CN116859950A - Control method, device, equipment and storage medium - Google Patents

Abstract

The present disclosure provides a control method, apparatus, device, and storage medium, where the method includes: obtaining a target area, and dividing the target area to obtain a plurality of corresponding subareas; acquiring access intensity information of each unmanned vehicle for a plurality of subareas, and determining at least one subarea corresponding to each unmanned vehicle based on the access intensity information; and aiming at each unmanned vehicle, determining a target running path corresponding to the unmanned vehicle according to the appointed position information of each subarea corresponding to the unmanned vehicle. By adopting the method, the control of the plurality of unmanned vehicles working together in the same area is realized through the access intensity information of each unmanned vehicle to the plurality of subareas, so that the working efficiency of the unmanned vehicles is ensured.

Description

Control method, device, equipment and storage medium

Technical Field

The present disclosure relates to the field of information processing technologies, and in particular, to a control method, apparatus, device, and storage medium.

Background

At present, with the development of unmanned vehicle technology, the unmanned vehicle technology is widely applied to cell patrol, area cleaning and the like. In general, for an area having a large area, the work efficiency when a single unmanned vehicle makes patrol or cleaning is low, and therefore, a plurality of unmanned vehicles are generally required to cooperate to improve the work efficiency.

However, how to control multiple unmanned vehicles working together in the same area and to ensure the working efficiency thereof becomes a technical problem to be solved.

Disclosure of Invention

The present disclosure provides a control method, apparatus, device, and storage medium, to at least solve the above technical problems in the prior art.

According to a first aspect of the present disclosure, there is provided a control method, the method comprising:

obtaining a target area, and dividing the target area to obtain a plurality of corresponding subareas;

acquiring access intensity information of each unmanned vehicle for the plurality of subareas, and determining at least one subarea corresponding to each unmanned vehicle based on the access intensity information;

and aiming at each unmanned vehicle, determining a target running path corresponding to the unmanned vehicle according to the appointed position information of each subarea corresponding to the unmanned vehicle.

In an embodiment, the acquiring the target area includes:

determining an obstacle region in which an obstacle target is located in the designated region;

and determining an area obtained by removing the obstacle area in the designated area as a target area.

In an embodiment, the obtaining the access intensity information of each unmanned vehicle for the multiple sub-areas, and determining at least one sub-area corresponding to each unmanned vehicle based on the access intensity information includes:

When entering a circulation period, obtaining area division information corresponding to each unmanned vehicle and access intensity information of each unmanned vehicle for each sub-area, wherein the area division information is used for representing an area occupied by the unmanned vehicle in the target area, and the area occupied by the unmanned vehicle in the target area is an area formed by each sub-area occupied by the unmanned vehicle in the target area;

according to the region division information and the access intensity information, determining the occupation state information of each unmanned vehicle to the target region, and the first access intensity and the second access intensity corresponding to each unmanned vehicle, wherein the first access intensity corresponding to each unmanned vehicle is the minimum access intensity of each unmanned vehicle to each occupied sub-region, and the second access intensity is the maximum access intensity of other unmanned vehicles adjacent to the unmanned vehicle to each occupied sub-region;

for each unmanned vehicle, if the occupation state information indicates that the area occupied by each unmanned vehicle is a result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is greater than the second access intensity, controlling the unmanned vehicle to access the first target sub-area currently occupied by the unmanned vehicle, wherein the first target sub-area is the sub-area with the minimum access intensity corresponding to each sub-area currently occupied by the unmanned vehicle;

If the occupation state information indicates that the area occupied by each unmanned vehicle is not the result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is larger than the second access intensity, controlling the unmanned vehicle to access a second target sub-area, wherein the second target sub-area is the sub-area occupied by the unmanned vehicle with the largest occupation area corresponding to each unmanned vehicle adjacent to the unmanned vehicle;

if the first access intensity corresponding to the unmanned aerial vehicle is not greater than the second access intensity, controlling the unmanned aerial vehicle to access a third target sub-area, wherein the third target sub-area is a sub-area occupied by an unmanned aerial vehicle adjacent to the unmanned aerial vehicle;

at the end of the cycle period, determining whether the target area is evenly divided;

if so, determining the unmanned vehicle information of each sub-region and the access intensity information corresponding to each sub-region, and obtaining at least one sub-region corresponding to each unmanned vehicle;

and if not, returning to execute the step of acquiring the area division information corresponding to each unmanned vehicle and the access intensity information of each unmanned vehicle for each sub-area when entering the next cycle.

