CN117270556A - Method, system, storage medium and equipment for multi-unmanned aerial vehicle partition emergency operation - Google Patents
Method, system, storage medium and equipment for multi-unmanned aerial vehicle partition emergency operation Download PDFInfo
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Abstract
The embodiment of the invention discloses a method for multi-unmanned aerial vehicle partition emergency operation, which comprises the following steps: presetting parameters of each unmanned aerial vehicle, wherein the parameters comprise a plurality of take-off positions; modeling each operation point and acquiring three-dimensional information of each operation point; dividing all the operation points according to the three-dimensional information of each operation point to obtain a plurality of operation partitions; matching the corresponding take-off position for each operation partition; for a plurality of unmanned aerial vehicles with any take-off positions to take-off, screening operation points corresponding to the number of the unmanned aerial vehicles from operation partitions matched with the take-off positions as first operation points, and distributing the first operation points to the corresponding unmanned aerial vehicles; the remaining operation points in the operation partition are used as second operation points and distributed to all unmanned aerial vehicles; each unmanned aerial vehicle executes the operation according to the respective first operation point, and then sequentially executes the operation on the second operation point; according to the method, the operation points are divided into the operation point areas and the operation points are distributed to the unmanned aerial vehicles, so that the operation is completed by the cooperation of a plurality of unmanned aerial vehicles.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle emergency operation, in particular to a method, a system, a storage medium and equipment for multi-unmanned aerial vehicle partition emergency operation.
Background
Unmanned aerial vehicle has advantages such as with low costs, the survivability is strong, maneuvering characteristics is good, and along with unmanned aerial vehicle technology development, unmanned aerial vehicle can play the effect of becoming more and more important among each trade each field at home and abroad, has wide application prospect, and more fields begin to utilize unmanned aerial vehicle to carry out production operation, for example use unmanned aerial vehicle to carry out tasks such as military reconnaissance, electric power inspection, cargo transportation, logistics distribution, disaster relief and take photo by plane.
The existing disaster emergency operation is mostly completed by a single unmanned aerial vehicle, a small part of the disaster emergency operation is completed by a plurality of unmanned aerial vehicles in a cooperative way, the disaster emergency operation is completed by loading related materials or carrying corresponding operation equipment and the like through the unmanned aerial vehicles, in fact, due to the fact that the disaster area is wide, the disaster degree is different, the needed emergency operation points are multiple, all emergency operation cannot be completed by one unmanned aerial vehicle under the condition, and the problems that region division and task allocation are complicated and time-consuming, and operation points are repeated are also existed in the common operation of the unmanned aerial vehicles.
Disclosure of Invention
Based on this, it is necessary to address the above-mentioned problems and propose a method for multi-unmanned aerial vehicle zoning emergency operation.
A method of multi-unmanned aerial vehicle zoning emergency operation, the method comprising:
presetting parameters of each unmanned aerial vehicle, wherein the parameters comprise a plurality of take-off positions;
modeling each operation point and acquiring three-dimensional information of each operation point;
dividing all the operation points according to the three-dimensional information of each operation point to obtain a plurality of operation partitions;
matching the corresponding take-off position for each operation partition;
for a plurality of unmanned aerial vehicles with any take-off positions to take-off, screening operation points corresponding to the number of the unmanned aerial vehicles from operation partitions matched with the take-off positions as first operation points, and distributing the first operation points to the corresponding unmanned aerial vehicles;
the remaining operation points in the operation partition are used as second operation points and distributed to all unmanned aerial vehicles;
each unmanned aerial vehicle executes the operation according to the respective first operation point, and then sequentially executes the operation on the second operation point.
In the above scheme, the modeling of each operation point and obtaining three-dimensional information thereof specifically includes:
collecting longitude and latitude coordinates of each operation point;
preprocessing longitude and latitude coordinates of each operation point;
detecting in real time or acquiring the height information of each operation point from the existing database;
and determining the three-dimensional information of each operation point according to the height information of each operation point and the preprocessed longitude and latitude coordinates.
In the above solution, the matching the corresponding take-off position for each operation partition specifically includes:
determining the distance between any one operation partition and each take-off position respectively;
and distributing the take-off position corresponding to the minimum value of the distance between the operation partition and the take-off position to the operation partition.
