CN117268170A - Unmanned aerial vehicle ejection control method, device, equipment and storage medium - Google Patents
Unmanned aerial vehicle ejection control method, device, equipment and storage medium Download PDFInfo
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- CN117268170A CN117268170A CN202311375277.8A CN202311375277A CN117268170A CN 117268170 A CN117268170 A CN 117268170A CN 202311375277 A CN202311375277 A CN 202311375277A CN 117268170 A CN117268170 A CN 117268170A
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000005286 illumination Methods 0.000 claims abstract description 76
- 238000004364 calculation method Methods 0.000 claims abstract description 55
- 230000007613 environmental effect Effects 0.000 claims description 50
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- 230000004888 barrier function Effects 0.000 claims description 3
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F1/00—Launching apparatus for projecting projectiles or missiles from barrels, e.g. cannons; Harpoon guns
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Abstract
The application relates to the technical field of unmanned aerial vehicle ejection, in particular to an unmanned aerial vehicle ejection control method, an unmanned aerial vehicle ejection control device, unmanned aerial vehicle ejection control equipment and a storage medium. According to the method, the illumination intensity and the wind speed of the area where the ejection frame is located are collected, then the environment influence calculation model is input for calculation, ejection initial speed parameters and ejection angle parameters are obtained, and accordingly the ejection frame is controlled to eject the unmanned aerial vehicle, the ejection parameters of the ejection frame can be automatically and flexibly adjusted according to the environment factors in an unmanned supervision mode, the technical effect of accurate ejection is achieved, and therefore the unmanned aerial vehicle is utilized for mountain forest fireproof monitoring.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle ejection, in particular to an unmanned aerial vehicle ejection control method, an unmanned aerial vehicle ejection control device, unmanned aerial vehicle ejection control equipment and a storage medium.
Background
At present, unmanned aerial vehicle technology is rapidly developed and widely applied, and an unmanned aerial vehicle ejection frame is auxiliary equipment for taking off an unmanned aerial vehicle and is used for enabling the unmanned aerial vehicle to obtain a larger initial speed during taking off.
When unmanned aerial vehicle is applied under mountain forest fire prevention monitoring's scene, because mountain forest's environment is complicated, improves the requirement to unmanned aerial vehicle catapulting, traditional control relies on artifical experience to assist unmanned aerial vehicle to launch, appears the circumstances of catapulting error easily, remains to improve this condition further.
Disclosure of Invention
In order to solve the problem that ejection errors are easy to occur in the existing unmanned aerial vehicle ejection assisted by means of manual experience, the application provides an unmanned aerial vehicle ejection control method, device, equipment and storage medium, and the following technical scheme is adopted:
in a first aspect, the present application provides an unmanned aerial vehicle ejection control method, including the following steps:
acquiring a current illumination intensity value of an area where an ejection rack acquired by an illumination sensor is located;
acquiring a current wind speed value of an area where an ejection rack acquired by a wind speed sensor is located;
inputting the current illumination intensity value and the current wind speed value into a preset environmental impact calculation model for calculation to obtain an ejection initial speed parameter and an ejection angle parameter;
and controlling the ejection frame to eject the unmanned aerial vehicle according to the ejection initial speed parameter and the ejection angle parameter.
Through adopting above-mentioned technical scheme, this application monitors the illumination intensity of ejection frame place region through the illumination sensor, monitor the wind speed through wind speed sensor, obtain current illumination intensity value and current wind speed value, then calculate in the input environment influence calculation model, obtain ejection initial velocity parameter and ejection angle parameter, thereby control ejection frame ejection unmanned aerial vehicle, through this, this application adjusts ejection initial velocity parameter and ejection angle parameter, thereby make unmanned aerial vehicle be adapted to illumination intensity, make unmanned aerial vehicle ejection initial shooting's image can stabilize at suitable exposure, prevent that the condition of overexposure or excessively dark from appearing, can make unmanned aerial vehicle be adapted to wind speed size simultaneously, reduce ejection initial wind speed and to unmanned aerial vehicle flight's influence, make unmanned aerial vehicle flight more stable, finally make ejection frame can be automatic according to environmental factor flexible adjustment ejection frame's ejection parameter at unmanned aerial vehicle supervision, and then realize accurate ejection technological effect, thereby utilize unmanned aerial vehicle to carry out mountain forest fire prevention control.
