CN116185078A - Self-adaptive command method, device, system and storage medium - Google Patents
Self-adaptive command method, device, system and storage medium Download PDFInfo
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- CN116185078A CN116185078A CN202310472823.3A CN202310472823A CN116185078A CN 116185078 A CN116185078 A CN 116185078A CN 202310472823 A CN202310472823 A CN 202310472823A CN 116185078 A CN116185078 A CN 116185078A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application relates to a self-adaptive command method, a device, a system and a storage medium, wherein the method comprises the steps that each terminal in an unmanned aerial vehicle bee colony establishes a data communication relationship and forms a local area network, and one terminal establishes a data communication relationship with at least one terminal in the unmanned aerial vehicle bee colony; grouping all terminals in the unmanned aerial vehicle bee colony, wherein the grouping comprises a control group and a controlled group, and the control group is positioned in front of the controlled group in the flight direction; terminals in the control group collect the environmental information in front and analyze the available passing area; the controlled group uses the passing area to advance by a unit distance and redistributes the control group and the controlled group according to the positional relationship. The self-adaptive command method, the self-adaptive command device, the self-adaptive command system and the storage medium disclosed by the application realize the self-adaptive command of the unmanned aerial vehicle bee colony by using the control modes of edge calculation, self-grouping and non-centralization, and command authorities are automatically distributed in the command process, and a flight route is automatically adjusted according to the environment.
Description
Technical Field
The present disclosure relates to the field of clustered control technologies, and in particular, to a method, an apparatus, a system, and a storage medium for adaptively commanding.
Background
Each unmanned aerial vehicle unit in the unmanned aerial vehicle bee colony realizes the minimization of the nodes; however, when the unmanned aerial vehicle bee colony is taken as a whole, network maximization can be achieved. The mode can be very high in flexibility, the survivability is guaranteed, and meanwhile, the mode of decentralization and dynamic aggregation also has strong burst prevention capability, and even if a loss occurs to an individual unmanned aerial vehicle unit, the unmanned aerial vehicle bee colony cannot be greatly influenced.
For autonomous control of the drone swarm, further research, such as traversing a tree forest, how the drone swarm performs an automated decision is very important, and the manner of setting a fixed command and a fixed route is not applicable any more. The fixed command means that once the unmanned aerial vehicle unit with command authority is interfered, the whole unmanned aerial vehicle bee colony loses control; the fixed route requires the whole unmanned aerial vehicle bee colony to advance in a fixed queue, and the passing speed is low, so that the unmanned aerial vehicle bee colony is easy to interfere and strike.
Disclosure of Invention
The application provides a self-adaptive command method, a device, a system and a storage medium, which realize the self-adaptive command of an unmanned aerial vehicle bee colony by using an edge calculation, self-grouping and non-centralized control mode, wherein command authorities are automatically distributed in the command process, and a flight route is automatically adjusted according to the environment.
The above object of the present application is achieved by the following technical solutions:
the application provides a self-adaptive command method, which comprises the following steps:
each terminal in the unmanned aerial vehicle bee colony establishes a data communication relationship and forms a local area network, and one terminal establishes a data communication relationship with at least one terminal in the unmanned aerial vehicle bee colony;
grouping all terminals in the unmanned aerial vehicle bee colony, wherein the grouping comprises a control group and a controlled group, and the control group is positioned in front of the controlled group in the flight direction;
terminals in the control group collect the environmental information in front and analyze the available passing area;
the controlled group advances by a unit distance through the area; and
and reassigning the control group and the controlled group according to the position relation.
In a possible implementation manner of the first aspect, the control group changes from a flight state to a stationary state when acquiring the image.
In a possible implementation manner of the first aspect, after the completion of the construction of the pass plane, the terminal in the control group is crossed by the terminal in the control group within the set range, and the terminal is transferred from the control group to the non-control group.
In a possible implementation manner of the first aspect, one terminal in the control group is located below the other terminals in the control group, and the reference coordinates are provided.
In a possible implementation manner of the first aspect, each pass-through region is allocated to one terminal in the control group;
and the terminals in the controlled group select a passing area according to the transverse position, and after the selection is completed, the control right of the terminals in the controlled group is transmitted to the terminals in the control group in the passing area.
