computing performance is measured by the CPU occupancy rate of the main device, when the CPU occupancy rate is less than or equal to a preset threshold value, the team main device is adopted to compute instructions, the data processing module only needs to compute the motion information of the main device in each team, and the motion information of other devices is computed by the main device and is distributed to corresponding devices; when the CPU occupancy rate is greater than the preset threshold value, the data processing module needs to complete the calculation of the motion information of each device in the cluster, pack and transmit the motion information of each team to the main device of the corresponding team, and then the main device issues the motion information to the corresponding device, so that the self-adaptive adjustment based on the current performance of the main device is realized.
5. The cluster device control system according to claim 4, further comprising a status acquisition module for acquiring flight status and communication status of the master devices in each team;
the control module is further used for judging whether the flight state and the communication state of the main device are abnormal or not, and adjusting the number of the main device based on the position relation between the device in the corresponding team and the current main device and the flight state and the communication state of the device when the judgment result is abnormal.
6. The cluster device control system of claim 4, wherein the parameter information further includes a device class;
and the formation algorithm unit is also used for selecting a corresponding formation algorithm type according to the device type.
7. The cluster device control system according to any one of claims 4 to 6, further comprising a first data transmission module and/or a second data transmission module;
the first data transmission module is used for receiving the first data packet sent by the control module or receiving third-party data and outputting the third-party data to the data processing module;
and the second data transmission module is used for receiving the second data packet sent by the data processing module and outputting the second data packet to a main device of the cluster device.
8. A cluster device for performing actions based on the control of the cluster device control system according to any one of claims 4 to 7, comprising a plurality of teams each comprising a plurality of devices divided into a master device and a plurality of slave devices according to received commands,
the main device is used for receiving a second data packet output by the cluster device control system, judging whether motion information of the slave device needs to be calculated according to the motion information contained in the second data packet, and when the judgment result is yes, issuing the motion information to the corresponding slave device in the team after calculation, and when the judgment result is no, issuing the motion information to the corresponding slave device;
slave means for executing the received motion information;
the device comprises a state detection module, a state detection module and a state feedback module, wherein the state detection module is used for detecting the flight state and the communication state of the device when the device is defined as a main device and feeding back the flight state and the communication state to the cluster device control system so as to judge whether the serial number of the main device needs to be adjusted or not;
the device further comprises a calculation performance detection module for detecting the calculation performance of the device when the device is defined as a main device and feeding back the calculation performance to the cluster device control system to determine a data calculation instruction.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-readable instructions which, when executed by a processor, implement the cluster device control method according to any one of claims 1 to 3.
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