In one embodiment, the specified position information of the sub-region is a center position of the sub-region;

For each unmanned vehicle, determining a target driving path corresponding to the unmanned vehicle according to the appointed position information of each sub-region corresponding to the unmanned vehicle comprises the following steps:

dividing each sub-area occupied by each unmanned vehicle into at least two grids aiming at each unmanned vehicle, and determining the center of each grid as a first center position;

determining a main path according to the first center position;

and determining the central position of each sub-region occupied by the unmanned vehicle as a target driving path corresponding to the unmanned vehicle according to a path formed by surrounding the main path.

In an embodiment, the method further comprises:

detecting whether the occupied area of each unmanned vehicle in the target area changes or not;

and if so, re-determining at least one sub-area corresponding to each unmanned vehicle.

According to a second aspect of the present disclosure, there is provided a control apparatus, the apparatus comprising:

the region dividing module is used for acquiring a target region and dividing the target region to obtain a plurality of corresponding sub-regions;

the sub-region determining module is used for acquiring the access intensity information of each unmanned vehicle for the plurality of sub-regions and determining at least one sub-region corresponding to each unmanned vehicle based on the access intensity information;

The route determining module is used for determining a target driving route corresponding to each unmanned vehicle according to the appointed position information of each sub-region corresponding to the unmanned vehicle.

In an embodiment, the area dividing module is specifically configured to determine an obstacle area in which an obstacle target is located in the specified area; and determining an area obtained by removing the obstacle area in the designated area as a target area.

In an embodiment, the sub-region determining module is specifically configured to obtain, when entering a cycle period, region division information corresponding to each unmanned vehicle and access strength information of each unmanned vehicle for each sub-region, where the region division information is used to characterize a region occupied by the unmanned vehicle in the target region, and the region occupied by the unmanned vehicle in the target region is a region formed by each sub-region occupied by the unmanned vehicle in the target region; according to the region division information and the access intensity information, determining the occupation state information of each unmanned vehicle to the target region, and the first access intensity and the second access intensity corresponding to each unmanned vehicle, wherein the first access intensity corresponding to each unmanned vehicle is the minimum access intensity of each unmanned vehicle to each occupied sub-region, and the second access intensity is the maximum access intensity of other unmanned vehicles adjacent to the unmanned vehicle to each occupied sub-region; for each unmanned vehicle, if the occupation state information indicates that the area occupied by each unmanned vehicle is a result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is greater than the second access intensity, controlling the unmanned vehicle to access the first target sub-area currently occupied by the unmanned vehicle, wherein the first target sub-area is the sub-area with the minimum access intensity corresponding to each sub-area currently occupied by the unmanned vehicle; if the occupation state information indicates that the area occupied by each unmanned vehicle is not the result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is larger than the second access intensity, controlling the unmanned vehicle to access a second target sub-area, wherein the second target sub-area is the sub-area occupied by the unmanned vehicle with the largest occupation area corresponding to each unmanned vehicle adjacent to the unmanned vehicle; if the first access intensity corresponding to the unmanned aerial vehicle is not greater than the second access intensity, controlling the unmanned aerial vehicle to access a third target sub-area, wherein the third target sub-area is a sub-area occupied by an unmanned aerial vehicle adjacent to the unmanned aerial vehicle; at the end of the cycle period, determining whether the target area is evenly divided; if so, determining the unmanned vehicle information of each sub-region and the access intensity information corresponding to each sub-region, and obtaining at least one sub-region corresponding to each unmanned vehicle; and if not, returning to execute the step of acquiring the area division information corresponding to each unmanned vehicle and the access intensity information of each unmanned vehicle for each sub-area when entering the next cycle.

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the methods described in the present disclosure.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of the present disclosure.

The control method, the device, the equipment and the storage medium of the present disclosure acquire a target area, and divide the target area to obtain a plurality of corresponding sub-areas; acquiring access intensity information of each unmanned vehicle for a plurality of subareas, and determining at least one subarea corresponding to each unmanned vehicle based on the access intensity information; and aiming at each unmanned vehicle, determining a target running path corresponding to the unmanned vehicle according to the appointed position information of each subarea corresponding to the unmanned vehicle. The control of the plurality of unmanned vehicles working together in the same area is realized through the access intensity information of each unmanned vehicle aiming at the plurality of subareas, so that the working efficiency of the unmanned vehicles is ensured.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings, in which:

in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

FIG. 1 illustrates a flow diagram of a control method provided by an embodiment of the present disclosure;

fig. 2 illustrates a flowchart of determining a corresponding area of an unmanned vehicle according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a control method according to an embodiment of the present disclosure;

fig. 4 shows a schematic diagram of a composition structure of an electronic device according to an embodiment of the disclosure.

Detailed Description

In order to make the objects, features and advantages of the present disclosure more comprehensible, the technical solutions in the embodiments of the present disclosure will be clearly described in conjunction with the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person skilled in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.