In a possible implementation manner of the first aspect, the method further includes:
when passing through the terminals in the control group with the control right, the terminals in the controlled group send an arrival instruction and coordinates to the terminals in the control group with the control right; and
the terminal in the control group sends a flight instruction to the terminal corresponding to the instruction and the coordinate according to the received instruction and the coordinate, wherein the flight instruction comprises an advancing instruction and a position adjusting instruction;
the position adjustment instructions include a lateral movement instruction, a longitudinal movement instruction, and a stationary instruction.
In a possible implementation manner of the first aspect, when a static command exists in the flight command, the terminal to which the flight command is directed moves to be relatively static right in front of the terminal that issues the flight command.
An adaptive command device, comprising:
the local area network establishing unit is used for enabling all terminals in the unmanned aerial vehicle bee colony to establish a data communication relationship and form a local area network, and one terminal and at least one terminal in the unmanned aerial vehicle bee colony establish the data communication relationship;
the primary grouping unit is used for grouping all terminals in the unmanned aerial vehicle bee colony, wherein the grouping comprises a control group and a controlled group, and the control group is positioned in front of the controlled group in the flight direction;
the analysis unit is used for enabling the terminals in the control group to collect the front environmental information and analyze the available passing area;
a advancing unit for advancing the controlled group by a unit distance using the passing area; and
and a secondary grouping unit for causing the control group and the controlled group to be reassigned according to the positional relationship.
An adaptive command system, the system comprising:
one or more memories for storing instructions; and
one or more processors configured to invoke and execute the instructions from the memory, to perform the method as described in the first aspect and any possible implementation of the first aspect.
A computer-readable storage medium, the computer-readable storage medium comprising:
a program which, when executed by a processor, performs a method as described in the first aspect and any possible implementation of the first aspect.
In a fifth aspect, the present application provides a computer program product comprising program instructions which, when executed by a computing device, perform a method as described in the first aspect and any possible implementation manner of the first aspect.
In a sixth aspect, the present application provides a chip system comprising a processor for implementing the functions involved in the above aspects, e.g. generating, receiving, transmitting, or processing data and/or information involved in the above methods.
The chip system can be composed of chips, and can also comprise chips and other discrete devices.
In one possible design, the system on a chip also includes memory to hold the necessary program instructions and data. The processor and the memory may be decoupled, provided on different devices, respectively, connected by wire or wirelessly, or the processor and the memory may be coupled on the same device.
In the whole, the self-adaptive command method, device, system and storage medium can be used in a near-ground flight scene passing through a forest, a building group and the like, so that the unmanned aerial vehicle bee colony can perform autonomous decision-making and decentralization control. The autonomous decision means that the flight route of each terminal is not fixed and cannot be predicted; the decentralization control means that each terminal in the unmanned aerial vehicle bee colony participates in the unmanned aerial vehicle bee colony command process, but the participation time and the participation degree are decided based on autonomous decision, and the prediction cannot be performed; the two modes improve the mobility and the survivability of the unmanned aerial vehicle bee colony.
Drawings
Fig. 1 is a schematic block diagram of a step flow of an adaptive command method provided in the present application.
Fig. 2 is a schematic diagram of connection relationship between terminals in an unmanned aerial vehicle bee colony.
Fig. 3 is a schematic diagram of dividing a control group and a controlled group provided in the present application.
Fig. 4 is a schematic diagram of a control group according to the present application when a passing region is obtained.
Fig. 5 is a schematic diagram of a controlled group selection pass-through region provided herein.
Fig. 6 is a schematic diagram of a terminal in a controlled group as provided herein when crossing a terminal in a controlled group.
Fig. 7 is a schematic process diagram of a terminal executing a lateral movement instruction provided in the present application.
Fig. 8 is a schematic process diagram of a terminal executing a longitudinal movement instruction provided in the present application.
Fig. 9 is a schematic diagram of a process of executing a static instruction by a terminal provided in the present application.
