CN109814594B - Unmanned aerial vehicle group anti-collision control method, device and computer readable storage medium - Google Patents
Unmanned aerial vehicle group anti-collision control method, device and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses an anti-collision control method and device for an unmanned aerial vehicle group and a computer-readable storage medium, wherein the method comprises the following steps: counting the current space coordinates and flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group; judging whether a collision event occurs in a first preset time in the future or not by combining the current space coordinates and the flight speed of each unmanned aerial vehicle; the number of times that the unmanned aerial vehicle collision event can occur in a first preset period of time in the future is counted and analyzed; sequencing the times of collision events of each unmanned aerial vehicle according to the time sequence of the collision events; and adjusting the route or speed of the unmanned aerial vehicle according to the sequence of the collision times of the unmanned aerial vehicle. The control method is simple and can be used for executing complex formation tasks.
Description
Technical Field
The present invention relates to the field of unmanned aerial vehicle control technologies, and in particular, to an anti-collision control method and apparatus for an unmanned aerial vehicle group, and a computer readable storage medium.
Background
In recent years, unmanned aerial vehicle technology and application are vigorously developed, but the load and the function of a single unmanned aerial vehicle are limited, and adverse factors that a task cannot be completed after a wide task area and a single unmanned aerial vehicle are in failure are dealt with, so that the requirement of performing more complex tasks by utilizing cooperation among a plurality of unmanned aerial vehicles gradually becomes a trend of unmanned aerial vehicle research. The multiple unmanned aerial vehicles are formed in a hybrid formation mode to execute different or single tasks, so that more complex tasks can be completed.
When the unmanned aerial vehicle group executes different tasks, the selection of different formations not only can influence the execution effect of the task, but also can generate additional effects on the next task in the task chain. Particularly, when different tasks are executed in the same area, the formation transformation in time can improve the security of the cluster and the execution efficiency of the tasks. Second, additional event formation transformations are sometimes necessary and important for some bursts, so the impact of the unmanned aerial vehicle group formation on various tasks becomes one of the key issues that is not negligible. When the number of unmanned aerial vehicles in a certain area is large, relative position information among unmanned aerial vehicles has very important reference significance for formation transformation of unmanned aerial vehicle groups, the existing unmanned aerial vehicle group is controlled by taking a ground station as a center, and the star-shaped control method with each unmanned aerial vehicle as a node is large in calculation amount of relative positions and is not suitable for executing complex formation tasks.
Disclosure of Invention
The invention mainly aims to provide an anti-collision control method and device for an unmanned aerial vehicle group and a computer readable storage medium, and aims to solve the technical problems that the calculation amount of relative positions is large and the method and device are not suitable for executing complex formation tasks in the prior art.
In order to achieve the above object, an aspect of the present invention provides a method for controlling collision avoidance of a group of unmanned aerial vehicles, the method comprising:
counting the current space coordinates and flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group;
Judging whether a collision event occurs in a first preset time in the future or not by combining the current space coordinates and the flight speed of each unmanned aerial vehicle;
The number of times that the unmanned aerial vehicle collision event can occur in a first preset period of time in the future is counted and analyzed;
Sequencing the times of collision events of each unmanned aerial vehicle according to the time sequence of the collision events;
and adjusting the route or speed of the unmanned aerial vehicle according to the sequence of the collision times of the unmanned aerial vehicle.
Preferably, the method for judging whether the collision event occurs at the first preset time in the future comprises the following steps:
Counting the current space coordinates and the flight speed of each unmanned aerial vehicle;
dividing a space region where the unmanned aerial vehicle group is located according to the height coordinates by taking the highest and lowest coordinates of the unmanned aerial vehicles in the current unmanned aerial vehicle group as boundary lines;
dividing the space area again by taking the maximum value and the minimum value of the horizontal direction coordinates of the unmanned aerial vehicles in the current unmanned aerial vehicle group as boundary lines, so as to realize gridding management of the flight area of the unmanned aerial vehicles;
and judging whether the unmanned aerial vehicle in the adjacent grids collides in a second preset time or not by combining the flight speed of the unmanned aerial vehicle.
