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A control method, device, equipment and storage medium for unmanned aerial vehicle formation

A control method and unmanned aerial vehicle technology, applied in the direction of control/adjustment system, non-electric variable control, three-dimensional position/channel control, etc. Obtain the most information of the target under test and other issues to achieve the effect of increasing the amount of information acquired

Active Publication Date: 2021-05-07
SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

To sum up, in all the current planning methods, the main problems to be solved are formation change, formation stability, collision avoidance, obstacle avoidance, and reaching the target, etc., and it is impossible to obtain the most information of the measured target, and it is impossible to use UAV clusters. Improve the efficiency and accuracy of target recognition and scanning

Method used

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  • A control method, device, equipment and storage medium for unmanned aerial vehicle formation
  • A control method, device, equipment and storage medium for unmanned aerial vehicle formation
  • A control method, device, equipment and storage medium for unmanned aerial vehicle formation

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Embodiment 1

[0033] figure 1 It is a flow chart of a method for controlling a UAV formation provided by Embodiment 1 of the present invention. This embodiment can be applied to automatically control the UAV formation to comprehensively detect and identify target objects or model three-dimensional scanning. This method can be performed by The control device of the UAV formation can be implemented by means of software and / or hardware, and the device can be configured in the ground control equipment or in the target UAV, wherein the target UAV It can be any one of the drones. Such as figure 1 As shown, the method includes the following operations:

[0034] S110. Acquire at least one local feature point of the target object collected by the drone.

[0035] Wherein, the target object is a stationary or moving object on the ground, such as a car, a valley, and the like. Feature points refer to points that have distinct characteristics and can effectively reflect the essential characteristics...

Embodiment 2

[0056] figure 2 It is a flow chart of a method for controlling a UAV formation provided by Embodiment 2 of the present invention. This embodiment is embodied on the basis of the above-mentioned embodiments. A specific implementation of controlling the formation position of each of the UAVs relative to the position of the target object and the position of the local feature point in the global feature point distribution map. Correspondingly, such as figure 2 As shown, the method of this embodiment may include:

[0057] S210. Acquire at least one local feature point of the target object collected by the drone.

[0058] S220. According to the positions of the local feature points in the global feature point distribution map, form a local feature point distribution map.

[0059] S230. In the local feature point distribution map, determine at least one target area; wherein, the local feature point density in the target area satisfies a preset condition.

[0060] Wherein, the l...

Embodiment 3

[0077] Figure 5 It is a schematic diagram of a UAV formation control device provided in Embodiment 3 of the present invention, which can execute the UAV formation control method provided in any embodiment of the present invention. This embodiment is applicable to automatic control of UAV formation In order to comprehensively obtain the measured target information.

[0078] Such as Figure 5 As shown, the device includes: an information acquisition module 310, a location determination module 320, and a location control module 330, wherein:

[0079] An information acquisition module 310, configured to acquire local feature points of a target object collected by at least one unmanned aerial vehicle;

[0080] A position determining module 320, configured to determine the position of the local feature points in the global feature point distribution map of the target object according to the position of each of the drones relative to the target object and the attitude of each of t...

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Abstract

The embodiment of the present invention discloses a control method, device, equipment and storage medium for UAV formation. The method includes: acquiring local feature points of target objects collected by at least one UAV; The position of the target object and the attitude of each of the drones determine the position of the local feature points in the global feature point distribution map of the target object; based on the position of each of the drones relative to the target object and The positions of the local feature points in the global feature point distribution map control the formation positions of each of the UAVs. The technical solutions of the embodiments of the present invention can increase the information acquisition amount of the measured target object, thereby improving the efficiency of identifying and scanning the measured target object and the accuracy of identifying and scanning the measured target object.

Description

technical field [0001] The embodiments of the present invention relate to the field of unmanned aerial vehicle operations, and in particular to a control method, device, equipment and storage medium for an unmanned aerial vehicle formation. Background technique [0002] The research of unmanned aerial vehicles (UAVs) has made great progress in recent years, and its advantages such as small size, light weight, and easy maintenance have been widely promoted, and the requirements for using UAV groups to perform more complex tasks are gradually increasing. Become the trend of UAV research. [0003] The existing UAV swarm planning mainly includes methods such as formation flight and target observation or strike. The mission goal of formation flight is to maintain a specific formation, and the mission goal of target observation and strike is to make the UAV group cover all target areas as much as possible. The formation method focuses on preventing UAV collisions and individual ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 郝祁马睿
Owner SOUTH UNIVERSITY OF SCIENCE AND TECHNOLOGY OF CHINA