Detailed Description
The technical solutions in the present application are described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, the application discloses a self-adaptive command method, which comprises the following steps:
s101, establishing a data communication relationship between each terminal in the unmanned aerial vehicle bee colony and forming a local area network, and establishing a data communication relationship between one terminal and at least one terminal in the unmanned aerial vehicle bee colony;
s102, grouping all terminals in the unmanned aerial vehicle swarm, wherein the grouping comprises a control group and a controlled group, and the control group is positioned in front of the controlled group in the flight direction;
s103, terminals in the control group collect the front environmental information and analyze the available passing areas;
s104, the controlled group advances by a unit distance by using the passing area; and
s105, reassigning the control group and the controlled group according to the position relation.
Firstly, it should be noted that the adaptive command method disclosed in the present application is applied to an unmanned aerial vehicle bee colony, where the unmanned aerial vehicle bee colony is composed of a plurality of unmanned aerial vehicles, and hereinafter, the unmanned aerial vehicles are collectively referred to as a terminal. The self-adaptive command method disclosed by the application can be used in a near-ground flight scene passing through a forest, a building group and the like, so that the unmanned aerial vehicle bee colony can perform autonomous decision-making and decentralization control.
The autonomous decision means that the flight route of each terminal is not fixed and cannot be predicted; the decentralization control means that each terminal in the unmanned aerial vehicle bee colony participates in the unmanned aerial vehicle bee colony command process, but the participation time and the participation degree are decided based on autonomous decision, and the prediction cannot be performed; the two modes improve the mobility and the survivability of the unmanned aerial vehicle bee colony.
Specifically, in step S101, each terminal in the unmanned aerial vehicle bee colony establishes a data communication relationship and forms a local area network, where the data communication relationship is that one terminal establishes a data communication relationship with at least one terminal in the unmanned aerial vehicle bee colony, and the data communication relationship is a weak relationship, as shown in fig. 2.
By way of example, a first terminal in the unmanned aerial vehicle bee colony is separated from the unmanned aerial vehicle bee colony, a second terminal in the original unmanned aerial vehicle bee colony can establish a data communication relationship with a third terminal or a fourth terminal in an adjacent unmanned aerial vehicle bee colony, and the terminal which performs data communication with the second terminal is not affected.
Or, any one terminal in the local area network formed by the second terminal and the terminal for carrying out data communication with the second terminal establishes a data communication relationship with a third terminal or a fourth terminal in the adjacent unmanned aerial vehicle bee colony, and all the terminals in the local area network are returned to the unmanned aerial vehicle bee colony again.
The data communication mode weakens the relation of all terminals in the unmanned aerial vehicle bee colony, for example, when one or more terminals in the unmanned aerial vehicle bee colony are interfered or offline, the flight of the whole unmanned aerial vehicle bee colony is not influenced.
Of course, the situation that the unmanned aerial vehicle bee colony is split into a plurality of unmanned aerial vehicle sub-bee colonies can also occur, but when two terminals in the unmanned aerial vehicle sub-bee colonies establish a data communication relationship, the unmanned aerial vehicle sub-bee colonies can be integrated into a complete unmanned aerial vehicle bee colony.
Referring to fig. 3, in step S102, each terminal in the unmanned aerial vehicle cluster performs grouping, and the purpose of the grouping is to rationalize the use of the resources of the unmanned aerial vehicle cluster, so as to maximize the utilization rate of the resources. The group comprises a control group and a controlled group, wherein the control group has partial control authority of the controlled group.
Meanwhile, in the flight direction, the control group is positioned in front of the controlled group, the control group analyzes the interference on the advancing route and gives an adjustment suggestion for the interference, and the controlled group adjusts the own flight track according to the adjustment suggestion.
In step S103, the terminals in the control group collect the front environmental information using various sensors carried by the terminals themselves, such as an image sensor, a laser point cloud sensor, and a sonic sensor, and analyze the available passing area. The purpose of the acquisition of the front environmental information is to find disturbances on the flight route and to bypass these disturbances, enabling the unmanned aerial vehicle swarm to fly continuously.
In step S104, the controlled group advances by a unit distance using the passing area, where the unit distance is determined according to the setting parameter. After the controlled group advances by a unit distance using the passing area, the content in step S105 is executed, and the controlled group are reassigned according to the positional relationship.