In the above scheme, each unmanned aerial vehicle executes the operation according to the respective first operation point, and then sequentially executes the operation on the second operation point, specifically including: after any unmanned aerial vehicle finishes the operation of the first operation point, the unmanned aerial vehicle screens out the operation point closest to the current operation point from the preset second operation point to continue the operation, and the three-dimensional information broadcast of the operation point closest to the current operation point is sent to other unmanned aerial vehicles.
In the above scheme, when the unmanned aerial vehicle finishes the operation of screening the operation point closest to the current operation point from the second operation points, the method further comprises: and deleting the three-dimensional information of the operation point from the three-dimensional information of the operation point preset by the unmanned aerial vehicle.
In the above solution, the broadcasting the three-dimensional information of the operation point closest to the current operation point to other unmanned aerial vehicles, and then the method further includes: when any one unmanned aerial vehicle receives the three-dimensional information of the second operation point sent by other unmanned aerial vehicles, deleting the three-dimensional information of the second operation point from the preset three-dimensional information of the second operation point.
In the above scheme, after any unmanned aerial vehicle finishes the operation of first operating point, unmanned aerial vehicle selects the operating point nearest to its current distance from preset second operating point and continues to operate, specifically includes:
acquiring three-dimensional information of a first operation point;
planning a flight path of the unmanned aerial vehicle until reaching a first operation point;
after the operation of the first operation point is completed, determining three-dimensional information of a second operation point, which is closest to the unmanned aerial vehicle, of the unmanned aerial vehicle;
planning the flight path of the unmanned aerial vehicle again, and judging whether the current endurance time of the unmanned aerial vehicle meets the flight time, the operation time and the return time of the flight path;
if the current endurance time meets the flight time, the operation time and the return time of the flight path, the second operation point is reached and the operation is executed at the second operation point;
after the second operation point operation is completed, determining three-dimensional information of other second operation points closest to the current distance of the second operation point;
planning the flight path of the unmanned aerial vehicle again, and judging whether the current endurance time of the unmanned aerial vehicle meets the flight time, the operation time and the return time of the flight path;
and if the current endurance time meets the flight time, the operation time and the return time of the flight path, reaching other second operation points closest to the current endurance time and executing operation.
In the above scheme, when the duration cannot meet the operation time and the return time in the operation at the first operation point, returning to the take-off position for energy supplement, and after waiting for the duration to meet the flight time, the operation time and the return time of the flight path, re-reaching the first operation point for operation;
before the second operation point operates, if the current duration of the unmanned aerial vehicle cannot meet the flight time, operation time and return time of the flight path, returning to the take-off position for energy supplement, and after waiting for the duration to meet the flight time, operation time and return time of the flight path, re-arriving at the second operation point to execute operation;
and in the operation of the first operation point and the second operation point, if the unmanned aerial vehicle finishes the current operation times, returning to the take-off position.
The application also provides a system for multi-unmanned aerial vehicle partition emergency operation, which is characterized in that the system comprises: the system comprises an unmanned aerial vehicle management unit, a three-dimensional information acquisition unit and a job partition management unit;
the unmanned aerial vehicle management unit is used for presetting each unmanned aerial vehicle parameter, comprising a plurality of take-off positions, controlling each unmanned aerial vehicle to execute operation according to respective first operation points, and then sequentially executing operation on the second operation points;
the three-dimensional information acquisition unit is used for modeling each operation point and acquiring three-dimensional information of each operation point;
the operation partition management unit is configured to divide all operation points according to the three-dimensional information of each operation point, obtain a plurality of operation partitions, match corresponding take-off positions for each operation partition, prepare a plurality of unmanned aerial vehicles to take off for any take-off position, screen operation points corresponding to the number of unmanned aerial vehicles from the operation partitions matched with the take-off positions as first operation points, and distribute the operation points to corresponding unmanned aerial vehicles, and also take remaining operation points in the operation partitions as second operation points, and distribute the operation points to all unmanned aerial vehicles.
