Unmanned aerial vehicle control method and device based on three-dimensional undirected graph

Abstract

The invention discloses an unmanned aerial vehicle control method and device based on a three-dimensional undirected graph, and the method comprises the steps: firstly receiving the target point information of a ground control server; the method comprises the following steps: acquiring target point information, calculating an expected path by using a depth-first algorithm according to the target point information and a three-dimensional undirected graph, sending a use right request of a conflict ball to a ground control server when the conflict ball exists in the expected path, and finally flying according to the expected path when the use right of the conflict ball sent by the ground control server is received. By means of the mode, the 3D map is preprocessed into the line data described by the nodes, the edges and the offset, then the expected path is obtained through calculation of the position of the unmanned aerial vehicle and the target point information, the calculation method is clear and concise, the algorithm complexity depends on the number of the track layers and the number of the virtual tracks on each layer, and the calculation efficiency is improved. Compared with other unmanned aerial vehicle group path planning algorithms, the calculation amount is extremely small. Moreover, through a centralized control mode, communication channels and communication traffic of the unmanned aerial vehicle are reduced.

Description

Technical Field

[0001] The present application relates to the field of drone control, and in particular to a drone control method and device based on a three-dimensional undirected graph. Background Art

[0002] With the rapid development of drones and low-altitude economy, drone swarms have begun to be widely used in short-distance operations such as transportation, inspection, and spraying, and have the advantages of flexibility and economy. The key point of drone swarm control in these operation scenarios is how each drone in the swarm reaches the operation point to perform the operation, how to resolve the conflict of travel routes, and how to efficiently and stably control the drone swarm to complete the operation task has become a key topic of concern in drone control.

[0003] Currently, in the control of drone swarms, a distributed collaborative approach is usually used to solve the problem of travel conflicts, which relies heavily on planning algorithms, such as: AStar algorithm, Dijkstra algorithm, RRT (Rapidly-exploring Random Tree) algorithm, neural network algorithm. The drone path planning algorithm has a large amount of calculation, and the drone single unit has a large amount of external communication, resulting in a lot of external information that needs to be processed. Summary of the invention

[0004] In view of this, the present application provides a drone control method and device based on a three-dimensional undirected graph, aiming to reduce the computational complexity of the drone path planning algorithm and reduce the drone's communication volume.

[0005] In a first aspect, the present application provides a method for controlling a drone based on a three-dimensional undirected graph, characterized in that the method comprises:

[0006] Receive target point information from the ground control server;

[0007] According to the target point information and the three-dimensional undirected graph, the expected path is calculated using a depth-first algorithm; the three-dimensional undirected graph is obtained by 3D map conversion, and the three-dimensional undirected graph includes nodes and edges, the nodes are intersections between different routes, the edges are connections between different nodes, and each edge has a unique identifier;

[0008] When there is a conflict ball in the expected path, a request for the right to use the conflict ball is sent to the ground control server, the request for the right to use the conflict ball includes an entry direction, an exit direction and a drone number, and the conflict ball is a three-dimensional display of the node;

[0009] When receiving the conflict ball use right sent by the ground control server, the flight is performed according to the expected path, and the conflict ball use right is used to indicate that there is no path obstacle on the expected path.

[0010] Optionally, when receiving information sent by the ground control server that the conflict ball is occupied by other drones, retreat to the outside of the conflict ball.

[0011] Optionally, when information indicating that an artificial protection zone exists in the expected path is received from the ground control server, entering the artificial protection zone is prohibited.

[0012] Optionally, the method further comprises:

[0013] Obtain a first longitude value, a first latitude value, and a first altitude value of the drone at a first moment;

[0014] Obtaining a second longitude value, a second latitude value, and a second altitude value of the drone at a second moment, where the second moment is later than the first moment;

[0015] constructing a vector according to the first longitude value, the first latitude value and the first altitude value, the second longitude value, the second latitude value and the second altitude value;

[0016] The safety envelope of the UAV is determined according to the vector and the delay time between the UAV and the ground control server.