Optionally, the inputting the current illumination intensity value and the current wind speed value into a preset environmental impact calculation model for calculation to obtain an ejection initial speed parameter and an ejection angle parameter, including:
according to the current illumination intensity value, the current wind speed value, a preset initial ejection speed and a preset ejection angle, an environmental impact calculation model is adopted to calculate initial ejection speed parameters, and initial ejection speed parameters are obtained;
the ejection initial speed parameter calculation formula is as follows: v=v 0 +K 1 （I-I 0 ）+K 2 （F-F 0 ) Wherein V represents an ejection initial speed parameter, I represents a current illumination intensity value, I 0 Reference illumination intensity, V, representing environmental impact calculation model 0 Represented at I 0 Corresponding to the preset ejection initial speed K 1 The sensitivity degree of the illumination intensity to the ejection initial speed change is shown, F represents the current wind speed value, F 0 Reference wind speed, K, representing an environmental impact calculation model 2 The sensitivity degree of wind speed to the ejection initial speed change is shown;
according to the current wind speed value and a preset ejection angle, an environmental impact calculation model is adopted to calculate ejection angle parameters, and the ejection angle parameters are obtained;
the ejection angle parameter calculation formula is as follows: a=a 0 +K 3 （F-F 0 ) Wherein A represents ejection initial speed parameter, F represents current wind speed value, F 0 A represents a reference wind speed of an environmental impact calculation model 0 Represented at F 0 Corresponding to the preset ejection angle K 3 Indicating the sensitivity of wind speed to changes in launch angle.
By adopting the technical scheme, the method and the device automatically calculate the ejection initial speed parameter and the ejection angle parameter according to the current illumination intensity value and the current wind speed value by establishing the environmental impact calculation model, wherein the ejection initial speed parameter is calculated according to the current illumination intensity value and the current wind speed value and the formula, the ejection angle parameter is calculated according to the current wind speed value, the calculated formula is specifically provided, the influence of the environmental parameter on ejection control can be quantitatively described, and the accuracy and precision of ejection control are effectively improved.
Optionally, before the initial ejection speed parameter is calculated by using the environmental impact calculation model, the method further includes:
acquiring the historical fire occurrence times and the historical fire occurrence scale of the area where the ejection rack is positioned;
determining the fire risk level of the area according to the historical fire occurrence times and the historical fire occurrence scale;
adjusting the K according to the fire hazard level 1 、K 2 、K 3 Wherein the higher the fire hazard level, the K 1 、K 2 、K 3 The smaller the value of (2).
By adopting the technical scheme, the method and the device for determining the fire risk level of the area determine the fire risk level of the area by acquiring the historical fire occurrence times and the historical fire occurrence scale of the area where the ejection rack is located, and then adjust the K according to the fire risk level 1 、K 2 、K 3 And the value of (2) is adjusted, so that the initial ejection speed and the ejection angle are adjusted by adopting conservative sensitivity in the area with high fire risk level, and the flight safety is improved.
Optionally, after the catapulting frame is controlled to catapulting the unmanned aerial vehicle according to the catapulting initial speed parameter and the catapulting angle parameter, the method further comprises:
acquiring an environment image shot by the unmanned aerial vehicle in the air;
reconstructing a three-dimensional environment of the area around the ejection point of the ejection rack according to the environment image, and extracting barrier information in the three-dimensional environment;
planning an ejection route of a subsequent unmanned aerial vehicle from an ejection point to a task area by adopting an obstacle avoidance algorithm according to the three-dimensional environment reconstruction result and the obstacle information;
and controlling the subsequent unmanned aerial vehicle to be launched to the task area according to the planned launching route to carry out tasks.
By adopting the technical scheme, the ejection route can be planned by adopting the three-dimensional reconstruction and obstacle avoidance planning technology, so that the safety flight considering the environment obstacle information is realized, and the safety during the use without supervision is improved.
Optionally, the step of planning the ejection route of the subsequent unmanned aerial vehicle from the ejection point to the task area by adopting the obstacle avoidance algorithm includes:
determining obstacle avoidance priority according to the obstacle information;
and determining an optimal obstacle avoidance route from an ejection point to the task area of the unmanned aerial vehicle under the ejection initial speed parameter and the ejection angle parameter by adopting an obstacle avoidance algorithm according to the obstacle information and the obstacle avoidance priority, wherein the obstacle avoidance algorithm is an A star algorithm.