The present application also proposes a readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
presetting parameters of each unmanned aerial vehicle, wherein the parameters comprise a plurality of take-off positions;
modeling each operation point and acquiring three-dimensional information of each operation point;
dividing all the operation points according to the three-dimensional information of each operation point to obtain a plurality of operation partitions;
matching the corresponding take-off position for each operation partition;
for a plurality of unmanned aerial vehicles with any take-off positions to take-off, screening operation points corresponding to the number of the unmanned aerial vehicles from operation partitions matched with the take-off positions as first operation points, and distributing the first operation points to the corresponding unmanned aerial vehicles;
the remaining operation points in the operation partition are used as second operation points and distributed to all unmanned aerial vehicles;
each unmanned aerial vehicle executes the operation according to the respective first operation point, and then sequentially executes the operation on the second operation point.
The application also proposes a computer device comprising a memory and a processor, said memory storing a computer program, said computer program being executed by said processor to:
presetting parameters of each unmanned aerial vehicle, wherein the parameters comprise a plurality of take-off positions;
modeling each operation point and acquiring three-dimensional information of each operation point;
dividing all the operation points according to the three-dimensional information of each operation point to obtain a plurality of operation partitions;
matching the corresponding take-off position for each operation partition;
for a plurality of unmanned aerial vehicles with any take-off positions to take-off, screening operation points corresponding to the number of the unmanned aerial vehicles from operation partitions matched with the take-off positions as first operation points, and distributing the first operation points to the corresponding unmanned aerial vehicles;
the remaining operation points in the operation partition are used as second operation points and distributed to all unmanned aerial vehicles;
each unmanned aerial vehicle executes the operation according to the respective first operation point, and then sequentially executes the operation on the second operation point.
The embodiment of the invention has the following beneficial effects: firstly, presetting parameters of each unmanned aerial vehicle, wherein the parameters comprise a plurality of take-off positions; modeling each operation point and acquiring three-dimensional information of each operation point; dividing all the operation points according to the three-dimensional information of each operation point to obtain a plurality of operation partitions; matching the corresponding take-off position for each operation partition; for a plurality of unmanned aerial vehicles with any take-off positions to take-off, screening operation points corresponding to the number of the unmanned aerial vehicles from operation partitions matched with the take-off positions as first operation points, and distributing the first operation points to the corresponding unmanned aerial vehicles; the remaining operation points in the operation partition are used as second operation points and distributed to all unmanned aerial vehicles; finally, each unmanned aerial vehicle executes the operation according to the respective first operation point, and then sequentially executes the operation on the second operation point; according to the method, the operation point areas are divided, the operation points are distributed to the unmanned aerial vehicles, the operation point conditions and the unmanned aerial vehicle states in actual application can be considered, the operation is completed by the cooperation of a plurality of unmanned aerial vehicles, and the improvement of the emergency operation efficiency under different scenes is facilitated.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Wherein:
FIG. 1 is a flow chart of a method for multi-unmanned aerial vehicle zoning emergency operation in one embodiment;
FIG. 2 is a flow diagram of modeling each job point and obtaining three-dimensional information thereof in one embodiment;
FIG. 3 is a schematic flow chart of automatic partition division of job points using a K-means clustering algorithm in one embodiment;
FIG. 4 is a schematic diagram of matching a plurality of job partitions to a plurality of take-off positions in one embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention; all other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention, however, it will be apparent to one skilled in the art that the present invention may be practiced without one or more of these details; in other instances, well-known features have not been described in detail in order to avoid obscuring the invention. It should be understood that the present invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and it is to be understood that the terms "comprises" and/or "comprising" when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
In order to provide a thorough understanding of the present invention, detailed structures will be presented in the following description in order to illustrate the technical solutions presented by the present invention. Alternative embodiments of the invention are described in detail below, however, the invention may have other implementations in addition to these detailed descriptions.
As shown in fig. 1, in one embodiment, a method for multi-unmanned aerial vehicle zoning emergency operation is provided, and the method for multi-unmanned aerial vehicle zoning emergency operation includes steps S101 to S107, which are described in detail as follows:
s101, presetting parameters of each unmanned aerial vehicle, wherein the parameters comprise a plurality of take-off positions;
in some embodiments, the drone parameters further include: the number of unmanned aerial vehicles in the take-off position, the duration, the flying speed, the flying height range, the operation type of the operation and the time consumption of single operation.
The job types include, but are not limited to, job types required for scenes such as line damage, surrounding environments, personnel search and rescue, and the like, and each job type has corresponding job times.