[0017] Optionally, if another drone is detected ahead, the system retreats to the edge of the safety envelope of the drone.

[0018] Optionally, the method further comprises:

[0019] When there is a conflict ball in the expected path, a first drone sends a request for right to use the conflict ball to the ground control server, where the first drone is the frontmost drone in a drone group composed of multiple drones;

[0020] A second drone maintains a distance from the first drone according to the safety envelope, the second drone being a drone in the drone group except the first drone;

[0021] Upon receiving the conflict ball use right sent by the ground control server, the drone group flies according to the expected path;

[0022] When the drone group drives away from the conflict ball, the first drone sends a request to release the right to use the conflict ball to the ground control server.

[0023] Optionally, when receiving the regional temporary speed limit information sent by the ground control server, the regional temporary speed limit information includes the regional speed limit;

[0024] Fly according to the speed limits in the stated areas.

[0025] In a second aspect, the present application provides a drone control device based on a three-dimensional undirected graph, the device comprising:

[0026] A receiving module, used for receiving target point information from a ground control server;

[0027] A calculation module, used to calculate the expected path according to the target point information and the three-dimensional undirected graph by using a depth-first algorithm; the three-dimensional undirected graph is obtained by 3D map conversion, and the three-dimensional undirected graph includes nodes and edges, the nodes are intersections between different routes, the edges are connections between different nodes, and each edge has a unique identifier;

[0028] a sending module, configured to send a right to use a conflict ball to the ground control server when there is a conflict ball in the expected path, the right to use request including an entry direction, an exit direction and a drone number, and the conflict ball is a three-dimensional display of the node;

[0029] The flight module is used to fly according to the expected path when receiving the conflict ball usage right sent by the ground control server, and the conflict ball usage right is used to indicate that there is no path obstacle on the expected path.

[0030] Optionally, the flight module is further configured to retreat to the outside of the conflict ball upon receiving information from the ground control server that the conflict ball is occupied by other drones.

[0031] Optionally, the flight module is further configured to prohibit entry into the artificial protection zone upon receiving information from the ground control server indicating that the expected path includes an artificial protection zone.

[0032] In a third aspect, an embodiment of the present application provides an electronic device, the electronic device comprising:

[0033] A memory for storing one or more programs;

[0034] Processor; when the one or more programs are executed by the processor, the drone control method based on a three-dimensional undirected graph as described in any one of the first aspects above is implemented.

[0035] In a fourth aspect, an embodiment of the present application provides a computer storage medium, in which a program is stored. When the program is executed by a processor, the drone control method based on a three-dimensional undirected graph as described in any one of the first aspects above is implemented.

[0036] The above technical solution has the following beneficial effects:

[0037] The present application provides a method and device for controlling a drone based on a three-dimensional undirected graph. When executing the method, first, target point information of a ground control server is received; then, according to the target point information and the three-dimensional undirected graph, a depth-first algorithm is used to calculate an expected path; the three-dimensional undirected graph is obtained by 3D map conversion, and the three-dimensional undirected graph includes nodes and edges, the nodes are intersection points between different routes, the edges are connections between different nodes, and each edge has a unique identifier; then, when there is a conflict ball in the expected path, a request for the right to use the conflict ball is sent to the ground control server, the request for the right to use includes an entry direction, an exit direction and a drone number, and the conflict ball is a three-dimensional display of the node; finally, when the right to use the conflict ball sent by the ground control server is received, the flight is performed according to the expected path, and the right to use the conflict ball is used to indicate that there are no path obstacles on the expected path. Through the above method, the present application preprocesses the 3D map into line data described by nodes, edges, and offsets, and then calculates the expected path through the drone position and target point information. The calculation method is clear, explicit, and concise. The algorithm complexity depends on the number of track layers and the number of virtual tracks on each layer. Compared with other drone group path planning algorithms, the amount of calculation is extremely small. Moreover, through centralized control, the drone communication channels and communication volume are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A flowchart of a drone control method based on a three-dimensional undirected graph provided in an embodiment of the present application;

[0040] Figure 2 An example schematic diagram of a three-dimensional undirected graph provided in an embodiment of the present application;

[0041] Figure 3 An example schematic diagram of a security envelope provided in an embodiment of the present application;

[0042] Figure 4 An example schematic diagram of a mobile authorization conflict provided in an embodiment of the present application;

[0043] Figure 5 A schematic diagram of the structure of a drone control device based on a three-dimensional undirected graph provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0045] In order to facilitate further understanding of the technical solution provided by this application, the background technology involved in this application will be explained below.