Because the working efficiency of a single unmanned vehicle is very low when the single unmanned vehicle is patrol or clean, a plurality of unmanned vehicles are usually required to work cooperatively in order to improve the working efficiency, so that the working efficiency of the plurality of unmanned vehicles which work together in the same area is ensured in order to be controlled, and the control method, the device, the equipment and the storage medium are provided. The control provided by the present disclosure may be applied to any electronic device that may perform data processing and automatic control, including but not limited to computers, mobile phones, tablet computers, and the like.

The technical solutions of the embodiments of the present disclosure will be described below with reference to the drawings in the embodiments of the present disclosure.

Fig. 1 shows a schematic flow chart of a control method provided by an embodiment of the disclosure, as shown in fig. 1, where the method includes:

s101, acquiring a target area, and dividing the target area to obtain a plurality of corresponding sub-areas.

In a possible implementation manner, the acquiring the target area may include steps A1-A2:

and A1, determining an obstacle area where an obstacle target is located in the designated area.

In the present disclosure, the designated area may be specifically set according to the application scenario, for example, an area where the residential area a is located may be set as the designated area, or an area where the school B is located may be set as the designated area.

The obstacle target is an object that affects the travel of the unmanned vehicle, such as a large building or a roadblock.

And step A2, determining an area obtained by removing the obstacle area in the designated area as a target area.

In the present disclosure, other areas of the designated area that do not include the obstacle area may be regarded as target areas. The drone may be active within the target area.

In the present disclosure, it is preferable that the target area may be uniformly divided into a plurality of sub-areas, and the number of sub-areas may be specifically set according to an actual application scenario, for example, may be set to 9 or 12 or the like. Alternatively, a plurality of sub-regions may be different in size. Specifically, the sub-areas may be divided according to the turning radius of the unmanned aerial vehicle, for example, the target area may be divided with the length twice the turning radius of the unmanned aerial vehicle as the side length of the sub-areas, so as to obtain a plurality of square sub-areas.

S102, access intensity information of each unmanned vehicle for the plurality of subareas is obtained, and at least one subarea corresponding to each unmanned vehicle is determined based on the access intensity information.

In the present disclosure, the access strength information is used to reflect the access frequency and the access interval duration of the unmanned vehicle to the area.

S103, for each unmanned vehicle, determining a target running path corresponding to the unmanned vehicle according to the appointed position information of each subarea corresponding to the unmanned vehicle.

By adopting the method, a target area is acquired, and the target area is divided to obtain a plurality of corresponding subareas; acquiring access intensity information of each unmanned vehicle for a plurality of subareas, and determining at least one subarea corresponding to each unmanned vehicle based on the access intensity information; and aiming at each unmanned vehicle, determining a target running path corresponding to the unmanned vehicle according to the appointed position information of each subarea corresponding to the unmanned vehicle. The control of the plurality of unmanned vehicles working together in the same area is realized through the access intensity information of each unmanned vehicle aiming at the plurality of subareas, so that the working efficiency of the unmanned vehicles is ensured.

In a possible implementation manner, fig. 2 shows a schematic flow chart of determining a corresponding area of an unmanned vehicle provided by an embodiment of the present disclosure, as shown in fig. 2, where the obtaining access intensity information of each unmanned vehicle for the multiple sub-areas and determining at least one sub-area corresponding to each unmanned vehicle based on the access intensity information includes:

S201, when a circulation period is entered, region division information corresponding to each unmanned vehicle and access strength information of each unmanned vehicle for each sub-region are obtained.

The region division information is used for representing the region occupied by the unmanned aerial vehicle in the target region, and the region occupied by the unmanned aerial vehicle in the target region is a region formed by all the sub-regions occupied by the unmanned aerial vehicle in the target region. For example, if the target area a includes 9 sub-areas, such as sub-areas 1-9, and the unmanned vehicle B1 occupies the sub-areas 1 and 2, and the unmanned vehicle B2 occupies the sub-areas 3-9, the area division information corresponding to the unmanned vehicle B1 may be determined as follows: the regional division information corresponding to the unmanned vehicle B2 is as follows: sub-area 3 to sub-area 9. The area occupied by the unmanned vehicle B1 is an area composed of the subarea 1 and the subarea 2, and the area occupied by the unmanned vehicle B2 is an area composed of the subareas 3 to 9.

In the present disclosure, the cycle period may be specifically set according to the application scenario, and may be set to half an hour or 1 hour, for example.

The access strength information of the unmanned vehicle for each sub-region can be determined by adopting the following formula:

y(i,j)=e-x

Wherein y is _(i，j) The access intensity of the unmanned vehicle i to the sub-region j is represented, and x is the corresponding access intensity count.

