Unmanned aerial vehicle cluster interactive arbitrary formation formation method and system

Abstract

The application discloses a method and system for interactive arbitrary formation of a UAV cluster, comprising: obtaining a desired formation of the UAV cluster; saving the desired formation as a picture file and dot-matrixing the desired formation based on the saved picture file; generating formation parameters based on the dot-matrixed desired formation; and completing formation of the desired formation according to the generated formation parameters. The formation method of the application can form the formation of the arbitrary formation of the UAV cluster through human-computer interaction without a formation library.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method and system for interactive arbitrary formation of UAV swarms. Background Technology

[0002] When performing tasks, drone swarms typically need to maintain a certain formation to maximize task efficiency. Different tasks require different formations. Existing formation input methods mostly rely on table lookups, which involves pre-storing commonly used formations in a formation library and retrieving the appropriate formation when needed.

[0003] Existing methods are all for fixed formations and cannot achieve arbitrary formations. Summary of the Invention

[0004] This application provides a method and system for interactive arbitrary formation of drone swarms, enabling drone swarms to form arbitrary formations without the need for a formation library through human-computer interaction.

[0005] This application provides an interactive arbitrary formation method for unmanned aerial vehicle (UAV) swarms, including:

[0006] Obtain the desired formation of the drone swarm;

[0007] The desired formation is saved as an image file, and the desired formation is rasterized based on the saved image file;

[0008] Based on the desired formation after lattice-based configuration, generate formation parameters;

[0009] Based on the generated formation parameters, complete the desired formation.

[0010] Optionally, obtaining the desired formation of the drone swarm includes: providing a handwriting input box and obtaining the desired formation input by the user through the handwriting input box.

[0011] Optionally, saving the desired formation as an image file and rasterizing the desired formation based on the saved image file includes:

[0012] Save the desired formation as an image file in a preset format;

[0013] Convert the image file into an HSV matrix;

[0014] Based on the value of v in the hsv matrix, determine the number of rows and columns corresponding to the black pixels in the image file, so as to segment out the smallest rectangular region containing all black pixels;

[0015] Based on the set number of pixels N per row rThe minimum rectangular region is divided into N intervals. r The rows are divided into one family;

[0016] For each black pixel in a cluster, the k-means clustering algorithm is used to cluster them, such that the distance between black pixels in each cluster is less than a set distance d. c And the number of pixels in each class is not less than the minimum value N. min Not greater than the maximum value N max ;

[0017] For each class in each family, the average position of the black pixels contained therein is taken as the expected position q corresponding to the expected formation. i,j , where the subscript i represents the i-th family and the subscript j represents the j-th class;

[0018] The total number of calculation classes, N, is the number of drones in the formation.

[0019] Optionally, rasterizing the desired formation based on the saved image file further includes: reorganizing all desired positions in the raster into...

[0020] Optionally, based on the desired formation after lattice-based configuration, the generated formation parameters include:

[0021] Set the minimum safe distance r between adjacent drones min ;

[0022] Calculate the minimum distance d between two desired positions in the lattice. min ;

[0023] Calculate the scaling factor λ = r min / d min ;

[0024] Using the scaling factor λ, all desired positions are... Scale the system so that the minimum distance between the two desired positions becomes r after scaling. min Let all the desired positions after scaling be denoted as

[0025] Based on all desired positions after scaling Calculate the expected relative position between each pair of drones. Where r ij =p i -p j Let i be the expected relative position of drone i with respect to drone j;

[0026] Based on all desired positions after scaling Calculate the expected distance between each pair of drones Where d ij =||p i-p j || represents the expected distance between drone i and drone j.

[0027] Optionally, completing the desired formation based on the generated formation parameters includes: using an artificial potential field method as the formation control algorithm based on the generated formation parameters to complete the desired formation.

[0028] This application also proposes an interactive arbitrary formation system for UAV swarms, including a processor and a memory. The memory stores a computer program, which, when executed by the processor, implements the steps of the aforementioned interactive arbitrary formation method for UAV swarms.