In some embodiments, the operation type is a personnel search and rescue operation type, which mainly depends on a human body infrared sensor carried on the unmanned aerial vehicle, the operation type of the carried device for operation is infinite in corresponding operation times, namely, the operation times are only affected by the duration of the unmanned aerial vehicle, and if the duration is sufficient, the unmanned aerial vehicle always performs the personnel search and rescue operation.
In some embodiments, the type of operation is delivery of supplies or delivery of emergency medicines, and when the type of operation is related to the load of the unmanned aerial vehicle, the operation times are related to the maximum quantity of the loadable supplies, and under the condition that the unmanned aerial vehicle meets the duration, when the operation times are reached, the unmanned aerial vehicle returns.
S102, modeling each operation point and obtaining three-dimensional information of each operation point;
as shown in fig. 2, in some embodiments, modeling each job point and obtaining three-dimensional information thereof specifically includes:
s201, collecting longitude and latitude coordinates of each operation point;
s202, preprocessing longitude and latitude coordinates of each operation point;
s203, detecting in real time or acquiring the height information of each operation point from the existing database;
s204, determining three-dimensional information of each operation point according to the height information of each operation point and the preprocessed longitude and latitude coordinates.
S103, dividing all the operation points according to the three-dimensional information of each operation point to obtain a plurality of operation partitions;
specifically, the criteria for dividing all the operation points are: the number of the partitioned working points is consistent with that of the take-off positions of the unmanned aerial vehicles, and the working points in each partition are concentrated as much as possible and the number of the working points in each partition is balanced.
Preferably, in practical application, the relative position relationship between each operation point may be displayed to a control person, so that the control person may manually group the operation points, or automatically partition the operation points by adopting a K-means clustering algorithm, as shown in fig. 3, the implementation steps are as follows:
s301, respectively calculating the distance between adjacent operation points;
s302, presetting a distance threshold;
s303, clustering all the operation points according to the distance threshold value to form N operation point clusters.
The N operation point clusters are N partitions for dividing operation points; wherein N is consistent with the number of take-off positions.
S104, matching the corresponding take-off position for each operation partition;
preferably, the matching of the corresponding take-off position for each operation partition specifically includes:
(1) Determining the distance between any one operation partition and each take-off position respectively;
(2) And assigning the take-off position corresponding to the minimum value of the distance between the work partition and the take-off position to the work partition.
When the unmanned aerial vehicle take-off position is allocated to each operation partition, the operation partition and the unmanned aerial vehicle take-off position allocation rule needs to be met, and the method specifically comprises the following steps: 1. the operation point partitions are in one-to-one correspondence with the take-off positions; 2. the distance between the operation point partitions and the corresponding take-off positions is shortest; 3. the sum of the distances between the several operating point partitions and the take-off positions to which they are assigned is minimal.
S105, for a plurality of unmanned aerial vehicles which are ready to take off at any take-off position, screening operation points corresponding to the number of the unmanned aerial vehicles from operation partitions matched with the take-off position as first operation points, and distributing the first operation points to the corresponding unmanned aerial vehicles;
s106, the remaining operation points in the operation partition are used as second operation points and distributed to all unmanned aerial vehicles;
in some embodiments, for a single take-off location, M job points are screened out from their corresponding job point partitions as group A (i.e., the first job point); the remaining working points are set B (i.e., the second working point), where m=the number of unmanned aerial vehicles at the take-off position, and the screening rule of set a is M working points nearest to the take-off position.
And S107, each unmanned aerial vehicle executes the operation according to the first operation point, and then sequentially executes the operation on the second operation point.
Specifically, after the coordinates of the group a are allocated to each unmanned aerial vehicle in a one-to-one correspondence manner and serve as initial operation points of the unmanned aerial vehicle, each unmanned aerial vehicle can preset the coordinates of all operation points of the group B in the unmanned aerial vehicle, and each unmanned aerial vehicle reaches the initial operation points (namely the corresponding operation points in the group a) at the fastest speed and starts operation.
In some embodiments, each unmanned aerial vehicle performs the operation according to the respective first operation point, and then sequentially performs the operation on the second operation point, specifically including: after any unmanned aerial vehicle finishes the operation of the first operation point, the unmanned aerial vehicle screens out the operation point closest to the current operation point from the preset second operation point to continue the operation, and three-dimensional information broadcast of the operation point closest to the current operation point is sent to other unmanned aerial vehicles.