Aiming at the unmanned vehicle i, when the unmanned vehicle i is detected to visit the subarea j in the target area, setting the visit intensity count x in the visit intensity information corresponding to the subarea j to be 0, and marking the ID of the subarea j as the ID of the unmanned vehicle i; when other unmanned vehicles are detected to visit other subareas, the count of the visit intensity count x is increased by 1, when other unmanned vehicles visit the subarea j, x is reset to 0, and the ID of the subarea j is marked as the ID of the unmanned vehicle which has visited the subarea j recently.

S202, according to the regional division information and the access intensity information, determining occupation state information of each unmanned vehicle on the target region, and first access intensity and second access intensity corresponding to each unmanned vehicle.

The first access strength corresponding to the unmanned vehicle is the minimum access strength of the unmanned vehicle to each occupied subarea, and the second access strength is the maximum access strength of other unmanned vehicles adjacent to the unmanned vehicle to each occupied subarea.

In the present disclosure, the occupation state information of each unmanned vehicle on the target area refers to an area occupied by each unmanned vehicle in the target area.

And S203, aiming at each unmanned vehicle, if the occupation state information indicates that the area occupied by each unmanned vehicle is the result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is larger than the second access intensity, controlling the unmanned vehicle to access the first target subarea occupied by the unmanned vehicle currently.

The first target subarea is a subarea with minimum access intensity corresponding to each subarea occupied by the unmanned aerial vehicle currently.

For each unmanned vehicle, if the occupation state information indicates that the area occupied by each unmanned vehicle is a result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is larger than the second access intensity, the target area is uniformly divided by each unmanned vehicle, and no unmanned vehicle with abnormal work exists around the unmanned vehicle, so that the unmanned vehicle can be controlled to continuously access the occupied sub-area in the current cycle period, and more accurate data can be acquired for the corresponding target path determined later.

For example, assume that the target region C includes 4 sub-regions, such as sub-region 1-sub-region 4, and that the respective sub-regions are equal in area. For the unmanned vehicle D1, if the unmanned vehicle D1 occupies the sub-area 1 and the sub-area 2, the unmanned vehicle D2 occupies the sub-area 3 and the sub-area 4, that is, the areas occupied by the unmanned vehicle D1 and the unmanned vehicle D2 are the results of uniformly dividing the target area. In addition, when the access intensity of the unmanned vehicle D1 in the occupied sub-area 1 is 0.5 and the access intensity of the unmanned vehicle D2 in the occupied sub-area 2 is 1, the access intensity of the unmanned vehicle D2 adjacent to the unmanned vehicle D1 in the occupied sub-area 3 is 0.3 and the access intensity of the unmanned vehicle D1 in the occupied sub-area 2 is 0.4, that is, the first access intensity corresponding to the unmanned vehicle D1 is greater than the second access intensity, it can be determined that the target area is uniformly divided by each unmanned vehicle, and no abnormal unmanned vehicle exists around the unmanned vehicle D1, so that the unmanned vehicle D1 can be controlled to access the sub-area with the minimum access intensity corresponding to each sub-area currently occupied by the unmanned vehicle D1, that is, the access sub-area 1.

And S204, if the occupation state information indicates that the occupied area of each unmanned vehicle is not the result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is larger than the second access intensity, controlling the unmanned vehicle to access the second target subarea.

The second target sub-area is a sub-area occupied by the corresponding unmanned vehicle with the largest occupied area in each unmanned vehicle adjacent to the unmanned vehicle.

For each unmanned vehicle, if the occupation state information indicates that the area occupied by each unmanned vehicle is not a result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is greater than the second access intensity, no unmanned vehicle with abnormal work exists around the unmanned vehicle, but the target area is not uniformly divided by each unmanned vehicle, so that in order to enable the target area to be uniformly divided by each unmanned vehicle, the unmanned vehicle can be controlled to access to the subarea occupied by other unmanned vehicles in the current cycle, specifically, the unmanned vehicle can be controlled to access to the second target subarea in the current cycle, the second target subarea can be the subarea occupied by the unmanned vehicle with the largest occupation area corresponding to each unmanned vehicle adjacent to the unmanned vehicle, wherein the subarea occupied by the unmanned vehicle with the largest occupation area can be any subarea occupied by the unmanned vehicle with the largest occupation area, and also can be the subarea with the largest access intensity corresponding to the subarea occupied by the unmanned vehicle with the largest occupation area.

