A cloud computer-based unmanned aerial vehicle interaction grouping control method, system and medium

Abstract

This invention discloses a cloud-based UAV interactive group control method, system, and medium. The method includes: acquiring UAV flight data; sending the UAV flight data to a cloud computer for storage; constructing a coordinate system for the UAV on the cloud computer based on the UAV flight data, obtaining the UAV's cloud coordinates; extracting the UAV's cloud coordinates at a first moment and calculating distance values ​​to obtain a first sum of distances; extracting the minimum first sum of distances and designating the UAV corresponding to the minimum first sum of distances as the lead UAV; calculating distance values ​​for the cloud coordinates of other UAVs and the lead UAV to obtain a second distance value; and grouping other UAVs according to a preset range into which the second distance value falls for tiered control. This invention improves the efficiency of group control by grouping UAVs according to their distance values ​​and determining the lead UAV.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically, to a UAV interactive group control method, system, and medium based on cloud computing. Background Technology

[0002] With the advancement of technology, drones are widely used in various aspects of life, especially in forming drone swarms, which can expand the role of drones. Drone swarm flights involve many issues, such as obstacle avoidance, maintaining formation, and energy consumption. Direct control of these drones would require a significant amount of computing power.

[0003] Therefore, existing technologies have shortcomings and urgently need improvement. Summary of the Invention

[0004] In view of the above problems, the purpose of this invention is to provide a cloud computer-based UAV interactive group control method, system and medium, which can more effectively improve the efficiency of group control and reduce UAV energy consumption.

[0005] The first aspect of this invention provides a cloud-based UAV interactive group control method, comprising:

[0006] Acquire flight data information from drones;

[0007] The drone's flight data is sent to a cloud computer for storage;

[0008] Based on the coordinate system of the cloud computer, the coordinate system of the drone on the cloud computer is constructed according to the drone's flight data to obtain the cloud coordinates of the drone;

[0009] Extract the cloud coordinates of the drone at the first moment and calculate the distance value to obtain the first sum of the drone's distances;

[0010] Extract the minimum sum of first distances and set the drone corresponding to the minimum sum of first distances as the lead drone;

[0011] The distance values ​​are calculated from the cloud coordinates of other drones and the lead drone to obtain the second distance value;

[0012] Based on the preset range into which the second distance value falls, other drones are grouped for tiered control.

[0013] In this solution, the formula for obtaining the sum of the first distances of the UAV is specifically as follows:

[0014] Let the sum of the first distances of the drone be P, and its formula is: Where i and n represent the drone numbers, x represents the set of drone numbers, and A iA n Let P represent the distance from drone number i to drone number n, where n, i ∈ x and i ≠ n; i This represents the sum of the first distances for the drone numbered i.

[0015] This plan also includes:

[0016] Extract the cloud coordinates of the UAV at the second moment and calculate the distance values ​​by comparison to obtain the sum of the third distances of the UAV;

[0017] Extract the cloud coordinates of the drone corresponding to the minimum sum of the third distances;

[0018] The distance difference between the drone and the lead drone is calculated by taking the cloud coordinates of the drone corresponding to the smallest sum of the third distances and the cloud coordinates of the lead drone at the first moment.

[0019] Determine whether the distance difference between the lead drone and the drone is greater than a preset third distance threshold. If so, set the drone corresponding to the smallest sum of the third distances as the lead drone.

[0020] This plan also includes:

[0021] Acquire the target flight formation pattern of the drones;

[0022] Based on the target flight formation pattern of the UAV, the target cloud coordinates of the UAV are obtained;

[0023] The distance value is calculated from the target cloud coordinates of the UAV to obtain the lead UAV and group information when the UAV is in the target flight formation pattern.

[0024] The drone that is in the target flight formation pattern is designated as the target drone leader, and the group of drones in the target flight formation pattern is designated as the target group.

[0025] This plan also includes:

[0026] Obtain the current information on the lead drone and drone grouping;

[0027] Determine whether the current lead drone and the target lead drone are the same. If they are the same, there is no need to change the lead drone. If not, obtain the time when the drones formed the target flight formation pattern.

[0028] Determine if the current drone group is the same as the target group. If so, there is no need to change the drone group. If not, obtain the time when the drones formed the target flight formation pattern.

[0029] Based on the preset adjustment time, the preparation time is obtained according to the time when the drones form the target flight formation pattern at the current moment;

[0030] Before the preparation time, the cloud computer sends navigation commands to the corresponding target navigation drone or group commands to the corresponding target group drones.