[0046] In the control of drone swarms for short-distance operations such as transportation, inspection, and spraying, drone swarms usually operate along specific routes. The key points of drone swarm control in these operation scenarios lie in how each drone in the swarm reaches the operation point to perform operations and how to resolve route conflicts.

[0047] At present, in the control of drone swarms, a distributed collaborative approach is usually used to solve the problem of movement conflicts. The characteristics of this approach are:

[0048] 1. Each member of the drone swarm needs to establish communication with each other, so the external communication volume of each drone is large, resulting in a lot of external information that needs to be processed.

[0049] 2. Drones rely heavily on planning algorithms, such as A Star algorithm, Dijkstra algorithm, RRT (Rapidly-exploring Random Tree) algorithm, neural network algorithm, etc., all of which require a large amount of calculations, and some algorithms need to rely on existing data for learning and training, forming a black box knowledge base, which cannot clearly evaluate the route and conflict management before operation.

[0050] In order to overcome the above technical problems, an embodiment of the present application provides a drone control method based on a three-dimensional undirected graph, first receiving target point information from a ground control server; then calculating an expected path using a depth-first algorithm based on the target point information and the three-dimensional undirected graph; the three-dimensional undirected graph is obtained by 3D map conversion, and the three-dimensional undirected graph includes nodes and edges, where the nodes are intersections between different routes, and the edges are connections between different nodes, and each edge has a unique identifier; then, when there is a conflict ball in the expected path, a request for the right to use the conflict ball is sent to the ground control server, the request for the right to use includes an entry direction, an exit direction and a drone number, and the conflict ball is a three-dimensional display of the node; finally, when the right to use the conflict ball sent by the ground control server is received, the flight is performed according to the expected path, and the right to use the conflict ball is used to indicate that there are no path obstacles on the expected path. Through the above method, the present application preprocesses the 3D map into line data described by nodes, edges, and offsets, and then calculates the expected path through the drone position and target point information. The calculation method is clear, explicit, and concise. The algorithm complexity depends on the number of track layers and the number of virtual tracks on each layer. Compared with other drone group path planning algorithms, the amount of calculation is extremely small. Moreover, through centralized control, the drone communication channels and communication volume are reduced.

[0051] See also Figure 1 , Figure 1 A flowchart of a drone control method based on a three-dimensional undirected graph provided in an embodiment of the present application.

[0052] It can be understood that the method of the embodiment of the present invention can be executed by a drone control device, which can be implemented by software and / or hardware and can generally be integrated on a drone.

[0053] The method may include:

[0054] Step S101: receiving target point information from a ground control server.

[0055] In this step, the UAV control device can receive the target point information sent by the ground control server, and the target point information includes the location of the target operation point.

[0056] Step S102: Calculate the expected path according to the target point information and the three-dimensional undirected graph using a depth-first algorithm; the three-dimensional undirected graph is obtained by 3D map conversion, and the three-dimensional undirected graph includes nodes and edges, the nodes are intersection points between different routes, the edges are connections between different nodes, and each edge has a unique identifier.

[0057] In this embodiment, the drone control device can calculate the expected path using a depth-first algorithm based on the target operation point position included in the target point information and the three-dimensional undirected graph.

[0058] Depth-First Search (DFS) is an algorithm used to traverse or search a tree or graph. In a depth-first search of a tree, the algorithm starts at the root node and traverses the nodes of the tree along the edges of the tree, searching the branches of the tree as deeply as possible. In a depth-first search of a graph, the algorithm selects a vertex as a starting point, explores the edges as deeply as possible, until it reaches a vertex that has no unexplored adjacent vertices, then backtracks and explores the next vertex.