For example, assuming that the target area E includes 4 sub-areas, such as sub-areas 1-4, and the areas of the sub-areas are equal, for the unmanned vehicle F1, if the unmanned vehicle F1 occupies the sub-area 1, the unmanned vehicle F2 occupies the sub-areas 2, 3, and 4, that is, the areas occupied by the unmanned vehicle F1 and the unmanned vehicle F2 are not the result of uniformly dividing the target area. In addition, if the access strength of the unmanned aerial vehicle F1 in the occupied sub-area 1 is 1, the access strength of the unmanned aerial vehicle F2 adjacent to the unmanned aerial vehicle F1 in the occupied sub-area 2 is 0.3, and the access strength of the unmanned aerial vehicle F2 in the occupied sub-area 3 is 0.5, that is, if the first access strength corresponding to the unmanned aerial vehicle F1 is greater than the second access strength, it may be determined that the target area is not uniformly divided by each unmanned aerial vehicle, and no abnormal unmanned aerial vehicle exists around the unmanned aerial vehicle F1, so that in order to uniformly divide the target area, the unmanned aerial vehicle F1 may be controlled to access a second target sub-area, specifically, the second target sub-area may be a sub-area in the unmanned aerial vehicle F2 adjacent to the unmanned aerial vehicle F1, specifically, the unmanned aerial vehicle F1 may access any sub-area occupied by the unmanned aerial vehicle F2, or may access a sub-area corresponding to the sub-area occupied by the unmanned aerial vehicle F2 with the maximum access strength.

And S205, if the first access intensity corresponding to the unmanned vehicle is not greater than the second access intensity, controlling the unmanned vehicle to access the third target subarea.

The third target subarea is a subarea occupied by an unmanned vehicle adjacent to the unmanned vehicle. Specifically, the third target sub-area may be any one of the sub-areas occupied by any one of the unmanned vehicles adjacent to the unmanned vehicle, or the third target sub-area may be a sub-area with the largest access intensity corresponding to the sub-areas occupied by any one of the unmanned vehicles adjacent to the unmanned vehicle.

S206, at the end of the cycle period, determining whether the target area is evenly divided.

And at the end of the cycle period, if all the sub-areas of the target area are occupied by the unmanned vehicles, and the number of the sub-areas occupied by the unmanned vehicles is the same, the target area is uniformly divided, otherwise, the target area is not uniformly divided.

S207, if yes, determining the unmanned vehicle information of each sub-region and the access intensity information corresponding to each sub-region, and obtaining at least one sub-region corresponding to each unmanned vehicle.

Specifically, the ID of each sub-area can be marked as the ID of the unmanned vehicle occupying the sub-area, the access intensity of the unmanned vehicle to the sub-area and the ID of the sub-area are used as the identification of the sub-area, and the identification of the sub-area and the unmanned vehicle occupying the sub-area are associated to obtain the corresponding information of each unmanned vehicle and the sub-area.

And S208, if not, returning to execute the step of acquiring the area division information corresponding to each unmanned vehicle and the access intensity information of each unmanned vehicle for each sub-area when entering the next cycle.

In the present disclosure, after determining at least one sub-area corresponding to each of the unmanned vehicles, the control method may further include steps B1-B2:

and B1, detecting whether the area occupied by each unmanned vehicle in the target area changes.

When there is a failure of the unmanned vehicle or a new unmanned vehicle is added, the area occupied by the unmanned vehicle may change, and at this time, in order to ensure that the target area is uniformly divided into areas occupied by the unmanned vehicles, it is necessary to redetermine the sub-areas corresponding to the unmanned vehicles.

And B2, if so, re-determining at least one sub-area corresponding to each unmanned vehicle.

Specifically, the sub-regions corresponding to each of the drones may be redetermined using the methods described in steps 201-208 above.

By adopting the method, the control of the plurality of unmanned vehicles working together in the same area is realized through the access intensity information of each unmanned vehicle to the plurality of subareas, so that the working efficiency of the unmanned vehicles is ensured. And moreover, the size of the area occupied by the unmanned aerial vehicle in the target area can be changed in real time by controlling the unmanned aerial vehicle to access the subarea of the target area, so that the target area can be uniformly occupied by the unmanned aerial vehicle, the cooperative capacity of the unmanned aerial vehicle is improved by homogenizing the size of the area occupied by each unmanned aerial vehicle, and the operation efficiency of the unmanned aerial vehicle is further improved.

In an embodiment, the specified position information of the sub-area is a center position of the sub-area, and the determining, for each unmanned vehicle, the target travel path corresponding to the unmanned vehicle according to the specified position information of each sub-area corresponding to the unmanned vehicle may include steps C1-C3:

and C1, dividing each sub-area occupied by each unmanned vehicle into at least two grids aiming at each unmanned vehicle, and determining the center of each grid as a first center position.

In the disclosure, for each unmanned vehicle, four sub-areas sharing the same vertex in each sub-area occupied by the unmanned vehicle may be divided into the same grid, so as to obtain multiple grids corresponding to the unmanned vehicle, and the center position of the grid is determined as the first center position.