Through adopting above-mentioned technical scheme, the application is through obstacle information determination obstacle avoidance priority, under the unchangeable circumstances of ejection initial velocity parameter and ejection angle parameter that is calculated, according to obstacle information and obstacle avoidance priority, adopts the optimal obstacle avoidance route of unmanned aerial vehicle ejection point to task region of algorithm determination, has improved the success rate of flight task.
Optionally, after the reconstructing the three-dimensional environment of the area around the ejection point of the ejection rack according to the environment image, the method further includes:
comparing the current illumination intensity value with a preset illumination intensity threshold value, and if the current illumination intensity value is larger than the illumination intensity threshold value, acquiring a current environment temperature value and a preset environment temperature threshold value;
if the environmental temperature value is larger than the environmental temperature threshold value, determining a fire area based on the three-dimensional environmental reconstruction result;
and adjusting the ejection initial speed parameter and the ejection angle parameter based on the fire area so that the unmanned aerial vehicle ejected subsequently can quickly pass through the fire area.
Through adopting above-mentioned technical scheme, when mountain forest fire prevention, the conflagration disaster that probably appears bursting out, illumination intensity value and ambient temperature value all can show the rising this moment, and this application is through gathering ambient temperature value and illumination intensity value, confirms the condition of a fire region, then based on the condition of a fire region adjustment ejection initial velocity parameter and ejection angle parameter to control the flight orbit better to the highlight scene, realize the complicated adaptive control to adverse environment.
Optionally, after the reconstructing the three-dimensional environment of the area around the ejection point of the ejection rack according to the environment image, the method further includes:
determining the obstacle intensity of the area around the ejection point of the ejection rack according to the three-dimensional environment reconstruction result and the obstacle information;
if the density exceeds a degree threshold, increasing the ejection initial speed parameter, and adjusting the ejection angle parameter so as to enable the unmanned aerial vehicle ejected subsequently to rapidly pass through the obstacle.
By adopting the technical scheme, the method and the device determine the degree of dense obstacle around the ejection point of the ejection rack according to the three-dimensional environment reconstruction result and the obstacle information, and adjust the ejection initial speed parameter and the ejection angle parameter when the degree of dense obstacle exceeds the threshold value, so that the unmanned aerial vehicle ejected subsequently can rapidly sweep the obstacle.
In a second aspect, the present application provides an unmanned aerial vehicle ejection control device, including:
the illumination intensity acquisition module is used for acquiring a current illumination intensity value of an area where the ejection rack is located, wherein the current illumination intensity value is acquired by the illumination sensor;
the wind speed acquisition module is used for acquiring a current wind speed value of an area where the ejection rack acquired by the wind speed sensor is located;
the parameter calculation module is used for inputting the current illumination intensity value and the current wind speed value into a preset environmental impact calculation model for calculation to obtain an ejection initial speed parameter and an ejection angle parameter;
and the ejection control module is used for controlling the ejection frame to eject the unmanned aerial vehicle according to the ejection initial speed parameter and the ejection angle parameter.
In a third aspect, the present application provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the steps of the above unmanned aerial vehicle ejection control method are implemented when the processor executes the computer program.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the unmanned aerial vehicle ejection control method described above.
In summary, the present application includes at least one of the following beneficial technical effects:
1. according to the method, the illumination intensity of the area where the ejection frame is located is monitored through the illumination sensor, the wind speed is monitored through the wind speed sensor, the current illumination intensity value and the current wind speed value are obtained, then the current illumination intensity value and the current wind speed value are input into an environmental impact calculation model to be calculated, ejection initial speed parameters and ejection angle parameters are obtained, so that the ejection frame ejects the unmanned aerial vehicle, and through the method, the ejection initial speed parameters and the ejection angle parameters are adjusted, so that the unmanned aerial vehicle is suitable for illumination intensity, an image shot at the initial stage of ejection of the unmanned aerial vehicle can be stabilized at a proper exposure degree, overexposure or darkness is prevented, meanwhile, the unmanned aerial vehicle can be adapted to the wind speed, the influence of the initial stage of ejection on the unmanned aerial vehicle flight is reduced, the unmanned aerial vehicle flight is more stable, finally the ejection frame can be automatically and flexibly adjusted according to environmental factors in an unsupervised manner, the technical effect of accurate ejection is achieved, and forest fire prevention monitoring is performed by the unmanned aerial vehicle;
2. according to the method, the historical fire occurrence times and the historical fire occurrence scale of the area where the ejection rack is located are obtained, the fire risk level of the area is determined, and then the K is adjusted according to the fire risk level 1 、K 2 、K 3 The value of (2) is adjusted, so that the initial ejection speed and the ejection angle are adjusted by adopting conservative sensitivity in the area with high fire risk level, and the flight safety is improved;
3. according to the method, the fire area is determined by collecting the environmental temperature value and the illumination intensity value, and then the ejection initial speed parameter and the ejection angle parameter are adjusted based on the fire area, so that the flight track is better controlled aiming at the strong light scene, and complex adaptive control on the unfavorable environment is realized.