[0059] The present application preprocesses the 3D map into line data of nodes, edges, and offsets, and the line data is pre-stored in the ground server and each drone.

[0060] The boundaries, different height differences, and intersections between different routes in the operation scene are called "nodes". The lines between "nodes" are called "edges", and each edge has an independent number. In the line data, the operation scene can be divided into multi-layer undirected graphs according to different height differences, and the multi-layer undirected graphs are connected by nodes.

[0061] The purpose of describing the 3D map through an undirected graph is that the drone can achieve bidirectional operation through the path search of the undirected graph.

[0062] like Figure 2 , which is an example schematic diagram of a three-dimensional undirected graph provided in an embodiment of the present application.

[0063] The position (longitude, latitude, altitude) obtained by the drone through GPS or the position obtained by inertial navigation can be mapped to an offset on the edge (that is, a combination of "edge + offset").

[0064] The work point can also be described by "edge + offset". A small-scale work area can be described as a combination of "starting edge + starting offset; end edge + end offset", and a large-scale work area can be described as a series of "edge + offset" combinations.

[0065] It should be noted that the embodiment of the present application preprocesses the 3D map into route data described by nodes, edges, and offsets, and then calculates the desired path through the drone position and target point information. The calculation method is clear, unambiguous, and concise. The complexity of the algorithm depends on the number of track layers and the number of virtual tracks on each layer. Compared with other drone swarm path planning algorithms, the amount of computation is extremely small.

[0066] Step S103: When there is a conflict ball in the expected path, a request for the right to use the conflict ball is sent to the ground control server, the request for the right to use includes an entry direction, an exit direction and a drone number, and the conflict ball is a three-dimensional display of the node.

[0067] In this embodiment, after the expected path is calculated through step S102, when there is a conflict ball in the expected path, the drone control device sends a request for the right to use the conflict ball to the ground control server. The request for the right to use includes the entry direction, the exit direction and the drone number. The conflict ball is a three-dimensional display of the node.

[0068] It should be noted that when a three-dimensional undirected graph is obtained through 3D map conversion, the nodes are expanded into three-dimensional space to form conflict balls, that is, the conflict balls are three-dimensional displays of the nodes. The conflict balls are set to resolve conflicts that may occur when different drones meet on the expected paths. The range of the conflict balls is related to the turning method, route angle, correction offset, etc.

[0069] Step S104: upon receiving the conflict ball use right sent by the ground control server, flying according to the expected path, the conflict ball use right is used to indicate that there are no path obstacles on the expected path.

[0070] In this step, when the UAV control device receives the right to use the conflict ball sent by the ground control server, it can fly according to the desired path.

[0071] The conflict ball usage right is used to indicate that there are no path obstacles on the desired path.

[0072] It can be seen from the above technical scheme that the embodiment of the present application first receives the target point information of the ground control server; then, according to the target point information and the three-dimensional undirected graph, the depth-first algorithm is used to calculate the expected path; the three-dimensional undirected graph is obtained by 3D map conversion, and the three-dimensional undirected graph includes nodes and edges, the nodes are intersections between different routes, the edges are lines between different nodes, and each edge has a unique identifier; then, when there is a conflict ball in the expected path, a request for the right to use the conflict ball is sent to the ground control server, the request for the right to use includes the entry direction, the exit direction and the drone number, and the conflict ball is a three-dimensional display of the node; finally, when the right to use the conflict ball sent by the ground control server is received, the flight is carried out according to the expected path, and the right to use the conflict ball is used to indicate that there are no path obstacles in the expected path. In the above manner, the present application preprocesses the 3D map into line data described by nodes, edges, and offsets, and then calculates the expected path through the drone position and target point information. The calculation method is clear, clear, and concise, and the algorithm complexity depends on the number of track layers and the number of virtual tracks on each layer. Compared with other drone group path planning algorithms, the amount of calculation is extremely small. Moreover, through centralized control, the communication channels and communication volume of drones are reduced.