Further, when the unmanned aerial vehicle finishes the operation of screening the operation point closest to the current distance from the second operation point, the method further comprises: the unmanned aerial vehicle deletes the three-dimensional information of the operation point from the three-dimensional information of the operation point preset by the unmanned aerial vehicle.
In some embodiments, after each unmanned aerial vehicle completes the operation of the first operation point, the operation point closest to the preset B group operation point coordinates is selected, if the duration is sufficient, the coordinates of the operation point are broadcast and sent to other unmanned aerial vehicles, meanwhile, the unmanned aerial vehicle proceeds to the operation point at the fastest speed, and after the operation point reaches, the point coordinates in the operation point coordinates preset by the unmanned aerial vehicle are deleted.
Further, the method further includes broadcasting and transmitting the three-dimensional information of the operation point closest to the current operation point to other unmanned aerial vehicles, and then: when any one unmanned aerial vehicle receives the three-dimensional information of the second operation point sent by other unmanned aerial vehicles, deleting the three-dimensional information of the second operation point from the preset three-dimensional information of the second operation point.
In some embodiments, after any one unmanned aerial vehicle completes the operation of the first operation point, the unmanned aerial vehicle screens out the operation point closest to the current distance from the preset second operation point to continue the operation, which specifically includes:
(1) Acquiring three-dimensional information of a first operation point;
(2) Planning a flight path of the unmanned aerial vehicle until reaching a first operation point;
(3) After the operation of the first operation point is completed, determining three-dimensional information of a second operation point, which is closest to the unmanned aerial vehicle, of the unmanned aerial vehicle;
(4) Planning the flight path of the unmanned aerial vehicle again, and judging whether the current endurance time of the unmanned aerial vehicle meets the flight time, the operation time and the return time of the flight path;
(5) If the current endurance time meets the flight time, the operation time and the return time of the flight path, the second operation point is reached and the operation is executed at the second operation point;
(6) After the second operation point operation is completed, determining three-dimensional information of other second operation points closest to the current distance of the second operation point;
(7) Planning the flight path of the unmanned aerial vehicle again, and judging whether the current endurance time of the unmanned aerial vehicle meets the flight time, the operation time and the return time of the flight path;
(8) And if the current endurance time meets the flight time, the operation time and the return time of the flight path, reaching other second operation points closest to the current endurance time and executing operation.
In some embodiments, in the operation at the first operation point, if the duration cannot meet the operation time and the return time, returning to the take-off position for energy supplement, and after waiting for the duration to meet the flight time, the operation time and the return time, re-reaching the first operation point for operation;
before the second operation point operates, if the current duration of the unmanned aerial vehicle cannot meet the flight time, operation time and return time of the flight path, returning to the take-off position for energy supplement, and after waiting for the duration to meet the flight time, operation time and return time of the flight path, re-arriving at the second operation point to execute operation;
and in the operation of the first operation point and the second operation point, if the unmanned aerial vehicle finishes the current operation times, returning to the take-off position.
The following details S101 to S107 are described in detail according to an embodiment:
as shown in fig. 4, assuming that there are three take-off positions A, B, C, after the unmanned aerial vehicle parameter setting is completed and three-dimensional information of each operation point is acquired, the operation point is divided into 3 operation point sections.
According to the distribution rule of the operation partition and the take-off position of the unmanned aerial vehicle, the operation point groups and the take-off positions are distributed in a one-to-one correspondence manner, and the take-off positions A and the operation point groups A are corresponding as shown in fig. 4; the following specifically describes the operation point section a and the take-off position a as examples.
As shown in fig. 4, the takeoff position a has 5 unmanned aerial vehicles numbered 1 to 5, and the operating points of the operating point partition a are divided into A, B groups according to the distance between the operating point and the unmanned aerial vehicle position, wherein the 5 operating points in the group a are numbered A1 to A5, and the operating points in the group B are numbered B1 to B9; in practice, the working points need only be divided into two groups A, B.