Preferably, the method for judging whether the unmanned aerial vehicle in the adjacent grid collides within the second preset time comprises the following steps:
judging whether unmanned aerial vehicles exist in adjacent grids, and if not, making collision event impossible.
Preferably, the unmanned aerial vehicle group anti-collision control method further comprises:
when unmanned aerial vehicles exist in the adjacent grids, judging whether the routes of the unmanned aerial vehicles in the adjacent grids have intersection, and if the unmanned aerial vehicles have no intersection, collision events are unlikely to occur.
Preferably, the unmanned aerial vehicle group anti-collision control method further comprises:
when the airlines of the unmanned aerial vehicles in the adjacent grids have intersections, analyzing whether the moments of the unmanned aerial vehicles in the adjacent grids reaching the intersections are consistent or not, and if the moments are inconsistent, collision events are unlikely to happen.
Preferably, the unmanned aerial vehicle group anti-collision control method further comprises:
When the time when the unmanned aerial vehicles in the adjacent grids reach the route intersection is consistent, the route and the speed of the corresponding unmanned aerial vehicle are adjusted according to the time sequence of the expected collision, and then whether the time when the unmanned aerial vehicles in the adjacent grids reach the route intersection is consistent is analyzed until the route and the speed are optimized until no collision event occurs.
Preferably, the method for adjusting the route and the speed of the corresponding unmanned aerial vehicle comprises the following steps:
the corresponding speed of the unmanned aerial vehicle is adjusted first, and then the course angle of the unmanned aerial vehicle is changed.
Preferably, the unmanned aerial vehicle group anti-collision control method further comprises:
dividing a channel for transmitting the unmanned aerial vehicle signal into an interval time sequence, dividing the interval time sequence into a group to form a first time sequence section and a second time sequence section, and distributing half of signal transmission nodes in the first time sequence section and the second time sequence section to transmit data in the section.
Another aspect of the present invention also provides an anti-collision control apparatus for an unmanned aerial vehicle group, including:
The first statistics module is used for counting the current space coordinates and the flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group;
The judging module is used for judging whether a collision event occurs in a first preset time in the future or not by combining the current space coordinates and the flight speed of each unmanned aerial vehicle;
the second statistical module is used for statistically analyzing the times of collision events of the unmanned aerial vehicle in the first preset time period in the future;
the sequencing module is used for sequencing the times of collision events of each unmanned aerial vehicle according to the time sequence of the collision events;
And the adjusting module is used for adjusting the route or speed of the unmanned aerial vehicle according to the sequence of the collision times of the unmanned aerial vehicle.
In another aspect, the present invention further provides a computer readable storage medium storing one or more programs executable by one or more processors to implement the steps of any one of the above-described method for controlling collision of a group of unmanned aerial vehicles.
According to the unmanned aerial vehicle group anti-collision control method, device and computer readable storage medium, the current space coordinates and flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group are counted, whether collision events occur in the first preset time in the future or not is judged by combining the current space coordinates and flight speed of each unmanned aerial vehicle, the times of the collision events of the unmanned aerial vehicles in the first preset time in the future are counted and analyzed, the times of the collision events of each unmanned aerial vehicle are ordered according to the time sequence of the collision events, and the route or speed of the unmanned aerial vehicle is adjusted according to the sequence of the times of the collision of the unmanned aerial vehicles. Therefore, the control method of the invention is simple and can be used for executing complex formation tasks.
Drawings
Fig. 1 is a flowchart of a method for controlling collision avoidance of an unmanned aerial vehicle group according to a first embodiment of the present invention;
FIG. 2 is a flowchart of a method for determining whether a collision event will occur at a first predetermined time in the future according to an embodiment of the present invention;
fig. 3 is a block diagram of an anti-collision control device for an unmanned aerial vehicle group according to a second embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.