[0073] It should be noted that the drone autonomously calculates the authorized movement distance, that is, the distance it can fly.

[0074] The premise of mobile authorization calculation is that the drone can move from its current position to the final position along a specific path within the expected path, and there are no path obstacles along the way.

[0075] There are obstacles in mobile authorization, namely other drones, conflict balls, path endpoints and artificial protection areas. Other drones are regarded as "dynamic obstacles", and conflict balls and path endpoints are regarded as "static obstacles". They are introduced below.

[0076] In a possible implementation, when receiving information sent by the ground control server that the conflict ball is occupied by other drones, the drone retreats to the outside of the conflict ball.

[0077] In this embodiment, when the conflict ball is occupied by other drones and the drone control device receives the information sent by the ground control server that the conflict ball is occupied by other drones, the drone control device controls the drone to retreat to the outside of the conflict ball.

[0078] In a possible implementation manner, when information indicating that an artificial protection zone exists in the expected path is received from the ground control server, entering the artificial protection zone is prohibited.

[0079] In an embodiment of the present application, the ground control server sends the artificial protection area within the expected path of the drone as a "static obstacle" to the drone control device so that the drone control device can control the drone to retract the movement authorization and achieve regional entry prohibition.

[0080] In a possible implementation, when receiving the regional temporary speed limit information sent by the ground control server, the regional temporary speed limit information includes the regional speed limit; flying according to the regional speed limit.

[0081] In an embodiment of the present application, the ground control server sends the regional temporary speed limit information to the drones in the area. The regional temporary speed limit information includes the regional speed limit, so that the drones can fly at a low speed according to the regional speed limit.

[0082] It is understandable that when the authorized moving distance is less than the preset distance threshold, the drone will recalculate the expected path or hover and wait. The preset distance threshold can be set according to actual conditions and is not limited here.

[0083] In order to further achieve safe flight of the drone, in a possible implementation, the method further includes:

[0084] Obtain a first longitude value, a first latitude value, and a first altitude value of the drone at a first moment;

[0085] Obtaining a second longitude value, a second latitude value, and a second altitude value of the drone at a second moment, where the second moment is later than the first moment;

[0086] constructing a vector according to the first longitude value, the first latitude value and the first altitude value, the second longitude value, the second latitude value and the second altitude value;

[0087] The safety envelope of the UAV is determined according to the vector and the delay time between the UAV and the ground control server.

[0088] In the embodiment of the present application, in addition to converting the position (longitude, latitude, altitude) in the three-dimensional space reported by the drone obtained by GPS or the position obtained by inertial navigation into a combination of "edge + offset", it is also necessary to consider the deviation of the drone from the edge in the X / Y / Z directions during sampling, the speed of the X / Y / Z axes, the position deviation caused by communication delay, and the existing position uncertainty range to ensure a safe distance between different drones.

[0089] In the specific implementation, this application will Px t、 Py t、 Pz tIt is considered that the position reported by the drone at the current moment is to obtain the first longitude value, first latitude value and first altitude value of the drone at the first moment. Px is the longitude value of the drone, Py is the latitude value of the drone, Pz is the altitude value of the drone, and Px t、 Py t、 Pz t It can be mapped to a point on a certain edge, which is a combination of "edge + offset", such as [5,2000] is the edge numbered 5, and the offset is 2000 cm.

[0090] Px t+1 , Py t+1 , Pz t+1 The position reported by the UAV at time t+1 is obtained by obtaining the second longitude value, the second latitude value and the second altitude value of the UAV at the second time, where the second time is later than the first time.

[0091] Coordinate [Px t ,Py t ,Pz t ] and coordinates [Px t+1 , Py t+1 , Pz t+1 ] can be constructed between them, that is, a vector can be constructed according to the first longitude value, the first latitude value and the first altitude value, the second longitude value, the second latitude value and the second altitude value.