Drawings
Fig. 1 is an exemplary flowchart of a method for controlling ejection of a drone according to an embodiment of the present application;
FIG. 2 is an exemplary flow chart for adjusting sensitivity according to a fire hazard level in accordance with an embodiment of the present application;
FIG. 3 is an exemplary flow chart for planning an ejection route according to an embodiment of the present application;
FIG. 4 is an exemplary flow chart for determining a fire zone in accordance with an embodiment of the present application;
fig. 5 is a schematic block diagram of an ejection control device of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 6 is an internal structural view of the electronic device of the present application.
Detailed Description
The terminology used in the following embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms as well, unless the context clearly indicates to the contrary. It should also be understood that the term "and/or" as used in this application is intended to encompass any or all possible combinations of one or more of the listed items.
The terms "first," "second," and the like, are used below for descriptive purposes only and are not to be construed as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature, and in the description of embodiments of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In mountain forest fire prevention control, adopt unmanned aerial vehicle to monitor generally, unmanned aerial vehicle is when taking off, and in order to take off more soon, generally use unmanned aerial vehicle catapult to launch, traditional catapult parameter is adjusted through artifical experience, relies on operating personnel's experience, because mountain forest's environment is complicated, the problem of catapulting error appears easily under the condition of experience inadequately.
The application provides an unmanned aerial vehicle catapulting control method, device, equipment and storage medium, wherein the unmanned aerial vehicle catapulting control method comprises the steps of collecting illumination intensity and wind speed of an area where a catapulting frame is located, then inputting the illumination intensity and the wind speed into an environmental impact calculation model for calculation to obtain catapulting initial speed parameters and catapulting angle parameters, and controlling the catapulting frame to catapulting unmanned aerial vehicle, so that the catapulting frame can automatically and flexibly adjust the catapulting parameters of the catapulting frame according to environmental factors in an unsupervised manner, and further the technical effect of accurate catapulting is achieved.
Embodiments of the present application are described in further detail below with reference to the drawings attached hereto.
The method is executed by an electronic device, and the electronic device can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server for providing cloud computing service. In this embodiment, the terminal device is a computer device, but not limited to this, but may also be an intelligent tablet, a computer, or the like, where the terminal device and the server may be directly or indirectly connected through a wired or wireless communication manner, and the embodiment of the present application is not limited herein.
Referring to fig. 1, fig. 1 is an exemplary flowchart of a method for controlling ejection of a drone according to an embodiment of the present application.
An unmanned aerial vehicle ejection control method comprises the following steps:
s110, acquiring a current illumination intensity value of an area where the ejection rack acquired by the illumination sensor is located.
The illumination sensor can be arranged on the ejection frame or other objects in the area of the ejection frame and used for collecting illumination intensity in real time.
S120, acquiring a current wind speed value of an area where the ejection rack acquired by the wind speed sensor is located.
The wind speed sensor can be arranged on the ejection frame or other objects in the area of the ejection frame and used for collecting wind speed values in real time.
S130, inputting the current illumination intensity value and the current wind speed value into a preset environmental impact calculation model for calculation to obtain an ejection initial speed parameter and an ejection angle parameter.
Wherein, a formula for calculating the ejection initial speed parameter and the ejection angle parameter is preset in the environmental impact calculation model, and step S130 specifically includes:
s131, according to the current illumination intensity value, the current wind speed value, the preset initial ejection speed and the preset ejection angle, adopting an environmental impact calculation model to calculate the initial ejection speed, and obtaining initial ejection speed parameters.