Example 1
As shown in fig. 1, a first embodiment of the present invention provides a method for controlling collision avoidance of an unmanned aerial vehicle group, where the method includes:
s101, counting current space coordinates and flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group;
And counting the current space coordinates and the flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group in flight under the same coordinate system, and acquiring the flight direction and the flight speed through the flight speed.
S102, judging whether a collision event occurs in a first preset time in the future or not by combining the current space coordinates and the flight speed of each unmanned aerial vehicle;
The first preset time may be 1 second, 2 seconds, 3 seconds, or the like, and may be set as needed, which is not particularly limited herein. If the distance between unmanned aerial vehicles is smaller or/and the flying speed is faster, the first time setting is smaller, and vice versa. It will be understood that, in this step, if it is determined that the first preset time in the future will collide, the process proceeds to step S103, and if no collision will occur, no response is made.
S103, statistically analyzing the number of times that the unmanned aerial vehicle collision event occurs in a first preset period of time in the future;
according to the acquired current space coordinates and flight speed of each unmanned aerial vehicle, the unmanned aerial vehicle collision event can be calculated and counted within a first preset period of time in the future.
S104, sequencing the times of collision events of each unmanned aerial vehicle according to the time sequence of the collision events;
and sequencing the times of the collision events in each unmanned aerial vehicle from small to large or from large to small according to the time sequence of the collision events. Here primarily based on the line speed, layering changes, and staggering information of each drone, etc.
S105, adjusting the route or speed of the unmanned aerial vehicle according to the sequence of the collision times of the unmanned aerial vehicle.
In a preferred embodiment, the method for determining whether a collision event will occur at a first predetermined time in the future comprises:
s100, counting the current space coordinates and the flight speed of each unmanned aerial vehicle;
S200, dividing a space region where the unmanned aerial vehicle group is located according to the height coordinates by taking the highest coordinates and the lowest coordinates of unmanned aerial vehicles in the current unmanned aerial vehicle group as boundary lines;
the height dividing standard can be adjusted according to the height dimension and climbing speed of the unmanned aerial vehicle.
S300, dividing the space area again by taking the maximum value and the minimum value of the horizontal direction coordinates of the unmanned aerial vehicles in the current unmanned aerial vehicle group as boundary lines, so as to realize gridding management of the flight area of the unmanned aerial vehicles;
wherein the horizontal segmentation standard can be adjusted according to the horizontal direction size and the horizontal flying speed of the unmanned aerial vehicle
S400, judging whether the unmanned aerial vehicle in the adjacent grids collides in a second preset time or not by combining the flight speed of the unmanned aerial vehicle.
Through carrying out gridding management to unmanned aerial vehicle's flight area, judge whether unmanned aerial vehicle can collide in the second preset time, therefore judge accurately, be convenient for accurate control.
In a preferred embodiment, the method for judging whether the unmanned aerial vehicle in the adjacent grid collides within the second preset time comprises the following steps:
judging whether unmanned aerial vehicles exist in adjacent grids, and if not, making collision event impossible.
In a preferred embodiment, the method for controlling collision avoidance of a group of unmanned aerial vehicles further includes:
when unmanned aerial vehicles exist in the adjacent grids, judging whether the routes of the unmanned aerial vehicles in the adjacent grids have intersection, and if the unmanned aerial vehicles have no intersection, collision events are unlikely to occur.
In a preferred embodiment, the method for controlling collision avoidance of a group of unmanned aerial vehicles further includes:
when the airlines of the unmanned aerial vehicles in the adjacent grids have intersections, analyzing whether the moments of the unmanned aerial vehicles in the adjacent grids reaching the intersections are consistent or not, and if the moments are inconsistent, collision events are unlikely to happen.