Assigning initial operation point coordinates (namely, group A in operation point partition A) to unmanned aerial vehicles No. 1-5, presetting the coordinates of operation points of B1-B9 on unmanned aerial vehicles No. 1-5, and assigning the initial operation point coordinates in FIG. 4 is only an example; in practice, the distance between unmanned aerial vehicles at the same take-off place is ignored, so that the unmanned aerial vehicles can be arbitrarily allocated when the initial operation point coordinates are allocated, and only the initial operation point coordinates in each unmanned aerial vehicle and the group A are ensured to be in one-to-one correspondence.
After the initial operation points are distributed, the unmanned aerial vehicles 1-5 respectively arrive at the corresponding initial operation points at the fastest speed and operate, the unmanned aerial vehicle 1 is supposed to finish operation firstly, then the unmanned aerial vehicle 1 screens out the B1 operation point closest to the current operation point from the preset B1 to B9 operation points, the time required for arriving at the B1 operation point coordinates, the working time of the B1 operation point and the time of flying back to the takeoff position A from the B1 operation point coordinates are calculated, if the continuous voyage is sufficient, the unmanned aerial vehicle 1 starts to the B1 point at the fastest speed (120 km/h), the coordinates of the B1 operation point are broadcast outwards, the unmanned aerial vehicle 2-5 deletes the B1 operation point coordinates from the preset B1 to B9 operation point coordinates after receiving the broadcast, and the unmanned aerial vehicle 1 also deletes the preset B1 operation point coordinates and starts to operate after arriving at the B1 point coordinates; if the number 4 unmanned aerial vehicle finishes the initial operation for the second, because the broadcasting of the number 1 unmanned aerial vehicle at this moment, the preset operation point coordinate in the number 4 unmanned aerial vehicle has deleted the B1 point coordinate, so the number 4 unmanned aerial vehicle screens out the operation point coordinate B3 closest to the coordinates of the operation point from the number B2 to the number B9, calculate the time required for reaching the B3 operation point coordinate, the working time of the B3 operation point and the time of flying back to the takeoff position A from the B3 operation point coordinate, if the continuous voyage is sufficient, the number 4 unmanned aerial vehicle starts to the B3 operation point at the fastest speed, simultaneously broadcasts the coordinates of the B3 operation point outwards, other unmanned aerial vehicles delete the B3 operation point coordinate from the preset operation point coordinate after receiving the broadcasting, delete the preset B3 operation point coordinate and start the operation after the number 4 unmanned aerial vehicle reaches the B3 operation point coordinate.
In the operation process, when the unmanned aerial vehicle No. 1-5 is in insufficient endurance, or has no operation times, or has no preset point coordinates, the unmanned aerial vehicle returns to the take-off position A at the fastest speed.
To sum up, this application scheme is according to the position of each operating point and the regional quantity of taking off, can be quick divide out operating point subregion to according to the reasonable matching that realizes taking off regional and operating point subregion of distance, through dividing operating point regional division and to unmanned aerial vehicle distribution operating point, realize that many unmanned aerial vehicles cooperate the cooperation and accomplish the operation, the broadcast communication between unmanned aerial vehicle simultaneously, can be quick for unmanned aerial vehicle distribution next target, and avoid the repetitive operation, thereby the response speed of emergent operation of improvement greatly.
The application also provides a system for multi-unmanned aerial vehicle partition emergency operation, the system comprises: the system comprises an unmanned aerial vehicle management unit, a three-dimensional information acquisition unit and a job partition management unit;
the unmanned aerial vehicle management unit is used for presetting parameters of each unmanned aerial vehicle, comprising a plurality of take-off positions, controlling each unmanned aerial vehicle to execute operation according to respective first operation points, and then sequentially executing operation on second operation points;
the three-dimensional information acquisition unit is used for modeling each operation point and acquiring three-dimensional information of each operation point;
the operation partition management unit is used for dividing all operation points according to the three-dimensional information of each operation point, obtaining a plurality of operation partitions, matching the corresponding take-off position of each operation partition, preparing a plurality of unmanned aerial vehicles taking off for any take-off position, screening operation points corresponding to the number of unmanned aerial vehicles from the operation partitions matched with the take-off position as first operation points, distributing the operation points to the corresponding unmanned aerial vehicles, and further taking the rest operation points in the operation partitions as second operation points and distributing the operation points to all unmanned aerial vehicles.