[0031] In this solution, the cascade control specifically includes:

[0032] The drones are numbered according to the group order to obtain the group number information of the corresponding drone;

[0033] The distance between the drones in adjacent group numbers is calculated to obtain the fourth distance value;

[0034] Extract the two drones corresponding to the smallest fourth distance value;

[0035] The two drones corresponding to the smallest fourth distance value will use the drone with the larger group number to guide the drone with the smaller group number.

[0036] A second aspect of the present invention provides a cloud computer-based UAV interactive group control system, including a memory and a processor. The memory stores a cloud computer-based UAV interactive group control method program, which, when executed by the processor, performs the following steps:

[0037] Acquire flight data information from drones;

[0038] The drone's flight data is sent to a cloud computer for storage;

[0039] Based on the coordinate system of the cloud computer, the coordinate system of the drone on the cloud computer is constructed according to the drone's flight data to obtain the cloud coordinates of the drone;

[0040] Extract the cloud coordinates of the drone at the first moment and calculate the distance value to obtain the first sum of the drone's distances;

[0041] Extract the minimum sum of first distances and set the drone corresponding to the minimum sum of first distances as the lead drone;

[0042] The distance values ​​are calculated from the cloud coordinates of other drones and the lead drone to obtain the second distance value;

[0043] Based on the preset range into which the second distance value falls, other drones are grouped for tiered control.

[0044] In this solution, the formula for obtaining the sum of the first distances of the UAV is specifically as follows:

[0045] Let the sum of the first distances of the drone be P, and its formula is: Where i and n represent the drone numbers, x represents the set of drone numbers, and A i A n Let P represent the distance from drone number i to drone number n, where n, i ∈ x and i ≠ n; i This represents the sum of the first distances for the drone numbered i.

[0046] This plan also includes:

[0047] Extract the cloud coordinates of the UAV at the second moment and calculate the distance values ​​by comparison to obtain the sum of the third distances of the UAV;

[0048] Extract the cloud coordinates of the drone corresponding to the minimum sum of the third distances;

[0049] The distance difference between the drone and the lead drone is calculated by taking the cloud coordinates of the drone corresponding to the smallest sum of the third distances and the cloud coordinates of the lead drone at the first moment.

[0050] Determine whether the distance difference between the lead drone and the drone is greater than a preset third distance threshold. If so, set the drone corresponding to the smallest sum of the third distances as the lead drone.

[0051] This plan also includes:

[0052] Acquire the target flight formation pattern of the drones;

[0053] Based on the target flight formation pattern of the UAV, the target cloud coordinates of the UAV are obtained;

[0054] The distance value is calculated from the target cloud coordinates of the UAV to obtain the lead UAV and group information when the UAV is in the target flight formation pattern.

[0055] The drone that is in the target flight formation pattern is designated as the target drone leader, and the group of drones in the target flight formation pattern is designated as the target group.

[0056] This plan also includes:

[0057] Obtain the current information on the lead drone and drone grouping;

[0058] Determine whether the current lead drone and the target lead drone are the same. If they are the same, there is no need to change the lead drone. If not, obtain the time when the drones formed the target flight formation pattern.

[0059] Determine if the current drone group is the same as the target group. If so, there is no need to change the drone group. If not, obtain the time when the drones formed the target flight formation pattern.

[0060] Based on the preset adjustment time, the preparation time is obtained according to the time when the drones form the target flight formation pattern at the current moment;

[0061] Before the preparation time, the cloud computer sends navigation commands to the corresponding target navigation drone or group commands to the corresponding target group drones.

[0062] In this solution, the cascade control specifically includes:

[0063] The drones are numbered according to the group order to obtain the group number information of the corresponding drone;

[0064] The distance between the drones in adjacent group numbers is calculated to obtain the fourth distance value;

[0065] Extract the two drones corresponding to the smallest fourth distance value;

[0066] The two drones corresponding to the smallest fourth distance value will use the drone with the larger group number to guide the drone with the smaller group number.

[0067] A third aspect of the present invention provides a computer-readable storage medium storing a program for a cloud-based UAV interactive group control method. When the program is executed by a processor, it implements the steps of the cloud-based UAV interactive group control method as described in any one of the above descriptions.

[0068] This invention discloses a cloud computer-based UAV interactive group control method, system, and medium, which groups UAVs according to the distance between them and determines the lead UAV, thereby improving the efficiency of group control. Attached Figure Description

[0069] Figure 1 A flowchart of a cloud computer-based UAV interactive group control method of the present invention is shown;

[0070] Figure 2 A block diagram of a cloud computer-based UAV interactive group control system of the present invention is shown. Detailed Implementation

[0071] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0072] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0073] Figure 1 A flowchart of a cloud computer-based UAV interactive group control method of the present invention is shown.