Wherein, the ejection initial speed parameter calculation formula form is: v=v 0 +K 1 （I-I 0 ）+K 2 （F-F 0 ) V represents an ejection initial speed parameter, I represents a current illumination intensity value, I 0 Reference illumination intensity, V, representing environmental impact calculation model 0 Represented at I 0 Corresponding to the preset ejection initial speed K 1 The sensitivity degree of the illumination intensity to the ejection initial speed change is shown, F represents the current wind speed value, F 0 Reference wind speed, K, representing an environmental impact calculation model 2 Indicating the sensitivity of wind speed to the initial speed change of ejection, wherein K 1 ，K 2 The values of (2) are all greater than 0.
In one embodiment of the application, the reference illumination intensity is 1000 lux, the preset initial ejection speed is 30 m/s, the sensitivity degree of the illumination intensity to the initial ejection speed change is set to be 0.02, the reference wind speed is 3 m/s, and the sensitivity degree of the wind speed to the initial ejection speed change is 0.05. The setting of the parameters depends on the specification and the service environment of the unmanned aerial vehicle catapult frame, and can be adjusted according to the needs.
It can be understood that when the unmanned aerial vehicle monitors the mountain forest, the monitoring image of the mountain forest needs to be shot and transmitted to the cloud or analyzed by the built-in processor, and whether a fire disaster exists or not is determined. And the initial speed parameter of catapulting frame can influence unmanned aerial vehicle and launch initial stage's flight speed, and when illumination intensity is too high, and unmanned aerial vehicle flight speed is too slow, unmanned aerial vehicle camera received light is too much, and the condition of overexposure appears easily in the image of gathering, and when illumination intensity is too low, unmanned aerial vehicle camera can't receive sufficient light, probably leads to the loss of dark part image detail. In addition, when the wind speed is too high, the acting force of wind on the unmanned aerial vehicle is increased, and the catapulting initial speed parameter of the catapulting frame is increased, so that the unmanned aerial vehicle has higher initial speed in taking off, and the influence of wind power is conveniently resisted.
Notably, when the calculated ejection initial speed parameter is larger than the maximum ejection parameter which can be provided by the ejection frame and allowed by the unmanned aerial vehicle to fly, taking the maximum ejection parameter as the ejection initial speed parameter; and when the calculated ejection initial speed parameter is smaller than the minimum ejection parameter which can be provided by the ejection frame and allowed by the unmanned aerial vehicle to fly, taking the minimum ejection parameter as the ejection initial speed parameter.
And S132, performing ejection angle parameter calculation by adopting an environmental impact calculation model according to the current wind speed value and a preset ejection angle to obtain ejection angle parameters.
The ejection angle parameter calculation formula is as follows: a=a 0 +K 3 （F-F 0 ) Wherein A represents ejection initial speed parameter, F represents current wind speed value, F 0 A represents a reference wind speed of an environmental impact calculation model 0 Represented at F 0 Corresponding to the preset ejection angle K 3 Indicating the sensitivity of wind speed to the change of ejection angle, wherein K 3 The value of (2) is greater than 0.
In the embodiment of the application, the sensitivity degree of the wind speed to the ejection angle change is 0.5, and the preset ejection angle is 30 degrees.
It can be understood that in mountain forest monitoring, the wind speed of the area where the ejection frame is located changes in real time, the acting force of wind on the unmanned aerial vehicle can change when the wind speed changes, the speed direction of the unmanned aerial vehicle at the initial stage of ejection can form a bit of angle with risks through the adjustment of the ejection angle, and the influence of partial transverse wind force components is counteracted by utilizing the principle of vector decomposition.
It will be appreciated that an excessive ejection angle may increase the wind component perpendicular to the ejection plane, which if excessive may jeopardize the stable ejection of the drone. In this embodiment, the ejection angle range of the present application is between 25 degrees and 45 degrees, where the setting of the parameters depends on the specification and the use environment of the unmanned aerial vehicle ejection frame, and can be adjusted as required.
It is also worth noting that when the calculated launch angle is greater than 45 degrees, 45 degrees is used as the launch angle parameter, and when the wind speed is less than 1 meter per second, 25 degrees is used as the launch angle parameter.
And S140, controlling the ejection frame to eject the unmanned aerial vehicle according to the ejection initial speed parameter and the ejection angle parameter.