The present application also proposes a readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
presetting parameters of each unmanned aerial vehicle, wherein the parameters comprise a plurality of take-off positions;
modeling each operation point and acquiring three-dimensional information of each operation point;
dividing all the operation points according to the three-dimensional information of each operation point to obtain a plurality of operation partitions;
matching the corresponding take-off position for each operation partition;
for a plurality of unmanned aerial vehicles with any take-off positions to take-off, screening operation points corresponding to the number of the unmanned aerial vehicles from operation partitions matched with the take-off positions as first operation points, and distributing the first operation points to the corresponding unmanned aerial vehicles;
the remaining operation points in the operation partition are used as second operation points and distributed to all unmanned aerial vehicles;
each unmanned aerial vehicle executes the operation according to the respective first operation point, and then sequentially executes the operation on the second operation point.
The application also proposes a computer device comprising a memory and a processor, the memory storing a computer program, the computer program being executed by the processor to:
presetting parameters of each unmanned aerial vehicle, wherein the parameters comprise a plurality of take-off positions;
modeling each operation point and acquiring three-dimensional information of each operation point;
dividing all the operation points according to the three-dimensional information of each operation point to obtain a plurality of operation partitions;
matching the corresponding take-off position for each operation partition;
for a plurality of unmanned aerial vehicles with any take-off positions to take-off, screening operation points corresponding to the number of the unmanned aerial vehicles from operation partitions matched with the take-off positions as first operation points, and distributing the first operation points to the corresponding unmanned aerial vehicles;
the remaining operation points in the operation partition are used as second operation points and distributed to all unmanned aerial vehicles;
each unmanned aerial vehicle executes the operation according to the respective first operation point, and then sequentially executes the operation on the second operation point.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments can be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, can comprise the steps of the above-described embodiments of the methods. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it is also possible for a person skilled in the art to make several variations and modifications without departing from the spirit of the present application, which are all within the scope of protection of the present application, and what has been disclosed above is only a preferred embodiment of the present invention, and it is needless to say that the scope of the claims of the present invention shall not be limited thereto, and therefore equivalent variations according to the claims of the present invention shall still fall within the scope of the present invention.
Claims (11)
1. A method for multi-unmanned aerial vehicle zoning emergency operation, the method comprising:
presetting parameters of each unmanned aerial vehicle, wherein the parameters comprise a plurality of take-off positions;
modeling each operation point and acquiring three-dimensional information of each operation point;
dividing all the operation points according to the three-dimensional information of each operation point to obtain a plurality of operation partitions;
matching the corresponding take-off position for each operation partition;
for a plurality of unmanned aerial vehicles with any take-off positions to take-off, screening operation points corresponding to the number of the unmanned aerial vehicles from operation partitions matched with the take-off positions as first operation points, and distributing the first operation points to the corresponding unmanned aerial vehicles;
the remaining operation points in the operation partition are used as second operation points and distributed to all unmanned aerial vehicles;
each unmanned aerial vehicle executes the operation according to the respective first operation point, and then sequentially executes the operation on the second operation point.
2. The method for multi-unmanned aerial vehicle zoning emergency operation according to claim 1, wherein the modeling each operation point and obtaining three-dimensional information thereof specifically comprises:
collecting longitude and latitude coordinates of each operation point;
preprocessing longitude and latitude coordinates of each operation point;
detecting in real time or acquiring the height information of each operation point from the existing database;
and determining the three-dimensional information of each operation point according to the height information of each operation point and the preprocessed longitude and latitude coordinates.
3. The method for multi-unmanned aerial vehicle zoned emergency operation according to claim 2, wherein said matching the corresponding take-off position for each of said operation zones comprises:
determining the distance between any one operation partition and each take-off position respectively;
and distributing the take-off position corresponding to the minimum value of the distance between the operation partition and the take-off position to the operation partition.
4. A method for multi-unmanned aerial vehicle zoning emergency operation according to claim 3, wherein each unmanned aerial vehicle performs operation according to the respective first operation point, and then sequentially performs operation on the second operation point, specifically comprising: after any unmanned aerial vehicle finishes the operation of the first operation point, the unmanned aerial vehicle screens out the operation point closest to the current operation point from the preset second operation point to continue the operation, and the three-dimensional information broadcast of the operation point closest to the current operation point is sent to other unmanned aerial vehicles.