[0074] S101, acquires flight data information of the drone;

[0075] S102 sends the drone's flight data to a cloud computer for storage;

[0076] S103, a coordinate system based on a cloud computer, constructs the coordinate system of the UAV on the cloud computer based on the UAV's flight data to obtain the UAV's cloud coordinates;

[0077] S104: Extract the cloud coordinates of the UAV at the first moment and calculate the distance value to obtain the first sum of distances of the UAV;

[0078] S105, extract the minimum sum of first distances, and set the drone corresponding to the minimum sum of first distances as the lead drone;

[0079] S106, calculate the distance value by analyzing the cloud coordinates of other drones and the lead drone to obtain the second distance value;

[0080] S107, based on the preset range into which the second distance value falls, group other drones for tiered control.

[0081] It should be noted that the drone's flight data includes its latitude and longitude, flight altitude, and other location information. The drone's position is displayed on a cloud computer, which constructs a coordinate system. The cloud coordinates of the drone are three-dimensional coordinates, and the cloud coordinates on the cloud computer represent the relative coordinates between drones, for example, (X, Y, Z). The distance between drones is then calculated using the distance formula between two cloud coordinate points. Where (X1,Y1,Z1) and (X2,Y2,Z2) represent the two cloud coordinate points corresponding to the two drones; then, taking the lead drone as the reference point, the other drones are grouped. For example, if 5 meters is set as a range base, the preset range is (0,5], (5,10], (10,15]... and so on. Among them, drones whose second distance value falls within the range of (0,5] are set as the first group, drones whose second distance value falls within the range of (5,10] are set as the second group, and so on. The first group is set as the largest group number. The smaller the group number value, the larger its number. For example, the first group number is greater than the second group number.

[0082] According to an embodiment of the present invention, the formula for obtaining the sum of the first distances of the UAV is specifically as follows:

[0083] Let the sum of the first distances of the drone be P, and its formula is: Where i and n represent the drone numbers, x represents the set of drone numbers, and A i A n Let P represent the distance from drone number i to drone number n, where n, i ∈ x and i ≠ n; i This represents the sum of the first distances for the drone numbered i.

[0084] It should be noted that the distance values ​​of the drone and other drones are summed to obtain the first sum of distances for the corresponding drone.

[0085] According to an embodiment of the present invention, it further includes:

[0086] Extract the cloud coordinates of the UAV at the second moment and calculate the distance values ​​by comparison to obtain the sum of the third distances of the UAV;

[0087] Extract the cloud coordinates of the drone corresponding to the minimum sum of the third distances;

[0088] The distance difference between the drone and the lead drone is calculated by taking the cloud coordinates of the drone corresponding to the smallest sum of the third distances and the cloud coordinates of the lead drone at the first moment.

[0089] Determine whether the distance difference between the lead drone and the drone is greater than a preset third distance threshold. If so, set the drone corresponding to the smallest sum of the third distances as the lead drone.

[0090] It should be noted that the cloud coordinates of the drone at the second moment are calculated according to the formula for the sum of the first distance of the drone to obtain the third distance sum of the drone. For example, if the preset third distance threshold is 15 meters, then when the distance difference of the lead drone is greater than 15 meters, the drone will switch to the lead drone at the second moment. The drone corresponding to the smallest third distance sum is set as the lead drone at the second moment. At the same time, it is determined whether to switch the lead drone at the third moment based on the lead drone at the second moment and the preset third distance threshold, and so on.

[0091] According to an embodiment of the present invention, it further includes:

[0092] Acquire the target flight formation pattern of the drones;

[0093] Based on the target flight formation pattern of the UAV, the target cloud coordinates of the UAV are obtained;

[0094] The distance value is calculated from the target cloud coordinates of the UAV to obtain the lead UAV and group information when the UAV is in the target flight formation pattern.

[0095] The drone that is in the target flight formation pattern is designated as the target drone leader, and the group of drones in the target flight formation pattern is designated as the target group.

[0096] It should be noted that the target flight formation pattern of the UAV is the formation pattern that the UAV will reach in the future. The distance value of the target cloud coordinates of the UAV is calculated according to the calculation formula of the sum of the first distances of the UAV to determine the target leader UAV when the UAV is in the target flight formation pattern. And according to the distance formula of the two cloud coordinate points and the preset range, the target group of the UAV in the target flight formation pattern is determined.