And C2, determining a main path according to the first center position.

Specifically, a first central position of a grid located at an edge may be used as a starting point, and the first central positions of other grids may be connected to obtain a path with the longest length and which is not closed. The main path is satisfied, and the path line is perpendicular or parallel to the edge of each grid.

And C3, determining the central position of each sub-region occupied by the unmanned vehicle as a target driving path corresponding to the unmanned vehicle according to a path formed by surrounding the main path.

In the present disclosure, the center position of each sub-region occupied by the unmanned vehicle may be regarded as the second center position. Specifically, any one of the second center positions beside a certain vertex of the main path may be used as a starting point, and other second center positions may be connected at a time along the main path to obtain a closed path as a target driving path corresponding to the unmanned vehicle.

By adopting the method, the control of the plurality of unmanned vehicles working together in the same area is realized through the access intensity information of each unmanned vehicle to the plurality of subareas, so that the working efficiency of the unmanned vehicles is ensured. And moreover, the size of the area occupied by the unmanned aerial vehicle in the target area can be changed in real time by controlling the unmanned aerial vehicle to access the subarea of the target area, so that the target area can be uniformly occupied by the unmanned aerial vehicle, the cooperative capacity of the unmanned aerial vehicle is improved by homogenizing the size of the area occupied by each unmanned aerial vehicle, and the operation efficiency of the unmanned aerial vehicle is further improved.

Based on the same inventive concept, according to the control method provided in the above embodiment of the present disclosure, correspondingly, another embodiment of the present disclosure further provides a control device, a schematic structural diagram of which is shown in fig. 3, which specifically includes:

The region dividing module 301 is configured to obtain a target region, and divide the target region to obtain a plurality of corresponding sub-regions;

the sub-region determining module 302 is configured to obtain access intensity information of each unmanned vehicle for the multiple sub-regions, and determine at least one sub-region corresponding to each unmanned vehicle based on the access intensity information;

the path determining module 303 is configured to determine, for each unmanned vehicle, a target travel path corresponding to the unmanned vehicle according to the designated position information of each sub-region corresponding to the unmanned vehicle.

The device is adopted to acquire a target area, and the target area is divided to obtain a plurality of corresponding subareas; acquiring access intensity information of each unmanned vehicle for a plurality of subareas, and determining at least one subarea corresponding to each unmanned vehicle based on the access intensity information; and aiming at each unmanned vehicle, determining a target running path corresponding to the unmanned vehicle according to the appointed position information of each subarea corresponding to the unmanned vehicle. The control of the plurality of unmanned vehicles working together in the same area is realized through the access intensity information of each unmanned vehicle aiming at the plurality of subareas, so that the working efficiency of the unmanned vehicles is ensured.

In an embodiment, the area dividing module 301 is specifically configured to determine an obstacle area in which an obstacle target is located in the specified area; and determining an area obtained by removing the obstacle area in the designated area as a target area.

In an embodiment, the sub-area determining module 302 is specifically configured to obtain, when entering a cycle period, area division information corresponding to each unmanned vehicle and access strength information of each unmanned vehicle for each sub-area, where the area division information is used to characterize an area occupied by the unmanned vehicle in the target area, and the area occupied by the unmanned vehicle in the target area is an area formed by each sub-area occupied by the unmanned vehicle in the target area; according to the region division information and the access intensity information, determining the occupation state information of each unmanned vehicle to the target region, and the first access intensity and the second access intensity corresponding to each unmanned vehicle, wherein the first access intensity corresponding to each unmanned vehicle is the minimum access intensity of each unmanned vehicle to each occupied sub-region, and the second access intensity is the maximum access intensity of other unmanned vehicles adjacent to the unmanned vehicle to each occupied sub-region; for each unmanned vehicle, if the occupation state information indicates that the area occupied by each unmanned vehicle is a result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is greater than the second access intensity, controlling the unmanned vehicle to access the first target sub-area currently occupied by the unmanned vehicle, wherein the first target sub-area is the sub-area with the minimum access intensity corresponding to each sub-area currently occupied by the unmanned vehicle; if the occupation state information indicates that the area occupied by each unmanned vehicle is not the result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is larger than the second access intensity, controlling the unmanned vehicle to access a second target sub-area, wherein the second target sub-area is the sub-area occupied by the unmanned vehicle with the largest occupation area corresponding to each unmanned vehicle adjacent to the unmanned vehicle; if the first access intensity corresponding to the unmanned aerial vehicle is not greater than the second access intensity, controlling the unmanned aerial vehicle to access a third target sub-area, wherein the third target sub-area is a sub-area occupied by an unmanned aerial vehicle adjacent to the unmanned aerial vehicle; at the end of the cycle period, determining whether the target area is evenly divided; if so, determining the unmanned vehicle information of each sub-region and the access intensity information corresponding to each sub-region, and obtaining at least one sub-region corresponding to each unmanned vehicle; and if not, returning to execute the step of acquiring the area division information corresponding to each unmanned vehicle and the access intensity information of each unmanned vehicle for each sub-area when entering the next cycle.