[0029] This application also proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the aforementioned interactive arbitrary formation method for UAV swarms.

[0030] The formation method of this application embodiment can realize the formation of drone swarms into arbitrary formations by using human-computer interaction without the need for a formation library.

[0031] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0032] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0033] Figure 1 This is a basic flowchart of the interactive arbitrary formation formation method for drone swarms according to an embodiment of this application;

[0034] Figure 2 , Figure 3 , Figure 4 This is an application example of the interactive arbitrary formation method for UAV swarm based on an interactive interface, as described in this application. Detailed Implementation

[0035] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0036] This application provides a method for interactive arbitrary formation of unmanned aerial vehicle (UAV) swarms, such as... Figure 1 As shown in the diagram, the steps include:

[0037] In step S101, the desired formation of the drone swarm is obtained. In some embodiments, obtaining the desired formation of the drone swarm includes: providing a handwriting input box and obtaining the desired formation input by the user through the handwriting input box. In some specific examples, the interactive interface (handwriting input box) supports handwriting input. The width of the handwriting input pen is fixed and the color is black. Any Chinese characters, English letters, numbers, symbols, and any combination thereof can be handwritten.

[0038] In step S102, the desired formation is saved as an image file, and the desired formation is rasterized based on the saved image file.

[0039] In some embodiments, saving the desired formation as an image file and rasterizing the desired formation based on the saved image file includes:

[0040] Save the desired formation as an image file in a preset format, such as a PNG image file.

[0041] Convert the image file into an HSV matrix.

[0042] Based on the value of v in the hsv matrix, determine the number of rows and columns corresponding to the black pixels in the PNG image file to segment out the smallest rectangular region containing all black pixels.

[0043] Based on the set number of pixels N per row r The smallest rectangular region is divided into rows, and the smallest rectangular region is divided into rows every N. r They are divided into one clan.

[0044] For each black pixel in a cluster, the k-means clustering algorithm is used to cluster them, such that the distance between black pixels in each cluster is less than a set distance d. c And the number of pixels in each class is not less than the minimum value N. min Not greater than the maximum value N max .

[0045] For each class in each family, the average position of the black pixels contained therein is taken as the expected position q corresponding to the expected formation. i,j , where the subscript i represents the i-th family and the subscript j represents the j-th class.

[0046] The total number of calculation classes, N, is the number of drones in the formation.

[0047] In some embodiments, rasterizing the desired formation based on the saved image file further includes: reorganizing all desired positions in the raster into

[0048] In step S103, formation parameters are generated based on the desired formation after lattice-based configuration. In some embodiments, generating formation parameters based on the desired formation after lattice-based configuration includes:

[0049] Set the minimum safe distance r between adjacent drones min .

[0050] Calculate the minimum distance d between two desired positions in the lattice. min .

[0051] Calculate the scaling factor λ = r min / d min .

[0052] Using the scaling factor λ, all desired positions are... Scale the system so that the minimum distance between the two desired positions becomes r after scaling. min Let all the desired positions after scaling be denoted as

[0053] Based on all desired positions after scaling Calculate the expected relative position between each pair of drones. Where r ij =p i -p j Let be the expected relative position of drone i with respect to drone j.

[0054] Based on all desired positions after scaling Calculate the expected distance between each pair of drones Where d ij =||p i -p j || represents the expected distance between drone i and drone j.

[0055] In step S104, the desired formation is completed based on the generated formation parameters.

[0056] In some embodiments, completing the desired formation based on the generated formation parameters includes: using an artificial potential field method as a formation control algorithm based on the generated formation parameters to complete the desired formation.

[0057] Figures 2-4 This is an example of the interface for an interactive arbitrary formation system developed using Matlab computing software. In the interface, the white box without coordinate axes on the left is the handwritten input area for the desired formation, and the white box with coordinate axes on the right is the display area for the formation process.

[0058] An exemplary applicable process is as follows:

[0059] 1) Enter the desired formation by handwriting in the handwriting input area.