[0097] According to an embodiment of the present invention, it further includes:

[0098] Obtain the current information on the lead drone and drone grouping;

[0099] Determine whether the current lead drone and the target lead drone are the same. If they are the same, there is no need to change the lead drone. If not, obtain the time when the drones formed the target flight formation pattern.

[0100] Determine if the current drone group is the same as the target group. If so, there is no need to change the drone group. If not, obtain the time when the drones formed the target flight formation pattern.

[0101] Based on the preset adjustment time, the preparation time is obtained according to the time when the drones form the target flight formation pattern at the current moment;

[0102] Before the preparation time, the cloud computer sends navigation commands to the corresponding target navigation drone or group commands to the corresponding target group drones.

[0103] It should be noted that the preparation time is obtained by subtracting the preset adjustment time from the time when the drones form the target flight formation at the current moment. For example, if the time when the drones form the target flight formation at the current moment is 10:00, and the preset adjustment time is 3 minutes, then the corresponding preparation time is 9:57. The cloud computer needs to send navigation commands to the corresponding target lead drone or group commands to the corresponding target group drones. The navigation commands include flight command control information such as formation constraint information and flight speed control information of the lead drone to the drones in the first group. The group commands include flight command control information such as formation constraint information and flight speed control information of the drone with the larger group number to the drone with the smaller group number.

[0104] According to an embodiment of the present invention, the cascade control specifically includes:

[0105] The drones are numbered according to the group order to obtain the group number information of the corresponding drone;

[0106] The distance between the drones in adjacent group numbers is calculated to obtain the fourth distance value;

[0107] Extract the two drones corresponding to the smallest fourth distance value;

[0108] The two drones corresponding to the smallest fourth distance value will use the drone with the larger group number to guide the drone with the smaller group number.

[0109] It should be noted that drones with larger group numbers lead drones with smaller group numbers. For example, drones in the first group lead drones in the second group, drones in the second group lead drones in the third group, and so on. The distance between drones with adjacent group numbers is calculated to obtain a fourth distance value. The two drones corresponding to the smallest fourth distance value are then selected. For example, if the fourth distance value between drone #2 in the second group and drone #1 in the first group is the smallest, then drone #2 in the second group will be led and controlled by drone #1 in the first group. Drone #1 in the first group will constrain the flight speed, flight angle, and other flight status of drone #2 in the second group. Drone #2 in the second group needs to report real-time flight data to drone #1 in the first group.

[0110] Furthermore, there is a maximum number of drones each can lead. Distance values ​​are calculated between the drones in the current group and all drones in adjacent groups to obtain a fourth distance value set for the drones in the current group. The minimum value in this fourth distance value set is the minimum fourth distance value for the drones in the current group. If the drone corresponding to the minimum fourth distance value of the drones in the current group has already reached its maximum number of drones it can lead, then the drones in the current group can only be divided according to the second smallest fourth distance value, and so on. For example, if the fourth distance values ​​of drone #1 in the first group and the 11 drones in the second group are both minimum, and the maximum number of drones each can lead is set to 10, then the number of drones led by drone #1 in the first group will exceed 10. Therefore, the minimum fourth distance values ​​of drone #1 in the first group and the 11 drones in the second group are sorted in ascending order, and the 10 drones with the highest minimum fourth distance values ​​are selected.

[0111] According to an embodiment of the present invention, it further includes:

[0112] Get the number of drones in the current group and the number of drones in the previous group;

[0113] Based on the maximum number of drones each drone can lead, multiply the number of drones in the previous group by the maximum number of drones each drone can lead to obtain the maximum number of drones in the current group.

[0114] Determine if the number of drones in the current group is greater than the maximum number of drones in the corresponding group. If so, subtract the maximum number of drones in the corresponding group from the number of drones in the current group to obtain the number of drones that need to be cleared in the current group.

[0115] The number of drones that need to be cleared in the current group will be assigned to the next group.

[0116] It should be noted that the number of drones in each group is fixed. For example, the maximum number of drones each can lead is 10. If the previous group has 10 drones, then the maximum number of drones in the current group is 100. If the number of drones in a group exceeds the maximum number of drones in that group, the excess drones are moved to the next group. For example, if the second group currently has 110 drones and the maximum number of drones in the second group is 100, then the excess 10 drones need to be moved to the third group. The rule for moving the drones to be removed from the current group to the next group is as follows: calculate the distance between the drones in the current group and the previous group to obtain a fourth distance value, arrange the fourth distance values ​​in ascending order, and delete the drones to be removed from the end of the arrangement. For example, calculate the distance between the drones in the second group and the drones in the first group to obtain a fourth distance value, arrange the fourth distance values ​​in ascending order, remove the last 10 drones from the end, and move the last 10 removed drones to the third group.