That is, the relationship between the control group and the controlled group is dynamic, and the relationship is adjusted according to the relative positions of the terminals in the drone swarm. The purpose of the dynamic adjustment control group and the controlled group is to enable the terminals in the control group to switch between command and commanded, and to realize the decentralization command and the rapid movement of the unmanned aerial vehicle bee colony.
It should be understood that, in the flight process of the drone swarm, in order to ensure confidentiality and mobility, it is necessary to choose to disconnect data communication with the outside or to use an intermittent data communication mode to avoid being discovered, and meanwhile, considering the negative influence of the data processing capability on the volume and the endurance time, the data processing capability of each terminal in the drone swarm may be limited within a certain range.
In order to solve the problem, the control group and the controlled group are alternately arranged in the flying direction, the control group is positioned in front of the controlled group, the control group needs to collect and analyze the environmental information in the flying direction (front), a certain time is required for the collection and analysis, namely, the control group can select to slow down flying or change from a flying state to a static state when collecting and analyzing, and the purpose of the two modes is to provide enough data processing time for the collection and analysis.
The advantages of this approach are as follows:
the control group decelerates to fly or changes from a flying state to a static state, so that the flying speed of the whole unmanned aerial vehicle bee colony is not delayed, because when the controlled group passes over the control group, the control group automatically changes into the controlled group, and part of terminals in the controlled group automatically change into the control group.
The forepoling distance of the control group is reduced, and the probability of the unmanned aerial vehicle bee colony being found is reduced. The above problem can be solved by increasing the distance between the control group and the controlled group, but this increases the probability of the drone swarm being found, because the coverage length of the drone swarm in the flight direction is elongated, and when the control group is found, the controlled group waits for a period of time before reaching, which affects the maneuverability and concealment of the drone swarm.
The control group and the controlled group are alternated to realize the control decentralization, namely, when one terminal of the control group is offline or attacked, the controlled group can still fly and automatically switch into the control group or other terminals of the control group switch into the control group to control.
In some possible implementations, the control group preferably switches from the flight state to the stationary state, which is advantageous in that the terminals in the stationary state can provide stationary coordinates, facilitating coordinate conversion by the terminals in the controlled group.
In the foregoing, it is mentioned that the terminals in the control group analyze the interference in front of the control group and obtain a passing area, and for the passing area, the coordinates may be directly used for displaying, where it is assumed that the coordinates of the terminals in the control group are (0, 0), and the front interference or the passing area may be represented by using a plurality of coordinates, and an area surrounded by the plurality of coordinates is the interference or the passing area.
It is clear that the representation coordinates of the disturbance or passage area need to be generated by means of (0, 0), so that when the terminals in the control group are brought from a flight state to a stationary state, the terminals subsequently crossed can be calculated directly using the coordinates, without the need for a transformation of the coordinate system.
The localized coordinate calculation mode can avoid the unmanned aerial vehicle to communicate by using a wireless network to obtain the self coordinates, reduces the found probability of the unmanned aerial vehicle, and is obtained by analyzing the relative position relation with other unmanned aerial vehicles in the mode that the unmanned aerial vehicle obtains the self coordinates, and comprises the following specific steps:
acquiring coordinate data of an unmanned aerial vehicle and angle data of a cradle head; the cradle head is arranged on the unmanned aerial vehicle; the coordinate data corresponds to the angle data one by one;
determining a plurality of first straight lines according to the coordinate data and the angle data;
determining a first target point which is shortest from all the first lines;
and defining the coordinates of the first target point as the position coordinates of the object to be detected.
In some examples, after completion of the build pass through surface, the terminals in the control group are overridden by terminals in the control group within a set range, the terminals being transferred from the control group to the non-control group. This way the terminal can be switched rapidly between the control group and the controlled group.
For example, when a terminal in a controlled group passes over a terminal in a certain control group, its identity will automatically be converted into the control group, and after the terminal is converted into the control group, the terminal will start to collect the environmental information in front and analyze the available passing area, and play the role of developing a route for the control group.