It can be understood that the unmanned aerial vehicle ejection control method is applied to the ejection frame capable of controlling the ejection initial speed and the ejection angle.
Referring to FIG. 2, FIG. 2 is an exemplary flow chart for adjusting sensitivity according to a fire hazard level in accordance with an embodiment of the present application.
In an alternative embodiment, the method further comprises the following steps before adopting an environmental impact calculation model to calculate the ejection initial speed parameter to obtain the ejection initial speed parameter:
s210, acquiring the historical fire occurrence times and the historical fire occurrence scale of the area where the ejection rack is located.
S220, determining the fire risk level of the area based on the historical fire occurrence times and the historical fire occurrence scale.
And when the number of times of the historical fire is large and the scale of the historical fire is large, determining the historical fire as a high fire risk grade.
S230, adjusting K according to fire hazard level 1 、K 2 、K 3 Is a value of (2).
Wherein, the higher the fire hazard level, the K 1 、K 2 、K 3 The smaller the value of (2).
Based on this, in the environmental impact calculation model of this application, the sensitivity degree of illumination intensity to the initial speed change of catapulting, the sensitivity degree of wind speed to the initial speed change of catapulting and the sensitivity degree of wind speed to the angle change of catapulting are not invariable, in the region of high fire danger level, this application adopts lower sensitivity to adopt the flight strategy of conservation, reduce the range of catapulting parameter adjustment, thereby avoid too high initial speed of catapulting and the angle increase flight risk of catapulting, increase flight security.
Referring to fig. 3, fig. 3 is an exemplary flow chart for planning an ejection route according to an embodiment of the present application.
In an alternative embodiment, the unmanned aerial vehicle needs to fly to a task point to monitor after catapult-assisted take-off, and the method further comprises:
s310, acquiring an environment image shot by the unmanned aerial vehicle in the air.
After the unmanned aerial vehicle catapults and takes off, an environment image is shot through the unmanned aerial vehicle camera.
S320, reconstructing the three-dimensional environment of the area around the ejection point of the ejection rack according to the environment image, and extracting barrier information in the three-dimensional environment.
S330, planning an ejection route of the subsequent unmanned aerial vehicle from the ejection point to the task area by adopting an obstacle avoidance algorithm according to the three-dimensional environment reconstruction result and the obstacle information.
The step S330 specifically includes:
s331, determining obstacle avoidance priority according to obstacle information.
The obstacle information comprises the size and the type of the obstacle, and the obstacle avoidance priority is determined according to the size and the type of different obstacles, so that a route for avoiding large and dangerous obstacles is planned in a limited mode.
And S332, determining an optimal obstacle avoidance route of the unmanned aerial vehicle from the ejection point to the task area by adopting an obstacle avoidance algorithm under the ejection initial speed parameter and the ejection angle parameter according to the obstacle information and the obstacle avoidance priority.
The obstacle avoidance algorithm is an a star algorithm, which is a shortest path algorithm for searching from one vertex to another vertex in the image, and is not described herein.
It is worth noting that, when the optimal obstacle avoidance is planned, the initial ejection speed parameter and the ejection angle parameter of the ejection rack are kept unchanged, and the shortest path calculation is performed on the basis.
S340, controlling the subsequent unmanned aerial vehicle to launch to a task area according to a specified flight route to perform tasks.
Referring to fig. 4, fig. 4 is an exemplary flow chart for determining a fire zone in accordance with an embodiment of the present application.
In an alternative embodiment, after reconstructing the three-dimensional environment of the area around the ejection point of the ejector rack from the environment image, the method further comprises:
s410, comparing the current illumination intensity value with a preset illumination intensity threshold value, and if the current illumination intensity value is larger than the illumination intensity threshold value, acquiring a current environment temperature value and the preset environment temperature threshold value.
Under the condition that the current illumination intensity value is larger than the illumination intensity threshold value, the condition that fire exists in the area where the ejection rack is located possibly exists, and therefore further judgment is conducted by acquiring the current environment temperature value and the preset environment temperature threshold value.
And S420, if the environmental temperature value is greater than the environmental temperature threshold value, determining a fire area based on the three-dimensional environmental reconstruction result.
If the environmental temperature value is larger than the environmental temperature threshold value, determining a fire area based on the three-dimensional environmental reconstruction result.
S430, adjusting ejection initial speed parameters and ejection angle parameters based on the fire area so that the unmanned aerial vehicle ejected subsequently can quickly pass through the fire area.