[0117] According to an embodiment of the present invention, it further includes:

[0118] Obtain information on the time interval at which the drone uploads flight data;

[0119] Determine whether the time interval between the drone uploading flight data is greater than a preset time threshold; if so, trigger a prompt message.

[0120] When the drone belongs to the first group, the prompt message is sent to the lead drone;

[0121] When the drone does not belong to the first group, the prompt message is sent to the group leader drone of the group to which the drone belongs.

[0122] It should be noted that, for example, if the preset time threshold is 2 seconds, the drone needs to upload its flight data to the cloud computer every 2 seconds. If it fails to upload, a prompt message will be triggered. If a drone in the previous group leads a drone in the next group, then the drone in the previous group becomes the group leader drone for the next group. For example, if drone number 1 in the first group leads drone number 2 in the second group, then drone number 1 in the first group becomes the group leader drone for drone number 2 in the second group. The corresponding leader drone or group leader drone monitors the drone's flight data and constrains the drone's flight status.

[0123] Figure 2 A block diagram of a cloud computer-based UAV interactive group control system of the present invention is shown.

[0124] like Figure 2 As shown, a second aspect of the present invention provides a cloud computer-based UAV interactive group control system 2, including a memory 21 and a processor 22. The memory stores a cloud computer-based UAV interactive group control method program, which, when executed by the processor, performs the following steps:

[0125] Acquire flight data information from drones;

[0126] The drone's flight data is sent to a cloud computer for storage;

[0127] Based on the coordinate system of the cloud computer, the coordinate system of the drone on the cloud computer is constructed according to the drone's flight data to obtain the cloud coordinates of the drone;

[0128] Extract the cloud coordinates of the drone at the first moment and calculate the distance value to obtain the first sum of the drone's distances;

[0129] Extract the minimum sum of first distances and set the drone corresponding to the minimum sum of first distances as the lead drone;

[0130] The distance values ​​are calculated from the cloud coordinates of other drones and the lead drone to obtain the second distance value;

[0131] Based on the preset range into which the second distance value falls, other drones are grouped for tiered control.

[0132] It should be noted that the drone's flight data includes its latitude and longitude, flight altitude, and other location information. The drone's position is displayed on a cloud computer, which constructs a coordinate system. The cloud coordinates of the drone are three-dimensional coordinates, and the cloud coordinates on the cloud computer represent the relative coordinates between drones, for example, (X, Y, Z). The distance between drones is then calculated using the distance formula between two cloud coordinate points. Where (X1,Y1,Z1) and (X2,Y2,Z2) represent the two cloud coordinate points corresponding to the two drones; then, taking the lead drone as the reference point, the other drones are grouped. For example, if 5 meters is set as a range base, the preset range is (0,5], (5,10], (10,15]... and so on. Among them, drones whose second distance value falls within the range of (0,5] are set as the first group, drones whose second distance value falls within the range of (5,10] are set as the second group, and so on. The first group is set as the largest group number. The smaller the group number value, the larger its number. For example, the first group number is greater than the second group number.

[0133] According to an embodiment of the present invention, the formula for obtaining the sum of the first distances of the UAV is specifically as follows:

[0134] Let the sum of the first distances of the drone be P, and its formula is: Where i and n represent the drone numbers, x represents the set of drone numbers, and A i A n Let P represent the distance from drone number i to drone number n, where n, i ∈ x and i ≠ n; i This represents the sum of the first distances for the drone numbered i.

[0135] It should be noted that the distance values ​​of the drone and other drones are summed to obtain the first sum of distances for the corresponding drone.

[0136] According to an embodiment of the present invention, it further includes:

[0137] Extract the cloud coordinates of the UAV at the second moment and calculate the distance values ​​by comparison to obtain the sum of the third distances of the UAV;

[0138] Extract the cloud coordinates of the drone corresponding to the minimum sum of the third distances;

[0139] The distance difference between the drone and the lead drone is calculated by taking the cloud coordinates of the drone corresponding to the smallest sum of the third distances and the cloud coordinates of the lead drone at the first moment.

[0140] Determine whether the distance difference between the lead drone and the drone is greater than a preset third distance threshold. If so, set the drone corresponding to the smallest sum of the third distances as the lead drone.