[0060] 2) Click “Start Formation” to begin formation. The handwriting input area displays the dot matrix of the desired formation. The formation process display area shows the current flight status of the drone cluster every 5 seconds, including the current position of each drone and its flight trajectory for the last 50 seconds.

[0061] 3) Click “Stop Formation” to stop formation and clear the handwriting input area. At this time, you can re-enter the desired formation and form the formation again by clicking “Start Formation” again.

[0062] 4) Click “Reset” to clear the handwriting input area and the formation process display area.

[0063] The formation method of this application embodiment can realize the formation of drone swarms into arbitrary formations by using human-computer interaction without the need for a formation library.

[0064] This application also proposes an interactive arbitrary formation system for UAV swarms, including a processor and a memory. The memory stores a computer program, which, when executed by the processor, implements the steps of the aforementioned interactive arbitrary formation method for UAV swarms.

[0065] This application also proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the aforementioned interactive arbitrary formation method for UAV swarms.

[0066] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0067] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0068] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0069] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims. All of these forms are within the protection scope of this application.

Claims

1. A method for interactive arbitrary formation of unmanned aerial vehicle (UAV) swarms, characterized in that, include: Obtain the desired formation of the drone swarm; The desired formation is saved as an image file, and the desired formation is rasterized based on the saved image file; Based on the desired formation after lattice-based configuration, generate formation parameters; Based on the generated formation parameters, complete the desired formation. Saving the desired formation as an image file, and then rasterizing the desired formation based on the saved image file, includes: Save the desired formation as an image file in a preset format; Convert the image file into an HSV matrix; Based on the value of v in the hsv matrix, determine the number of rows and columns corresponding to the black pixels in the image file, so as to segment out the smallest rectangular region containing all black pixels; Based on the set number of pixels per row The minimum rectangular region is spaced at intervals of The rows are divided into one family; For each cluster of black pixels, k-means clustering is used to cluster them, such that the distance between black pixels in each cluster is less than a set distance. And the number of pixels in each category is not less than the minimum value. Not greater than the maximum value ; For each class in each family, the average position of the black pixels contained therein is taken as the expected position corresponding to the expected formation. subscript Indicates the first Clan, subscript Indicates the first kind; Calculate the total number of classes This refers to the number of drones in the formation.

2. The interactive arbitrary formation formation method for UAV swarms as described in claim 1, characterized in that, Obtaining the desired formation of the drone swarm includes: providing a handwriting input box and obtaining the desired formation input by the user through the handwriting input box.

3. The interactive arbitrary formation formation method for UAV swarms as described in claim 1, characterized in that, The process of rasterizing the desired formation based on the saved image file also includes: reorganizing all desired positions in the raster into... .

4. The interactive arbitrary formation formation method for UAV swarms as described in claim 3, characterized in that, Based on the desired formation after lattice-based configuration, the generated formation parameters include: Set the minimum safe distance between adjacent drones ; Calculate the minimum distance between two desired locations in a lattice. ; Calculate the scaling factor ; Using the scaling factor , all desired positions Scale the system so that the minimum distance between the two desired positions becomes... Let all the desired positions after scaling be denoted as ; Based on all desired positions after scaling Calculate the expected relative position between each pair of drones. ,in For drones Compared to drones The expected relative position; Based on all desired positions after scaling Calculate the expected distance between each pair of drones. ,in For drones With drones The expected distance.

5. The interactive arbitrary formation formation method for UAV swarms as described in claim 1, characterized in that, The process of completing the desired formation based on the generated formation parameters includes: using the artificial potential field method as the formation control algorithm to complete the desired formation based on the generated formation parameters.

6. A drone swarm interactive arbitrary formation system, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, implements the steps of the interactive arbitrary formation method for unmanned aerial vehicle swarms as described in any one of claims 1 to 5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the interactive arbitrary formation method for unmanned aerial vehicle swarms as described in any one of claims 1 to 5.

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