In one embodiment, the specified position information of the sub-region is a center position of the sub-region; the path determining module 303 is specifically configured to divide, for each unmanned vehicle, each sub-area occupied by the unmanned vehicle into at least two grids, and determine a center of each grid as a first center position; determining a main path according to the first center position; and determining the central position of each sub-region occupied by the unmanned vehicle as a target driving path corresponding to the unmanned vehicle according to a path formed by surrounding the main path.

In an embodiment, the sub-area determining module 302 is further configured to detect whether the area occupied by each unmanned vehicle in the target area changes; and if so, re-determining at least one sub-area corresponding to each unmanned vehicle.

By adopting the device, the control of a plurality of unmanned vehicles working in the same area together is realized through the access intensity information of each unmanned vehicle to a plurality of subareas, and the working efficiency of the unmanned vehicles is ensured. And moreover, the size of the area occupied by the unmanned aerial vehicle in the target area can be changed in real time by controlling the unmanned aerial vehicle to access the subarea of the target area, so that the target area can be uniformly occupied by the unmanned aerial vehicle, the cooperative capacity of the unmanned aerial vehicle is improved by homogenizing the size of the area occupied by each unmanned aerial vehicle, and the operation efficiency of the unmanned aerial vehicle is further improved.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

Fig. 4 illustrates a schematic block diagram of an example electronic device 400 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 4, the apparatus 400 includes a computing unit 401 that can perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 402 or a computer program loaded from a storage unit 408 into a Random Access Memory (RAM) 403. In RAM 403, various programs and data required for the operation of device 400 may also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

Various components in device 400 are connected to I/O interface 405, including: an input unit 406 such as a keyboard, a mouse, etc.; an output unit 407 such as various types of displays, speakers, and the like; a storage unit 408, such as a magnetic disk, optical disk, etc.; and a communication unit 409 such as a network card, modem, wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The computing unit 401 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 401 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the respective methods and processes described above, for example, control methods. For example, in some embodiments, the control method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 400 via the ROM 402 and/or the communication unit 409. When the computer program is loaded into RAM 403 and executed by computing unit 401, one or more steps of the control method described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the control method by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems-on-a-chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel or sequentially or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the disclosure, and it is intended to cover the scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims (10)

1. A control method, characterized in that the method comprises:

obtaining a target area, and dividing the target area to obtain a plurality of corresponding subareas;

acquiring access intensity information of each unmanned vehicle for the plurality of subareas, and determining at least one subarea corresponding to each unmanned vehicle based on the access intensity information;

and aiming at each unmanned vehicle, determining a target running path corresponding to the unmanned vehicle according to the appointed position information of each subarea corresponding to the unmanned vehicle.

2. The method of claim 1, wherein the acquiring the target area comprises:

determining an obstacle region in which an obstacle target is located in the designated region;

and determining an area obtained by removing the obstacle area in the designated area as a target area.

3. The method of claim 1, wherein the obtaining access strength information of each of the drones for the plurality of sub-areas and determining at least one sub-area corresponding to each of the drones based on the access strength information comprises:

when entering a circulation period, obtaining area division information corresponding to each unmanned vehicle and access intensity information of each unmanned vehicle for each sub-area, wherein the area division information is used for representing an area occupied by the unmanned vehicle in the target area, and the area occupied by the unmanned vehicle in the target area is an area formed by each sub-area occupied by the unmanned vehicle in the target area;

According to the region division information and the access intensity information, determining the occupation state information of each unmanned vehicle to the target region, and the first access intensity and the second access intensity corresponding to each unmanned vehicle, wherein the first access intensity corresponding to each unmanned vehicle is the minimum access intensity of each unmanned vehicle to each occupied sub-region, and the second access intensity is the maximum access intensity of other unmanned vehicles adjacent to the unmanned vehicle to each occupied sub-region;

for each unmanned vehicle, if the occupation state information indicates that the area occupied by each unmanned vehicle is a result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is greater than the second access intensity, controlling the unmanned vehicle to access the first target sub-area currently occupied by the unmanned vehicle, wherein the first target sub-area is the sub-area with the minimum access intensity corresponding to each sub-area currently occupied by the unmanned vehicle;

if the occupation state information indicates that the area occupied by each unmanned vehicle is not the result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is larger than the second access intensity, controlling the unmanned vehicle to access a second target sub-area, wherein the second target sub-area is the sub-area occupied by the unmanned vehicle with the largest occupation area corresponding to each unmanned vehicle adjacent to the unmanned vehicle;