In a preferred embodiment, the method for controlling collision avoidance of a group of unmanned aerial vehicles further includes:
When the time when the unmanned aerial vehicles in the adjacent grids reach the route intersection is consistent, the route and the speed of the corresponding unmanned aerial vehicle are adjusted according to the time sequence of the expected collision, and then whether the time when the unmanned aerial vehicles in the adjacent grids reach the route intersection is consistent is analyzed until the route and the speed are optimized until no collision event occurs.
In a preferred embodiment, the method for adjusting the route and the speed of the corresponding unmanned aerial vehicle comprises the following steps:
the corresponding speed of the unmanned aerial vehicle is adjusted first, and then the course angle of the unmanned aerial vehicle is changed.
Since the speed change range has a limitation, the purpose of complete collision avoidance cannot be achieved by changing the speed only. Meanwhile, if only the course angle of the unmanned aerial vehicle is changed, the anti-collision time is too long, so that the corresponding speed of the unmanned aerial vehicle is adjusted first, and then the course angle of the unmanned aerial vehicle is changed, and the purposes of better anti-collision and convenience in control can be achieved.
In a preferred embodiment, the method for controlling collision avoidance of a group of unmanned aerial vehicles further includes:
dividing a channel for transmitting the unmanned aerial vehicle signal into an interval time sequence, dividing the interval time sequence into a group to form a first time sequence section and a second time sequence section, and distributing half of signal transmission nodes in the first time sequence section and the second time sequence section to transmit data in the section.
It will be appreciated that during the signal transmission process of the unmanned aerial vehicle, each unmanned aerial vehicle acts as a network node in the signal network, and each unmanned aerial vehicle is both a terminal system and a route of other nodes. The method well avoids the problems of low channel utilization rate and low data transmission rate caused by channel blocking due to data collision when a plurality of nodes send data at the same time.
According to the method, the current space coordinates and the flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group are counted, whether collision events occur in the first preset time in the future or not is judged by combining the current space coordinates and the flight speed of each unmanned aerial vehicle, the times of the collision events of the unmanned aerial vehicles in the first preset time in the future are counted and analyzed, the times of the collision events of each unmanned aerial vehicle are ordered according to the time sequence of the collision events, and the route or speed of the unmanned aerial vehicle is adjusted according to the sequence of the times of the collision of the unmanned aerial vehicles. Therefore, the control method of the invention is simple and can be used for executing complex formation tasks.
In a preferred embodiment, the method for controlling the collision of the unmanned aerial vehicle group according to the present invention considers the possibility that the unmanned aerial vehicle group may touch an external object in addition to the collision between unmanned aerial vehicles in the unmanned aerial vehicle group, so as to further reduce the loss of unmanned aerial vehicles in the unmanned aerial vehicle group. The invention is realized by the following scheme: combining the electronic fence information, determining the highest flying height and the lowest flying height of the unmanned aerial vehicle group from the ground plane, and planning the route of the unmanned aerial vehicle group in advance; according to the number of unmanned aerial vehicle groups and the difference between the highest flying height and the lowest flying height, the number of the unmanned aerial vehicle groups distributed on the grading planes of different heights and the distance between the adjacent grading planes are determined, the unmanned aerial vehicle groups are controlled to take off according to the preset time sequence, a plurality of unmanned aerial vehicle detection machines are arranged in the unmanned aerial vehicle groups, the unmanned aerial vehicle detection machines are not only used for bearing the flying task, but also provided with a binocular camera, ultrasonic waves and infrared sensors, the binocular camera shoots a three-dimensional space image, the three-dimensional space image of the unmanned aerial vehicles around the unmanned aerial vehicle detection machines is obtained, whether the unmanned aerial vehicles on the route have the distance smaller than or equal to the preset safety distance or not is identified, if the unmanned aerial vehicles have the distance smaller than or equal to the preset safety distance, then the unmanned aerial vehicle collision event is predicted to occur once, a control command is sent out simultaneously, the distance between the unmanned aerial vehicles between the adjacent grading planes is regulated on the whole, and the front and back distance between the unmanned aerial vehicles in the same grading plane is simultaneously, the ultrasonic waves and the infrared sensors are arranged on the unmanned aerial vehicle detection machines to detect obstacle targets outside the unmanned aerial vehicle groups in real time, the unmanned aerial vehicle groups are determined, and the distance between the unmanned aerial vehicle groups is not equal to the preset safety distance, and the unmanned aerial vehicle collision event is not predicted, and the unmanned aerial vehicle collision obstacle distance is not equal to the preset, and the unmanned aerial vehicle collision distance is not predicted when the unmanned aerial vehicle collision distance is not equal to the unmanned aerial vehicle collision distance. According to the unmanned aerial vehicle group anti-collision control method, part of unmanned aerial vehicles bearing the flight task are set as unmanned detection machines in the unmanned aerial vehicle group, so that the problem of collision among surrounding unmanned aerial vehicles can be prevented, and the unmanned aerial vehicle group can be effectively prevented from colliding with external obstacles.