5. The method of claim 4, wherein when the unmanned aerial vehicle completes the task of screening out the working point closest to the current working point from the second working points, the method further comprises: and deleting the three-dimensional information of the operation point from the three-dimensional information of the operation point preset by the unmanned aerial vehicle.
6. The method of claim 5, wherein the broadcasting the three-dimensional information of the operation point closest to the current operation point to other unmanned aerial vehicles, and further comprising: when any one unmanned aerial vehicle receives the three-dimensional information of the second operation point sent by other unmanned aerial vehicles, deleting the three-dimensional information of the second operation point from the preset three-dimensional information of the second operation point.
7. The method for multi-unmanned aerial vehicle zoning emergency operation according to claim 6, wherein after any unmanned aerial vehicle completes the operation of the first operation point, the unmanned aerial vehicle screens out the operation point closest to the current distance from the preset second operation point to continue the operation, and the method specifically comprises:
acquiring three-dimensional information of a first operation point;
planning a flight path of the unmanned aerial vehicle until reaching a first operation point;
after the operation of the first operation point is completed, determining three-dimensional information of a second operation point, which is closest to the unmanned aerial vehicle, of the unmanned aerial vehicle;
planning the flight path of the unmanned aerial vehicle again, and judging whether the current endurance time of the unmanned aerial vehicle meets the flight time, the operation time and the return time of the flight path;
if the current endurance time meets the flight time, the operation time and the return time of the flight path, the second operation point is reached and the operation is executed at the second operation point;
after the second operation point operation is completed, determining three-dimensional information of other second operation points closest to the current distance of the second operation point;
planning the flight path of the unmanned aerial vehicle again, and judging whether the current endurance time of the unmanned aerial vehicle meets the flight time, the operation time and the return time of the flight path;
and if the current endurance time meets the flight time, the operation time and the return time of the flight path, reaching other second operation points closest to the current endurance time and executing operation.
8. The method for multi-unmanned aerial vehicle zoning emergency operation according to claim 7, wherein in the operation at the first operation point, if the duration cannot meet the operation time and the return time, returning to the take-off position for energy supplement, and after waiting for the duration to meet the flight path flight time, the operation time and the return time, re-reaching the first operation point for operation;
before the second operation point operates, if the current duration of the unmanned aerial vehicle cannot meet the flight time, operation time and return time of the flight path, returning to the take-off position for energy supplement, and after waiting for the duration to meet the flight time, operation time and return time of the flight path, re-arriving at the second operation point to execute operation;
and in the operation of the first operation point and the second operation point, if the unmanned aerial vehicle finishes the current operation times, returning to the take-off position.
9. A system for multi-unmanned aerial vehicle zoned emergency operation, the system comprising: the system comprises an unmanned aerial vehicle management unit, a three-dimensional information acquisition unit and a job partition management unit;
the unmanned aerial vehicle management unit is used for presetting each unmanned aerial vehicle parameter, comprising a plurality of take-off positions, controlling each unmanned aerial vehicle to execute operation according to respective first operation points, and then sequentially executing operation on the second operation points;
the three-dimensional information acquisition unit is used for modeling each operation point and acquiring three-dimensional information of each operation point;
the operation partition management unit is configured to divide all operation points according to the three-dimensional information of each operation point, obtain a plurality of operation partitions, match corresponding take-off positions for each operation partition, prepare a plurality of unmanned aerial vehicles to take off for any take-off position, screen operation points corresponding to the number of unmanned aerial vehicles from the operation partitions matched with the take-off positions as first operation points, and distribute the operation points to corresponding unmanned aerial vehicles, and also take remaining operation points in the operation partitions as second operation points, and distribute the operation points to all unmanned aerial vehicles.
10. A readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of the method of any one of claims 1 to 8.
11. A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method as claimed in any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311117227.XA CN117270556A (en) | 2023-08-31 | 2023-08-31 | Method, system, storage medium and equipment for multi-unmanned aerial vehicle partition emergency operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311117227.XA CN117270556A (en) | 2023-08-31 | 2023-08-31 | Method, system, storage medium and equipment for multi-unmanned aerial vehicle partition emergency operation |
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| CN117270556A true CN117270556A (en) | 2023-12-22 |
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