After a part of new routes are developed, the terminal provides guidance for the subsequent controlled group, so that the terminal in the controlled group can continuously and rapidly advance. It is understood that in the scene of passing through a forest, the number and the positions of influencing factors on a flight route are uncertain, and the adoption of the sectional development mode used in the method can enable the unmanned aerial vehicle bee colony to pass through quickly on the premise of low discovery probability.
For the co-ordinate approach of the drone swarm, in some examples, a approach is used in which one terminal in the control set is located below the other terminals in the control set, providing reference coordinates that provide a position reference in the vertical direction, and the terminals in the controlled set are located above this terminal providing reference coordinates when crossing the control set.
At this time, the (0, 0) coordinate may be assigned to only one terminal located below the other terminals in the control group, so that the same coordinate system may be used by the controlled group in the drone swarm when passing through the passing area.
For selection of pass-through regions, in some examples, each pass-through region is assigned to one terminal in the control group, which may simultaneously govern one or both pass-through regions.
Referring to fig. 4 and 5, the terminals in the controlled group select a passing area according to the lateral position, and after the selection is completed, the control right of the terminals in the controlled group is handed over to the terminals in the controlled group described by the passing area. Specifically, the terminals in the controlled group will autonomously decide, for example, the number of the passing areas is five, and then the terminal in the controlled group will select a nearest passing area according to the lateral distance between its own position and the five passing areas, because this way can reduce the variation of the flight track of the terminal in the controlled group, and thus reduce the influence on other terminals in the whole controlled group.
Referring to fig. 6, it should be appreciated that all terminals in the controlled group have their respective flight trajectories, and that the relative positions of the terminals in the controlled group remain stationary during fast flight, thereby increasing the flight speed of all terminals in the controlled group. Because in this way the terminals in the controlled group can apply a concentration of computing forces to the control of the flight trajectory.
Of course, in this case, a case may occur in which two or more terminals in the controlled group pass through one pass through area at the same time, and if the pass through area satisfies the pass through requirement, the terminals in the two or more controlled groups fly through the pass through area at the same time, and when the pass through area does not satisfy the pass through requirement, the following processing manner is used:
s201, when the terminal in the controlled group passes through the terminal in the control group with the control right, sending an arrival instruction and coordinates to the terminal in the control group with the control right; and
s202, a terminal in a control group sends a flight instruction to a terminal corresponding to the instruction and the coordinate according to the received instruction and the coordinate, wherein the flight instruction comprises an advancing instruction and a position adjusting instruction;
the position adjustment instructions include a lateral movement instruction, a longitudinal movement instruction, and a stationary instruction.
In step S201 and step S202, the terminals in the control group can adjust the positions of the plurality of terminals in the controlled group having the control authority by themselves, wherein the adjustment includes two parts, namely an advance command and a position adjustment command, the advance command indicates that the terminals in the controlled group can directly fly through the passing area, and the position adjustment command indicates that the terminals in the controlled group can fly through the passing area after the position adjustment command is completed.
Referring to fig. 7 and 8, the position adjustment command includes three types of a lateral movement command, a longitudinal movement command and a stationary command, wherein the lateral movement command refers to that the terminal in the controlled group needs to move leftwards or rightwards in a horizontal direction; the longitudinal movement instruction means that the terminal in the controlled group needs to move up or down in the vertical direction; the stationary command means that the terminals in the controlled group need to remain stationary at the home position and fly through the pass-through area after waiting for a period of time.
It is also contemplated herein that terminals in the controlled group that receive the quiescence command may affect the flight trajectory of subsequent terminals, causing collisions and collisions, so in some instances, referring to fig. 9, when the quiescence command is present in the flight command, the terminal to which the flight command is directed moves to be relatively stationary immediately in front of the terminal that issued the flight command.
That is, the terminal in the control group receiving the stationary command moves to the right in front of the terminal in the control group issuing the flight command and then remains relatively stationary with the terminal, because it is mentioned in the foregoing that the terminal in the control group has both the suspended stationary and slow-flight states in this state.
Through the mode, the terminal receiving the static instruction can be moved out of the unmanned aerial vehicle bee colony, so that the influence of the terminal on the flight track of the subsequent terminal is fundamentally avoided. When all terminals cross the control group, the terminals and the terminals in the control group are all transferred to the controlled group.