In another preferred embodiment, the unmanned aerial vehicle group has other obstacles moving oppositely or flying from the side or static obstacles encountered in the flying, and in these complex situations, the speed of the obstacles needs to be detected, of course, when the detected speed is 0, the obstacle is static, when the detected speed is not 0, the obstacle also moves, and then the movement speed of the obstacle needs to be accurately measured, so the anti-collision control method of the unmanned aerial vehicle group of the invention further comprises: s500, detecting the speed of an obstacle, S600 and avoiding the obstacle, wherein the detection method of S500 comprises the following steps:
S501, determining the speeds of at least two unmanned aerial vehicles corresponding to the obstacle by adopting a multi-frame differential technology according to multi-frame image data acquired by the image sensor in a set time window.
S502, calculating at least two types of speed statistics corresponding to the obstacle according to the speeds of the at least two unmanned aerial vehicles.
The speed statistic may be related data calculated according to the speeds of at least two unmanned aerial vehicles. The types of speed statistics may include: variance of velocity module, mean of velocity angle difference, and second-order variance of velocity module. The variance of the speed module value may be a variance calculated by a module value of the speed of at least two unmanned aerial vehicles and the speed of the flight obstacle, the speed angle difference may be a difference value between two adjacent unmanned aerial vehicles included angles in the at least two unmanned aerial vehicles, and the second-order variance of the speed module value may be a second-order variance calculated by a module value of the speed of the at least two unmanned aerial vehicles and the flight obstacle. The variance of the velocity model, the mean of the velocity angle differences, and the second order variance of the velocity model are used as three different velocity statistics.
S503, mapping each velocity statistic to a corresponding static probability according to a mapping relation between the velocity statistic and the static probability. Wherein the stationary probability may be a probability that the obstacle is in a stationary state with respect to the ground. Accordingly, the mapping relationship between the velocity statistics and the stationary probabilities can be utilized to calculate stationary probabilities corresponding to various types of velocity statistics.
S504, fusing at least two static probabilities obtained after mapping to obtain fused static probabilities of the obstacle, and determining a speed detection result of the obstacle according to the fused static probabilities.
And after detecting the speed of the obstacle, entering an anti-collision control step. S600, determining the probability of possible collision between the unmanned aerial vehicle group and the obstacle according to the speed of the obstacle, and controlling all unmanned aerial vehicles in the unmanned aerial vehicle group to avoid the obstacle in a preset time period. Therefore, the invention can better avoid the barrier and reduce the unmanned aerial vehicle loss.
Example two
As shown in fig. 3, a second embodiment of the present invention provides an anti-collision control device for an unmanned aerial vehicle group, which includes:
The first statistics module 1 is used for counting the current space coordinates and the flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group;
the judging module 2 is used for judging whether a collision event occurs in a first preset time in the future or not by combining the current space coordinates and the flight speed of each unmanned aerial vehicle;
The second statistics module 3 is used for statistically analyzing the number of times that the unmanned aerial vehicle collision event can occur in a first preset period of time in the future;
The sequencing module 4 is used for sequencing the times of collision events of each unmanned aerial vehicle according to the time sequence of the collision events;
and the adjusting module 5 is used for adjusting the route or the speed of the unmanned aerial vehicle according to the sequence of the collision times of the unmanned aerial vehicle.