Through the steps, the fire area is determined, so that the unmanned aerial vehicle capable of being ejected in the follow-up process can conveniently and rapidly pass through the fire area by adjusting the initial ejection speed parameter and the ejection angle parameter.
Further, the method further comprises:
s510, determining the obstacle density degree of the area around the ejection point of the ejection rack according to the three-dimensional environment reconstruction result and the obstacle information.
And S520, if the density exceeds the degree threshold, increasing the ejection initial speed parameter, and adjusting the ejection angle parameter so as to enable the unmanned aerial vehicle ejected subsequently to rapidly pass through the obstacle.
According to the method, the degree of obstacle density around the ejection points of the ejection rack is determined according to the three-dimensional environment reconstruction result and the obstacle information, and the ejection initial speed parameter and the ejection angle parameter are adjusted when the degree of density exceeds a threshold value, so that the unmanned aerial vehicle ejected subsequently can rapidly pass through the obstacle.
In a second aspect, the present application provides an unmanned aerial vehicle ejection control device, and the following describes the unmanned aerial vehicle ejection control device in combination with the above unmanned aerial vehicle ejection control method. Referring to fig. 5, fig. 5 is a schematic block diagram of an unmanned aerial vehicle ejection control device according to the present application.
An unmanned aerial vehicle ejection control device, which applies the unmanned aerial vehicle ejection control method, comprises the following steps:
the illumination intensity acquisition module is used for acquiring a current illumination intensity value of an area where the ejection rack is located, wherein the current illumination intensity value is acquired by the illumination sensor;
the wind speed acquisition module is used for acquiring a current wind speed value of an area where the ejection rack acquired by the wind speed sensor is located;
the parameter calculation module is used for inputting the current illumination intensity value and the current wind speed value into a preset environmental impact calculation model for calculation to obtain an ejection initial speed parameter and an ejection angle parameter;
and the ejection control module is used for controlling the ejection frame to eject the unmanned aerial vehicle according to the ejection initial speed parameter and the ejection angle parameter.
In one embodiment, the present application provides a computer device, which may be a server, whose internal structure may be as shown in fig. 6. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is for storing data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program when executed by the processor is used for realizing the unmanned aerial vehicle ejection control method.
It will be appreciated by those skilled in the art that the structure shown in fig. 6 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (10)
1. The unmanned aerial vehicle ejection control method is characterized by comprising the following steps of:
acquiring a current illumination intensity value of an area where an ejection rack acquired by an illumination sensor is located;
acquiring a current wind speed value of an area where an ejection rack acquired by a wind speed sensor is located;
inputting the current illumination intensity value and the current wind speed value into a preset environmental impact calculation model for calculation to obtain an ejection initial speed parameter and an ejection angle parameter;
and controlling the ejection frame to eject the unmanned aerial vehicle according to the ejection initial speed parameter and the ejection angle parameter.
2. The unmanned aerial vehicle ejection control method according to claim 1, wherein the inputting the current illumination intensity value and the current wind speed value into a preset environmental impact calculation model for calculation to obtain an ejection initial speed parameter and an ejection angle parameter comprises:
according to the current illumination intensity value, the current wind speed value, a preset initial ejection speed and a preset ejection angle, adopting the environmental impact calculation model to calculate initial ejection speed parameters, and obtaining initial ejection speed parameters;
the ejection initial speed parameter calculation formula is as follows: v=v 0 +K 1 （I-I 0 ）+K 2 （F-F 0 ) Wherein V represents the ejection initial speed parameter, I represents the current illumination intensity value, I 0 Reference illumination intensity, V, representing the environmental impact calculation model 0 Represented at I 0 Corresponding to the preset ejection initial speed K 1 The sensitivity degree of the illumination intensity to the ejection initial speed change is represented, F represents the current wind speed value, F 0 A reference wind speed, K, representing the environmental impact calculation model 2 Indicating the sensitivity of wind speed to the initial ejection speed change, wherein the K 1 ，K 2 The values of (2) are all greater than 0;
according to the current wind speed value and a preset ejection angle, carrying out ejection angle parameter calculation by adopting the environmental impact calculation model to obtain the ejection angle parameter;
the ejection angle parameter calculation formula is as follows: a=a 0 +K 3 （F-F 0 ) Wherein A represents the ejection initial speed parameter, F represents the current wind speed value, F 0 A reference wind speed representing the environmental impact calculation model, A 0 Represented at F 0 Corresponding to the preset ejection angle K 3 Indicating the sensitivity of wind speed to the change of ejection angle, wherein the K is 3 The value of (2) is greater than 0.