[0092] k=[Px t+1 , Py t+1 , Pz t+1 ]-[Px t ,Py t ,Pz t ]

[0093] Considering that the communication delay time between the ground and the UAV is n, the possible position of the UAV at this time is:

[0094] [Px e , Py e , Pz e ]=[Px t+1 , Py t+1 , Pz t+1 ]+nk

[0095] Max(Px e, Px t+1 )、Min(Px e, Px t+1 )、Max(Py e, Py t+1 )、Min(Py e, Py t+1)、Max(Pz e, Pz t+1 )、Min(Pz e, Pz t+1 )

[0096] [Min(Pxe,Pxt+1),Min(Pxe,Pxt+1),Min(Pxe,Pxt+1)],

[0097] [Min(Pxe,Pxt+1),Min(Pxe,Pxt+1),Max(Pxe,Pxt+1)],

[0098] [Min(Pxe,Pxt+1),Max(Pxe,Pxt+1),Min(Pxe,Pxt+1)],

[0099] [Min(Pxe,Pxt+1),Max(Pxe,Pxt+1),Max(Pxe,Pxt+1)],

[0100] [Max(Pxe,Pxt+1),Min(Pxe,Pxt+1),Min(Pxe,Pxt+1)],

[0101] [Max(Pxe,Pxt+1),Min(Pxe,Pxt+1),Max(Pxe,Pxt+1)],

[0102] [Max(Pxe,Pxt+1),Max(Pxe,Pxt+1),Min(Pxe,Pxt+1)],

[0103] [Max(Pxe,Pxt+1),Max(Pxe,Pxt+1),Max(Pxe,Pxt+1)] P1-P8, a total of 8 coordinate points, form the safety envelope of the drone, such as Figure 3 As shown in P1-P8, Figure 3 An exemplary schematic diagram of a security envelope provided in an embodiment of the present application.

[0104] In a possible implementation, if another drone is detected ahead, the system retreats to the edge of the safety envelope of the drone.

[0105] In this embodiment, when the drone control device detects another drone in front, the drone control device controls the drone to retreat to the edge of the safety envelope of the drone to ensure a safe distance between the drones.

[0106] Next, an embodiment of the present application is described using a specific scenario example.

[0107] like Figure 4The figure is an example schematic diagram of a mobile authorization conflict provided in an embodiment of the present application.

[0108] like Figure 4 As shown, the movement authorization of UAV 2 extends to the left side of the conflict ball C4, UAV 2 applies for the right to use C1 and C4, so UAV 3 cannot apply for the right to use C1, and the end point of the movement authorization is withdrawn to the outside of C1.

[0109] Drone 1 cannot apply for the right to use C2, so the movement authorization of Drone 1 is withdrawn to the outside of C2.

[0110] Drone 4 detects that there is drone 3 in front of it, so the movement authorization of drone 4 retreats to the edge of the safety envelope of drone 3.

[0111] It is understandable that the present application preprocesses the 3D map into line data described by nodes, edges, and offsets, and then calculates the expected path through the drone position and target point information. The calculation method is clear, explicit, and concise, and the algorithm complexity depends on the number of track layers and the number of virtual tracks on each layer. Compared with other drone group path planning algorithms, the amount of calculation is extremely small. Moreover, through centralized control, the drone communication channels and communication volume are reduced.

[0112] In a possible implementation, the method further includes:

[0113] When there is a conflict ball in the expected path, a first drone sends a request for right to use the conflict ball to the ground control server, where the first drone is the frontmost drone in a drone group composed of multiple drones;

[0114] A second drone maintains a distance from the first drone according to the safety envelope, the second drone being a drone in the drone group except the first drone;

[0115] Upon receiving the conflict ball use right sent by the ground control server, the drone group flies according to the expected path;

[0116] When the drone group drives away from the conflict ball, the first drone sends a request to release the right to use the conflict ball to the ground control server.