According to the method, the current space coordinates and the flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group are counted, whether collision events occur in the first preset time in the future or not is judged by combining the current space coordinates and the flight speed of each unmanned aerial vehicle, the times of the collision events of the unmanned aerial vehicles in the first preset time in the future are counted and analyzed, the times of the collision events of each unmanned aerial vehicle are ordered according to the time sequence of the collision events, and the route or speed of the unmanned aerial vehicle is adjusted according to the sequence of the times of the collision of the unmanned aerial vehicles. Therefore, the control method of the invention is simple and can be used for executing complex formation tasks.
Example III
Based on the above embodiments, the present invention also provides a computer-readable storage medium storing one or more programs executable by one or more processors to implement the steps of:
counting the current space coordinates and flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group;
Judging whether a collision event occurs in a first preset time in the future or not by combining the current space coordinates and the flight speed of each unmanned aerial vehicle;
The number of times that the unmanned aerial vehicle collision event can occur in a first preset period of time in the future is counted and analyzed;
Sequencing the times of collision events of each unmanned aerial vehicle according to the time sequence of the collision events;
and adjusting the route or speed of the unmanned aerial vehicle according to the sequence of the collision times of the unmanned aerial vehicle.
In a preferred embodiment, in the method for determining whether a collision event will occur at a first predetermined time in the future, the one or more programs are executable by one or more processors to perform the steps of
Counting the current space coordinates and the flight speed of each unmanned aerial vehicle;
dividing a space region where the unmanned aerial vehicle group is located according to the height coordinates by taking the highest and lowest coordinates of the unmanned aerial vehicles in the current unmanned aerial vehicle group as boundary lines;
dividing the space area again by taking the maximum value and the minimum value of the horizontal direction coordinates of the unmanned aerial vehicles in the current unmanned aerial vehicle group as boundary lines, so as to realize gridding management of the flight area of the unmanned aerial vehicles;
and judging whether the unmanned aerial vehicle in the adjacent grids collides in a second preset time or not by combining the flight speed of the unmanned aerial vehicle.
In a preferred embodiment, in the method for determining whether the unmanned aerial vehicle in the adjacent mesh will collide within the second preset time, the one or more programs may be executed by one or more processors to implement the following steps: judging whether unmanned aerial vehicles exist in adjacent grids, and if not, making collision event impossible.
In a preferred embodiment, the one or more programs are executable by one or more processors to perform the steps of: when unmanned aerial vehicles exist in the adjacent grids, judging whether the routes of the unmanned aerial vehicles in the adjacent grids have intersection, and if the unmanned aerial vehicles have no intersection, collision events are unlikely to occur.
In a preferred embodiment, the one or more programs are executable by one or more processors to perform the steps of: when the airlines of the unmanned aerial vehicles in the adjacent grids have intersections, analyzing whether the moments of the unmanned aerial vehicles in the adjacent grids reaching the intersections are consistent or not, and if the moments are inconsistent, collision events are unlikely to happen.
In a preferred embodiment, the one or more programs are executable by one or more processors to perform the steps of: when the time when the unmanned aerial vehicles in the adjacent grids reach the route intersection is consistent, the route and the speed of the corresponding unmanned aerial vehicle are adjusted according to the time sequence of the expected collision, and then whether the time when the unmanned aerial vehicles in the adjacent grids reach the route intersection is consistent is analyzed until the route and the speed are optimized until no collision event occurs.
In a preferred embodiment, the one or more programs are executable by one or more processors to perform the steps of: the corresponding speed of the unmanned aerial vehicle is adjusted first, and then the course angle of the unmanned aerial vehicle is changed.