3. The unmanned aerial vehicle ejection control method of claim 2, wherein before the initial ejection speed parameter is calculated by using the environmental impact calculation model, the method further comprises:
acquiring the historical fire occurrence times and the historical fire occurrence scale of the area where the ejection rack is positioned;
determining the fire risk level of the area according to the historical fire occurrence times and the historical fire occurrence scale;
adjusting the K according to the fire hazard level 1 、K 2 、K 3 Wherein the higher the fire hazard level, the K 1 、K 2 、K 3 The smaller the value of (2).
4. The method according to claim 2, wherein after the unmanned aerial vehicle is ejected by the ejection rack according to the ejection initial speed parameter and the ejection angle parameter, the method further comprises:
acquiring an environment image shot by the unmanned aerial vehicle in the air;
reconstructing a three-dimensional environment of the area around the ejection point of the ejection rack according to the environment image, and extracting barrier information in the three-dimensional environment;
planning an ejection route of a subsequent unmanned aerial vehicle from an ejection point to a task area by adopting an obstacle avoidance algorithm according to the three-dimensional environment reconstruction result and the obstacle information;
and controlling the subsequent unmanned aerial vehicle to be ejected to the task area for performing tasks according to the planned flight route.
5. The method for controlling the ejection of the unmanned aerial vehicle according to claim 1, wherein the step of adopting the obstacle avoidance algorithm to plan the ejection route of the subsequent unmanned aerial vehicle from the ejection point to the task area comprises the following steps:
determining obstacle avoidance priority according to the obstacle information;
and determining an optimal obstacle avoidance route from an ejection point to the task area of the unmanned aerial vehicle under the ejection initial speed parameter and the ejection angle parameter by adopting an obstacle avoidance algorithm according to the obstacle information and the obstacle avoidance priority, wherein the obstacle avoidance algorithm is an A star algorithm.
6. The unmanned aerial vehicle ejection control method of claim 4, wherein after the reconstructing the three-dimensional environment of the area around the ejection point of the ejection rack from the environmental image, the method further comprises:
comparing the current illumination intensity value with a preset illumination intensity threshold value, and if the current illumination intensity value is larger than the illumination intensity threshold value, acquiring a current environment temperature value and a preset environment temperature threshold value;
if the environmental temperature value is larger than the environmental temperature threshold value, determining a fire area based on the three-dimensional environmental reconstruction result;
and adjusting the ejection initial speed parameter and the ejection angle parameter based on the fire area so that the unmanned aerial vehicle ejected subsequently can quickly pass through the fire area.
7. The unmanned aerial vehicle ejection control method of claim 4, wherein after the reconstructing the three-dimensional environment of the area around the ejection point of the ejection rack from the environmental image, the method further comprises:
determining the obstacle intensity of the area around the ejection point of the ejection rack according to the three-dimensional environment reconstruction result and the obstacle information;
if the density exceeds a degree threshold, increasing the ejection initial speed parameter, and adjusting the ejection angle parameter so as to enable the unmanned aerial vehicle ejected subsequently to rapidly pass through the obstacle.
8. An unmanned aerial vehicle ejection control device, applying the unmanned aerial vehicle ejection control method according to any one of claims 1 to 7, characterized in that the device comprises:
the illumination intensity acquisition module is used for acquiring a current illumination intensity value of an area where the ejection rack is located, wherein the current illumination intensity value is acquired by the illumination sensor;
the wind speed acquisition module is used for acquiring a current wind speed value of an area where the ejection rack acquired by the wind speed sensor is located;
the parameter calculation module is used for inputting the current illumination intensity value and the current wind speed value into a preset environmental impact calculation model for calculation to obtain an ejection initial speed parameter and an ejection angle parameter;
and the ejection control module is used for controlling the ejection frame to eject the unmanned aerial vehicle according to the ejection initial speed parameter and the ejection angle parameter.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the unmanned aerial vehicle ejection control method of any one of claims 1-7 when the computer program is executed.
10. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor realizes the steps of the unmanned aerial vehicle ejection control method of any of claims 1-7.
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