[0117] Specifically, multiple drones can form a formation, with the frontmost drone as the "captain", who applies to the ground control server for the right to use the conflict ball. Team members track the captain and keep a certain distance according to the safety envelope to avoid collision. When all drones leave the conflict ball, the "captain" applies to the ground control server to release the right to use the conflict ball.

[0118] It can be understood that the embodiment of the present application eliminates the communication between drone group members through centralized control, greatly reduces the communication channels and communication volume, increases the tolerance to anomalies caused by communication interference, and improves the robustness and availability of the entire system.

[0119] For the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the order of the actions described, because according to the present invention, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0120] The above are some specific implementations of the drone control method based on a three-dimensional undirected graph provided in the embodiment of the present application. Based on this, the present application also provides a corresponding device. The drone control device based on a three-dimensional undirected graph provided in the embodiment of the present application will be introduced from the perspective of functional modularization.

[0121] See also Figure 5 , is a schematic diagram of a structure of a drone control device based on a three-dimensional undirected graph provided in an embodiment of the present application, the device comprising:

[0122] Receiving module 501, used to receive target point information from a ground control server;

[0123] The calculation module 502 is used to calculate the expected path according to the target point information and the three-dimensional undirected graph by using a depth-first algorithm; the three-dimensional undirected graph is obtained by 3D map conversion, and the three-dimensional undirected graph includes nodes and edges, the nodes are intersections between different routes, the edges are connections between different nodes, and each edge has a unique identifier;

[0124] A sending module 503 is used to send a right to use a conflict ball to the ground control server when there is a conflict ball in the expected path, the right to use request includes an entry direction, an exit direction and a drone number, and the conflict ball is a three-dimensional display of the node;

[0125] The flight module 504 is configured to fly according to the desired path upon receiving the conflict ball usage right sent by the ground control server, wherein the conflict ball usage right is used to indicate that there are no path obstacles on the desired path.

[0126] Optionally, the flight module 504 is further configured to retreat to the outside of the conflict ball upon receiving information from the ground control server that the conflict ball is occupied by other drones.

[0127] Optionally, the flight module 504 is further configured to prohibit entering the artificial protection zone when receiving information indicating that the expected path includes an artificial protection zone from the ground control server.

[0128] It can be seen from the above technical scheme that the embodiment of the present application first receives the target point information of the ground control server; then, according to the target point information and the three-dimensional undirected graph, the depth-first algorithm is used to calculate the expected path; the three-dimensional undirected graph is obtained by 3D map conversion, and the three-dimensional undirected graph includes nodes and edges, the nodes are intersections between different routes, the edges are lines between different nodes, and each edge has a unique identifier; then, when there is a conflict ball in the expected path, a request for the right to use the conflict ball is sent to the ground control server, the request for the right to use includes the entry direction, the exit direction and the drone number, and the conflict ball is a three-dimensional display of the node; finally, when the right to use the conflict ball sent by the ground control server is received, the flight is carried out according to the expected path, and the right to use the conflict ball is used to indicate that there are no path obstacles in the expected path. In the above manner, the present application preprocesses the 3D map into line data described by nodes, edges, and offsets, and then calculates the expected path through the drone position and target point information. The calculation method is clear, clear, and concise, and the algorithm complexity depends on the number of track layers and the number of virtual tracks on each layer. Compared with other drone group path planning algorithms, the amount of calculation is extremely small. Moreover, through centralized control, the communication channels and communication volume of drones are reduced.

[0129] An embodiment of the present application further provides an electronic device, comprising: a memory for storing one or more programs;

[0130] Processor; when the one or more programs are executed by the processor, the drone control method based on the three-dimensional undirected graph described in the above embodiment is implemented.

[0131] An embodiment of the present application also provides a computer storage medium, in which a program is stored. When the program is executed by a processor, the drone control method based on a three-dimensional undirected graph described in the above embodiment is implemented.

[0132] The "first" and "second" in the names such as "first" and "second" (if any) mentioned in the embodiments of the present application are only used as name identifiers and do not represent the first or second in order.