In a preferred embodiment, the one or more programs are executable by one or more processors to perform the steps of: dividing a channel for transmitting the unmanned aerial vehicle signal into an interval time sequence, dividing the interval time sequence into a group to form a first time sequence section and a second time sequence section, and distributing half of signal transmission nodes in the first time sequence section and the second time sequence section to transmit data in the section.
According to the unmanned aerial vehicle group anti-collision control method, device and computer readable storage medium, the current space coordinates and flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group are counted, whether collision events occur in the first preset time in the future or not is judged by combining the current space coordinates and flight speed of each unmanned aerial vehicle, the times of the collision events of the unmanned aerial vehicles in the first preset time in the future are counted and analyzed, the times of the collision events of each unmanned aerial vehicle are ordered according to the time sequence of the collision events, and the route or speed of the unmanned aerial vehicle is adjusted according to the sequence of the times of the collision of the unmanned aerial vehicles. Therefore, the control method of the invention is simple and can be used for executing complex formation tasks.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising several instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
Claims (10)
1. A method for controlling collision avoidance of a group of unmanned aerial vehicles, the method comprising:
counting the current space coordinates and flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group;
Judging whether a collision event occurs in a first preset time in the future or not by combining the current space coordinates and the flight speed of each unmanned aerial vehicle;
The number of times that the unmanned aerial vehicle collision event can occur in a first preset period of time in the future is counted and analyzed;
Sequencing the times of collision events of each unmanned aerial vehicle according to the time sequence of the collision events;
According to the sequence of collision times of the unmanned aerial vehicle, adjusting the route or speed of the unmanned aerial vehicle;
Wherein the method further comprises:
detecting the speed of the obstacle to obtain a speed detection result;
According to the speed detection result, determining the probability of possible collision between the unmanned aerial vehicle group and the obstacle, and controlling all unmanned aerial vehicles in the unmanned aerial vehicle group to avoid the obstacle in a preset time period;
Wherein, the speed detection of the obstacle, the speed detection result comprises:
according to multi-frame image data acquired by an image sensor in a set time window, determining the speeds of at least two unmanned aerial vehicles corresponding to the obstacle by adopting a multi-frame differential technology;
Calculating at least two types of speed statistics corresponding to the obstacle according to the speeds of the at least two unmanned aerial vehicles, wherein the types of the speed statistics can comprise: variance of velocity module value, mean value of velocity angle difference and second-order variance of velocity module value;
according to the mapping relation between the speed statistics and the static probability, mapping each speed statistic into a corresponding static probability;
And fusing at least two static probabilities obtained after mapping to obtain fused static probabilities of the obstacle, and determining a speed detection result of the obstacle according to the fused static probabilities.
2. The method for controlling collision avoidance of a group of unmanned aerial vehicles according to claim 1, wherein the method for determining whether a collision event will occur at a first predetermined time in the future comprises:
Counting the current space coordinates and the flight speed of each unmanned aerial vehicle;
dividing a space region where the unmanned aerial vehicle group is located according to the height coordinates by taking the highest and lowest coordinates of the unmanned aerial vehicles in the current unmanned aerial vehicle group as boundary lines;
dividing the space area again by taking the maximum value and the minimum value of the horizontal direction coordinates of the unmanned aerial vehicles in the current unmanned aerial vehicle group as boundary lines, so as to realize gridding management of the flight area of the unmanned aerial vehicles;
and judging whether the unmanned aerial vehicle in the adjacent grids collides in a second preset time or not by combining the flight speed of the unmanned aerial vehicle.
3. The method for controlling collision avoidance of a group of unmanned aerial vehicles according to claim 2, wherein the method for determining whether or not the unmanned aerial vehicles in the adjacent grids collide within the second preset time comprises:
judging whether unmanned aerial vehicles exist in adjacent grids, and if not, making collision event impossible.
4. The unmanned aerial vehicle group collision avoidance control method of claim 3 wherein the unmanned aerial vehicle group collision avoidance control method further comprises:
when unmanned aerial vehicles exist in the adjacent grids, judging whether the routes of the unmanned aerial vehicles in the adjacent grids have intersection, and if the unmanned aerial vehicles have no intersection, collision events are unlikely to occur.