[0141] It should be noted that the cloud coordinates of the drone at the second moment are calculated according to the formula for the sum of the first distance of the drone to obtain the third distance sum of the drone. For example, if the preset third distance threshold is 15 meters, then when the distance difference of the lead drone is greater than 15 meters, the drone will switch to the lead drone at the second moment. The drone corresponding to the smallest third distance sum is set as the lead drone at the second moment. At the same time, it is determined whether to switch the lead drone at the third moment based on the lead drone at the second moment and the preset third distance threshold, and so on.

[0142] According to an embodiment of the present invention, it further includes:

[0143] Acquire the target flight formation pattern of the drones;

[0144] Based on the target flight formation pattern of the UAV, the target cloud coordinates of the UAV are obtained;

[0145] The distance value is calculated from the target cloud coordinates of the UAV to obtain the lead UAV and group information when the UAV is in the target flight formation pattern.

[0146] The drone that is in the target flight formation pattern is designated as the target drone leader, and the group of drones in the target flight formation pattern is designated as the target group.

[0147] It should be noted that the target flight formation pattern of the UAV is the formation pattern that the UAV will reach in the future. The distance value of the target cloud coordinates of the UAV is calculated according to the calculation formula of the sum of the first distances of the UAV to determine the target leader UAV when the UAV is in the target flight formation pattern. And according to the distance formula of the two cloud coordinate points and the preset range, the target group of the UAV in the target flight formation pattern is determined.

[0148] According to an embodiment of the present invention, it further includes:

[0149] Obtain the current information on the lead drone and drone grouping;

[0150] Determine whether the current lead drone and the target lead drone are the same. If they are the same, there is no need to change the lead drone. If not, obtain the time when the drones formed the target flight formation pattern.

[0151] Determine if the current drone group is the same as the target group. If so, there is no need to change the drone group. If not, obtain the time when the drones formed the target flight formation pattern.

[0152] Based on the preset adjustment time, the preparation time is obtained according to the time when the drones form the target flight formation pattern at the current moment;

[0153] Before the preparation time, the cloud computer sends navigation commands to the corresponding target navigation drone or group commands to the corresponding target group drones.

[0154] It should be noted that the preparation time is obtained by subtracting the preset adjustment time from the time when the drones form the target flight formation at the current moment. For example, if the time when the drones form the target flight formation at the current moment is 10:00, and the preset adjustment time is 3 minutes, then the corresponding preparation time is 9:57. The cloud computer needs to send navigation commands to the corresponding target lead drone or group commands to the corresponding target group drones. The navigation commands include flight command control information such as formation constraint information and flight speed control information of the lead drone to the drones in the first group. The group commands include flight command control information such as formation constraint information and flight speed control information of the drone with the larger group number to the drone with the smaller group number.

[0155] According to an embodiment of the present invention, the cascade control specifically includes:

[0156] The drones are numbered according to the group order to obtain the group number information of the corresponding drone;

[0157] The distance between the drones in adjacent group numbers is calculated to obtain the fourth distance value;

[0158] Extract the two drones corresponding to the smallest fourth distance value;

[0159] The two drones corresponding to the smallest fourth distance value will use the drone with the larger group number to guide the drone with the smaller group number.

[0160] It should be noted that drones with larger group numbers lead drones with smaller group numbers. For example, drones in the first group lead drones in the second group, drones in the second group lead drones in the third group, and so on. The distance between drones with adjacent group numbers is calculated to obtain a fourth distance value. The two drones corresponding to the smallest fourth distance value are then selected. For example, if the fourth distance value between drone #2 in the second group and drone #1 in the first group is the smallest, then drone #2 in the second group will be led and controlled by drone #1 in the first group. Drone #1 in the first group will constrain the flight speed, flight angle, and other flight status of drone #2 in the second group. Drone #2 in the second group needs to report real-time flight data to drone #1 in the first group.

[0161] Furthermore, there is a maximum number of drones each can lead. Distance values ​​are calculated between the drones in the current group and all drones in adjacent groups to obtain a fourth distance value set for the drones in the current group. The minimum value in this fourth distance value set is the minimum fourth distance value for the drones in the current group. If the drone corresponding to the minimum fourth distance value of the drones in the current group has already reached its maximum number of drones it can lead, then the drones in the current group can only be divided according to the second smallest fourth distance value, and so on. For example, if the fourth distance values ​​of drone #1 in the first group and the 11 drones in the second group are both minimum, and the maximum number of drones each can lead is set to 10, then the number of drones led by drone #1 in the first group will exceed 10. Therefore, the minimum fourth distance values ​​of drone #1 in the first group and the 11 drones in the second group are sorted in ascending order, and the 10 drones with the highest minimum fourth distance values ​​are selected.