[0133] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0134] Those skilled in the art can understand that the flowchart shown in the figure is only an example in which the embodiments of the present application can be implemented, and the scope of application of the embodiments of the present application is not limited by any aspect of the flowchart.

[0135] In the several embodiments provided in the present application, it should be understood that the disclosed methods, devices and equipment can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0136] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0137] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0138] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A UAV control method based on a three-dimensional undirected graph, characterized in that: The method comprises: Receive target point information from the ground control server; According to the target point information and the three-dimensional undirected graph, the expected path is calculated using a depth-first algorithm; the three-dimensional undirected graph is obtained by 3D map conversion, and the three-dimensional undirected graph includes nodes and edges, the nodes are intersections between different routes, the edges are connections between different nodes, and each edge has a unique identifier; When there is a conflict ball in the expected path, a request for the right to use the conflict ball is sent to the ground control server, the request for the right to use the conflict ball includes an entry direction, an exit direction and a drone number, and the conflict ball is a three-dimensional display of the node; When receiving the conflict ball use right sent by the ground control server, the flight is performed according to the expected path, and the conflict ball use right is used to indicate that there is no path obstacle on the expected path.

2. The method according to claim 1, characterized in that When receiving the information that the conflict ball is occupied by other drones sent by the ground control server, retreat to the outside of the conflict ball.

3. The method according to claim 1, characterized in that When the information that an artificial protection zone exists in the expected path sent by the ground control server is received, entering the artificial protection zone is prohibited.

4. The method according to claim 1, characterized in that: The method further comprises: Obtain a first longitude value, a first latitude value, and a first altitude value of the drone at a first moment; Obtaining a second longitude value, a second latitude value, and a second altitude value of the drone at a second moment, where the second moment is later than the first moment; constructing a vector according to the first longitude value, the first latitude value, the first altitude value, the second longitude value, the second latitude value, and the second altitude value; The safety envelope of the UAV is determined according to the vector and the delay time between the UAV and the ground control server.

5. The method according to claim 4, characterized in that If another drone is detected in front, retreat to the edge of the safety envelope of the drone.

6. The method according to claim 4, characterized in that The method further comprises: When there is a conflict ball in the expected path, a first drone sends a request for right to use the conflict ball to the ground control server, where the first drone is the frontmost drone in a drone group composed of multiple drones; A second drone maintains a distance from the first drone according to the safety envelope, the second drone being a drone in the drone group except the first drone; Upon receiving the conflict ball use right sent by the ground control server, the drone group flies according to the expected path; When the drone group drives away from the conflict ball, the first drone sends a request to release the right to use the conflict ball to the ground control server.

7. The method according to claim 1, characterized in that When receiving the regional temporary speed limit information sent by the ground control server, the regional temporary speed limit information includes the regional speed limit; Fly according to the speed limits in the stated areas.

8. A drone control device based on a three-dimensional undirected graph, characterized in that: The device comprises: A receiving module, used for receiving target point information from a ground control server; A calculation module, used to calculate the expected path according to the target point information and the three-dimensional undirected graph by using a depth-first algorithm; the three-dimensional undirected graph is obtained by 3D map conversion, and the three-dimensional undirected graph includes nodes and edges, the nodes are intersections between different routes, the edges are connections between different nodes, and each edge has a unique identifier; a sending module, configured to send a right to use a conflict ball to the ground control server when there is a conflict ball in the expected path, the right to use request including an entry direction, an exit direction and a drone number, and the conflict ball is a three-dimensional display of the node; The flight module is used to fly according to the expected path when receiving the conflict ball usage right sent by the ground control server, and the conflict ball usage right is used to indicate that there is no path obstacle on the expected path.

9. The device according to claim 8, characterized in that The flight module is further configured to retreat to the outside of the conflict ball when receiving information from the ground control server that the conflict ball is occupied by other drones.

10. The device according to claim 8, characterized in that The flight module is further configured to prohibit entry into the artificial protection zone upon receiving information from the ground control server indicating that the expected path includes an artificial protection zone.

Images