The application also provides a self-adaptive command device, which comprises:
the local area network establishing unit is used for enabling all terminals in the unmanned aerial vehicle bee colony to establish a data communication relationship and form a local area network, and one terminal and at least one terminal in the unmanned aerial vehicle bee colony establish the data communication relationship;
the primary grouping unit is used for grouping all terminals in the unmanned aerial vehicle bee colony, wherein the grouping comprises a control group and a controlled group, and the control group is positioned in front of the controlled group in the flight direction;
the analysis unit is used for enabling the terminals in the control group to collect the front environmental information and analyze the available passing area;
a advancing unit for advancing the controlled group by a unit distance using the passing area; and
and a secondary grouping unit for causing the control group and the controlled group to be reassigned according to the positional relationship.
Further, the control group changes from a flying state to a static state when acquiring images.
Further, after the construction of the pass surface is completed, the terminal in the control group is crossed by at least one terminal in the control group within a set range, and the terminal is transferred from the control group to the non-control group.
Further, one terminal in the control group is located below the other terminals in the control group, providing reference coordinates.
Further, each pass-through region is assigned to one terminal in the control group;
and the terminals in the controlled group select a passing area according to the transverse position, and after the selection is completed, the control right of the terminals in the controlled group is transmitted to the terminals in the control group in the passing area.
Further, the method further comprises the following steps:
when passing through the terminals in the control group with the control right, the terminals in the controlled group send an arrival instruction and coordinates to the terminals in the control group with the control right; and
the terminal in the control group sends a flight instruction to the terminal corresponding to the instruction and the coordinate according to the received instruction and the coordinate, wherein the flight instruction comprises an advancing instruction and a position adjusting instruction;
the position adjustment instructions include a lateral movement instruction, a longitudinal movement instruction, and a stationary instruction.
Further, when a static instruction exists in the flight instruction, the terminal pointed by the flight instruction moves to the right front of the terminal sending the flight instruction and is relatively static.
In one example, the unit in any of the above apparatuses may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (application specific integratedcircuit, ASIC), or one or more digital signal processors (digital signal processor, DSP), or one or more field programmable gate arrays (field programmable gate array, FPGA), or a combination of at least two of these integrated circuit forms.
For another example, when the units in the apparatus may be implemented in the form of a scheduler of processing elements, the processing elements may be general-purpose processors, such as a central processing unit (central processing unit, CPU) or other processor that may invoke the program. For another example, the units may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Various objects such as various messages/information/devices/network elements/systems/devices/actions/operations/processes/concepts may be named in the present application, and it should be understood that these specific names do not constitute limitations on related objects, and that the named names may be changed according to the scenario, context, or usage habit, etc., and understanding of technical meaning of technical terms in the present application should be mainly determined from functions and technical effects that are embodied/performed in the technical solution.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It should also be understood that in various embodiments of the present application, first, second, etc. are merely intended to represent that multiple objects are different. For example, the first time window and the second time window are only intended to represent different time windows. Without any effect on the time window itself, the first, second, etc. mentioned above should not impose any limitation on the embodiments of the present application.
It is also to be understood that in the various embodiments of the application, terms and/or descriptions of the various embodiments are consistent and may be referenced to one another in the absence of a particular explanation or logic conflict, and that the features of the various embodiments may be combined to form new embodiments in accordance with their inherent logic relationships.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a computer-readable storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned computer-readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The application also provides an adaptive command system, which comprises:
one or more memories for storing instructions; and
one or more processors configured to invoke and execute the instructions from the memory to perform the method as described above.
The present application also provides a computer program product comprising instructions that, when executed, cause the adaptive command system to perform operations of the adaptive command system corresponding to the above-described method.
The present application also provides a chip system comprising a processor for implementing the functions involved in the above, e.g. generating, receiving, transmitting, or processing data and/or information involved in the above method.
The chip system can be composed of chips, and can also comprise chips and other discrete devices.
The processor referred to in any of the foregoing may be a CPU, microprocessor, ASIC, or integrated circuit that performs one or more of the procedures for controlling the transmission of feedback information described above.