If the first access intensity corresponding to the unmanned aerial vehicle is not greater than the second access intensity, controlling the unmanned aerial vehicle to access a third target sub-area, wherein the third target sub-area is a sub-area occupied by an unmanned aerial vehicle adjacent to the unmanned aerial vehicle;

at the end of the cycle period, determining whether the target area is evenly divided;

if so, determining the unmanned vehicle information of each sub-region and the access intensity information corresponding to each sub-region, and obtaining at least one sub-region corresponding to each unmanned vehicle;

and if not, returning to execute the step of acquiring the area division information corresponding to each unmanned vehicle and the access intensity information of each unmanned vehicle for each sub-area when entering the next cycle.

4. The method of claim 1, wherein the specified location information of the sub-area is a center location of the sub-area;

for each unmanned vehicle, determining a target driving path corresponding to the unmanned vehicle according to the appointed position information of each sub-region corresponding to the unmanned vehicle comprises the following steps:

dividing each sub-area occupied by each unmanned vehicle into at least two grids aiming at each unmanned vehicle, and determining the center of each grid as a first center position;

Determining a main path according to the first center position;

and determining the central position of each sub-region occupied by the unmanned vehicle as a target driving path corresponding to the unmanned vehicle according to a path formed by surrounding the main path.

5. A method according to claims 1-3, characterized in that the method further comprises:

detecting whether the occupied area of each unmanned vehicle in the target area changes or not;

and if so, re-determining at least one sub-area corresponding to each unmanned vehicle.

6. A control apparatus, characterized in that the apparatus comprises:

the region dividing module is used for acquiring a target region and dividing the target region to obtain a plurality of corresponding sub-regions;

the sub-region determining module is used for acquiring the access intensity information of each unmanned vehicle for the plurality of sub-regions and determining at least one sub-region corresponding to each unmanned vehicle based on the access intensity information;

the route determining module is used for determining a target driving route corresponding to each unmanned vehicle according to the appointed position information of each sub-region corresponding to the unmanned vehicle.

7. The apparatus of claim 6, wherein the region dividing module is specifically configured to determine an obstacle region in which an obstacle target is located in the specified region; and determining an area obtained by removing the obstacle area in the designated area as a target area.

8. The device according to claim 6, wherein the sub-region determining module is specifically configured to obtain, when entering a cycle period, region division information corresponding to each of the unmanned vehicles and access strength information of each of the unmanned vehicles for each of the sub-regions, where the region division information is used to characterize a region occupied by the unmanned vehicles in the target region, and the region occupied by the unmanned vehicles in the target region is a region formed by each of the sub-regions occupied by the unmanned vehicles in the target region; according to the region division information and the access intensity information, determining the occupation state information of each unmanned vehicle to the target region, and the first access intensity and the second access intensity corresponding to each unmanned vehicle, wherein the first access intensity corresponding to each unmanned vehicle is the minimum access intensity of each unmanned vehicle to each occupied sub-region, and the second access intensity is the maximum access intensity of other unmanned vehicles adjacent to the unmanned vehicle to each occupied sub-region; for each unmanned vehicle, if the occupation state information indicates that the area occupied by each unmanned vehicle is a result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is greater than the second access intensity, controlling the unmanned vehicle to access the first target sub-area currently occupied by the unmanned vehicle, wherein the first target sub-area is the sub-area with the minimum access intensity corresponding to each sub-area currently occupied by the unmanned vehicle; if the occupation state information indicates that the area occupied by each unmanned vehicle is not the result of uniformly dividing the target area, and the first access intensity corresponding to the unmanned vehicle is larger than the second access intensity, controlling the unmanned vehicle to access a second target sub-area, wherein the second target sub-area is the sub-area occupied by the unmanned vehicle with the largest occupation area corresponding to each unmanned vehicle adjacent to the unmanned vehicle; if the first access intensity corresponding to the unmanned aerial vehicle is not greater than the second access intensity, controlling the unmanned aerial vehicle to access a third target sub-area, wherein the third target sub-area is a sub-area occupied by an unmanned aerial vehicle adjacent to the unmanned aerial vehicle; at the end of the cycle period, determining whether the target area is evenly divided; if so, determining the unmanned vehicle information of each sub-region and the access intensity information corresponding to each sub-region, and obtaining at least one sub-region corresponding to each unmanned vehicle; and if not, returning to execute the step of acquiring the area division information corresponding to each unmanned vehicle and the access intensity information of each unmanned vehicle for each sub-area when entering the next cycle.

9. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

10. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1-6.