5. The unmanned aerial vehicle group collision avoidance control method of claim 4 wherein the unmanned aerial vehicle group collision avoidance control method further comprises:
when the airlines of the unmanned aerial vehicles in the adjacent grids have intersections, analyzing whether the moments of the unmanned aerial vehicles in the adjacent grids reaching the intersections are consistent or not, and if the moments are inconsistent, collision events are unlikely to happen.
6. The unmanned aerial vehicle group collision avoidance control method of claim 5 wherein the unmanned aerial vehicle group collision avoidance control method further comprises:
When the time when the unmanned aerial vehicles in the adjacent grids reach the route intersection is consistent, the route and the speed of the corresponding unmanned aerial vehicle are adjusted according to the time sequence of the expected collision, and then whether the time when the unmanned aerial vehicles in the adjacent grids reach the route intersection is consistent is analyzed until the route and the speed are optimized until no collision event occurs.
7. The unmanned aerial vehicle group collision avoidance control method of claim 6 wherein the method of adjusting the course and speed of the corresponding unmanned aerial vehicle comprises:
the corresponding speed of the unmanned aerial vehicle is adjusted first, and then the course angle of the unmanned aerial vehicle is changed.
8. The unmanned aerial vehicle group collision avoidance control method according to any one of claims 1 to 7, further comprising:
dividing a channel for transmitting the unmanned aerial vehicle signal into an interval time sequence, dividing the interval time sequence into a group to form a first time sequence section and a second time sequence section, and distributing half of signal transmission nodes in the first time sequence section and the second time sequence section to transmit data in the section.
9. An unmanned aerial vehicle crowd anticollision controlling means, characterized by comprising:
The first statistics module is used for counting the current space coordinates and the flight speed of each unmanned aerial vehicle in the unmanned aerial vehicle group;
The judging module is used for judging whether a collision event occurs in a first preset time in the future or not by combining the current space coordinates and the flight speed of each unmanned aerial vehicle;
the second statistical module is used for statistically analyzing the times of collision events of the unmanned aerial vehicle in the first preset time period in the future;
the sequencing module is used for sequencing the times of collision events of each unmanned aerial vehicle according to the time sequence of the collision events;
the adjusting module is used for adjusting the route or speed of the unmanned aerial vehicle according to the sequence of the collision times of the unmanned aerial vehicle; wherein, the judging module is further used for:
detecting the speed of the obstacle to obtain a speed detection result;
According to the speed detection result, determining the probability of possible collision between the unmanned aerial vehicle group and the obstacle, and controlling all unmanned aerial vehicles in the unmanned aerial vehicle group to avoid the obstacle in a preset time period;
Wherein, the speed detection of the obstacle, the speed detection result comprises:
according to multi-frame image data acquired by an image sensor in a set time window, determining the speeds of at least two unmanned aerial vehicles corresponding to the obstacle by adopting a multi-frame differential technology;
Calculating at least two types of speed statistics corresponding to the obstacle according to the speeds of the at least two unmanned aerial vehicles, wherein the types of the speed statistics can comprise: variance of velocity module value, mean value of velocity angle difference and second-order variance of velocity module value;
according to the mapping relation between the speed statistics and the static probability, mapping each speed statistic into a corresponding static probability;
And fusing at least two static probabilities obtained after mapping to obtain fused static probabilities of the obstacle, and determining a speed detection result of the obstacle according to the fused static probabilities.
10. A computer-readable storage medium storing one or more programs executable by one or more processors to implement the steps of the method for controlling collision avoidance of a drone group of any of claims 1-8.
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| CN110764531B (en) * | 2019-11-12 | 2023-01-03 | 西北工业大学 | Unmanned aerial vehicle formation flying obstacle avoidance method based on laser radar and artificial potential field method |
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