In one possible design, the system on a chip also includes memory to hold the necessary program instructions and data. The processor and the memory may be decoupled, and disposed on different devices, respectively, and connected by wired or wireless means, so as to support the chip system to implement the various functions in the foregoing embodiments. In the alternative, the processor and the memory may be coupled to the same device.
Optionally, the computer instructions are stored in a memory.
Alternatively, the memory may be a storage unit in the chip, such as a register, a cache, etc., and the memory may also be a storage unit in the terminal located outside the chip, such as a ROM or other type of static storage device, a RAM, etc., that may store static information and instructions.
It is to be understood that the memory in this application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory.
The nonvolatile memory may be a ROM, a Programmable ROM (PROM), an Erasable Programmable ROM (EPROM), an electrically erasable programmable EPROM (EEPROM), or a flash memory.
The volatile memory may be RAM, which acts as external cache. There are many different types of RAM, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), and direct memory bus RAM.
The embodiments of the present invention are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in this way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (10)
1. An adaptive command method, comprising:
each terminal in the unmanned aerial vehicle bee colony establishes a data communication relationship and forms a local area network, and one terminal establishes a data communication relationship with at least one terminal in the unmanned aerial vehicle bee colony;
grouping all terminals in the unmanned aerial vehicle bee colony, wherein the grouping comprises a control group and a controlled group, and the control group is positioned in front of the controlled group in the flight direction;
terminals in the control group collect the environmental information in front and analyze the available passing area;
the controlled group advances by a unit distance through the area; and
and reassigning the control group and the controlled group according to the position relation.
2. The adaptive command method according to claim 1, wherein the control group changes from a flight state to a stationary state when the control group captures an image.
3. An adaptive command method according to claim 2, characterized in that after the completion of the construction of the pass plane, the terminals in the control group are crossed by the terminals in the control group within a set range, which are transferred from the control group to the non-control group.
4. A method of adaptively commanding according to any of claims 1 to 3, wherein one terminal in the control group is located below the other terminals in the control group to provide the reference coordinates.
5. The adaptive command method according to claim 4, wherein each pass-through region is assigned to one terminal in the control group;
and the terminals in the controlled group select a passing area according to the transverse position, and after the selection is completed, the control right of the terminals in the controlled group is transmitted to the terminals in the control group in the passing area.
6. The adaptive command method according to claim 5, further comprising:
when passing through the terminals in the control group with the control right, the terminals in the controlled group send an arrival instruction and coordinates to the terminals in the control group with the control right; and
the terminal in the control group sends a flight instruction to the terminal corresponding to the instruction and the coordinate according to the received instruction and the coordinate, wherein the flight instruction comprises an advancing instruction and a position adjusting instruction;
the position adjustment instructions include a lateral movement instruction, a longitudinal movement instruction, and a stationary instruction.
7. The adaptive command method according to claim 5, wherein when a stationary command exists in the flight command, the terminal to which the flight command is directed is relatively stationary after moving to the front of the terminal from which the flight command is issued.
8. An adaptive command device, comprising:
the local area network establishing unit is used for enabling all terminals in the unmanned aerial vehicle bee colony to establish a data communication relationship and form a local area network, and one terminal and at least one terminal in the unmanned aerial vehicle bee colony establish the data communication relationship;
the primary grouping unit is used for grouping all terminals in the unmanned aerial vehicle bee colony, wherein the grouping comprises a control group and a controlled group, and the control group is positioned in front of the controlled group in the flight direction;
the analysis unit is used for enabling the terminals in the control group to collect the front environmental information and analyze the available passing area;
a advancing unit for advancing the controlled group by a unit distance using the passing area; and
and a secondary grouping unit for causing the control group and the controlled group to be reassigned according to the positional relationship.
9. An adaptive command system, the system comprising:
one or more memories for storing instructions; and
one or more processors to invoke and execute the instructions from the memory to perform the method of any of claims 1 to 7.
10. A computer-readable storage medium, the computer-readable storage medium comprising:
program which, when executed by a processor, performs a method according to any one of claims 1 to 7.
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