[0162] According to an embodiment of the present invention, it further includes:

[0163] Get the number of drones in the current group and the number of drones in the previous group;

[0164] Based on the maximum number of drones each drone can lead, multiply the number of drones in the previous group by the maximum number of drones each drone can lead to obtain the maximum number of drones in the current group.

[0165] Determine if the number of drones in the current group is greater than the maximum number of drones in the corresponding group. If so, subtract the maximum number of drones in the corresponding group from the number of drones in the current group to obtain the number of drones that need to be cleared in the current group.

[0166] The number of drones that need to be cleared in the current group will be assigned to the next group.

[0167] It should be noted that the number of drones in each group is fixed. For example, the maximum number of drones each can lead is 10. If the previous group has 10 drones, then the maximum number of drones in the current group is 100. If the number of drones in a group exceeds the maximum number of drones in that group, the excess drones are moved to the next group. For example, if the second group currently has 110 drones and the maximum number of drones in the second group is 100, then the excess 10 drones need to be moved to the third group. The rule for moving the drones to be removed from the current group to the next group is as follows: calculate the distance between the drones in the current group and the previous group to obtain a fourth distance value, arrange the fourth distance values ​​in ascending order, and delete the drones to be removed from the end of the arrangement. For example, calculate the distance between the drones in the second group and the drones in the first group to obtain a fourth distance value, arrange the fourth distance values ​​in ascending order, remove the last 10 drones from the end, and move the last 10 removed drones to the third group.

[0168] According to an embodiment of the present invention, it further includes:

[0169] Obtain information on the time interval at which the drone uploads flight data;

[0170] Determine whether the time interval between the drone uploading flight data is greater than a preset time threshold; if so, trigger a prompt message.

[0171] When the drone belongs to the first group, the prompt message is sent to the lead drone;

[0172] When the drone does not belong to the first group, the prompt message is sent to the group leader drone of the group to which the drone belongs.

[0173] It should be noted that, for example, if the preset time threshold is 2 seconds, the drone needs to upload its flight data to the cloud computer every 2 seconds. If it fails to upload, a prompt message will be triggered. If a drone in the previous group leads a drone in the next group, then the drone in the previous group becomes the group leader drone for the next group. For example, if drone number 1 in the first group leads drone number 2 in the second group, then drone number 1 in the first group becomes the group leader drone for drone number 2 in the second group. The corresponding leader drone or group leader drone monitors the drone's flight data and constrains the drone's flight status.

[0174] A third aspect of the present invention provides a computer-readable storage medium storing a program for a cloud-based UAV interactive group control method. When the program is executed by a processor, it implements the steps of the cloud-based UAV interactive group control method as described in any one of the above descriptions.

[0175] This invention discloses a cloud-based UAV interactive group control method, system, and medium. The method includes: acquiring UAV flight data; sending the UAV flight data to a cloud computer for storage; constructing a coordinate system for the UAV on the cloud computer based on the UAV flight data, obtaining the UAV's cloud coordinates; extracting the UAV's cloud coordinates at a first moment and calculating distance values ​​to obtain a first sum of distances; extracting the minimum first sum of distances and designating the UAV corresponding to the minimum first sum of distances as the lead UAV; calculating distance values ​​for the cloud coordinates of other UAVs and the lead UAV to obtain a second distance value; and grouping other UAVs according to a preset range into which the second distance value falls for tiered control. This invention improves the efficiency of group control by grouping UAVs according to their distance values ​​and determining the lead UAV.

[0176] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0177] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0178] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0179] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0180] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A cloud-based UAV interactive group control method, characterized in that, include: Acquire flight data information from drones; The drone's flight data is sent to a cloud computer for storage; Based on the coordinate system of the cloud computer, the coordinate system of the drone on the cloud computer is constructed according to the drone's flight data to obtain the cloud coordinates of the drone; Extract the cloud coordinates of the drone at the first moment and calculate the distance value to obtain the first sum of the drone's distances; Extract the minimum sum of first distances and set the drone corresponding to the minimum sum of first distances as the lead drone; The distance values ​​are calculated from the cloud coordinates of other drones and the lead drone to obtain the second distance value; Based on the preset range into which the second distance value falls, other drones are grouped for tiered control.

2. The UAV interactive group control method based on cloud computer according to claim 1, characterized in that, The formula for obtaining the sum of the first distances of the UAV is as follows: Let the sum of the first distances of the drone be P, and its formula is: Where i and n represent the drone numbers, x represents the set of drone numbers, and A i A n Let P represent the distance from drone number i to drone number n, where n, i ∈ x and i ≠ n; i This represents the sum of the first distances for the drone numbered i.

3. The UAV interactive group control method based on cloud computer according to claim 1, characterized in that, Also includes: Extract the cloud coordinates of the UAV at the second moment and calculate the distance values ​​by comparison to obtain the sum of the third distances of the UAV; Extract the cloud coordinates of the drone corresponding to the minimum sum of the third distances; The distance difference between the drone and the lead drone is calculated by taking the cloud coordinates of the drone corresponding to the smallest sum of the third distances and the cloud coordinates of the lead drone at the first moment. Determine whether the distance difference between the lead drone and the drone is greater than a preset third distance threshold. If so, set the drone corresponding to the smallest sum of the third distances as the lead drone.

4. The UAV interactive group control method based on cloud computer according to claim 1, characterized in that, Also includes: Acquire the target flight formation pattern of the drones; Based on the target flight formation pattern of the UAV, the target cloud coordinates of the UAV are obtained; The distance value is calculated from the target cloud coordinates of the UAV to obtain the lead UAV and group information when the UAV is in the target flight formation pattern. The drone that is in the target flight formation pattern is designated as the target drone leader, and the group of drones in the target flight formation pattern is designated as the target group.

5. The UAV interactive group control method based on cloud computer according to claim 4, characterized in that, Also includes: Obtain the current information on the lead drone and drone grouping; Determine whether the current lead drone and the target lead drone are the same. If they are, there is no need to change the lead drone. If not, obtain the time when the drones formed the target flight formation pattern. Determine whether the current drone group is the same as the target group. If so, there is no need to change the drone group. If not, obtain the time when the drones formed the target flight formation pattern. Based on the preset adjustment time, the preparation time is obtained according to the time when the drones form the target flight formation pattern at the current moment; Before the preparation time, the cloud computer sends navigation commands to the corresponding target navigation drone or group commands to the corresponding target group drones.

6. The UAV interactive group control method based on cloud computer according to claim 1, characterized in that, The cascade control specifically includes: The drones are numbered according to the group order to obtain the group number information of the corresponding drone; The distance between the drones in adjacent group numbers is calculated to obtain the fourth distance value; Extract the two drones corresponding to the smallest fourth distance value; The two drones corresponding to the smallest fourth distance value will use the drone with the larger group number to guide the drone with the smaller group number.

7. A cloud-based UAV interactive group control system, characterized in that, The system includes a memory and a processor. The memory stores a program for a cloud-based UAV interactive group control method. When the processor executes the cloud-based UAV interactive group control method program, it performs the following steps: Acquire flight data information from drones; The drone's flight data is sent to a cloud computer for storage; Based on the coordinate system of the cloud computer, the coordinate system of the drone on the cloud computer is constructed according to the drone's flight data to obtain the cloud coordinates of the drone; Extract the cloud coordinates of the drone at the first moment and calculate the distance value to obtain the first sum of the drone's distances; Extract the minimum sum of first distances and set the drone corresponding to the minimum sum of first distances as the lead drone; The distance values ​​are calculated from the cloud coordinates of other drones and the lead drone to obtain the second distance value; Based on the preset range into which the second distance value falls, other drones are grouped for tiered control.

8. A cloud-based UAV interactive group control system according to claim 7, characterized in that, The formula for obtaining the sum of the first distances of the UAV is as follows: Let the sum of the first distances of the drone be P, and its formula is: Where i and n represent the drone numbers, x represents the set of drone numbers, and A i A n Let P represent the distance from drone number i to drone number n, where n, i ∈ x and i ≠ n; i This represents the sum of the first distances for the drone numbered i.

9. A cloud-based UAV interactive group control system according to claim 7, characterized in that, Also includes: Extract the cloud coordinates of the UAV at the second moment and calculate the distance values ​​by comparison to obtain the sum of the third distances of the UAV; Extract the cloud coordinates of the drone corresponding to the minimum sum of the third distances; The distance difference between the drone and the lead drone is calculated by taking the cloud coordinates of the drone corresponding to the smallest sum of the third distances and the cloud coordinates of the lead drone at the first moment. Determine whether the distance difference between the lead drone and the drone is greater than a preset third distance threshold. If so, set the drone corresponding to the smallest sum of the third distances as the lead drone.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program for a cloud-based UAV interactive group control method. When the program is executed by a processor, it implements the steps of the cloud-based UAV interactive group control method as described in any one of claims 1 to 6.

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